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ODrive

Attributes

error  —  Error    readwrite

No description

vbus_voltage  —  float32    readonly

Voltage on the DC bus as measured by the ODrive.

Unit: V

ibus  —  float32    readonly

Current on the DC bus as calculated by the ODrive.

Unit: A

A positive value means that the ODrive is consuming power from the power supply, a negative value means that the ODrive is sourcing power to the power supply.

This value is equal to the sum of the motor currents and the brake resistor currents. The motor currents are measured, the brake resistor current is calculated based on config.brake_resistance.

ibus_report_filter_k  —  float32    readwrite

Filter gain for the reported ibus. Set to a value below 1.0 to get a smoother line when plotting ibus. Set to 1.0 to disable. This filter is only applied to the reported value and not for internal calculations.

serial_number  —  uint64    readonly

No description

hw_version_major  —  uint8    readonly

No description

hw_version_minor  —  uint8    readonly

No description

hw_version_variant  —  uint8    readonly

No description

fw_version_major  —  uint8    readonly

No description

fw_version_minor  —  uint8    readonly

No description

fw_version_revision  —  uint8    readonly

No description

fw_version_unreleased  —  uint8    readonly

0 for official releases, 1 otherwise

brake_resistor_armed  —  bool    readonly

No description

brake_resistor_saturated  —  bool    readonly

No description

brake_resistor_current  —  float32    readonly

Commanded brake resistor current

n_evt_sampling  —  uint32    readonly

Number of input sampling events since startup (modulo 2^32)

n_evt_control_loop  —  uint32    readonly

Number of control loop iterations since startup (modulo 2^32)

task_timers_armed  —  bool    readwrite

Set by a profiling application to trigger sampling of a single control iteration. Cleared by the device as soon as the sampling is complete.

task_times  —  TaskTimes

No description

system_stats  —  SystemStats

No description

user_config_loaded  —  uint32    readonly

No description

misconfigured  —  bool    readonly

If this property is true, something is bad in the configuration. The ODrive can still be used in this state but the user should investigate which setting is problematic. This variable does not cover all misconfigurations.

Possible causes:

• A GPIO was set to a mode that it doesn’t support
• A GPIO was set to a mode for which the corresponding feature was not enabled. Example: GPIO_MODE_UART_A was used without enabling config.enable_uart_a.
• A feature was enabled which is not supported on this hardware. Example: config.enable_uart_c set to true on ODrive v3.x.
• A GPIO was used as an interrupt input for two internal components or two GPIOs that are mutually exclusive in their interrupt capability were both used as interrupt input. Example: <odrv>.<axis>.config.step_gpio_pin of both axes were set to the same GPIO.

oscilloscope  —  Oscilloscope

No description

can  —  Can

No description

test_property  —  uint32    readwrite

No description

otp_valid  —  bool    readonly

No description

Functions

test_function(delta: int32)  ➔  cnt: int32

No description

Inputs:

• delta:  No description

Outputs:

• cnt:  No description

get_adc_voltage(gpio: uint32)  ➔  voltage: float32

Reads the ADC voltage of the specified GPIO. The GPIO should be in GPIO_MODE_ANALOG_IN.

Inputs:

• gpio:  No description

Outputs:

• voltage:  No description

save_configuration()  ➔  success: bool

Saves the current configuration to non-volatile memory and reboots the board.

Outputs:

• success:  No description

erase_configuration()

No description

reboot()

No description

enter_dfu_mode()

No description

get_interrupt_status(irqn: int32)  ➔  status: uint32

Returns information about the specified interrupt number.

Inputs:

• irqn: -12…-1: processor interrupts, 0…239: NVIC interrupts

Outputs:

• status: bit 31: enabled (1) or disabled (0) bits 30:8: number of times the interrupt fired (modulo 0x800000) bits 7:0: priority (0 is highest priority) 0xffffffff if the specified number is not a valid interrupt number.

get_dma_status(stream_num: uint8)  ➔  status: uint32

Returns information about the specified DMA stream.

Inputs:

• stream_num: 0…7: DMA1 streams, 8…15: DMA2 streams

Outputs:

• status: bit 31: zero if the stream’s configuration is equal to the reset state bits 4:2: channel bits 1:0: priority (3 is highest priority) 0xffffffff if the specified number is not a valid DMA stream number.

get_gpio_states()  ➔  status: uint32

Returns the logic states of all GPIOs. Bit i represents the state of GPIOi.

Outputs:

• status:  No description

get_drv_fault()  ➔  drv_fault: uint64

No description

Outputs:

• drv_fault:  No description

clear_errors()

Clear all the errors of this device including all contained submodules.