odrive_can_espidf

ESP-IDF component for ODrive CAN interface. Tested on ESP-IDF v4.3 with ODrive fw-v0.5.2.

For example usage, see -> example.c

ODrive Configuration

There is a built-in DIP switch that toggles the 120Ω CAN termination resistor (CAN-R is off CAN+R is on).

The following fields must be configured for each axis in odrivetool:

# currently the component only support consecutive IDs starting from 0
odrv0.axis0.config.can.node_id = 0 # 0 - 0x3F

# set can baudrate
odrv0.can.config.baud_rate = 250000 # max 1000000 (1Mbps)

# set encoder rate
odrv0.axis0.config.can.encoder_rate_ms = 10

# set heartbeat rate
odrv0.axis0.config.can.heartbeat_rate_ms = 100

# enable can output
odrv0.config.enable_can_a = True

# save and reboot
odrv0.save_configuration()