Odrive_Powertrain_Neodrive

Custom SimpleFOC + FreeRTOS firmware for an ODrive v3.6 clone (MKS, single‑channel, STM32F405 + DRV8301), plus the host‑side tooling to configure and drive it. The firmware replaces the stock ODrive firmware but keeps the ODrive CANSimple protocol, so existing ODrive CAN tools keep working. Target application: e‑bike motor control (torque / velocity, with sensor or sensorless).

👉 Start here

• docs/Getting_Started.md — from‑zero guide: install the toolchain, flash the board with an ST‑Link, and drive it over CAN (with a full Arduino example and the complete command reference).
• docs/Calibration.md — commissioning a new motor: which parameters to find, how to measure R/L + sensor offset/direction, and how to save them so the board boots pre‑calibrated.

Repository layout

The PlatformIO firmware project is the repository root.

Path	What it is
platformio.ini, src/, include/, lib/	The firmware. src/main.cpp (FreeRTOS tasks + axis state machine), include/board_config.h (pins / limits / timing), lib/odrive_can/ (CANSimple protocol layer).
test/	Standalone bench sketches (raw encoder read, open‑loop, closed‑loop) — not part of the main build.
CAN/	CAN tooling: the ODrive CANSimple DBC generator (create_can_dbc.py) plus Arduino MCP2515 and ESP32 TWAI sender examples (arduino_can_sender/, esp32_twai_sender/).
docs/	Documentation (start with Getting_Started.md).

Firmware status

• ✅ Hardware‑timer encoder (fixes the FreeRTOS scheduler starvation from the old software‑interrupt encoder)
• ✅ FreeRTOS task architecture (20 kHz FOC loop, safety, CAN, telemetry)
• ✅ Safe‑state boot: disarmed until a CAN Set_Axis_State(CLOSED_LOOP) (or serial A)
• ✅ ODrive CANSimple interface — torque / velocity / position, switchable at runtime; heartbeat + telemetry
• ✅ Phase‑current sensing (DRV8301 + low‑side shunts) → foc_current torque control with real current limiting (Vbus is read without disturbing the shunt ADC)
• ✅ Hall angle interpolation (SmoothingSensor) — smooth commutation despite the 60°‑electrical hall resolution
• ✅ Live velocity‑PID tuning: CAN Set_Vel_Gains (0x01B) or serial KP/KI/KD

What SimpleFOC does today

Feature	Status
Sensor offset + direction autocalibration (initFOC, runs on arm)	✅ (not yet persisted → re‑runs each power‑up)
Velocity control (PID) / position control (P) / torque	✅
Phase‑current sensing → true Nm torque + current limiting (foc_current)	✅ (falls back to voltage torque if current‑sense init fails)
Motor R/L autocalibration (characteriseMotor, CAN MOTOR_CALIBRATION / serial M)	✅
Hall sensor support	✅ compile‑time select (SENSOR_TYPE = quadrature ↔ hall)
Sensorless (BEMF/flux observer)	❌ (Phase 7; SimpleFOC has no built‑in observer)
Config / calibration persistence to flash	❌ (Phase 5/6b)

Hardware quick facts

STM32F405RGT6 @ 168 MHz · DRV8301 6‑PWM (TIM1) · encoder/hall PB4/PB5(/PC9) · DRV SPI3 CS PC13 · phase current PC0/PC1 · Vbus PA6 · CAN1 PB8/PB9. Full pin map in include/board_config.h.

For host-side CAN control, the repo includes both an Arduino MCP2515 sender and an ESP32 native TWAI sender. The ESP32 sketch expects an external 3.3 V CAN transceiver such as the CJMCU-230.

Motor/sensor parameters (CFG_POLE_PAIRS, CFG_KV, etc.) are plain #defines there. One compile‑time switch remains: SENSOR_TYPE (SENSOR_TYPE_QUADRATURE / SENSOR_TYPE_HALL, defaults to hall), which can be overridden in platformio.ini (-D SENSOR_TYPE=SENSOR_TYPE_QUADRATURE).