├── .DS_Store ├── .gitignore ├── .gitmodules ├── .travis.yml ├── Arduino ├── ArduinoI2C │ ├── ArduinoI2C.ino │ ├── odrive.h │ ├── odrive_endpoints.h │ └── type_traits.h └── ODriveArduino │ ├── LICENSE │ ├── ODriveArduino.cpp │ ├── ODriveArduino.h │ ├── README.md │ └── examples │ └── ODriveArduinoTest │ └── ODriveArduinoTest.ino ├── CHANGELOG.md ├── Firmware ├── .DS_Store ├── .gitignore ├── .vscode │ ├── c_cpp_properties.json │ ├── launch.json │ ├── settings.json │ └── tasks.json ├── Board │ └── v3 │ │ ├── 0001-display-correct-ODrive-version-in-USB-descriptor.patch │ │ ├── 0001-expose-correct-serial-number-on-USB.patch │ │ ├── 0001-fix-return-type-of-osSemaphoreWait.patch │ │ ├── 0001-release-sem_usb_tx-in-usbd_cdc.c.patch │ │ ├── 0002-Add-I2C-files-and-settings.patch │ │ ├── 0002-FreeRTOS-constness-fixes.patch │ │ ├── 0003-disable-IRQ-for-DMA2_Stream0.patch │ │ ├── Drivers │ │ ├── CMSIS │ │ │ ├── Device │ │ │ │ └── ST │ │ │ │ │ └── STM32F4xx │ │ │ │ │ └── Include │ │ │ │ │ ├── stm32f405xx.h │ │ │ │ │ ├── stm32f4xx.h │ │ │ │ │ └── system_stm32f4xx.h │ │ │ ├── Include │ │ │ │ ├── arm_common_tables.h │ │ │ │ ├── arm_const_structs.h │ │ │ │ ├── arm_math.h │ │ │ │ ├── cmsis_armcc.h │ │ │ │ ├── cmsis_armcc_V6.h │ │ │ │ ├── cmsis_gcc.h │ │ │ │ ├── core_cm0.h │ │ │ │ ├── core_cm0plus.h │ │ │ │ ├── core_cm3.h │ │ │ │ ├── core_cm4.h │ │ │ │ ├── core_cm7.h │ │ │ │ ├── core_cmFunc.h │ │ │ │ ├── core_cmInstr.h │ │ │ │ ├── core_cmSimd.h │ │ │ │ ├── core_sc000.h │ │ │ │ └── core_sc300.h │ │ │ └── Lib │ │ │ │ └── libarm_cortexM4lf_math.a │ │ └── STM32F4xx_HAL_Driver │ │ │ ├── Inc │ │ │ ├── Legacy │ │ │ │ └── stm32_hal_legacy.h │ │ │ ├── stm32f4xx_hal.h │ │ │ ├── stm32f4xx_hal_adc.h │ │ │ ├── stm32f4xx_hal_adc_ex.h │ │ │ ├── stm32f4xx_hal_can.h │ │ │ ├── stm32f4xx_hal_cortex.h │ │ │ ├── stm32f4xx_hal_def.h │ │ │ ├── stm32f4xx_hal_dma.h │ │ │ ├── stm32f4xx_hal_dma_ex.h │ │ │ ├── stm32f4xx_hal_flash.h │ │ │ ├── stm32f4xx_hal_flash_ex.h │ │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ │ ├── stm32f4xx_hal_gpio.h │ │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ │ ├── stm32f4xx_hal_i2c.h │ │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ │ ├── stm32f4xx_hal_pcd.h │ │ │ ├── stm32f4xx_hal_pcd_ex.h │ │ │ ├── stm32f4xx_hal_pwr.h │ │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ │ ├── stm32f4xx_hal_rcc.h │ │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ │ ├── stm32f4xx_hal_spi.h │ │ │ ├── stm32f4xx_hal_tim.h │ │ │ ├── stm32f4xx_hal_tim_ex.h │ │ │ ├── stm32f4xx_hal_uart.h │ │ │ └── stm32f4xx_ll_usb.h │ │ │ └── Src │ │ │ ├── stm32f4xx_hal.c │ │ │ ├── stm32f4xx_hal_adc.c │ │ │ ├── stm32f4xx_hal_adc_ex.c │ │ │ ├── stm32f4xx_hal_can.c │ │ │ ├── stm32f4xx_hal_cortex.c │ │ │ ├── stm32f4xx_hal_dma.c │ │ │ ├── stm32f4xx_hal_dma_ex.c │ │ │ ├── stm32f4xx_hal_flash.c │ │ │ ├── stm32f4xx_hal_flash_ex.c │ │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ │ ├── stm32f4xx_hal_gpio.c │ │ │ ├── stm32f4xx_hal_i2c.c │ │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ │ ├── stm32f4xx_hal_pcd.c │ │ │ ├── stm32f4xx_hal_pcd_ex.c │ │ │ ├── stm32f4xx_hal_pwr.c │ │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ │ ├── stm32f4xx_hal_rcc.c │ │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ │ ├── stm32f4xx_hal_spi.c │ │ │ ├── stm32f4xx_hal_tim.c │ │ │ ├── stm32f4xx_hal_tim_ex.c │ │ │ ├── stm32f4xx_hal_uart.c │ │ │ └── stm32f4xx_ll_usb.c │ │ ├── Inc │ │ ├── FreeRTOSConfig.h │ │ ├── adc.h │ │ ├── can.h │ │ ├── dma.h │ │ ├── freertos_vars.h │ │ ├── gpio.h │ │ ├── i2c.h │ │ ├── main.h │ │ ├── mxconstants.h │ │ ├── prev_board_ver │ │ │ ├── main_V3_2.h │ │ │ └── main_V3_4.h │ │ ├── spi.h │ │ ├── stm32f4xx_hal_conf.h │ │ ├── stm32f4xx_it.h │ │ ├── tim.h │ │ ├── usart.h │ │ ├── usb_device.h │ │ ├── usbd_cdc_if.h │ │ ├── usbd_conf.h │ │ └── usbd_desc.h │ │ ├── Makefile │ │ ├── Middlewares │ │ ├── ST │ │ │ └── STM32_USB_Device_Library │ │ │ │ ├── Class │ │ │ │ └── CDC │ │ │ │ │ ├── Inc │ │ │ │ │ └── usbd_cdc.h │ │ │ │ │ └── Src │ │ │ │ │ └── usbd_cdc.c │ │ │ │ └── Core │ │ │ │ ├── Inc │ │ │ │ ├── usbd_core.h │ │ │ │ ├── usbd_ctlreq.h │ │ │ │ ├── usbd_def.h │ │ │ │ └── usbd_ioreq.h │ │ │ │ └── Src │ │ │ │ ├── usbd_core.c │ │ │ │ ├── usbd_ctlreq.c │ │ │ │ └── usbd_ioreq.c │ │ └── Third_Party │ │ │ └── FreeRTOS │ │ │ └── Source │ │ │ ├── CMSIS_RTOS │ │ │ ├── cmsis_os.c │ │ │ └── cmsis_os.h │ │ │ ├── croutine.c │ │ │ ├── event_groups.c │ │ │ ├── include │ │ │ ├── FreeRTOS.h │ │ │ ├── FreeRTOSConfig_template.h │ │ │ ├── StackMacros.h │ │ │ ├── croutine.h │ │ │ ├── deprecated_definitions.h │ │ │ ├── event_groups.h │ │ │ ├── list.h │ │ │ ├── mpu_prototypes.h │ │ │ ├── mpu_wrappers.h │ │ │ ├── portable.h │ │ │ ├── projdefs.h │ │ │ ├── queue.h │ │ │ ├── semphr.h │ │ │ ├── task.h │ │ │ └── timers.h │ │ │ ├── list.c │ │ │ ├── portable │ │ │ ├── GCC │ │ │ │ └── ARM_CM4F │ │ │ │ │ ├── port.c │ │ │ │ │ └── portmacro.h │ │ │ └── MemMang │ │ │ │ └── heap_4.c │ │ │ ├── queue.c │ │ │ ├── tasks.c │ │ │ └── timers.c │ │ ├── Odrive.ioc │ │ ├── STM32F405RGTx_FLASH.ld │ │ ├── Src │ │ ├── adc.c │ │ ├── can.c │ │ ├── dma.c │ │ ├── freertos.c │ │ ├── gpio.c │ │ ├── i2c.c │ │ ├── main.c │ │ ├── prev_board_ver │ │ │ ├── adc_V3_2.c │ │ │ ├── adc_V3_4.c │ │ │ ├── gpio_V3_2.c │ │ │ └── gpio_V3_4.c │ │ ├── spi.c │ │ ├── stm32f4xx_hal_msp.c │ │ ├── stm32f4xx_hal_timebase_TIM.c │ │ ├── stm32f4xx_it.c │ │ ├── syscalls.c │ │ ├── system_stm32f4xx.c │ │ ├── tim.c │ │ ├── usart.c │ │ ├── usb_device.c │ │ ├── usbd_cdc_if.c │ │ ├── usbd_conf.c │ │ └── usbd_desc.c │ │ └── startup_stm32f405xx.s ├── Drivers │ └── DRV8301 │ │ ├── drv8301.c │ │ └── drv8301.h ├── FreeRTOS-openocd.c ├── LICENSE ├── Makefile ├── MotorControl │ ├── axis.cpp │ ├── axis.hpp │ ├── board_config_v3.h │ ├── controller.cpp │ ├── controller.hpp │ ├── encoder.cpp │ ├── encoder.hpp │ ├── example.json │ ├── low_level.cpp │ ├── low_level.h │ ├── main.cpp │ ├── motor.cpp │ ├── motor.hpp │ ├── nvm.c │ ├── nvm.h │ ├── nvm_config.hpp │ ├── odrive_main.h │ ├── sensorless_estimator.cpp │ ├── sensorless_estimator.hpp │ ├── utils.c │ └── utils.h ├── ODriveFirmware.launch ├── Tupfile.ini ├── Tupfile.lua ├── adctest.py ├── build.lua ├── build.sh ├── communication │ ├── ascii_protocol.cpp │ ├── ascii_protocol.hpp │ ├── communication.cpp │ ├── communication.h │ ├── interface_can.cpp │ ├── interface_can.hpp │ ├── interface_i2c.cpp │ ├── interface_i2c.h │ ├── interface_uart.cpp │ ├── interface_uart.h │ ├── interface_usb.cpp │ └── interface_usb.h ├── fibre │ ├── .gitignore │ ├── README.md │ ├── cpp │ │ ├── include │ │ │ └── fibre │ │ │ │ ├── cpp_utils.hpp │ │ │ │ ├── crc.hpp │ │ │ │ ├── decoders.hpp │ │ │ │ ├── encoders.hpp │ │ │ │ ├── posix_tcp.hpp │ │ │ │ ├── posix_udp.hpp │ │ │ │ └── protocol.hpp │ │ ├── package.lua │ │ ├── posix_tcp.cpp │ │ ├── posix_udp.cpp │ │ └── protocol.cpp │ ├── python │ │ ├── .gitignore │ │ ├── fibre │ │ │ ├── __init__.py │ │ │ ├── discovery.py │ │ │ ├── protocol.py │ │ │ ├── remote_object.py │ │ │ ├── serial_transport.py │ │ │ ├── shell.py │ │ │ ├── tcp_transport.py │ │ │ ├── udp_transport.py │ │ │ ├── usbbulk_transport.py │ │ │ └── utils.py │ │ └── setup.py │ ├── test │ │ ├── Tupfile.lua │ │ ├── run_tests.cpp │ │ └── test_server.cpp │ ├── tools │ │ └── fibre-shell │ └── tupfiles │ │ └── build.lua ├── find_programmer.sh ├── motor_timing.jpg ├── openocd.gdbinit └── tup.config.default ├── ODrive_Workspace.code-workspace ├── README.md ├── analysis ├── cogging_torque │ └── cogging_harmonics.py ├── motor_analysis │ ├── 350kvTP.PNG │ ├── 350kvVelli.PNG │ └── VelliPlot.m └── numeric_path_opt │ ├── Main.m │ └── predictionmatrices.m ├── docs ├── CNAME ├── Gemfile ├── Gemfile.lock ├── _config.yaml ├── _data │ └── index.yaml ├── _layouts │ └── default.html ├── ascii-protocol.md ├── assets │ └── css │ │ └── style.scss ├── commands.md ├── configuring-eclipse.md ├── configuring-vscode.md ├── developer-guide.md ├── encoders.md ├── favicon.ico ├── getting-started.md ├── interfaces.md ├── odrivetool.md ├── protocol.md ├── screenshots │ ├── CodeAsMakefile.png │ ├── ImportLaunch.png │ └── LaunchConfigFilter.png ├── stlink-wiring-cropped.jpg ├── test.md ├── testing.md └── troubleshooting.md └── tools ├── .gitignore ├── .vscode └── launch.json ├── bandwidthtest.py ├── doggo_setup.py ├── odrive ├── __init__.py ├── code_generator.py ├── configuration.py ├── dfu.py ├── dfuse │ ├── COPYING │ ├── DfuDevice.py │ ├── DfuFile.py │ ├── DfuState.py │ ├── DfuStatus.py │ └── __init__.py ├── enums.py ├── shell.py ├── tests.py ├── utils.py └── version.py ├── odrive_demo.py ├── odrive_header_template.h.in ├── odrivetool ├── odrivetool.bat ├── requirements.txt ├── run_tests.py ├── save_config_issue_example.py ├── setup.py ├── test-rig-loopback.yaml ├── test-rig-parallel.yaml ├── usbpermission └── woofer_setup.py /.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Nate711/ODrive/HEAD/.DS_Store -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 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