High performance motor control
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enable_uart_a — bool readwrite
Enables/disables UART_A.
You also need to set the corresponding GPIOs to GPIO_MODE_UART_A. Refer to interfaces to see which pins support UART_A. Changing this requires a reboot.
enable_uart_b — bool readwrite
Enables/disables UART_B.
You also need to set the corresponding GPIOs to GPIO_MODE_UART_B. Refer to interfaces to see which pins support UART_B. Changing this requires a reboot.
enable_uart_c — bool readwrite
Not supported on ODrive v3.x.
uart_a_baudrate — uint32 readwrite
Defines the baudrate used on the UART interface.
Unit: baud/s
Some baudrates will have a small timing error due to hardware limitations.
Here’s an (incomplete) list of baudrates for ODrive v3.x:
| Configured | Actual | Error [%] |
|---|---|---|
| 1.2 KBps | 1.2 KBps | 0 |
| 2.4 KBps | 2.4 KBps | 0 |
| 9.6 KBps | 9.6 KBps | 0 |
| 19.2 KBps | 19.195 KBps | 0.02 |
| 38.4 KBps | 38.391 KBps | 0.02 |
| 57.6 KBps | 57.613 KBps | 0.02 |
| 115.2 KBps | 115.068 KBps | 0.11 |
| 230.4 KBps | 230.769 KBps | 0.16 |
| 460.8 KBps | 461.538 KBps | 0.16 |
| 921.6 KBps | 913.043 KBps | 0.93 |
| 1.792 MBps | 1.826 MBps | 1.9 |
| 1.8432 MBps | 1.826 MBps | 0.93 |
For more information refer to Section 30.3.4 and Table 142 (the column with f_PCLK = 42 MHz) in the STM datasheet.
uart_b_baudrate — uint32 readwrite
Defines the baudrate used on the UART interface.
Unit: baud/s
See uart_a_baudrate for details.
uart_c_baudrate — uint32 readwrite
Not supported on ODrive v3.x.
Enables CAN. Changing this setting requires a reboot.
Enables I2C. The I2C pins on ODrive v3.x are in conflict with CAN. This setting has no effect if enable_can_a is also true. This setting has no effect on ODrive v3.2 or earlier. Changing this setting requires a reboot.
usb_cdc_protocol — StreamProtocolType readwrite
The protocol that’s being run on the device’s virtual COM port on USB. Note that the ODrive has two independent interfaces on USB: One is the virtual COM port (affected by this option) and the other one is a vendor specific interface which always runs Fibre. So changing this option does not affect the working of odrivetool.
uart0_protocol — StreamProtocolType readwrite
No description
uart1_protocol — StreamProtocolType readwrite
No description
uart2_protocol — StreamProtocolType readwrite
No description
max_regen_current — float32 readwrite
No description
brake_resistance — float32 readwrite
Value of the brake resistor connected to the ODrive.
Unit: Ohm
If you set this to a lower value than the true brake resistance then the ODrive will not meed the max_regen_current constraint during braking, that is it will sink more than max_regen_current into the power supply. Some power supplies don’t like this.
If you set this to a higher value than the true brake resistance then the ODrive will unnecessarily burn more power than required during braking.
enable_brake_resistor — bool readwrite
Enable/disable the use of a brake resistor.
Setting this to False even though a brake resistor is connected is harmless. Setting this to True even though no brake resistor is connected can break the power supply. Changes to this value require a reboot to take effect.
dc_bus_undervoltage_trip_level — float32 readwrite
Minimum voltage below which the motor stops operating.
Unit: V
dc_bus_overvoltage_trip_level — float32 readwrite
Maximum voltage above which the motor stops operating.
Unit: V
This protects against cases in which the power supply fails to dissipate the brake power if the brake resistor is disabled. The default is 26V for the 24V board version and 52V for the 48V board version.
enable_dc_bus_overvoltage_ramp — bool readwrite
Experimental
Enables the DC bus overvoltage ramp feature.
If enabled, if the measured DC voltage exceeds dc_bus_overvoltage_ramp_start, the ODrive will sink more power than usual into the the brake resistor in an attempt to bring the voltage down again.
The brake duty cycle is increased by the following amount:
Remarks:
dc_bus_overvoltage_ramp_start — float32 readwrite
Experimental
See enable_dc_bus_overvoltage_ramp.
Do not set this lower than your usual <odrv>.vbus_voltage, unless you like fried brake resistors.
dc_bus_overvoltage_ramp_end — float32 readwrite
Experimental
See enable_dc_bus_overvoltage_ramp.
Must be larger than dc_bus_overvoltage_ramp_start, otherwise the ramp feature is disabled.
dc_max_positive_current — float32 readwrite
Max current the power supply can source.
Unit: A
dc_max_negative_current — float32 readwrite
Max current the power supply can sink.
Unit: A
You most likely want a non-positive value here. Set to -INFINITY to disable.
error_gpio_pin — uint32 readwrite
No description
gpio3_analog_mapping — Endpoint
Make sure the corresponding GPIO is in GPIO_MODE_ANALOG_IN.
gpio4_analog_mapping — Endpoint
Make sure the corresponding GPIO is in GPIO_MODE_ANALOG_IN.
This interface has no functions.