ODrive/docs/resources.md

Most information in this file can be reproduced by running dump_interrupts(odrv0), dump_dma(odrv0) and dump_threads(odrv0) in odrivetool (minor manual postprocessing was applied to the output of those functions).

Take this info with a grain of salt as we might forget to update it from time to time. When in doubt check the file history.

ODrive v3.6

Interrupt Vectors

• lowest priority: 15
• highest priority: 0

#	Name	Prio
-12	MemoryManagement_IRQn	0
-11	BusFault_IRQn	0
-10	UsageFault_IRQn	0
-5	SVCall_IRQn	3
-4	DebugMonitor_IRQn	0
-2	PendSV_IRQn	15
-1	SysTick_IRQn	15
6	EXTI0_IRQn	1
7	EXTI1_IRQn	1
8	EXTI2_IRQn	1
9	EXTI3_IRQn	1
10	EXTI4_IRQn	1
11	DMA1_Stream0_IRQn	4
13	DMA1_Stream2_IRQn	10
15	DMA1_Stream4_IRQn	10
16	DMA1_Stream5_IRQn	10
17	DMA1_Stream6_IRQn	10
19	CAN1_TX_IRQn	9
20	CAN1_RX0_IRQn	9
21	CAN1_RX1_IRQn	9
22	CAN1_SCE_IRQn	9
23	EXTI9_5_IRQn	1
40	EXTI15_10_IRQn	1
44	TIM8_UP_TIM13_IRQn	0
45	TIM8_TRG_COM_TIM14_IRQn	6
47	DMA1_Stream7_IRQn	3
50	TIM5_IRQn	1
52	UART4_IRQn	10
67	OTG_FS_IRQn	6
77	OTG_HS_IRQn (aka ControlLoop_IRQn)	5

DMA Streams

• lowest priority: 0
• highest priority: 3

Name	Prio	Channel	High Level Func
DMA1_Stream0	1	0 (SPI3_RX)	SPI_A
DMA1_Stream2	0	4 (UART4_RX)	UART_A
DMA1_Stream4	0	4 (UART4_TX)	UART_A
DMA1_Stream5	0	4 (USART2_RX)	UART_B
DMA1_Stream6	0	4 (USART2_TX)	UART_B
DMA1_Stream7	2	0 (SPI3_TX)	SPI_A
DMA2_Stream0	0	0 (ADC1)	freerunning ADC

Threads

• lowest priority: -3
• highest priority: 3

Name	Stack Size [B]	Prio
axis0	2048	3
axis1	2048	2
can	1024	0
startup	2048	0
uart	4096	0
usb	4096	0

ODrive v4.0

Interrupt Vectors

• lowest priority: 15
• highest priority: 0

#	Name	Prio
-12	MemoryManagement_IRQn	0
-11	BusFault_IRQn	0
-10	UsageFault_IRQn	0
-5	SVCall_IRQn	0
-4	DebugMonitor_IRQn	0
-2	PendSV_IRQn	15
-1	SysTick_IRQn	15
11	DMA1_Stream0_IRQn	5
14	DMA1_Stream3_IRQn	5
15	DMA1_Stream4_IRQn	5
16	DMA1_Stream5_IRQn	5
17	DMA1_Stream6_IRQn	5
18	ADC_IRQn	1
19	CAN1_TX_IRQn	6
20	CAN1_RX0_IRQn	6
21	CAN1_RX1_IRQn	6
22	CAN1_SCE_IRQn	6
26	TIM1_TRG_COM_TIM11_IRQn	2
35	SPI1_IRQn	5
36	SPI2_IRQn	5
38	USART2_IRQn	5
45	TIM8_TRG_COM_TIM14_IRQn	0
47	DMA1_Stream7_IRQn	0
51	SPI3_IRQn	5
59	DMA2_Stream3_IRQn	5
77	OTG_HS_IRQn	5

DMA Streams

• lowest priority: 0
• highest priority: 3

Name	Prio	Channel	High Level Func
DMA1_Stream0	1	0 (SPI3_RX)	Onboard SPI
DMA1_Stream3	0	0 (SPI2_RX)	Offboard SPI
DMA1_Stream4	0	0 (SPI2_TX)	Offboard SPI
DMA1_Stream5	0	4 (USART2_RX)	UART1
DMA1_Stream6	0	4 (USART2_TX)	UART1
DMA1_Stream7	1	0 (SPI3_TX)	Onboard SPI
DMA2_Stream0	0	0 (ADC1)	freerunning ADC
DMA2_Stream3	0	3 (SPI1_TX)	Status LED

Threads

TODO