CAN bus control

[DerPinguin77]

Variant

None

Control type

FOC

Control mode

Torque

What can we do to make the firmware better?

I am currently building a go-kart which has 6 motors and 3 hoverboard mainboards. I have been thinking about the best way to control all three of them together while still having control over the individual mainboards (1 on the front axle and 2 on the rear axle).

I thought that CAN bus might be a good way to exchange the values for speed and the data the mainboards send back, and control everything using a fourth microcontroller, without interference and without having to run 3 UARTs.

With CAN, you could give each board an ID and you would need only one data line.

Would it be possible to add support for a CAN bus transceiver like the SN65HVD230?

Describe suggestions or alternatives you have considered

I think the best approach would be to use one CAN ID for each board.
The CAN ID would only identify the board on the bus, while the actual data would be placed in the payload.
The first 16 bits of the payload could be used for the speed value sent by the microcontroller.
The remaining bytes of the payload could then be used for telemetry data such as wheel speed and other sensor values.