ODrive Pro + STM32f446re+ can

1

Is it possible to control ODrive Pro with STM32F446RE + MCP2551 using CAN communication? I tried it a little but it didn’t work at all.
Calibrated with ODriveGUi

2

Yep absolutely. You can see our CAN protocol here: CAN Protocol — ODrive Documentation 0.6.11 documentation

If you want to show some of your code, happy to take a look!

1 Like
3

thank you!! This is a part of the code. I will omit the definition of id, basic can send, receive, and filter.

#ifndef ODRIVE_H_
#define ODRIVE_H_

#include "main.h"

// ODrive CAN Command IDs
typedef enum {
    ODRIVE_CMD_HEARTBEAT              = 0x01,
    ODRIVE_CMD_SET_AXIS_STATE         = 0x07,
    ODRIVE_CMD_GET_ENCODER_ESTIMATES  = 0x09,
    ODRIVE_CMD_SET_INPUT_VEL          = 0x0D,
    ODRIVE_CMD_CLEAR_ERRORS           = 0x18,
    ODRIVE_CMD_SET_CONTROLLER_MODES   = 0x0B
} ODriveCommandID;

// ODrive Axis States
typedef enum {
    ODRIVE_AXIS_STATE_IDLE                      = 1,
    ODRIVE_AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3,
    ODRIVE_AXIS_STATE_CLOSED_LOOP_CONTROL       = 8
} ODriveAxisState;

// ODrive Control Modes
typedef enum {
    VOLTAGE_CONTROL = 0,
    TORQUE_CONTROL = 1,
    VELOCITY_CONTROL = 2,
    POSITION_CONTROL = 3
} ODriveControlMode;

// ODrive Input Modes
typedef enum {
    INACTIVE = 0,
    PASSTHROUGH = 1,
    VEL_RAMP = 2,
    POS_FILTER = 3,
    MIX_CHANNELS = 4,
    TRAP_TRAJ = 5,
    TORQUE_RAMP = 6,
    MIRROR = 7
} ODriveInputMode;


// ODrive feedback
typedef struct {
    float pos_estimate;
    float vel_estimate;
    uint32_t axis_error;
    uint8_t axis_state;
} ODriveFeedback_t;

// ODrive axis
typedef struct {
    CAN_HandleTypeDef* CAN_INSTANCE;
    uint8_t             AXIS_ID;
    ODriveFeedback_t    feedback;
} Axis;

void ODrive_RX_CallBack(Axis* axis);
void Set_Axis_Requested_State(Axis axis, ODriveAxisState state);
void Set_Input_Vel(Axis axis, float velocity, float torque_feedforward);
void Set_Controller_Modes(Axis axis, ODriveControlMode control_mode, ODriveInputMode input_mode);

#endif /* ODRIVE_H_ */
`

odrive.c

#include "ODrive.h"
#include <string.h>
static void pack_float(uint8_t* data, float value) {
    memcpy(data, &value, sizeof(float));
}

static float unpack_float(uint8_t* data) {
    float value;
    memcpy(&value, data, sizeof(float));
    return value;
}

static void send_can_message(CAN_HandleTypeDef* hcan, uint32_t id, uint8_t* data, uint8_t len) {
    CAN_TxHeaderTypeDef TxHeader;
    uint32_t TxMailbox;

    TxHeader.StdId = id;
    TxHeader.IDE = CAN_ID_STD;
    TxHeader.RTR = CAN_RTR_DATA;
    TxHeader.DLC = len;
    TxHeader.TransmitGlobalTime = DISABLE;

    while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0); // wait

    if (HAL_CAN_AddTxMessage(hcan, &TxHeader, data, &TxMailbox) != HAL_OK) {
        Error_Handler();
    }
}

// build can message id
static uint32_t build_can_id(uint8_t axis_id, uint8_t cmd_id) {
    return (axis_id << 5) | cmd_id;
}


void ODrive_RX_CallBack(Axis* axis) {
    CAN_RxHeaderTypeDef rx_header;
    uint8_t rx_data[8];

    // get message from FIFO
    if (HAL_CAN_GetRxMessage(axis->CAN_INSTANCE, CAN_RX_FIFO0, &rx_header, rx_data) != HAL_OK) {
        return;
    }
    uint8_t cmd_id = rx_header.StdId & 0x1F;

    switch (cmd_id) {
        case ODRIVE_CMD_HEARTBEAT:
            axis->feedback.axis_error = (rx_data[3] << 24) | (rx_data[2] << 16) | (rx_data[1] << 8) | rx_data[0];
            axis->feedback.axis_state = rx_data[4];
            break;

        case ODRIVE_CMD_GET_ENCODER_ESTIMATES:
            axis->feedback.pos_estimate = unpack_float(&rx_data[0]);
            axis->feedback.vel_estimate = unpack_float(&rx_data[4]);
            break;
    }
}

void Set_Axis_Requested_State(Axis axis, ODriveAxisState state) {
    uint8_t payload[8] = {0};
    payload[0] = (uint8_t)state;
    uint32_t can_id = build_can_id(axis.AXIS_ID, ODRIVE_CMD_SET_AXIS_STATE);
    send_can_message(axis.CAN_INSTANCE, can_id, payload, 4);
}

void Set_Input_Vel(Axis axis, float velocity, float torque_feedforward) {
    uint8_t payload[8] = {0};
    pack_float(&payload[0], velocity);
    pack_float(&payload[4], torque_feedforward);
    uint32_t can_id = build_can_id(axis.AXIS_ID, ODRIVE_CMD_SET_INPUT_VEL);
    send_can_message(axis.CAN_INSTANCE, can_id, payload, 8);
}

void Set_Controller_Modes(Axis axis, ODriveControlMode control_mode, ODriveInputMode input_mode) {
    uint8_t payload[8] = {0};
    payload[0] = (uint8_t)control_mode;
    payload[4] = (uint8_t)input_mode;
    uint32_t can_id = build_can_id(axis.AXIS_ID, ODRIVE_CMD_SET_CONTROLLER_MODES);
    send_can_message(axis.CAN_INSTANCE, can_id, payload, 8);
}