ODrive V3.6

ODrive V3.6 is an open-source dual-motor FOC controller based on the STMicro STM32F405RG and TI DRV8301 gate drivers.

See https://odriverobotics.com/shop/odrive-v36 for further information.

For now we support only ODrive V3.6 56V.

Pin configuration

Board Pin	Chip Function	Chip Pin	Notes
GPIO_1		PA0
GPIO_2		PA1
GPIO_3	USART2_TX	PA2	Serial TX
GPIO_4	USART2_RX	PA3	Serial RX
M1_TEMP	ADC1_IN4	PA4
AUX_TEMP	ADC1_IN5	PA5
VBUS_S	ADC1_IN6	PA6
M1_AL	TIM8 CH1N	PA7
M0_AH	TIM1 CH1	PA8
M0_BH	TIM1 CH2	PA9
M0_CH	TIM1 CH3	PA10
USB_DM	USB DM	PA11
USB_DP	USB DP	PA12
SWDIO		PA13
SWCLK		PA14
GPIO_7		PA15
M0_SO1	ADC2_IN10	PC0	M0 current 1
M0_SO2	ADC2_IN11	PC1	M0 current 2
M1_SO2	ADC3_IN12	PC2	M1 current 2
M1_SO1	ADC3_IN13	PC3	M1 current 1
GPIO_5		PC4
M0_TEMP	ADC1_IN15	PC5
M1_AH	TIM8 CH1	PC6
M1_BH	TIM8 CH2	PC7
M1_CH	TIM8 CH3	PC8
M0_ENC_Z		PC9
SPI_SCK	SPI3_SCK	PC10	DRV8301 M0/M1
SPI_MISO	SPI3_MISO	PC11	DRV8301 M0/M1
SPI_MOSI	SPI3_MOSI	PC12	DRV8301 M0/M1
M0_NCS	SPI CS	PC13	DRV8301 M0 CS
M1_NCS	SPI CS	PC14	DRV8301 M1 CS
M1_ENC_Z		PC15
M1_BL	TIM8 CH2N	PB0
M1_CL	TIM8 CH3N	PB1
GPIO_6		PB2
GPIO_8		PB3
M0_ENC_A	TIM3_CH1IN_2	PB4
M0_ENC_B	TIM3_CH2IN_2	PB5
M1_ENC_A	TIM4_CH1IN_1	PB6
M1_ENC_B	TIM4_CH2IN_1	PB7
CAN_R	CAN_R	PB8
CAN_D	CAN_D	PB9
AUX_L		PB10
AUX_H		PB11
EN_GATE	OUT	PB12	M0/M1 DRV8301
M0_AL	TIM1 CH1N	PB13
M0_BL	TIM1 CH2N	PB14
M0_CL	TIM1 CH3N	PB15
N_FAULT		PD2	M0/M1 DRV8301 N_FAULT

Board hardware configuration

Current shunt resistance	0.0005
Current sense gain	10/20/40/80
Vbus min	12V
Vbus max	24V or 56V
Iout max	40A (no cooling for MOSFETs)
IPHASE_RATIO	1/(R_shunt*gain)
VBUS_RATIO = 1/VBUS_gain	11 or 19

Configurations

nsh

Configures the NuttShell (nsh) located at apps/examples/nsh. The Configuration enables the serial interfaces on USART2. Support for builtin applications is enabled, but in the base configuration no builtin applications are selected.

usbnsh

This is another NSH example. If differs from other ‘nsh’ configurations in that this configurations uses a USB serial device for console I/O.