How to control Odrive via UART (STM32)

I’ve just learned about UART function of STM32.
And I can already control the motor using Python with odrivetools.
But in order to use STM32 as master and Odrive as slave, I meet a problem.
What kind of command should I use from STM32 side to control Odrive?
Can anyone give me an example or something about this?
Appreciate that!

For UART I would suggest using the ASCII Protocol, you can find details for all the available commands here. Also, if you are familiar with cpp and/or Arduino you can check out some example code here, depending on your implementation you may be able to reuse a lot of the ODriveArduino library.
Out of curiosity, which ODrive device are you using?