6.8 KiB
ODrive Tool
The ODrive Tool is the accompanying PC program for the ODrive. It's main purpose is to provide an interactive shell to control the device manually, as well as some supporting functions like firmware update.
Installation
Refer to the Getting Started guide.
Type odrivetool --help to see what features are available.
Multiple ODrives
By default, odrivetool will connect to any ODrive it finds. If this is not what you want, you can select a specific ODrive.
To find the serial number of your ODrive, run odrivetool, connect exactly one ODrive and power it up. You should see this:
Connected to ODrive 306A396A3235 as odrv0
In [1]:
306A396A3235 is the serial number of this particular ODrive. If you want ODrive Tool to ignore all other devices you would close it and then run odrivetool --serial-number 306A396A3235.
My ODrive is stuck in DFU mode, can I still find the serial number?
In Linux you can find it by running:
$ (sudo lsusb -d 1209:0d32 -v; sudo lsusb -d 0483:df11 -v) 2>/dev/null | grep iSerial
iSerial 3 385F324D3037
iSerial 3 306A396A3235
Here, two ODrives are connected.
Configuration Backup
You can use ODrive Tool 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.
Device Firmware Update
To update the ODrive to the newest firmware release, simply open up a terminal and run the following command:
~ $ odrivetool dfu
ODrive control utility v0.3.7.dev
Waiting for ODrive...
Found ODrive 308039673235 (v3.5-24V) with firmware v0.3.7-dev
Checking online for newest firmware... found v0.3.7
Downloading firmware...
Putting device 308039673235 into DFU mode...
Erasing... done
Flashing... done
Verifying... done
Note that this command will connect to GitHub servers to retrieve the latest firmware.
If you have a non-default configuration saved on the device, ODrive Tool 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.
How to flash a custom firmware
You can download one of the officially released firmware files from here. You will need one of the .hex files (not the .elf file). Make sure you select the file that matches your board version.
To compile firmware from source, refer to the developer guide.
Troubleshooting
-
Windows: 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.
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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.
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If the DFU script can't find the device, try forcing it into DFU mode.
How to force DFU mode (ODrive v3.5)
Flick the DIP switch that "DFU, RUN" to "DFU" and power cycle the board. If that alone doesn't work, also connect the After you're done, put the switch back into the "RUN" position and power cycle the board again.How to force DFU mode (ODrive v3.1, v3.2)
Connect the pin "BOOT0" to "3.3V" and power cycle the board. If that alone doesn't work, also connect the pin "GPIO1" to "GND". After you're done, remove the wires and power cycle the board again.
Flashing with an STLink
This procedure is only necessary for ODrive v3.4 or earlier. You will need an STLink/v2 or compatible programmer. You should have received one with your ODrive.
- Install OpenOCD
- Windows: instructions (also follow the instructions on the ST-LINK/V2 drivers)
- Linux:
sudo apt-get install openocd - macOS:
brew install openocd
- Download the latest firmware release form here. You will need the .elf file. Make sure you select the file that matches your board version.
- Wire up the ODrive and STLink/v2 programmer as shown in this picture:
Power up the ODrive. - Open up a terminal and navigate to the directory where the firmware is.
- Run the following command (replace
ODriveFirmware_v3.4-24V.elfwith the name of your firmware file):
~/Downloads $ openocd -f interface/stlink-v2.cfg -f target/stm32f4x.cfg -c init -c reset\ halt -c flash\ write_image\ erase\ ODriveFirmware_v3.4-24V.elf -c reset\ run -c exit
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 2000 kHz
adapter_nsrst_delay: 100
none separate
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : clock speed 1800 kHz
Info : STLINK v2 JTAG v17 API v2 SWIM v4 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 3.236027
Info : stm32f4x.cpu: hardware has 6 breakpoints, 4 watchpoints
adapter speed: 2000 kHz
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x08009224 msp: 0x20020000
auto erase enabled
Info : device id = 0x10076413
Info : flash size = 1024kbytes
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x20000046 msp: 0x20020000
Warn : no flash bank found for address 10000000
wrote 262144 bytes from file ODriveFirmware_v3.4-24V.elf in 10.194110s (25.113 KiB/s)
adapter speed: 2000 kHz
If something doesn't work, make sure openocd is in your PATH variable, check that the wires are connected properly and try with elevated privileges.