Native protocol


#1

In general I understand how the native protocol works. It is a packet wrapped around a Json payload with the command details in it.

What I do not understand is where to find the Json definition. Somewhere in Fibre I assume? And the connection sequence.

Can somebody point me to the list of possible commands and their structure, the expected response for each and show examples (hex dump) of a simple first communication maybe?
e.g. all up to sending a
odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
please?


#2

Hi,

This post may be of interest to you. You need to query endpoint 0 which will give you a JSON scheme of all endpoints on the ODrive.


#3

Thanks, I had seen that post. But it does not provide much of guidance either, e.g. a code example.