*

ODrive-fw-v0.5.6/docs/figures/can-protocol.csv

@@ -0,0 +1,133 @@
+CMD ID,Name,Sender,Signals,Start byte,Signal Type,Bits,Factor,Offset
+0x000,CANOpen NMT Message**,Master,-,-,-,-,-,-
+0x001,ODrive Heartbeat Message,Axis,"Axis Error
+Axis Current State
+Motor Error Flag
+Encoder Error Flag
+Controller Error Flag
+Trajectory Done Flag","0
+4
+5.0
+6.0
+7.0
+7.7","Unsigned Int
+Unsigned Int
+Unsigned Int
+Unsigned Int
+Unsigned Int
+Unsigned Int","32
+8
+1
+1
+1
+1","-
+-
+-
+-
+-
+-","-
+-
+-
+-
+-
+-"
+0x002,ODrive Estop Message,Master,-,-,-,-,-,-
+0x003,Get Motor Error*,Axis,Motor Error,0,Unsigned Int,64,1,0
+0x004,Get Encoder Error*,Axis,Encoder Error,0,Unsigned Int,32,1,0
+0x005,Get Sensorless Error*,Axis,Sensorless Error,0,Unsigned Int,32,1,0
+0x006,Set Axis Node ID,Master,Axis CAN Node ID,0,Unsigned Int,32,1,0
+0x007,Set Axis Requested State,Master,Axis Requested State,0,Unsigned Int,32,1,0
+0x008,Set Axis Startup Config,Master,- Not yet implemented -,-,-,-,-,-
+0x009,Get Encoder Estimates*,Master,"Encoder Pos Estimate
+Encoder Vel Estimate","0
+4","IEEE 754 Float
+IEEE 754 Float","32
+32","1
+1","0
+0"
+0x00A,Get Encoder Count*,Master,"Encoder Shadow Count
+Encoder Count in CPR","0
+4","Signed Int
+Signed Int","32
+32","1
+1","0
+0"
+0x00B,Set Controller Modes,Master,"Control Mode
+Input Mode","0
+4","Signed Int
+Signed Int","32
+32","1
+1","0
+0"
+0x00C,Set Input Pos,Master,"Input Pos
+Vel FF
+Torque FF","0
+4
+6","IEEE 754 Float
+Signed Int
+Signed Int","32
+16
+16","1
+0.001
+0.001","0
+0
+0"
+0x00D,Set Input Vel,Master,"Input Vel
+Torque FF","0
+4","IEEE 754 Float
+IEEE 754 Float","32
+32","1
+1","0
+0"
+0x00E,Set Input Torque,Master,Input Torque,0,IEEE 754 Float,32,1,0
+0x00F,Set Limits,Master,"Velocity Limit
+Current Limit","0
+4","IEEE 754 Float
+IEEE 754 Float",32,"1
+1","0
+0"
+0x010,Start Anticogging,Master,-,-,-,-,-,-
+0x011,Set Traj Vel Limit,Master,Traj Vel Limit,0,IEEE 754 Float,32,1,0
+0x012,Set Traj Accel Limits,Master,"Traj Accel Limit
+Traj Decel Limit","0
+4","IEEE 754 Float
+IEEE 754 Float","32
+32","1
+1","0
+0"
+0x013,Set Traj Inertia,Master,Traj Inertia,0,IEEE 754 Float,32,1,0
+0x014,Get IQ*,Axis,"Iq Setpoint
+Iq Measured","0
+4","IEEE 754 Float
+IEEE 754 Float","32
+32","1
+1","0
+0"
+0x015,Get Sensorless Estimates*,Master,"Sensorless Pos Estimate
+Sensorless Vel Estimate","0
+4","IEEE 754 Float
+IEEE 754 Float","32
+32","1
+1","0
+0"
+0x016,Reboot ODrive,Master***,-,-,-,-,-,-
+0x017,Get Bus Voltage and Current,Master***,"Bus Voltage
+Bus Current","0
+4","IEEE 754 Float
+IEEE 754 Float","32
+32","1
+1","0
+0"
+0x018,Clear Errors,Master,-,-,-,-,-,-
+0x019,Set Linear Count,Master,Position,0,Signed Int,32,1,0
+0x01A,Set Position Gain,Master,Pos Gain,0,IEEE 754 Float,32,1,0
+0x01B,Set Vel Gains,Master,"Vel Gain
+Vel Integrator Gain","0
+4","IEEE 754 Float
+IEEE 754 Float","32
+32","1
+1","0
+0"
+0x01C,Get ADC Voltage****,Master***,ADC Voltage,0,IEEE 754 Float,32,1,0
+0x01D,Get Controller Error*,Axis,Controller Error,0,Unsigned Int,32,1,0
+0x700,CANOpen Heartbeat Message**,Slave,-,-,-,-,-,-

ODrive-fw-v0.5.6/docs/figures/pinout.csv

@@ -0,0 +1,18 @@
+#,Label,GPIO_MODE_DIGITAL,GPIO_MODE_ANALOG_IN,GPIO_MODE_UART_A,GPIO_MODE_UART_B,GPIO_MODE_PWM,GPIO_MODE_CAN_A,GPIO_MODE_I2C_A,GPIO_MODE_ENC0,GPIO_MODE_ENC1,GPIO_MODE_MECH_BRAKE
+0,not a pin,,,,,,,,,,
+1,GPIO1 (+),general purpose,analog input,**UART_A.TX**,,PWM0.0,,,,,mechanical brake
+2,GPIO2 (+),general purpose,analog input,**UART_A.RX**,,PWM0.1,,,,,mechanical brake
+3,GPIO3,general purpose,**analog input**,,**UART_B.TX**,PWM0.2,,,,,mechanical brake
+4,GPIO4,general purpose,**analog input**,,**UART_B.RX**,PWM0.3,,,,,mechanical brake
+5,GPIO5,general purpose,**analog input (*)**,,,,,,,,mechanical brake
+6,GPIO6 (*) (+),**general purpose**,,,,,,,,,mechanical brake
+7,GPIO7 (*) (+),**general purpose**,,,,,,,,,mechanical brake
+8,GPIO8 (*) (+),**general purpose**,,,,,,,,,mechanical brake
+9,M0.A,general purpose,,,,,,,**ENC0.A**,,
+10,M0.B,general purpose,,,,,,,**ENC0.B**,,
+11,M0.Z,**general purpose**,,,,,,,,,
+12,M1.A,general purpose,,,,,,I2C.SCL,,**ENC1.A**,
+13,M1.B,general purpose,,,,,,I2C.SDA,,**ENC1.B**,
+14,M1.Z,**general purpose**,,,,,,,,,
+15,not exposed,general purpose,,,,,**CAN_A.RX**,I2C.SCL,,,
+16,not exposed,general purpose,,,,,**CAN_A.TX**,I2C.SDA,,,