The docs reflect firmware version 0.5.1. There are many breaking changes. Please find docs for v0.4.12 here.

ODrive Documentation

High performance motor control

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UART Interface

The ODrive’s UART interface is enabled by default (see odrv0.config.enable_uart). Currently it runs both the Native Protocol and the ASCII Protocol at the same time.

The baudrate is 115200 by default and can be changed using odrv0.config.uart_baudrate. Changes to the UART configuration require a reboot to take effect.

The logic level of the ODrive is 3.3V. The GPIOs are 5V tolerant.

Pinout: