ODrive

I'm currently at a small company and often find myself looking outside for solutions and techniques in the embedded software space. The areas I'm interested in are C, testing and testability, architecture and portability, real-time control, build systems and CI. Leaving books and Stack Overflow aside, the value of projects is in their demonstration: the maturity/immaturity, advantages/drawbacks of particular tools and techniques. The following projects have been of great pedagogical use to me: https://github.com/google/makani (Bazel, C, testing, architecture, real-time control, code-generation) https://github.com/odriverobotics/ODrive (real-time control, code-generation, C++) https://github.com/FreeRTOS/FreeRTOS-Kernel (architecture, C) https://github.com/espressif/esp-idf (architecture, C, CMake, testing) Which embedded software project

Position, velocity and current/force are the currently supported modes, see: https://github.com/madcowswe/ODriveFirmware/blob/master/Moto... Coming soon will also be go-to commands which track 3-rd order polynomial position trajectories.

Please :-) Here are the documentation links to get you started: Hardware: https://github.com/madcowswe/ODriveHardware/ v3.2 schematic: https://github.com/madcowswe/ODriveHardware/blob/master/v3/v... Firmware: https://github.com/madcowswe/ODriveFirmware PC config and analysis support: https://github.com/madcowswe/ODrive FPGA: https://github.com/madcowswe/ODriveFPGA "... the FPGA logic and software that runs on the FPGA based ODrive. This is not currently in development, but may be resumed at some later date." ---- The hardware is based on a STM32F405RGT6[1] driving two TI DRV8301 brushless motor controller chips[2] and a bunch of MOSFETs to handle the power switching. I/O is a USB, CAN with driver chip, and SPI unbuffered on headers. [1] High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 1 Mbyte Flash, 168 MHz CPU,