README
odrivetool
A node.js tool for Odrive.
The project relies heavely on a few core modules:
- odrive - Object marshaling via the
Fibreprotocol. - @primeeuler/fibre - JavaScript port of the
Fibreprotocol. - repl - Interactive shell to interface with
Odrive.
Example: >odrive.unmarshal(odrv0)
{ vbus_voltage: 15.904614448547363,
serial_number: 56488237806902,
hw_version_major: 3,
hw_version_minor: 6,
hw_version_variant: 56,
fw_version_major: 0,
fw_version_minor: 4,
fw_version_revision: 11,
fw_version_unreleased: 0,
user_config_loaded: true,
brake_resistor_armed: true,
system_stats:
{ uptime: 20826033,
min_heap_space: 4216,
min_stack_space_axis0: 7868,
min_stack_space_axis1: 7868,
min_stack_space_comms: 9668,
min_stack_space_usb: 2768,
min_stack_space_uart: 3932,
min_stack_space_usb_irq: 1788,
min_stack_space_startup: 604,
usb: { rx_cnt: 13556, tx_cnt: 13495, tx_overrun_cnt: 0 },
i2c: { addr: 0, addr_match_cnt: 0, rx_cnt: 0, error_cnt: 0 } },
config:
{ brake_resistance: 2,
enable_uart: true,
enable_i2c_instead_of_can: false,
enable_ascii_protocol_on_usb: true,
dc_bus_undervoltage_trip_level: 8,
dc_bus_overvoltage_trip_level: 59.92000198364258,
gpio1_pwm_mapping: { endpoint: '\u0000\u0000\u0000\u0000', min: 0, max: 0 },
gpio2_pwm_mapping: { endpoint: '\u0000\u0000\u0000\u0000', min: 0, max: 0 },
gpio3_pwm_mapping: { endpoint: '\u0000\u0000\u0000\u0000', min: 0, max: 0 },
gpio4_pwm_mapping: { endpoint: '\u0000\u0000\u0000\u0000', min: 0, max: 0 },
gpio3_analog_mapping: { endpoint: '\u0000\u0000\u0000\u0000', min: 0, max: 0 },
gpio4_analog_mapping: { endpoint: '\u0000\u0000\u0000\u0000', min: 0, max: 0 } },
axis0:
{ error: 'ERROR_NONE',
step_dir_active: false,
current_state: 'AXIS_STATE_IDLE',
requested_state: 'AXIS_STATE_UNDEFINED',
loop_counter: 166596020,
lockin_state: 0,
config:
{ startup_motor_calibration: false,
startup_encoder_index_search: false,
startup_encoder_offset_calibration: false,
startup_closed_loop_control: false,
startup_sensorless_control: false,
enable_step_dir: false,
counts_per_step: 2,
watchdog_timeout: 0,
step_gpio_pin: 1,
dir_gpio_pin: 2,
calibration_lockin: [Object],
sensorless_ramp: [Object],
general_lockin: [Object] },
motor:
{ error: 'ERROR_NONE',
armed_state: 0,
is_calibrated: false,
current_meas_phB: 0.4102337658405304,
current_meas_phC: 0.06978216767311096,
DC_calib_phB: 0.15359695255756378,
DC_calib_phC: 0.4537855088710785,
phase_current_rev_gain: 0.02500000037252903,
thermal_current_lim: 45.388389587402344,
get_inverter_temp: [Object],
current_control: [Object],
gate_driver: [Object],
timing_log: [Object],
config: [Object] },
controller:
{ error: 'ERROR_NONE',
pos_setpoint: 0,
vel_setpoint: 0,
vel_integrator_current: 0,
current_setpoint: 0,
vel_ramp_target: 0,
vel_ramp_enable: false,
config: [Object],
set_pos_setpoint: [Object],
set_vel_setpoint: [Object],
set_current_setpoint: [Object],
move_to_pos: [Object],
move_incremental: [Object],
start_anticogging_calibration: [Object] },
encoder:
{ error: 'ERROR_NONE',
is_ready: false,
index_found: false,
shadow_count: 0,
count_in_cpr: 0,
interpolation: 0.5,
phase: 0.002684466540813446,
pos_estimate: 0,
pos_cpr: 0,
hall_state: 7,
vel_estimate: 0,
calib_scan_response: 0,
config: [Object],
set_linear_count: [Object] },
sensorless_estimator:
{ error: 'ERROR_NONE',
phase: 0,
pll_pos: 0,
vel_estimate: 0,
config: [Object] },
trap_traj: { config: [Object] },
watchdog_feed: { inputs: {}, outputs: {} } },
axis1:
{ error: 'ERROR_NONE',
step_dir_active: false,
current_state: 'AXIS_STATE_IDLE',
requested_state: 'AXIS_STATE_UNDEFINED',
loop_counter: 166597727,
lockin_state: 0,
config:
{ startup_motor_calibration: false,
startup_encoder_index_search: false,
startup_encoder_offset_calibration: false,
startup_closed_loop_control: false,
startup_sensorless_control: false,
enable_step_dir: false,
counts_per_step: 2,
watchdog_timeout: 0,
step_gpio_pin: 7,
dir_gpio_pin: 8,
calibration_lockin: [Object],
sensorless_ramp: [Object],
general_lockin: [Object] },
motor:
{ error: 'ERROR_NONE',
armed_state: 0,
is_calibrated: false,
current_meas_phB: 0.03801960498094559,
current_meas_phC: 0.0553433895111084,
DC_calib_phB: 0.1230957955121994,
DC_calib_phC: -0.8207171559333801,
phase_current_rev_gain: 0.02500000037252903,
thermal_current_lim: 46.38920211791992,
get_inverter_temp: [Object],
current_control: [Object],
gate_driver: [Object],
timing_log: [Object],
config: [Object] },
controller:
{ error: 'ERROR_NONE',
pos_setpoint: 0,
vel_setpoint: 0,
vel_integrator_current: 0,
current_setpoint: 0,
vel_ramp_target: 0,
vel_ramp_enable: false,
config: [Object],
set_pos_setpoint: [Object],
set_vel_setpoint: [Object],
set_current_setpoint: [Object],
move_to_pos: [Object],
move_incremental: [Object],
start_anticogging_calibration: [Object] },
encoder:
{ error: 'ERROR_NONE',
is_ready: false,
index_found: false,
shadow_count: 0,
count_in_cpr: 0,
interpolation: 0.5,
phase: 0.002684466540813446,
pos_estimate: 0,
pos_cpr: 0,
hall_state: 7,
vel_estimate: 0,
calib_scan_response: 0,
config: [Object],
set_linear_count: [Object] },
sensorless_estimator:
{ error: 'ERROR_NONE',
phase: 0,
pll_pos: 0,
vel_estimate: 0,
config: [Object] },
trap_traj: { config: [Object] },
watchdog_feed: { inputs: {}, outputs: {} } },
can:
{ node_id: 0,
TxMailboxCompleteCallbackCnt: 0,
TxMailboxAbortCallbackCnt: 0,
received_msg_cnt: 0,
received_ack: 0,
unexpected_errors: 0,
unhandled_messages: 0 },
test_property: 0,
test_function: { inputs: { delta: 0 }, outputs: { result: 0 } },
get_oscilloscope_val: { inputs: { index: 0 }, outputs: { result: 0 } },
get_adc_voltage: { inputs: { gpio: 0 }, outputs: { result: 0.8113036751747131 } },
save_configuration: { inputs: {}, outputs: {} },
erase_configuration: { inputs: {}, outputs: {} },
reboot: { inputs: {}, outputs: {} },
enter_dfu_mode: { inputs: {}, outputs: {} } }