From a641335a96831d508438b19b2f78c124c0ecb8d6 Mon Sep 17 00:00:00 2001
From: nick-a-schneider <schneidernick3@gmail.com>
Date: Fri, 6 Oct 2023 15:20:50 -0400
Subject: [PATCH] fix can-protocol csv spacing

---
 docs/_static/can-protocol.csv | 381 +++++++++++++++++++++++++++-------
 1 file changed, 311 insertions(+), 70 deletions(-)

diff --git a/docs/_static/can-protocol.csv b/docs/_static/can-protocol.csv
index 6104c5b69..0fe533674 100644
--- a/docs/_static/can-protocol.csv
+++ b/docs/_static/can-protocol.csv
@@ -1,36 +1,78 @@
 CMD ID,Name,Sender,Signals,Start byte,Signal Type,Bits,Factor,Offset
 0x000,CANOpen NMT Message**,Master,-,-,-,-,-,-
 0x001,ODrive Heartbeat Message,Axis,"Axis Error
+
 Axis Current State
+
 Motor Error Flag
+
 Encoder Error Flag
+
 Controller Error Flag
-Trajectory Done Flag","0
+
+Trajectory Done Flag
+
+","0
+
 4
+
 5.0
+
 6.0
+
 7.0
-7.7","Unsigned Int
+
+7.7
+
+","Unsigned Int
+
 Unsigned Int
+
 Unsigned Int
+
 Unsigned Int
+
 Unsigned Int
-Unsigned Int","32
+
+Unsigned Int
+
+","32
+
 8
+
+1
+
 1
+
 1
+
 1
-1","-
+
+","-
+
+-
+
 -
+
 -
+
 -
+
 -
--","-
+
+","-
+
 -
+
 -
+
 -
+
 -
--"
+
+-
+
+"
 0x002,ODrive Estop Message,Master,-,-,-,-,-,-
 0x003,Get Motor Error*,Axis,Motor Error,0,Unsigned Int,64,1,0
 0x004,Get Encoder Error*,Axis,Encoder Error,0,Unsigned Int,32,1,0
@@ -39,95 +81,294 @@ Unsigned Int","32
 0x007,Set Axis Requested State,Master,Axis Requested State,0,Unsigned Int,32,1,0
 0x008,Set Axis Startup Config,Master,- Not yet implemented -,-,-,-,-,-
 0x009,Get Encoder Estimates*,Master,"Encoder Pos Estimate
-Encoder Vel Estimate","0
-4","IEEE 754 Float
-IEEE 754 Float","32
-32","1
-1","0
-0"
+
+Encoder Vel Estimate
+
+","0
+
+4
+
+","IEEE 754 Float
+
+IEEE 754 Float
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x00A,Get Encoder Count*,Master,"Encoder Shadow Count
-Encoder Count in CPR","0
-4","Signed Int
-Signed Int","32
-32","1
-1","0
-0"
+
+Encoder Count in CPR
+
+","0
+
+4
+
+","Signed Int
+
+Signed Int
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x00B,Set Controller Modes,Master,"Control Mode
-Input Mode","0
-4","Signed Int
-Signed Int","32
-32","1
-1","0
-0"
+
+Input Mode
+
+","0
+
+4
+
+","Signed Int
+
+Signed Int
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x00C,Set Input Pos,Master,"Input Pos
+
 Vel FF
-Torque FF","0
+
+Torque FF
+
+","0
+
 4
-6","IEEE 754 Float
+
+6
+
+","IEEE 754 Float
+
 Signed Int
-Signed Int","32
+
+Signed Int
+
+","32
+
+16
+
 16
-16","1
+
+","1
+
+0.001
+
 0.001
-0.001","0
+
+","0
+
 0
-0"
+
+0
+
+"
 0x00D,Set Input Vel,Master,"Input Vel
-Torque FF","0
-4","IEEE 754 Float
-IEEE 754 Float","32
-32","1
-1","0
-0"
+
+Torque FF
+
+","0
+
+4
+
+","IEEE 754 Float
+
+IEEE 754 Float
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x00E,Set Input Torque,Master,Input Torque,0,IEEE 754 Float,32,1,0
 0x00F,Set Limits,Master,"Velocity Limit
-Current Limit","0
-4","IEEE 754 Float
+
+Current Limit
+
+","0
+
+4
+
+","IEEE 754 Float
+
 IEEE 754 Float",32,"1
-1","0
-0"
+
+1
+
+","0
+
+0
+
+"
 0x010,Start Anticogging,Master,-,-,-,-,-,-
 0x011,Set Traj Vel Limit,Master,Traj Vel Limit,0,IEEE 754 Float,32,1,0
 0x012,Set Traj Accel Limits,Master,"Traj Accel Limit
-Traj Decel Limit","0
-4","IEEE 754 Float
-IEEE 754 Float","32
-32","1
-1","0
-0"
+
+Traj Decel Limit
+
+","0
+
+4
+
+","IEEE 754 Float
+
+IEEE 754 Float
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x013,Set Traj Inertia,Master,Traj Inertia,0,IEEE 754 Float,32,1,0
 0x014,Get IQ*,Axis,"Iq Setpoint
-Iq Measured","0
-4","IEEE 754 Float
-IEEE 754 Float","32
-32","1
-1","0
-0"
+
+Iq Measured
+
+","0
+
+4
+
+","IEEE 754 Float
+
+IEEE 754 Float
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x015,Get Sensorless Estimates*,Master,"Sensorless Pos Estimate
-Sensorless Vel Estimate","0
-4","IEEE 754 Float
-IEEE 754 Float","32
-32","1
-1","0
-0"
+
+Sensorless Vel Estimate
+
+","0
+
+4
+
+","IEEE 754 Float
+
+IEEE 754 Float
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x016,Reboot ODrive,Master***,-,-,-,-,-,-
 0x017,Get Bus Voltage and Current,Master***,"Bus Voltage
-Bus Current","0
-4","IEEE 754 Float
-IEEE 754 Float","32
-32","1
-1","0
-0"
+
+Bus Current
+
+","0
+
+4
+
+","IEEE 754 Float
+
+IEEE 754 Float
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x018,Clear Errors,Master,-,-,-,-,-,-
 0x019,Set Linear Count,Master,Position,0,Signed Int,32,1,0
 0x01A,Set Position Gain,Master,Pos Gain,0,IEEE 754 Float,32,1,0
 0x01B,Set Vel Gains,Master,"Vel Gain
-Vel Integrator Gain","0
-4","IEEE 754 Float
-IEEE 754 Float","32
-32","1
-1","0
-0"
+
+Vel Integrator Gain
+
+","0
+
+4
+
+","IEEE 754 Float
+
+IEEE 754 Float
+
+","32
+
+32
+
+","1
+
+1
+
+","0
+
+0
+
+"
 0x01C,Get ADC Voltage****,Master***,ADC Voltage,0,IEEE 754 Float,32,1,0
 0x01D,Get Controller Error*,Axis,Controller Error,0,Unsigned Int,32,1,0
 0x700,CANOpen Heartbeat Message**,Slave,-,-,-,-,-,-
\ No newline at end of file