We tried to connect only one AMT232b-V encoder to Odrive 3.6-56v with firmware fw-v0.5.1 and got the following errors in encoder.config.mode = 256:
when Odrive is turned on and AMT232b-V is connected, the Motor::DRV8301_setup() -> DRV8301_enable() function hangs.
The state of the CS pin (4) connected to the encoder is currently 1
if you disable MISO AMT232b-V the hang-up in the Motor::DRV8301_setup() -> DRV8301_enable() function will not occur.
If you turn on the Odrive with the encoder disconnected from the MISO to avoid hanging and then connect the MISO, then when entering the AXIS_STATE_MOTOR_CALIBRATION mode, the ABS_SPI_COM_FAIL encoder error occurs.
We have separately checked that the data from the encoder is received via SPI and the encoder is working and transmitting data successfully.
Thus, we could not use the AMT232b-V with Odrive.
Perhaps you will comment on this situation.
Maybe we should check if MISO turns to the third state (HI-Z) when CS=1 ?
Recommendations for using the tristate buffer (74AHC1G125S) extends to a situation where only one AMT232 is connected?
Perhaps in future ODrive versions it is a good idea to have a separate SPI for encoders
because we have often encountered similar conflicts between motors and encoders tied to the same SPI bus
We would be very grateful for your help