Warning

This documention is in the process of being updated for ODrive Pro

Firmware Update

Configuration Backup

You can use odrivetool to back up and restore device configurations or transfer the configuration of one ODrive to another one.

  • To save the configuration to a file on the PC, run

    odrivetool backup-config my_config.json
    
  • To restore the configuration form such a file, run

    odrivetool restore-config my_config.json
    

Note

The encoder offset calibration is not restored because this would be dangerous if you transfer the calibration values of one axis to another axis.

Device Firmware Update

To update the ODrive to the newest firmware release, simply open up a terminal and run the following command:

odrivetool dfu --channel beta

Note

Alternatively you may use --channel devel to select our semi-stable development firmware channel.

You should then seem a prompt to confirm installation, type y and Enter to continue:

ODrive control utility v*.*.*
Waiting for ODrive...
Checking online for latest ODrive Pro v4.4-58V firmware on channel beta...
Found compatible firmware (********). Install now? [Y/n]

Next, you will be prompted to backup your user configuraion.

Downloading firmware...
The device may have user configuration that will be lost after the firmware upgrade.
If you want to back this up please run `odrivetool backup-config` first. Do you want to continue anyway? [Y/n]

Selecting n will exit odrivetool dfu, y will proceed to flash your device with the latest firmware

Putting device ************ into DFU mode...
Erasing... done
Flashing... done
Verifying... done
Waiting for the device to reappear...
Device firmware update successful.

Note

This command will connect to GitHub servers to retrieve the latest firmware.

If you have a non-default configuration saved on the device, odrivetool will try to carry over the configuration across the firmware update. If any of the settings are removed or renamed, you will get warning messages.

Troubleshooting

During the update, a new device called “STM32 BOOTLOADER” will appear. Open the Zadig utility and set the driver for “STM32 BOOTLOADER” to libusb-win32. After that the firmware update will continue.

On some machines you will need to unplug and plug back in the USB cable to make the PC understand that we switched from regular mode to bootloader mode… _force-dfu:

Forcing DFU Mode

If the DFU script can’t find the device, try forcing it into DFU mode:

  1. Flick the DIP switch that says “DFU, RUN” to “DFU” and power cycle the board.

  2. After you’re done upgrading firmware, don’t forget to put the switch back into the “RUN” position and power cycle the board again.

Alternative DFU Tool

Some people have had issues using the python dfu tool, so below is a guide on how to manually use different tools.

Before starting the below steps, you need to get firmware binary. You can download one of the officially released firmware files here. Make sure you select the file that matches your board version.

Multi-platform

ST has a tool called STM32CubeProgrammer.

  1. Download the tool here. You will need to make an account with ST to download the tool.

  2. Install the tool. On Windows, make sure to let it make a desktop shortcut.

  3. Force the ODrive into DFU mode.

  4. Launch STM32CubeProgrammer.

  5. Under “Memory & File edition”, there are two tabs called “Device memory” and “Open file”. Click “Open file” and choose the ODrive firmware elf file that you downloaded.

  6. In the top right, there is a dropdown menu containing the different methods to connect to an STM32 device. Choose “USB”.

  7. Under “USB configuration”, a USB port should be automatically selected and the ODrive serial number should be present next to “Serial number.”

  8. Click “Connect” above “USB configuration”.

  9. Click the tab with the name of your firmware file (example: firmware.elf) if it is not already selected.

  10. Click “Download” to flash your ODrive with the firmware. Your ODrive is now flashed!

  11. Close STM32CubeProgrammer.

  12. Turn off the power to the ODrive and set the DIP swtich back to RUN mode.

You can use the DfuSe app from ST.

  1. Download the tool here. Unfortunately they make you create a login to download. Sorry about that.

  2. After installing the tool, launch DfuFileMgr.exe which probably got added to the start menu as “Dfu file manager”.

  3. Select “I want to GENERATE a DFU file from S19, HEX or BIN files”, press OK.

  4. Click the button that says “S19 or Hex…”, find the firmware.elf file you built or downloaded.

  5. Leave all the other settings as default and click the “Generate…” button.

  6. Save the output file as ODriveFirmware.dfu. Note that the success message has a warning sign for some reason…

  7. Launch DfuSeDemo.exe which probably got added to the start menu as “DfuSeDemo”.

  8. Force the ODrive into DFU mode, as per the instructions above “How to force DFU mode”.

  9. In the top left it should now be connected to “STM Device in DFU Mode”.

  10. If it doesn’t appear, it may be because the driver is set to libusb by Zadig. We need to set it back to the original driver. Follow these instructions.

  11. If, after doing the above step, the ODrive still installs itself as a libusb device in Device Manager, you can try to delete the libusb driver (this is OK, since we can use Zadig to install it again). You can simply delete the file C:\Windows\System32\drivers\libusb0.sys.

  12. In the bottom right section called “Upgrade or Verify Action” click the button “Choose…”.

  13. Locate the ODriveFirmware.dfu we made before.

  14. Click button “Upgrade”.

  15. If you get a warning that it’s not possible to check that it’s the correct device type: click yes to continue.

  16. Congratulations your ODrive should now be flashed; you can now quit DfuSeDemo.

  17. Turn off the power to the ODrive and set the DIP switch back to RUN mode.