How to use firmware oscilloscope?

I’d like to obtain some high speed (8 kHz) logs of things like currents and torques. I’ve found some references to an onboard oscilloscope function that will log some parameters to a buffer and then dump them to odrive tool, but can’t find any documentation. Can someone direct me to how to do this?

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Are you using ODrive 3? You need to dig into the firmware source code to see how it works. If you have specific questions I can answer, I’m successfully using it myself.

Do you mean that this functionality is available if you modify the source code and recompile the firmware, as opposed to something you can configure and use via the python odrivetool?

If you want to change the trigger, you need to recompile the firmware yes. If not, you need to read the source code to understand it at least.