• Usb Com Board Driver ( Multi-instance ) Driver Downloads
• Usb Com Board Driver Multi-instance Download
• USB Com Board Driver ( Multi-instance ) Driver Download
• Usb Com Board Driver ( Multi-instance ) Driver Download Windows 10

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.

Table of contents

Installation

Refer to the Getting Started guide.

Added a USB-C connector type identifier, such that a display connected using the USB-C connector that was previously reported as e.g. DP-5 will now be USB-C-0. Scripts and configuration files that use the DP identifier for this connector will be affected.

Type odrivetool --help to see what features are available.

1. After the device-specific driver is installed, Windows 10 will select that driver instead of the standard USB audio 2.0 driver when you first connect the device. Note See the device manufacturer's user guide for specific instructions about how to install the driver.
2. . Board support package (BSP): this layer offers a set of APIs relative to the hardware components in the hardware boards (audio codec, IO expander, touchscreen, SRAM driver, LCD drivers, etc.) and is composed of two parts: – Component: the driver relative to the external device on the board and not related to the STM32.

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:

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.

Yes, the serial number is part of the USB descriptors.

In Linux you can find it by running:

Here, two ODrives are connected.

Usb Com Board Driver ( Multi-instance ) Driver Downloads

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:

Note that this command will connect to GitHub servers to retrieve the latest firmware.

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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.

If you want to flash a specific firmware file instead of automatically downloading one, you can run odrivetool dfu path/to/firmware/file.hex

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.
• Linux: Try running sudo odrivetool dfu instead of odrivetool dfu.
• 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.

• If the DFU script can’t find the device, try forcing it into DFU mode.

  How to force DFU mode (ODrive v3.5 and newer)

  Flick the DIP switch that says “DFU, RUN” to “DFU” and power cycle the board. If that alone doesn’t work, also connect the pin “GPIO6” to “GND”. After you’re done upgrading firmware, don’t forget to 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.

Upgrading firmware with a different DFU tool

Some people have had issues using the python dfu tool, so below is a guide on how to manually use different tools.

Before starting the below steps, you need to get firmware binary. You can download one of the officially released firmware files from here. Make sure you select the file that matches your board version. On Windows you will need one of the .hex files, and for Linux and Mac you will want the .elf file.

To compile firmware from source, refer to the developer guide.

Multi-platform

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ST has a tool called STM32CubeProgrammer.

1. Download the tool here. You will need to make an account with ST to download the tool.
2. Install the tool. On Windows, make sure to let it make a desktop shortcut.
3. Force the ODrive into DFU mode, as per the instructions above titled “How to force DFU mode”.
4. Launch the tool.
5. Under “Memory & File edition”, there are two tabs called “Device memory” and “Open file”. Click “Open file” and choose the ODrive firmware hex file that you downloaded or compiled.
6. In the top right, there is a dropdown menu containing the different methods to connect to an STM32 device. Choose “USB”.
7. Under “USB configuration”, a USB port should be automatically selected and the ODrive serial number should be present next to “Serial number.”
8. Click “Connect” above “USB configuration”.
9. Click the tab with the name of your firmware file (example: ODriveFirmware_v3.6-56V.hex) if it is not already selected.
10. Click “Download” to flash your ODrive with the firmware. Your ODrive is now flashed!
11. Close STM32CubeProgrammer.
12. Turn off the power to the ODrive and set the DIP swtich back to RUN mode.

Windows

You can use the DfuSe app from ST.

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1. Download the tool here. Unfortunately they make you create a login to download. Sorry about that.
2. After installing the tool, launch DfuFileMgr.exe which probably got added to the start menu as “Dfu file manager”.
3. Select “I want to GENERATE a DFU file from S19, HEX or BIN files”, press OK.
4. Click the button that says “S19 or Hex…”, find the ODriveFirmware.hex file you built or downloaded.
5. Leave all the other settings as default and click the “Generate…” button.
6. Save the output file as ODriveFirmware.dfu. Note that the success message has a warning sign for some reason…
7. Launch DfuSeDemo.exe which probably got added to the start menu as “DfuSeDemo”.
8. Force the ODrive into DFU mode, as per the instructions above “How to force DFU mode”.
9. In the top left it should now be connected to “STM Device in DFU Mode”.
   1. If it doesn’t appear, it may be because the driver is set to libusb by Zadig. We need to set it back to the original driver. Follow these instructions.
   2. If, after doing the above step, the ODrive still installs itself as a libusb device in Device Manager, you can try to delete the libusb driver (this is OK, since we can use Zadig to install it again). You can simply delete the file C:WindowsSystem32driverslibusb0.sys.
10. In the bottom right section called “Upgrade or Verify Action” click the button “Choose…”.
11. Locate the ODriveFirmware.dfu we made before.
12. Click button “Upgrade”.
13. If you get a warning that it’s not possible to check that it’s the correct device type: click yes to continue.
14. Congratulations your ODrive should now be flashed; you can now quit DfuSeDemo.
15. Turn off the power to the ODrive and set the DIP switch back to RUN mode.

Linux

Install dfu-util:

Force DFU mode, as per the instructions above.In the Firmware directory, after finishing building the firmware:

macOS

First, you need to install the arm development tools to copy the binary into the appropriate format.

Then convert the binary to .bin format

Install dfu-util:

Put the ODrive into DFU mode using the DIP switch, then turn it on and plug in the USB.Find the correct device serial number to use:

Finally, flash the firmware using the found serial number:

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.

1. Install OpenOCD
   • Windows:instructions (also follow the instructions on the ST-LINK/V2 drivers)
   • Linux:sudo apt-get install openocd
   • macOS:brew install openocd
2. Download the latest firmware release form here. You will need the .elf file. Make sure you select the file that matches your board version.
3. Wire up the ODrive and STLink/v2 programmer as shown in this picture:
   Power up the ODrive.
4. Open up a terminal and navigate to the directory where the firmware is.
5. Run the following command (replace ODriveFirmware_v3.4-24V.elf with the name of your firmware file):

If everything worked correctly, you should see something similar to this towards the end of the printout:

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.

Liveplotter

Liveplotter is used for the graphical plotting of odrive parameters (i.e. position) in real time. To start liveplotter, close any other instances of liveplotter and run odrivetool liveplotter from a new anaconda prompt window. By default two parameters are plotted on startup; the encoder position of axis 1 and axis 2. In the below example the motors are running in closed_loop_control while they are being forced off position by hand.

To change what parameters are plotted open odrivetool (located in Anaconda3Scripts or ODrive-mastertools) with a text editor and modify the liveplotter function:

For example, to plot the approximate motor torque [Nm] and the velocity [RPM] of axis0, you would modify the function to read:

In the example below the motor is forced off axis by hand and held there. In response the motor controller increases the torque (orange line) to counteract this disturbance up to a peak of 500 N.cm at which point the motor current limit is reached. When the motor is released it returns back to its commanded position very quickly as can be seen by the spike in the motor velocity (blue line).

To change the scale and sample rate of the plot modify the following parameters located at the beginning of utils.py (located in Anaconda3Libsite-packagesodrive):

For more examples on how to interact with the plotting functionality refer to the Matplotlib examples.

Liveplotter from interactive odrivetool instance

You can also run start_liveplotter(...) directly from the interactive odrivetool prompt. This is useful if you want to issue commands or otherwise keep interacting with the odrive while plotting.

For example you can type the following directly into the interactive prompt: start_liveplotter(lambda: [odrv0.axis0.encoder.pos_estimate]). Just like the examples above, you can list several parameters to plot separated by comma in the square brackets.In general, you can plot any variable that you are able to read like normal in odrivetool.