B. Edits from Stanford Doggo repository - iangohy/SUTDoggo GitHub Wiki

B.1 ODrive firmware

Clone Nate's Odrive repository https://github.com/Nate711/ODrive
Navigate to ODrive/Firmware
Copy tup.config.default as 'tup.config'

cp tup.config.default tup.config

Edit the value of CONFIG_BOARD_VERSION according to the ODrive you are using:

ODrive model	Value	Remarks
3.1	v3.1	Untested
3.2	v3.2	Untested
3.3	v3.3	Untested
3.4 24v	v3.4-24V	Untested
3.4 48v	v3.4-48V	Untested
3.5 24v	v3.5-24V
3.5 48v	v3.5-48V
3.6 24v	v3.6-24V	Requires change to Tupfile.lua
3.6 24v	v3.6-56V	Requires change to Tupfile.lua / Untested

Note: for ODrive 3.6 and later: An addition to Tupfile.lua is required (based on the main branch of the ODrive repo).

    elseif boardversion == "v3.5-48V" then
        boarddir = 'Board/v3'
        FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=5"
        FLAGS += "-DHW_VERSION_VOLTAGE=48"
    ### ADDITIONAL PART STARTS HERE
    elseif boardversion == "v3.6-24V" then
        boarddir = 'Board/v3'
        FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=6"
        FLAGS += "-DHW_VERSION_VOLTAGE=24"
    elseif boardversion == "v3.6-56V" then
        boarddir = 'Board/v3'
        FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=6"
        FLAGS += "-DHW_VERSION_VOLTAGE=56"
    ### ADDITIONAL PART ENDS HERE
    elseif boardversion == "" then

B.2 Doggo firmware code

In Doggo's src folder, change the original #include library lines of datalog.cpp and imu.cpp from arduino.h to Arduino.h and of debug.h from ChRT.h to ChRt.h.