nate711 / odrive

High performance motor control

This project is all about accurately driving brushless motors, for cheap. The aim is to make it possible to use inexpensive brushless motors in high performance robotics projects, like this.

Branch	Build Status
master
devel

Please refer to the Developer Guide to get started with ODrive firmware development.

Repository Structure

• Firmware: ODrive firmware
• tools: Python library & tools
• docs: Documentation

Other Resources

• Main Website
• User Guide
• Forum
• Chat

odrive's Issues

When test motor the MOS is very hot.

Hi, I'm sorry to disturb you again. When I test motor(only M0) in position control mode. The motor squealed slightly, and the A channel MOSFET on ODrive is very hot, neither B nor C channel is hot. Is this normal?

the compile environment's problem

with the compiled firmware, it can not work secussfully.
i can mark the motor work smoothly by python's odrivetool
however, using the aurt protocol, it fails.
i think it maybe the problem of compile's environment or configs.
hoping there is a file describe the config.

failed to flash the odrive

something wrong during flashing the odrive, and the code is here.
how can I fix it.

`Erasing... done
Flashing... (sector 3/6)

RuntimeError Traceback (most recent call last)
D:\anaconda\Scripts\odrivetool in ()
140 print_version()
141 import odrive.dfu
--> 142 odrive.dfu.launch_dfu(args, logger, app_shutdown_token)
143
144 elif args.command == 'liveplotter':

D:\anaconda\lib\site-packages\odrive\dfu.py in launch_dfu(args, logger, cancellation_token)
452 firmware = FirmwareFromFile(args.file) if args.file else None
453
--> 454 update_device(device, firmware, logger, cancellation_token)
455
456

D:\anaconda\lib\site-packages\odrive\dfu.py in update_device(device, firmware, logger, cancellation_token)
380 for i, (sector, data) in enumerate(touched_sectors):
381 print("Flashing... (sector {}/{}) \r".format(i, len(touched_sectors)), end='', flush=True)
--> 382 dfudev.write_sector(sector, data)
383 print('Flashing... done \r', end='', flush=True)
384 finally:

D:\anaconda\lib\site-packages\odrive\dfuse\DfuDevice.py in write_sector(self, sector, data)
185 status = self.wait_while_state(DfuState.DFU_DOWNLOAD_BUSY)
186 if status[1] != DfuState.DFU_DOWNLOAD_IDLE:
--> 187 raise RuntimeError("An error occured. Device Status: {!r}".format(status))
188
189 def read_sector(self, sector):

RuntimeError: An error occured. Device Status: (0, 2, 0, 0)`

Could you please migrate your changes to version 0.4.11?

Hello Nate711,

I flashed your customized firmware based on version 0.4.0, but it sometimes caused the uncontrolled spinning of some motors. These motors will spin up to full speed if I use odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL. I tested the firmware of version 0.4.0-master, it still happened. But after I flashed version 0.4.11-master, it works. So maybe some problems existed in version 0.4.0. For stablely running and widely spreading your research results, could you please migrate your changes to version 0.4.11?

Thank you.

Odrive Configurations

Could you please post a picture of Odrive configurations, like pos_gain,vel_gain,vel_integrator_gain?

Stuck downloading JSON

HI,I flash the firmware in my odrive it was successful but when i try to connected the odrive by odrivetools,it was just stuck at downloading json form odrive.
Thank you

How to determine custom firmware has been flashed successfully

I run 'make' in the 'Firmware' directory and download 'Odrivefirmware.hex' into ODrive by STLink v3. I am not sure if this is the correct operation? How to determine custom firmware has been flashed successfully. Thank you.

Threading issue: axes global variable is referenced in unsafe way in controller::update

The axes variable is not volatile and could be written and read at the same time, leading to errors.

whitch leg should connect M0?

Dear everyone!
one odrive have two leg,I want to know four odrive,whitch leg should connet the Mo
Thanks

failed to flash ODrive

compile firmware and get the hex file.however I failed to flash ODrive via the hex file.here the error info:

ODrive control utility v0.4.11
Waiting for ODrive...
Found ODrive 20823599524B (v3.6-24V) with firmware v0.4.11-dev

Warning: you are about to flash firmware [unknown version] which is older than the firmware on the device (v0.4.11-dev).
Do you want to flash this firmware anyway? [y/N] y
Contiguous segments in hex file:
 08000000 to 08000187
 08000190 to 08025D87
 10000000 to 1000FFFF
Saving configuration to /tmp/odrive-config-20823599524B.json...
Configuration saved.
Putting device 20823599524B into DFU mode...
Sectors on device: 
 08000000 to 08003FFF (Internal Flash)
 08004000 to 08007FFF (Internal Flash)
 08008000 to 0800BFFF (Internal Flash)
 0800C000 to 0800FFFF (Internal Flash)
 08010000 to 0801FFFF (Internal Flash)
 08020000 to 0803FFFF (Internal Flash)
 08040000 to 0805FFFF (Internal Flash)
 08060000 to 0807FFFF (Internal Flash)
 08080000 to 0809FFFF (Internal Flash)
 080A0000 to 080BFFFF (Internal Flash)
 080C0000 to 080DFFFF (Internal Flash)
 080E0000 to 080FFFFF (Internal Flash)
 1FFFC000 to 1FFFC00F (Option Bytes)
 1FFF7800 to 1FFF79FF (OTP Memory)
 1FFF7A00 to 1FFF7A0F (OTP Memory)
 FFFF0000 to FFFF0003 (Device Feature)
The following sectors will be flashed: 
 08000000 to 08003FFF
 08004000 to 08007FFF
 08008000 to 0800BFFF
 0800C000 to 0800FFFF
 08010000 to 0801FFFF
 08020000 to 0803FFFF
Erasing... done            
Flashing... done            
Verifying... done

10000000 to 1000FFFF ,the segment in hex file,can not be found in internal Flash on device...

Add global variable to hold theta and gamma estimates.