98 lines
3.1 KiB
ReStructuredText
98 lines
3.1 KiB
ReStructuredText
===========
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ODrive V3.6
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===========
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ODrive V3.6 is an open-source dual-motor FOC controller based on
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the STMicro STM32F405RG and TI DRV8301 gate drivers.
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See https://odriverobotics.com/shop/odrive-v36 for further information.
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For now we support only ODrive V3.6 56V.
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Pin configuration
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=================
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========= ============== ========= =======================
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Board Pin Chip Function Chip Pin Notes
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========= ============== ========= =======================
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GPIO_1 PA0
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GPIO_2 PA1
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GPIO_3 USART2_TX PA2 Serial TX
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GPIO_4 USART2_RX PA3 Serial RX
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M1_TEMP ADC1_IN4 PA4
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AUX_TEMP ADC1_IN5 PA5
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VBUS_S ADC1_IN6 PA6
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M1_AL TIM8 CH1N PA7
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M0_AH TIM1 CH1 PA8
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M0_BH TIM1 CH2 PA9
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M0_CH TIM1 CH3 PA10
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USB_DM USB DM PA11
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USB_DP USB DP PA12
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SWDIO PA13
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SWCLK PA14
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GPIO_7 PA15
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M0_SO1 ADC2_IN10 PC0 M0 current 1
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M0_SO2 ADC2_IN11 PC1 M0 current 2
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M1_SO2 ADC3_IN12 PC2 M1 current 2
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M1_SO1 ADC3_IN13 PC3 M1 current 1
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GPIO_5 PC4
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M0_TEMP ADC1_IN15 PC5
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M1_AH TIM8 CH1 PC6
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M1_BH TIM8 CH2 PC7
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M1_CH TIM8 CH3 PC8
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M0_ENC_Z PC9
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SPI_SCK SPI3_SCK PC10 DRV8301 M0/M1
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SPI_MISO SPI3_MISO PC11 DRV8301 M0/M1
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SPI_MOSI SPI3_MOSI PC12 DRV8301 M0/M1
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M0_NCS SPI CS PC13 DRV8301 M0 CS
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M1_NCS SPI CS PC14 DRV8301 M1 CS
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M1_ENC_Z PC15
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M1_BL TIM8 CH2N PB0
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M1_CL TIM8 CH3N PB1
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GPIO_6 PB2
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GPIO_8 PB3
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M0_ENC_A TIM3_CH1IN_2 PB4
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M0_ENC_B TIM3_CH2IN_2 PB5
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M1_ENC_A TIM4_CH1IN_1 PB6
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M1_ENC_B TIM4_CH2IN_1 PB7
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CAN_R CAN_R PB8
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CAN_D CAN_D PB9
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AUX_L PB10
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AUX_H PB11
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EN_GATE OUT PB12 M0/M1 DRV8301
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M0_AL TIM1 CH1N PB13
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M0_BL TIM1 CH2N PB14
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M0_CL TIM1 CH3N PB15
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N_FAULT PD2 M0/M1 DRV8301 N_FAULT
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========= ============== ========= =======================
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Board hardware configuration
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============================
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=========================== ==================
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Current shunt resistance 0.0005
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Current sense gain 10/20/40/80
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Vbus min 12V
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Vbus max 24V or 56V
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Iout max 40A (no cooling for MOSFETs)
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IPHASE_RATIO 1/(R_shunt*gain)
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VBUS_RATIO = 1/VBUS_gain 11 or 19
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=========================== ==================
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Configurations
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==============
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nsh
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---
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Configures the NuttShell (nsh) located at apps/examples/nsh. The
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Configuration enables the serial interfaces on USART2. Support for
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builtin applications is enabled, but in the base configuration no
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builtin applications are selected.
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usbnsh
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------
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This is another NSH example. If differs from other 'nsh' configurations
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in that this configurations uses a USB serial device for console I/O.
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