ESP32 to ODrive Communication using CAN interface

1

Hi
I want to communication between esp32 and ODrive using CAN interface. However, I can’t control my motor for velocity control at ODrive .
Can someone help me ? Thanks a lot!

My config and code:

odrv0.axis0.config.can_node_id = 3
odrv0.axis1.config.can_node_id = 1
odrv0.can.set_baud_rate(500000)

#include <CAN.h>

void setup() {
    Serial.begin(115200);
    while (!Serial)
        ;

    Serial.println("CAN Sender");

    // start the CAN bus at 500 kbps
    if (!CAN.begin(500E3)) {
        Serial.println("Starting CAN failed!");
        while (1)
            ;
    }
}
// ID for ODrive
int canID = (0x003 << 5) + 0x00D;
// velocity set point
int setV = 20;
// CAN message
unsigned char stmp[6] = {setV, (setV >> 8), (setV >> 16), (setV >> 24), 0, 0};

void loop() {
    CAN.beginPacket(canID);
    CAN.write(stmp, 6);
    CAN.endPacket();

    delay(5000);

    // try to parse packet
    int packetSize = CAN.parsePacket();

    if (packetSize) {
        // received a packet
        Serial.print("Received ");

        if (CAN.packetExtended()) {
            Serial.print("extended ");
        }

        if (CAN.packetRtr()) {
            // Remote transmission request, packet contains no data
            Serial.print("RTR ");
        }

        Serial.print("packet with id 0x");
        Serial.print(CAN.packetId(), HEX);

        if (CAN.packetRtr()) {
            Serial.print(" and requested length ");
            Serial.println(CAN.packetDlc());
        } else {
            Serial.print(" and length ");
            Serial.println(packetSize);

            // only print packet data for non-RTR packets
            while (CAN.available()) {
                Serial.print((char)CAN.read());
            }
            Serial.println();
        }
        delay(5000);
        Serial.println();
    }
}

Serial monitor:

20210109171734
20210109171734843×475 11.1 KB

1 Like
2

Please note that the values for that message must be IEEE754 floating point, little-endian. https://docs.odriverobotics.com/can-protocol

Try

float vel = 20;
uint8_t stmp[6] = {0};
memcpy(stmp, &vel, sizeof(vel));
3

@Wetmelon
Thank you !
I solved the problem in your way!
:grinning:

5

hi ı want too use odrive with esp32 and canbus, ı read the heartbeat message but ı cant send message, ı try your code but just write can sender, my wiring is true, can you help me please

6

How do we do the hardware connection of odrive, ESP32, CAN SN65HVD234, and BLDC motor D6374 150kV ???