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github-bot pushed a commit to branch asf-site
in repository https://gitbox.apache.org/repos/asf/nuttx-website.git
The following commit(s) were added to refs/heads/asf-site by this push:
new 2f676992 Publishing web: 36ddd7c60a8230335eda886c909bc938739114a2
docs: 673cb18a7a25d151ae8021f66880a38998801218
2f676992 is described below
commit 2f676992e1d90cb9456da2b157c1b3ec77cef755
Author: Alin Jerpelea <[email protected]>
AuthorDate: Mon Nov 20 00:13:38 2023 +0000
Publishing web: 36ddd7c60a8230335eda886c909bc938739114a2 docs:
673cb18a7a25d151ae8021f66880a38998801218
---
content/docs/10.0.0/index.html | 2 +-
content/docs/10.0.0/searchindex.js | 2 +-
content/docs/10.0.1/index.html | 2 +-
content/docs/10.0.1/searchindex.js | 2 +-
content/docs/10.1.0/index.html | 2 +-
content/docs/10.1.0/searchindex.js | 2 +-
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content/docs/10.2.0/searchindex.js | 2 +-
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content/docs/10.3.0/searchindex.js | 2 +-
content/docs/11.0.0/index.html | 2 +-
content/docs/11.0.0/searchindex.js | 2 +-
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content/docs/12.0.0/searchindex.js | 2 +-
content/docs/12.1.0/index.html | 2 +-
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content/docs/12.3.0/index.html | 2 +-
content/docs/12.3.0/searchindex.js | 2 +-
.../applications/examples/foc/index.rst.txt | 2 -
.../components/drivers/character/motor/foc.rst.txt | 7 +
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.../components/drivers/character/motor/foc.html | 7 +
content/docs/latest/index.html | 2 +-
content/docs/latest/objects.inv | Bin 108919 -> 109018 bytes
.../arm/stm32f4/boards/axoloti/index.html | 1 +
.../arm/stm32f4/boards/clicker2-stm32/index.html | 1 +
.../arm/stm32f4/boards/mikroe-stm32f4/index.html | 1 +
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.../arm/stm32f4/boards/nucleo-f429zi/index.html | 1 +
.../arm/stm32f4/boards/nucleo-f446re/index.html | 5 +-
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content/docs/latest/platforms/index.html | 1 +
content/docs/latest/searchindex.js | 2 +-
content/feed.xml | 4 +-
55 files changed, 457 insertions(+), 151 deletions(-)
diff --git a/content/docs/10.0.0/index.html b/content/docs/10.0.0/index.html
index 24267f30..41db96e6 100644
--- a/content/docs/10.0.0/index.html
+++ b/content/docs/10.0.0/index.html
@@ -131,7 +131,7 @@ by following these <a class="reference internal"
href="contributing/documentatio
<section id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation"
title="Permalink to this heading"></a></h1>
<p>NuttX is a real-time operating system (RTOS) with an emphasis on standards
compliance and small footprint. Scalable from 8-bit to 32-bit microcontroller
environments, the primary governing standards in NuttX are Posix and ANSI
standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:10</p>
+<p>Last Updated: 20 November 23 at 00:10</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/10.0.0/searchindex.js
b/content/docs/10.0.0/searchindex.js
index b5365609..e58b3944 100644
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diff --git a/content/docs/10.0.1/index.html b/content/docs/10.0.1/index.html
index c4c77d48..7f670386 100644
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+++ b/content/docs/10.0.1/index.html
@@ -153,7 +153,7 @@ by following these <a class="reference internal"
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<section id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation"
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:10</p>
+<p>Last Updated: 20 November 23 at 00:10</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
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<ul class="current">
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b/content/docs/10.0.1/searchindex.js
index 15e82f0a..cd2578eb 100644
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diff --git a/content/docs/10.1.0/index.html b/content/docs/10.1.0/index.html
index 79b46a1d..f8422feb 100644
--- a/content/docs/10.1.0/index.html
+++ b/content/docs/10.1.0/index.html
@@ -152,7 +152,7 @@ by following these <a class="reference internal"
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<section id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation"
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:10</p>
+<p>Last Updated: 20 November 23 at 00:10</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/10.1.0/searchindex.js
b/content/docs/10.1.0/searchindex.js
index 3c408170..f136d202 100644
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index 0cb27f56..24439a28 100644
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@@ -153,7 +153,7 @@ by following these <a class="reference internal"
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:11</p>
+<p>Last Updated: 20 November 23 at 00:10</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/10.2.0/searchindex.js
b/content/docs/10.2.0/searchindex.js
index de1823f3..dd0d6665 100644
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index 0cb27f56..24439a28 100644
--- a/content/docs/10.3.0/index.html
+++ b/content/docs/10.3.0/index.html
@@ -153,7 +153,7 @@ by following these <a class="reference internal"
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:11</p>
+<p>Last Updated: 20 November 23 at 00:10</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/10.3.0/searchindex.js
b/content/docs/10.3.0/searchindex.js
index 07060a13..4d99b101 100644
--- a/content/docs/10.3.0/searchindex.js
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diff --git a/content/docs/11.0.0/index.html b/content/docs/11.0.0/index.html
index 0cb27f56..24439a28 100644
--- a/content/docs/11.0.0/index.html
+++ b/content/docs/11.0.0/index.html
@@ -153,7 +153,7 @@ by following these <a class="reference internal"
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<section id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation"
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<p>NuttX is a real-time operating system (RTOS) with an emphasis on standards
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:11</p>
+<p>Last Updated: 20 November 23 at 00:10</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/11.0.0/searchindex.js
b/content/docs/11.0.0/searchindex.js
index 46232552..8712105f 100644
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diff --git a/content/docs/12.0.0/index.html b/content/docs/12.0.0/index.html
index 7b45d4bd..c74f93c7 100644
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:11</p>
+<p>Last Updated: 20 November 23 at 00:11</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.0.0/searchindex.js
b/content/docs/12.0.0/searchindex.js
index 4534c3ad..3eb8d420 100644
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index 904da58e..6b03a4fb 100644
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:11</p>
+<p>Last Updated: 20 November 23 at 00:11</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.1.0/searchindex.js
b/content/docs/12.1.0/searchindex.js
index 1490ceed..8a2324c5 100644
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"applications/nsh/login", "applications/nsh/nsh", "components/binfmt",
"components/drivers/block/index", "components/drivers/character/analog",
"components/drivers/character/can", "components/drivers/character/foc",
"components/drivers/character/index", "components [...]
\ No newline at end of file
diff --git a/content/docs/12.2.0/index.html b/content/docs/12.2.0/index.html
index b7f636a4..0fa0de2e 100644
--- a/content/docs/12.2.0/index.html
+++ b/content/docs/12.2.0/index.html
@@ -156,7 +156,7 @@ by following these <a class="reference internal"
href="contributing/documentatio
<section id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation"
title="Permalink to this heading"></a></h1>
<p>NuttX is a real-time operating system (RTOS) with an emphasis on standards
compliance and small footprint. Scalable from 8-bit to 64-bit microcontroller
environments, the primary governing standards in NuttX are POSIX and ANSI
standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:12</p>
+<p>Last Updated: 20 November 23 at 00:11</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git
a/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-audio-kit/index.html
b/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-audio-kit/index.html
index d3afe00a..22562500 100644
---
a/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-audio-kit/index.html
+++
b/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-audio-kit/index.html
@@ -337,7 +337,7 @@ Serving HTTP on 0.0.0.0 port 8000 (http://0.0.0.0:8000/)
<p>Look for your PC IP address and test playing the prepared audio on your
browser:</p>
<figure class="align-center">
-<img alt="../../../../../_images/esp32-audio-config-file.png"
src="../../../../../_images/esp32-audio-config-file.png" />
+<img alt="../../../../../_images/esp32-audio-config-file1.png"
src="../../../../../_images/esp32-audio-config-file1.png" />
</figure>
<p>After successfully built and flashed, connect the board to the Wi-Fi
network:</p>
<div class="highlight-none notranslate"><div
class="highlight"><pre><span></span>$ nsh> wapi psk wlan0 mypasswd 3
diff --git
a/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-devkitc/index.html
b/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-devkitc/index.html
index 7fad96f2..7674e958 100644
--- a/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-devkitc/index.html
+++ b/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-devkitc/index.html
@@ -434,7 +434,7 @@ Serving HTTP on 0.0.0.0 port 8000 (http://0.0.0.0:8000/)
<p>Look for your PC IP address and test playing the prepared audio on your
browser:</p>
<figure class="align-center">
-<img alt="../../../../../_images/esp32-audio-config-file1.png"
src="../../../../../_images/esp32-audio-config-file1.png" />
+<img alt="../../../../../_images/esp32-audio-config-file.png"
src="../../../../../_images/esp32-audio-config-file.png" />
</figure>
<p>After successfully built and flashed, connect the board to the Wi-Fi
network:</p>
<div class="highlight-none notranslate"><div
class="highlight"><pre><span></span>nsh> wapi psk wlan0 mypasswd 3
diff --git a/content/docs/12.2.0/searchindex.js
b/content/docs/12.2.0/searchindex.js
index df685407..d06b8bb7 100644
--- a/content/docs/12.2.0/searchindex.js
+++ b/content/docs/12.2.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/index",
"applications/nsh/builtin", "applications/nsh/commands",
"applications/nsh/config", "applications/nsh/customizing",
"applications/nsh/index", "applications/nsh/installation",
"applications/nsh/login", "applications/nsh/nsh", "applications/nxdiag/config",
"applications/nxdiag/index", "applications/wapi/commands",
"applications/wapi/index", "applications/wapi/wireless", "components/binfmt",
"components/drivers/block/index", "components/dr [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/index",
"applications/nsh/builtin", "applications/nsh/commands",
"applications/nsh/config", "applications/nsh/customizing",
"applications/nsh/index", "applications/nsh/installation",
"applications/nsh/login", "applications/nsh/nsh", "applications/nxdiag/config",
"applications/nxdiag/index", "applications/wapi/commands",
"applications/wapi/index", "applications/wapi/wireless", "components/binfmt",
"components/drivers/block/index", "components/dr [...]
\ No newline at end of file
diff --git a/content/docs/12.2.1/index.html b/content/docs/12.2.1/index.html
index b7f636a4..0fa0de2e 100644
--- a/content/docs/12.2.1/index.html
+++ b/content/docs/12.2.1/index.html
@@ -156,7 +156,7 @@ by following these <a class="reference internal"
href="contributing/documentatio
<section id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation"
title="Permalink to this heading"></a></h1>
<p>NuttX is a real-time operating system (RTOS) with an emphasis on standards
compliance and small footprint. Scalable from 8-bit to 64-bit microcontroller
environments, the primary governing standards in NuttX are POSIX and ANSI
standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:12</p>
+<p>Last Updated: 20 November 23 at 00:11</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.2.1/searchindex.js
b/content/docs/12.2.1/searchindex.js
index 4ab05323..dfc6aaae 100644
--- a/content/docs/12.2.1/searchindex.js
+++ b/content/docs/12.2.1/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/index",
"applications/nsh/builtin", "applications/nsh/commands",
"applications/nsh/config", "applications/nsh/customizing",
"applications/nsh/index", "applications/nsh/installation",
"applications/nsh/login", "applications/nsh/nsh", "applications/nxdiag/config",
"applications/nxdiag/index", "applications/wapi/commands",
"applications/wapi/index", "applications/wapi/wireless", "components/binfmt",
"components/drivers/block/index", "components/dr [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/index",
"applications/nsh/builtin", "applications/nsh/commands",
"applications/nsh/config", "applications/nsh/customizing",
"applications/nsh/index", "applications/nsh/installation",
"applications/nsh/login", "applications/nsh/nsh", "applications/nxdiag/config",
"applications/nxdiag/index", "applications/wapi/commands",
"applications/wapi/index", "applications/wapi/wireless", "components/binfmt",
"components/drivers/block/index", "components/dr [...]
\ No newline at end of file
diff --git a/content/docs/12.3.0/index.html b/content/docs/12.3.0/index.html
index d0a7e17c..c41a1fbe 100644
--- a/content/docs/12.3.0/index.html
+++ b/content/docs/12.3.0/index.html
@@ -156,7 +156,7 @@ by following these <a class="reference internal"
href="contributing/documentatio
<section id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation"
title="Permalink to this heading"></a></h1>
<p>NuttX is a real-time operating system (RTOS) with an emphasis on standards
compliance and small footprint. Scalable from 8-bit to 64-bit microcontroller
environments, the primary governing standards in NuttX are POSIX and ANSI
standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:12</p>
+<p>Last Updated: 20 November 23 at 00:12</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.3.0/searchindex.js
b/content/docs/12.3.0/searchindex.js
index 685f665f..3e1a8055 100644
--- a/content/docs/12.3.0/searchindex.js
+++ b/content/docs/12.3.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/index",
"applications/nsh/builtin", "applications/nsh/commands",
"applications/nsh/config", "applications/nsh/customizing",
"applications/nsh/index", "applications/nsh/installation",
"applications/nsh/login", "applications/nsh/nsh", "applications/nxdiag/config",
"applications/nxdiag/index", "applications/wapi/commands",
"applications/wapi/index", "applications/wapi/wireless", "components/binfmt",
"components/drivers/block/index", "components/dr [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/index",
"applications/nsh/builtin", "applications/nsh/commands",
"applications/nsh/config", "applications/nsh/customizing",
"applications/nsh/index", "applications/nsh/installation",
"applications/nsh/login", "applications/nsh/nsh", "applications/nxdiag/config",
"applications/nxdiag/index", "applications/wapi/commands",
"applications/wapi/index", "applications/wapi/wireless", "components/binfmt",
"components/drivers/block/index", "components/dr [...]
\ No newline at end of file
diff --git
a/content/docs/latest/_sources/applications/examples/foc/index.rst.txt
b/content/docs/latest/_sources/applications/examples/foc/index.rst.txt
index 1ddc2e58..995a19af 100644
--- a/content/docs/latest/_sources/applications/examples/foc/index.rst.txt
+++ b/content/docs/latest/_sources/applications/examples/foc/index.rst.txt
@@ -57,7 +57,6 @@ f_PWM f_notifier ccb Kp Ki
20kHz 10kHz 1000 0.0087 0.0025
====== =========== ===== ======== ======
-
* Linix 45ZWN24-40 (PMSM motor dedicated for NXP FRDM-MC-LVMTR kit)
====== =========== ===== ======== ======
@@ -74,7 +73,6 @@ f_PWM f_notifier ccb Kp Ki
20kHz 10kHz 200 0.036 0.022
====== =========== ===== ======== ======
-
* iPower GBM2804H-100T (gimbal motor provided with the ST P-NUCLEO-IHM03 kit)
====== =========== ===== ======== ======
diff --git
a/content/docs/latest/_sources/components/drivers/character/motor/foc.rst.txt
b/content/docs/latest/_sources/components/drivers/character/motor/foc.rst.txt
index e694cc06..a1f04bc9 100644
---
a/content/docs/latest/_sources/components/drivers/character/motor/foc.rst.txt
+++
b/content/docs/latest/_sources/components/drivers/character/motor/foc.rst.txt
@@ -28,6 +28,8 @@ Files supporting FOC can be found in the following locations:
"Lower-half" FOC interface.
- ``drivers/motor/foc/foc_dev.c``.
The generic "upper half" FOC driver.
+- ``drivers/motor/foc/foc_pwr.c``.
+ The generic power stage for FOC.
The majority of the functionality available to the application
is implemented in driver ioctl calls. Supported ioctl commands:
@@ -46,3 +48,8 @@ is implemented in driver ioctl calls. Supported ioctl
commands:
arg: ``struct foc_cfg_s`` pointer.
- ``MTRIOC_GET_INFO`` - Get the FOC device info,
arg: ``struct foc_info_s`` pointer.
+
+Additionally, board logic can implement:
+
+- ``MTRIOC_SET_BOARDCFG`` - which returns the board specific FOC configuration
+- ``MTRIOC_GET_BOARDCFG`` - which sets the board-specific FOC configuration
diff --git
a/content/docs/latest/_sources/platforms/arm/stm32f4/boards/odrive36/index.rst.txt
b/content/docs/latest/_sources/platforms/arm/stm32f4/boards/odrive36/index.rst.txt
new file mode 100644
index 00000000..bd6d8817
--- /dev/null
+++
b/content/docs/latest/_sources/platforms/arm/stm32f4/boards/odrive36/index.rst.txt
@@ -0,0 +1,97 @@
+===========
+ODrive V3.6
+===========
+
+ODrive V3.6 is an open-source dual-motor FOC controller based on
+the STMicro STM32F405RG and TI DRV8301 gate drivers.
+
+See https://odriverobotics.com/shop/odrive-v36 for further information.
+
+For now we support only ODrive V3.6 56V.
+
+Pin configuration
+=================
+
+========= ============== ========= =======================
+Board Pin Chip Function Chip Pin Notes
+========= ============== ========= =======================
+GPIO_1 PA0
+GPIO_2 PA1
+GPIO_3 USART2_TX PA2 Serial TX
+GPIO_4 USART2_RX PA3 Serial RX
+M1_TEMP ADC1_IN4 PA4
+AUX_TEMP ADC1_IN5 PA5
+VBUS_S ADC1_IN6 PA6
+M1_AL TIM8 CH1N PA7
+M0_AH TIM1 CH1 PA8
+M0_BH TIM1 CH2 PA9
+M0_CH TIM1 CH3 PA10
+USB_DM USB DM PA11
+USB_DP USB DP PA12
+SWDIO PA13
+SWCLK PA14
+GPIO_7 PA15
+M0_SO1 ADC2_IN10 PC0 M0 current 1
+M0_SO2 ADC2_IN11 PC1 M0 current 2
+M1_SO2 ADC3_IN12 PC2 M1 current 2
+M1_SO1 ADC3_IN13 PC3 M1 current 1
+GPIO_5 PC4
+M0_TEMP ADC1_IN15 PC5
+M1_AH TIM8 CH1 PC6
+M1_BH TIM8 CH2 PC7
+M1_CH TIM8 CH3 PC8
+M0_ENC_Z PC9
+SPI_SCK SPI3_SCK PC10 DRV8301 M0/M1
+SPI_MISO SPI3_MISO PC11 DRV8301 M0/M1
+SPI_MOSI SPI3_MOSI PC12 DRV8301 M0/M1
+M0_NCS SPI CS PC13 DRV8301 M0 CS
+M1_NCS SPI CS PC14 DRV8301 M1 CS
+M1_ENC_Z PC15
+M1_BL TIM8 CH2N PB0
+M1_CL TIM8 CH3N PB1
+GPIO_6 PB2
+GPIO_8 PB3
+M0_ENC_A TIM3_CH1IN_2 PB4
+M0_ENC_B TIM3_CH2IN_2 PB5
+M1_ENC_A TIM4_CH1IN_1 PB6
+M1_ENC_B TIM4_CH2IN_1 PB7
+CAN_R CAN_R PB8
+CAN_D CAN_D PB9
+AUX_L PB10
+AUX_H PB11
+EN_GATE OUT PB12 M0/M1 DRV8301
+M0_AL TIM1 CH1N PB13
+M0_BL TIM1 CH2N PB14
+M0_CL TIM1 CH3N PB15
+N_FAULT PD2 M0/M1 DRV8301 N_FAULT
+========= ============== ========= =======================
+
+Board hardware configuration
+============================
+
+=========================== ==================
+Current shunt resistance 0.0005
+Current sense gain 10/20/40/80
+Vbus min 12V
+Vbus max 24V or 56V
+Iout max 40A (no cooling for MOSFETs)
+IPHASE_RATIO 1/(R_shunt*gain)
+VBUS_RATIO = 1/VBUS_gain 11 or 19
+=========================== ==================
+
+Configurations
+==============
+
+nsh
+---
+
+Configures the NuttShell (nsh) located at apps/examples/nsh. The
+Configuration enables the serial interfaces on USART2. Support for
+builtin applications is enabled, but in the base configuration no
+builtin applications are selected.
+
+usbnsh
+------
+
+This is another NSH example. If differs from other 'nsh' configurations
+in that this configurations uses a USB serial device for console I/O.
diff --git a/content/docs/latest/components/drivers/character/motor/foc.html
b/content/docs/latest/components/drivers/character/motor/foc.html
index b1174d02..5bc8643e 100644
--- a/content/docs/latest/components/drivers/character/motor/foc.html
+++ b/content/docs/latest/components/drivers/character/motor/foc.html
@@ -232,6 +232,8 @@ the low-level logic to implement the FOC
functionality</p></li>
“Lower-half” FOC interface.</p></li>
<li><p><code class="docutils literal notranslate"><span
class="pre">drivers/motor/foc/foc_dev.c</span></code>.
The generic “upper half” FOC driver.</p></li>
+<li><p><code class="docutils literal notranslate"><span
class="pre">drivers/motor/foc/foc_pwr.c</span></code>.
+The generic power stage for FOC.</p></li>
</ul>
<p>The majority of the functionality available to the application
is implemented in driver ioctl calls. Supported ioctl commands:</p>
@@ -251,6 +253,11 @@ arg: <code class="docutils literal notranslate"><span
class="pre">struct</span>
<li><p><code class="docutils literal notranslate"><span
class="pre">MTRIOC_GET_INFO</span></code> - Get the FOC device info,
arg: <code class="docutils literal notranslate"><span
class="pre">struct</span> <span class="pre">foc_info_s</span></code>
pointer.</p></li>
</ul>
+<p>Additionally, board logic can implement:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span
class="pre">MTRIOC_SET_BOARDCFG</span></code> - which returns the board
specific FOC configuration</p></li>
+<li><p><code class="docutils literal notranslate"><span
class="pre">MTRIOC_GET_BOARDCFG</span></code> - which sets the board-specific
FOC configuration</p></li>
+</ul>
</section>
diff --git a/content/docs/latest/index.html b/content/docs/latest/index.html
index 3a84cef9..0d5f4aed 100644
--- a/content/docs/latest/index.html
+++ b/content/docs/latest/index.html
@@ -163,7 +163,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 19 November 23 at 00:13</p>
+<p>Last Updated: 20 November 23 at 00:12</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/latest/objects.inv b/content/docs/latest/objects.inv
index 3302cf13..6544f98d 100644
Binary files a/content/docs/latest/objects.inv and
b/content/docs/latest/objects.inv differ
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/axoloti/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/axoloti/index.html
index 7293898f..e5a6882c 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/axoloti/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/axoloti/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/clicker2-stm32/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/clicker2-stm32/index.html
index 870ef6fb..c6eee65f 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/clicker2-stm32/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/clicker2-stm32/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/mikroe-stm32f4/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/mikroe-stm32f4/index.html
index 6c847c6b..26a0e8a4 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/mikroe-stm32f4/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/mikroe-stm32f4/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f401re/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f401re/index.html
index e87bdf80..2bad20c3 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f401re/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f401re/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f410rb/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f410rb/index.html
index 0730f32a..2293c3f5 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f410rb/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f410rb/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f411re/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f411re/index.html
index b29e23ab..15c651c9 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f411re/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f411re/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f412zg/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f412zg/index.html
index e82e0625..7e60ad07 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f412zg/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f412zg/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5 current"><a class="current reference internal"
href="#">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f429zi/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f429zi/index.html
index ebd3bd9a..4a833e3d 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f429zi/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f429zi/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5 current"><a class="current reference internal"
href="#">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f446re/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f446re/index.html
index b1c4e300..05b1b794 100644
--- a/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f446re/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/nucleo-f446re/index.html
@@ -44,7 +44,7 @@
<script src="../../../../../_static/js/theme.js"></script>
<link rel="index" title="Index" href="../../../../../genindex.html" />
<link rel="search" title="Search" href="../../../../../search.html" />
- <link rel="next" title="Olimex STM32-E407"
href="../olimex-stm32-e407/index.html" />
+ <link rel="next" title="ODrive V3.6" href="../odrive36/index.html" />
<link rel="prev" title="ST Nucleo F429ZI"
href="../nucleo-f429zi/index.html" />
</head>
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5 current"><a class="current reference internal"
href="#">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
@@ -725,7 +726,7 @@ Nucleo board. Example program can be stared by “pwm”
command.</p>
</div>
<footer><div class="rst-footer-buttons" role="navigation"
aria-label="Footer">
<a href="../nucleo-f429zi/index.html" class="btn btn-neutral
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float-right" title="Olimex STM32-E407" accesskey="n" rel="next">Next <span
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+ <a href="../odrive36/index.html" class="btn btn-neutral float-right"
title="ODrive V3.6" accesskey="n" rel="next">Next <span class="fa
fa-arrow-circle-right" aria-hidden="true"></span></a>
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diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/stm32f411-minimum/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/odrive36/index.html
similarity index 71%
copy from
content/docs/latest/platforms/arm/stm32f4/boards/stm32f411-minimum/index.html
copy to content/docs/latest/platforms/arm/stm32f4/boards/odrive36/index.html
index 15422d64..7e60ff7d 100644
---
a/content/docs/latest/platforms/arm/stm32f4/boards/stm32f411-minimum/index.html
+++ b/content/docs/latest/platforms/arm/stm32f4/boards/odrive36/index.html
@@ -23,7 +23,7 @@
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1:
http://docutils.sourceforge.net/"; />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
- <title>stm32f411-minimum — NuttX latest documentation</title>
+ <title>ODrive V3.6 — NuttX latest documentation</title>
<link rel="stylesheet" href="../../../../../_static/pygments.css"
type="text/css" />
<link rel="stylesheet" href="../../../../../_static/css/theme.css"
type="text/css" />
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type="text/css" />
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- <link rel="next" title="ST STM32F411E-Discovery"
href="../stm32f411e-disco/index.html" />
- <link rel="prev" title="stm32f401rc-rs485"
href="../stm32f401rc-rs485/index.html" />
+ <link rel="next" title="Olimex STM32-E407"
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+ <link rel="prev" title="ST Nucleo F446RE"
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@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f429zi/index.html">ST Nucleo F429ZI</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5 current"><a class="current reference internal"
href="#">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
@@ -184,7 +185,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../omnibusf4/index.html">OMNIBUSF4</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../stm3240g-eval/index.html">ST STM32140G-EVAL</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../stm32f401rc-rs485/index.html">stm32f401rc-rs485</a></li>
-<li class="toctree-l5 current"><a class="current reference internal"
href="#">stm32f411-minimum</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../stm32f411-minimum/index.html">stm32f411-minimum</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../stm32f411e-disco/index.html">ST STM32F411E-Discovery</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../stm32f429i-disco/index.html">ST STM32F429I-DISCO</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../stm32f4discovery/index.html">ST STM32F4-Discovery</a></li>
@@ -253,9 +254,9 @@
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<li class="breadcrumb-item"><a
href="../../../index.html">ARM</a></li>
<li class="breadcrumb-item"><a href="../../index.html">ST
STM32F4</a></li>
- <li class="breadcrumb-item active">stm32f411-minimum</li>
+ <li class="breadcrumb-item active">ODrive V3.6</li>
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</li>
</ul>
<hr/>
@@ -263,139 +264,312 @@
<div role="main" class="document" itemscope="itemscope"
itemtype="http://schema.org/Article";>
<div itemprop="articleBody">
- <section id="stm32f411-minimum">
-<h1>stm32f411-minimum<a class="headerlink" href="#stm32f411-minimum"
title="Permalink to this heading"></a></h1>
-<p>This page discusses issues unique to NuttX configurations for the
-WeAct Studio MiniF4 minimum system development board.</p>
-<section id="board-information">
-<h2>Board information<a class="headerlink" href="#board-information"
title="Permalink to this heading"></a></h2>
-<p>It is sometimes referred to as “black pill”, although there are several
clone
-boards with f103-like chips and even an official f103 blackpill from Robotdyn.
-Both WeAct Studio (via Taobao and Aliexpress) and Adafruit sell the boards as
-“BlackPill Core Board” with STM32F411CEU6 or STM32F401CCU6 or
-“STM32F411 BlackPill Development board”, so we’ll assume that
-WeAct Studio is the original manufacturer and F401/F411 is the chip.</p>
-<p>Board documentation:
-<a class="reference external"
href="https://github.com/WeActStudio/WeActStudio.MiniSTM32F4x1";>https://github.com/WeActStudio/WeActStudio.MiniSTM32F4x1</a></p>
-<p>Summary pages from STM32-base
-<a class="reference external"
href="https://stm32-base.org/boards/STM32F401CCU6-WeAct-Black-Pill-V1.2.html";>https://stm32-base.org/boards/STM32F401CCU6-WeAct-Black-Pill-V1.2.html</a>
-<a class="reference external"
href="https://stm32-base.org/boards/STM32F411CEU6-WeAct-Black-Pill-V2.0.html";>https://stm32-base.org/boards/STM32F411CEU6-WeAct-Black-Pill-V2.0.html</a>
-<a class="reference external"
href="https://stm32-base.org/boards/STM32F401CEU6-WeAct-Black-Pill-V3.0.html";>https://stm32-base.org/boards/STM32F401CEU6-WeAct-Black-Pill-V3.0.html</a></p>
-<p>The board features:</p>
-<ul class="simple">
-<li><p>On-board 64 Mbits (8 MBytes) External SPI-NOR Flash (optional),</p></li>
-<li><p>nRST reset button and BOOT0 ST BootROM entry button,</p></li>
-<li><p>One user LED and one user push-button,</p></li>
-<li><p>HSE 25 Mhz and LSE 32.768 kHz,</p></li>
-<li><p>USB OTG FS with micro-AB connector,</p></li>
-<li><p>Around 30 remappable GPIOs on 2.54mm headers (after excluding 7 power
pins,
-two LSE pins, the LED pin, NRST, BOOT1 and the SWD header),</p></li>
-<li><p>Serial Wire Debug header for use with an external SWD/JTAG
adapter.</p></li>
-</ul>
-<p>As F4 series have a USB DFuSe-capable BootROM [AN2606], the board can be
flashed
-via <cite>dfu-util</cite> over USB, or via <cite>stm32flash</cite> over UART
without any debuggers.</p>
-</section>
-<section id="leds">
-<h2>LEDs<a class="headerlink" href="#leds" title="Permalink to this
heading"></a></h2>
-<p>The STM32F411 Minimum board has only one software controllable LED on PC13.
-This LED can be used by the board port when CONFIG_ARCH_LEDS option is
-enabled.</p>
-<p>If enabled the LED is simply turned on when the board boots
-successfully, and is blinking on panic / assertion failed.</p>
-</section>
-<section id="uarts">
-<h2>UARTs<a class="headerlink" href="#uarts" title="Permalink to this
heading"></a></h2>
-<section id="usart1">
-<h3>USART1<a class="headerlink" href="#usart1" title="Permalink to this
heading"></a></h3>
-<blockquote>
-<div><table class="docutils align-default">
+ <section id="odrive-v3-6">
+<h1>ODrive V3.6<a class="headerlink" href="#odrive-v3-6" title="Permalink to
this heading"></a></h1>
+<p>ODrive V3.6 is an open-source dual-motor FOC controller based on
+the STMicro STM32F405RG and TI DRV8301 gate drivers.</p>
+<p>See <a class="reference external"
href="https://odriverobotics.com/shop/odrive-v36";>https://odriverobotics.com/shop/odrive-v36</a>
for further information.</p>
+<p>For now we support only ODrive V3.6 56V.</p>
+<section id="pin-configuration">
+<h2>Pin configuration<a class="headerlink" href="#pin-configuration"
title="Permalink to this heading"></a></h2>
+<table class="docutils align-default">
<thead>
-<tr class="row-odd"><th class="head"><p>UART/USART</p></th>
-<th class="head"><p>PINS</p></th>
+<tr class="row-odd"><th class="head"><p>Board Pin</p></th>
+<th class="head"><p>Chip Function</p></th>
+<th class="head"><p>Chip Pin</p></th>
+<th class="head"><p>Notes</p></th>
</tr>
</thead>
<tbody>
-<tr class="row-even"><td><p>TX</p></td>
+<tr class="row-even"><td><p>GPIO_1</p></td>
+<td></td>
+<td><p>PA0</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>GPIO_2</p></td>
+<td></td>
+<td><p>PA1</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>GPIO_3</p></td>
+<td><p>USART2_TX</p></td>
+<td><p>PA2</p></td>
+<td><p>Serial TX</p></td>
+</tr>
+<tr class="row-odd"><td><p>GPIO_4</p></td>
+<td><p>USART2_RX</p></td>
+<td><p>PA3</p></td>
+<td><p>Serial RX</p></td>
+</tr>
+<tr class="row-even"><td><p>M1_TEMP</p></td>
+<td><p>ADC1_IN4</p></td>
+<td><p>PA4</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>AUX_TEMP</p></td>
+<td><p>ADC1_IN5</p></td>
+<td><p>PA5</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>VBUS_S</p></td>
+<td><p>ADC1_IN6</p></td>
+<td><p>PA6</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M1_AL</p></td>
+<td><p>TIM8 CH1N</p></td>
+<td><p>PA7</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>M0_AH</p></td>
+<td><p>TIM1 CH1</p></td>
+<td><p>PA8</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M0_BH</p></td>
+<td><p>TIM1 CH2</p></td>
<td><p>PA9</p></td>
+<td></td>
</tr>
-<tr class="row-odd"><td><p>RX</p></td>
+<tr class="row-even"><td><p>M0_CH</p></td>
+<td><p>TIM1 CH3</p></td>
<td><p>PA10</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>USB_DM</p></td>
+<td><p>USB DM</p></td>
+<td><p>PA11</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>USB_DP</p></td>
+<td><p>USB DP</p></td>
+<td><p>PA12</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>SWDIO</p></td>
+<td></td>
+<td><p>PA13</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>SWCLK</p></td>
+<td></td>
+<td><p>PA14</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>GPIO_7</p></td>
+<td></td>
+<td><p>PA15</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>M0_SO1</p></td>
+<td><p>ADC2_IN10</p></td>
+<td><p>PC0</p></td>
+<td><p>M0 current 1</p></td>
+</tr>
+<tr class="row-odd"><td><p>M0_SO2</p></td>
+<td><p>ADC2_IN11</p></td>
+<td><p>PC1</p></td>
+<td><p>M0 current 2</p></td>
+</tr>
+<tr class="row-even"><td><p>M1_SO2</p></td>
+<td><p>ADC3_IN12</p></td>
+<td><p>PC2</p></td>
+<td><p>M1 current 2</p></td>
+</tr>
+<tr class="row-odd"><td><p>M1_SO1</p></td>
+<td><p>ADC3_IN13</p></td>
+<td><p>PC3</p></td>
+<td><p>M1 current 1</p></td>
+</tr>
+<tr class="row-even"><td><p>GPIO_5</p></td>
+<td></td>
+<td><p>PC4</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M0_TEMP</p></td>
+<td><p>ADC1_IN15</p></td>
+<td><p>PC5</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>M1_AH</p></td>
+<td><p>TIM8 CH1</p></td>
+<td><p>PC6</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M1_BH</p></td>
+<td><p>TIM8 CH2</p></td>
+<td><p>PC7</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>M1_CH</p></td>
+<td><p>TIM8 CH3</p></td>
+<td><p>PC8</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M0_ENC_Z</p></td>
+<td></td>
+<td><p>PC9</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>SPI_SCK</p></td>
+<td><p>SPI3_SCK</p></td>
+<td><p>PC10</p></td>
+<td><p>DRV8301 M0/M1</p></td>
+</tr>
+<tr class="row-odd"><td><p>SPI_MISO</p></td>
+<td><p>SPI3_MISO</p></td>
+<td><p>PC11</p></td>
+<td><p>DRV8301 M0/M1</p></td>
+</tr>
+<tr class="row-even"><td><p>SPI_MOSI</p></td>
+<td><p>SPI3_MOSI</p></td>
+<td><p>PC12</p></td>
+<td><p>DRV8301 M0/M1</p></td>
+</tr>
+<tr class="row-odd"><td><p>M0_NCS</p></td>
+<td><p>SPI CS</p></td>
+<td><p>PC13</p></td>
+<td><p>DRV8301 M0 CS</p></td>
+</tr>
+<tr class="row-even"><td><p>M1_NCS</p></td>
+<td><p>SPI CS</p></td>
+<td><p>PC14</p></td>
+<td><p>DRV8301 M1 CS</p></td>
+</tr>
+<tr class="row-odd"><td><p>M1_ENC_Z</p></td>
+<td></td>
+<td><p>PC15</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>M1_BL</p></td>
+<td><p>TIM8 CH2N</p></td>
+<td><p>PB0</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M1_CL</p></td>
+<td><p>TIM8 CH3N</p></td>
+<td><p>PB1</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>GPIO_6</p></td>
+<td></td>
+<td><p>PB2</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>GPIO_8</p></td>
+<td></td>
+<td><p>PB3</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>M0_ENC_A</p></td>
+<td><p>TIM3_CH1IN_2</p></td>
+<td><p>PB4</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M0_ENC_B</p></td>
+<td><p>TIM3_CH2IN_2</p></td>
+<td><p>PB5</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>M1_ENC_A</p></td>
+<td><p>TIM4_CH1IN_1</p></td>
+<td><p>PB6</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M1_ENC_B</p></td>
+<td><p>TIM4_CH2IN_1</p></td>
+<td><p>PB7</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>CAN_R</p></td>
+<td><p>CAN_R</p></td>
+<td><p>PB8</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>CAN_D</p></td>
+<td><p>CAN_D</p></td>
+<td><p>PB9</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AUX_L</p></td>
+<td></td>
+<td><p>PB10</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>AUX_H</p></td>
+<td></td>
+<td><p>PB11</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>EN_GATE</p></td>
+<td><p>OUT</p></td>
+<td><p>PB12</p></td>
+<td><p>M0/M1 DRV8301</p></td>
+</tr>
+<tr class="row-odd"><td><p>M0_AL</p></td>
+<td><p>TIM1 CH1N</p></td>
+<td><p>PB13</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>M0_BL</p></td>
+<td><p>TIM1 CH2N</p></td>
+<td><p>PB14</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>M0_CL</p></td>
+<td><p>TIM1 CH3N</p></td>
+<td><p>PB15</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>N_FAULT</p></td>
+<td></td>
+<td><p>PD2</p></td>
+<td><p>M0/M1 DRV8301 N_FAULT</p></td>
</tr>
</tbody>
</table>
-</div></blockquote>
</section>
-<section id="usart2">
-<h3>USART2<a class="headerlink" href="#usart2" title="Permalink to this
heading"></a></h3>
-<blockquote>
-<div><table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>UART/USART</p></th>
-<th class="head"><p>PINS</p></th>
-</tr>
-</thead>
+<section id="board-hardware-configuration">
+<h2>Board hardware configuration<a class="headerlink"
href="#board-hardware-configuration" title="Permalink to this
heading"></a></h2>
+<table class="docutils align-default">
<tbody>
-<tr class="row-even"><td><p>CTS</p></td>
-<td><p>PA0</p></td>
+<tr class="row-odd"><td><p>Current shunt resistance</p></td>
+<td><p>0.0005</p></td>
</tr>
-<tr class="row-odd"><td><p>RTS</p></td>
-<td><p>PA1</p></td>
+<tr class="row-even"><td><p>Current sense gain</p></td>
+<td><p>10/20/40/80</p></td>
</tr>
-<tr class="row-even"><td><p>TX</p></td>
-<td><p>PA2</p></td>
+<tr class="row-odd"><td><p>Vbus min</p></td>
+<td><p>12V</p></td>
</tr>
-<tr class="row-odd"><td><p>RX</p></td>
-<td><p>PA3</p></td>
+<tr class="row-even"><td><p>Vbus max</p></td>
+<td><p>24V or 56V</p></td>
</tr>
-<tr class="row-even"><td><p>CK</p></td>
-<td><p>PA4</p></td>
+<tr class="row-odd"><td><p>Iout max</p></td>
+<td><p>40A (no cooling for MOSFETs)</p></td>
+</tr>
+<tr class="row-even"><td><p>IPHASE_RATIO</p></td>
+<td><p>1/(R_shunt*gain)</p></td>
+</tr>
+<tr class="row-odd"><td><p>VBUS_RATIO = 1/VBUS_gain</p></td>
+<td><p>11 or 19</p></td>
</tr>
</tbody>
</table>
-</div></blockquote>
-</section>
-<section id="default-usart-uart-configuration">
-<h3>Default USART/UART Configuration<a class="headerlink"
href="#default-usart-uart-configuration" title="Permalink to this
heading"></a></h3>
-<p>USART1 (RX & TX only) is available through pins PA9 (TX) and PA10
(RX).</p>
-</section>
-</section>
-<section id="usb">
-<h2>USB<a class="headerlink" href="#usb" title="Permalink to this
heading"></a></h2>
-<p>The board routes F401/F411’s built-in FS PHY to a USB-C (non-dual-role)
port.
-The chips still have a DWC2 USBOTG IP core, but only device mode is used.
-Note that only V3.1 PCB got a DNI solder bridge to short 5V and USB VBUS.
-Previous revisions had no support for USB host because of lack of port power
-as well as 5k pull-downs on USB-C CC1/CC2 pins (not affecting USB-A adapters).
-Because of this we are not considering USBOTG-FS Host configurations and
-do not map OTG_VBUS, OTG_ID pins to FS PHY, also no OVER/PWRON GPIOs.</p>
-<p>If using USB and USART1 simultaneously, make sure to check
-CONFIG_OTG_ID_GPIO_DISABLE, else stm32_otgfsdev driver code remaps PA10 pin
from
-USART1_RX to OTG_ID, and you’ll lose keyboard/console input!</p>
-</section>
-<section id="spi-nor-flash">
-<h2>SPI NOR Flash<a class="headerlink" href="#spi-nor-flash" title="Permalink
to this heading"></a></h2>
-<p>The seller may send boards with soldered on-board SPI NOR Flash, usually
-Winbond W25Q64JVSIQ (QuadSPI) or similar. F401/F411 lack QuadSPI support.
-NuttX supports such MTD storage via special drivers and filesystems.
-For example, external flash can be formatted with SmartFS (or NXFFS, LittleFS)
-and mounted on boot by board init code or interactively from NSH.</p>
</section>
<section id="configurations">
<h2>Configurations<a class="headerlink" href="#configurations"
title="Permalink to this heading"></a></h2>
-<p>Each stm32f411-minimum configuration is maintained in a sub-directory and
-can be selected as follow:</p>
-<div class="highlight-none notranslate"><div
class="highlight"><pre><span></span> tools/configure.sh
stm32f411-minimum:<subdir>
-
-Where <subdir> is one of the following:
-</pre></div>
-</div>
-<section id="configuration-directories">
-<h3>Configuration Directories<a class="headerlink"
href="#configuration-directories" title="Permalink to this heading"></a></h3>
-</section>
<section id="nsh">
<h3>nsh<a class="headerlink" href="#nsh" title="Permalink to this
heading"></a></h3>
-<p>Configures the NuttShell (nsh) located at apps/examples/nsh. This
-configuration enables a serial console on UART1.</p>
+<p>Configures the NuttShell (nsh) located at apps/examples/nsh. The
+Configuration enables the serial interfaces on USART2. Support for
+builtin applications is enabled, but in the base configuration no
+builtin applications are selected.</p>
+</section>
+<section id="usbnsh">
+<h3>usbnsh<a class="headerlink" href="#usbnsh" title="Permalink to this
heading"></a></h3>
+<p>This is another NSH example. If differs from other ‘nsh’ configurations
+in that this configurations uses a USB serial device for console I/O.</p>
</section>
</section>
</section>
@@ -404,8 +578,8 @@ configuration enables a serial console on UART1.</p>
</div>
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@@ -460,7 +461,7 @@ and see the assigned IP. This interface can be use with an
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<li class="toctree-l5"><a class="reference internal"
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<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
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<li class="toctree-l5"><a class="reference internal"
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<li class="toctree-l5"><a class="reference internal"
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+<li class="toctree-l5"><a class="reference internal"
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@@ -177,6 +177,7 @@
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<li class="toctree-l5"><a class="reference internal"
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+<li class="toctree-l5"><a class="reference internal"
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diff --git
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+++ b/content/docs/latest/platforms/arm/stm32f4/boards/stm3240g-eval/index.html
@@ -177,6 +177,7 @@
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<li class="toctree-l5"><a class="reference internal"
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+<li class="toctree-l5"><a class="reference internal"
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diff --git
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<li class="toctree-l5"><a class="reference internal"
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+<li class="toctree-l5"><a class="reference internal"
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href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
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b/content/docs/latest/platforms/arm/stm32f4/boards/stm32f411-minimum/index.html
index 15422d64..cf3abaf4 100644
---
a/content/docs/latest/platforms/arm/stm32f4/boards/stm32f411-minimum/index.html
+++
b/content/docs/latest/platforms/arm/stm32f4/boards/stm32f411-minimum/index.html
@@ -177,6 +177,7 @@
<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f412zg/index.html">ST Nucleo F410RB</a></li>
<li class="toctree-l5"><a class="reference internal"
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<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
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b/content/docs/latest/platforms/arm/stm32f4/boards/stm32f411e-disco/index.html
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<li class="toctree-l5"><a class="reference internal"
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<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
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<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
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b/content/docs/latest/platforms/arm/stm32f4/boards/stm32f429i-disco/index.html
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<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
diff --git
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b/content/docs/latest/platforms/arm/stm32f4/boards/stm32f4discovery/index.html
index a3005652..3d8b67ce 100644
---
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@@ -177,6 +177,7 @@
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<li class="toctree-l5"><a class="reference internal"
href="../nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="../odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
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<li class="toctree-l5"><a class="reference internal"
href="../olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
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@@ -200,6 +200,7 @@
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<li class="toctree-l5"><a class="reference internal"
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<li class="toctree-l5"><a class="reference internal"
href="boards/nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="boards/odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l5"><a class="reference internal"
href="boards/olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l5"><a class="reference internal"
href="boards/olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l5"><a class="reference internal"
href="boards/olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
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<li class="toctree-l1"><a class="reference internal"
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<li class="toctree-l1"><a class="reference internal"
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<li class="toctree-l1"><a class="reference internal"
href="boards/nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l1"><a class="reference internal"
href="boards/odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l1"><a class="reference internal"
href="boards/olimex-stm32-e407/index.html">Olimex STM32-E407</a></li>
<li class="toctree-l1"><a class="reference internal"
href="boards/olimex-stm32-h405/index.html">Olimex STM32-P207</a></li>
<li class="toctree-l1"><a class="reference internal"
href="boards/olimex-stm32-h407/index.html">Olimex STM32-H407</a></li>
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index 05e1b89a..77401797 100644
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<li class="toctree-l3"><a class="reference internal"
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<li class="toctree-l3"><a class="reference internal"
href="arm/stm32f4/boards/nucleo-f446re/index.html">ST Nucleo F446RE</a></li>
+<li class="toctree-l3"><a class="reference internal"
href="arm/stm32f4/boards/odrive36/index.html">ODrive V3.6</a></li>
<li class="toctree-l3"><a class="reference internal"
href="arm/stm32f4/boards/olimex-stm32-e407/index.html">Olimex
STM32-E407</a></li>
<li class="toctree-l3"><a class="reference internal"
href="arm/stm32f4/boards/olimex-stm32-h405/index.html">Olimex
STM32-P207</a></li>
<li class="toctree-l3"><a class="reference internal"
href="arm/stm32f4/boards/olimex-stm32-h407/index.html">Olimex
STM32-H407</a></li>
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index 080ab47d..ac1d2ab3 100644
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