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More detailed USB Communications instructions

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2017-09-23 01:09:32 -04:00
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@@ -108,8 +108,14 @@ If you prefer to debug from eclipse, see [Setting up Eclipse development environ
## Communicating over USB
There is currently a very primitive method to read/write configuration, commands and errors from the ODrive over the USB.
Please use the `ODriveFirmware/tools/test_bulk.py` python script for this.
On Windows you need to set the driver for ODrive to libusb using [Zadig](http://zadig.akeo.ie/).
Please use the `ODriveFirmware/tools/test_bulk.py` python script for this. It is written for Python 3.
Setup instructions as follows:
* Install PyUSB (pip install --pre pysusb)
* Plug in the STLink or another power source to power the ODrive board
* Plug in a separate USB cable into the microUSB connector on ODrive
* On Windows, use the [Zadig](http://zadig.akeo.ie/) utility to set ODrive (not STLink!) driver to libusb
* Run test_bulk.py
### Command set
The most accurate way to understand the commands is to read [the code](https://github.com/madcowswe/ODriveFirmware/blob/f19f1b78de4bd917284ff95bc61ca616ca9bacc4/MotorControl/low_level.c#L353) that parses the commands.