UART Port baud rate


Hi all,

I was wondering if anyone had experimented with the baud rate of the ODrive serial port. Currently it defaults at 115200 as indicated in Board/v3/Src/usart.cpp .

Is it possible/safe to change this value?



I know @je310 did this.

@je310 do you mind sharing what you changed?


Jelsdon == je310 (lost my password it seems). Yes:
huart4.Init.BaudRate = 115200;
Can be changed. Though there are some limitations on what is allowed. I have used 921600 to great success, which is fast enough for me to get the update frequencies I want. I tried 2500000, which does not work. You can check using the CubeMX tool, as it does reject the settings that are too high (presumably based on various clocks, which I would not change unless you understand how they affect the rest of the ODrive)


Thanks @Jelsdon, a rate of around 921600 would be ideal for my needs. Glad to hear it is so easy to change!


Just to add that today I’ve successfully tested odrive at 2000000 baud together with a Teensy 3.5. 1000000 baud works as well.