And then I have updated the firmware so you can send move cmds through usb to one vesc which then distributes the cmds to the specific vesc with specific CAN ID.
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Can you explain in more detail? and more details on the diagram?
why are you doing this?
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To control a mobile robot with 8 d.o.f. You send position, velocity and/or current (torque) for all drives through usb to master vesc, which then redistributes cmds to individual vesc. Finally, you send a sync signal to tell all drives to execute latest received cmd.
120 ohms resistors?
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It might work without any modification of the vesc… Each vesc has a so-called termination resistor, but in theory (according to CAN specification) you should connect the differential CAN signal with 120 ohm resistors only at each end of the CAN wire. This is what the official CAN spec says. Which means that the vesc (as is) only is guaranteed to work with 2 can nodes. But in practice it might work with all 8 nodes without any modification. I don’t know, because I never tried that.
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Well, on the freedrive (and original vesc also - I think) the 120 ohms resistor is in fact two 100 ohms resistors with a capacitor to ground in between. So this is not according to CAN spec. But it seems to work best in this way… I just copied Ben. V.s design.
Correction: In the original vesc there is a 220 ohm resistor. The two 100 ohm with a capacitor to ground in between is in fact a leftover from the Cheap Focer 2 design. But, I have also seen this as a “typical” setup in the spec of the TJA1051T CAN driver used.
FreeDRIVE: 
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I have uploaded/updated all the files on github, but I still need to test the new CAN driver.
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So this is how the update looks in an enclosure…
BUT STILL CAN DRIVER NOT TESTED
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So the CAN driver doesn’t seem to work in its current configuration. I can replace it with the old driver if anyone would like to order now while I investigate.
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Files on github are updated now. Everything works, including new 5 mbps CAN driver. I have just tested it now. (I had forgotten a connection to VCC on pin 5).
So go ahead and order if you want to. Occasionally, jlcpcb will say that the pcb contains multiple design. This assessment is questionable in my opinion, but just wait 2 hours make the same order again, and it will pass through.
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I assume that this is because you have multiple unconnected circuits on this “one” board. We know the reason is because we are supposed to detach the pill and connect it to the rest of the circuit with pin headers, but JLC does not know that.
If my assumption is correct, I wonder whether connecting the two circuits on the PCB (with some sacrificial traces designed to be cut through when removing the pill) would fool whatever automated review is flagging this design. By linking the circuits, the system would see it all as one design.
Alternatively I suppose the system could be flagging it based on the board outline having multiple clear sections. If that’s the case, then I dont see a way around it other than changing the board outline.
Or just select “2” or “3” in the “different designs” dialog. I think that is the purpose of it. I could be wrong, as I’ve never sent a board designed this way. I feel like there is a chance that “1” is being selected to save money.
It’s possible they want to be able to move them around to create a tessellating pattern with other customers’ boards as well, and if you continue selecting 1 then they cannot move them and that ends up increasing production costs.
We tried that, I ordered the „alternative“ design with some traces between the 3 boards. In the first attempt they said it‘s multiple designs and asked for an extra 60$. I canceled the order and ordered the exact same design some hours later and it got through. It must be a manual review, depending on the person that does the review, it passes or not. I assume if you declare multiple designs, they add a surgcharge for this right from the beginning.
So i guess i ordered to soon 
So I will need to patch the boards with a wire to Pin5 and VCC.
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