I was able to find various threads about using CAN to communicate between VESCs and/or other microcontrollers. But I couldn't find a single thread detailing how to actually connect these devices...
CAN uses differing topologies and termination resistors depending on the speed [wikipedia]:
- High speed CAN: linear bus terminated with 120 Ω at each end of the bus (up to 1 MBit/s)
- Low speed / fault tolerant CAN: linear and/or star bus with an overall termination resistance of about 100 Ω (up to 125 kBit/s)
So I wonder:
- Does the VESC have termination resistors built-in or should I provide some? This is not clear from the schematic (what does NI stand for?).
- Is it possible to increase the CAN bus speed to 1 MBit/s?