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Add CAN FD high-speed baud rate support #9

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Add CAN FD high-speed baud rate support #9

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58c4a38
add baudrates
Jun 26, 2026
4e074b4
add can fd baudrates to set_can_baud_rate()
Jun 26, 2026
ef94d7f
add docstring argument
Jun 26, 2026
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22 changes: 16 additions & 6 deletions damiao_motor/core/motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,14 @@ class RegisterInfo:
4: 1000000, # 1M
}

# CAN_FD baud rate codes
CAN_FD_BAUD_RATE_CODES = {
5: 2000000, # 2M
6: 2500000, # 2.5M
7: 3200000, # 3.2M
8: 4000000, # 4M
9: 5000000, # 5M
}

# -----------------------
# Helper functions
Expand Down Expand Up @@ -1156,20 +1164,22 @@ def set_speed_loop_enhancement(self, value: float) -> None:
"""Set speed loop enhancement coefficient (register 34)."""
self.write_register(34, value)

def set_can_baud_rate(self, baud_rate_code: int) -> None:
def set_can_baud_rate(self, baud_rate_code: int, persist: bool = True) -> None:
"""
Set CAN baud rate using register 35 (can_br).

Args:
baud_rate_code: Baud rate code (0=125K, 1=200K, 2=250K, 3=500K, 4=1M)
baud_rate_code: Baud rate code (0=125K, 1=200K, 2=250K, 3=500K, 4=1M, 5=2M, 6=2.5M, 7=3.2M, 8=4M, 9=5M)
persist: Store all current parameters to flash. The motor need to be in disabled Mode for this to work.

Raises:
ValueError: If baud_rate_code is not in valid range [0, 4]
ValueError: If baud_rate_code is not in valid range [0, 9]
"""
if baud_rate_code not in CAN_BAUD_RATE_CODES:
if baud_rate_code not in CAN_BAUD_RATE_CODES and baud_rate_code not in CAN_FD_BAUD_RATE_CODES:
raise ValueError(
f"Invalid baud rate code: {baud_rate_code}. Must be in {list(CAN_BAUD_RATE_CODES.keys())}"
f"Invalid baud rate code: {baud_rate_code}. Must be in {list(CAN_BAUD_RATE_CODES.keys())} or {list(CAN_FD_BAUD_RATE_CODES.keys())}"
)

self.write_register(35, baud_rate_code) # Register 35 is can_br
self.store_parameters() # Store to flash so it persists
if persist:
self.store_parameters() # Store to flash so it persists