ODrive Native (Fibre endpoint) Example

This example demonstrates how to use the espp::OdriveNative component to serve the ODrive legacy native (Fibre endpoint) binary protocol. It registers a few simulated-motor properties, then feeds crafted request packets through process_bytes and logs the responses:

1. an endpoint-0 read that returns the auto-generated JSON descriptor,

2. a binary write to axis0.controller.input_pos, and

3. a binary read of the same property.

Table of Contents

• ODrive Native (Fibre endpoint) Example

  • Requirements

  • Build

  • Flash and Monitor

  • Notes

Requirements

• ESP-IDF installed and get_idf available in your shell

Build

# From repo root
cd components/odrive_native/example
get_idf
idf.py build

Flash and Monitor

idf.py flash monitor

The example runs a scripted packet sequence and logs the descriptor and the per-packet responses.

Notes

• The component is transport-agnostic: this example fabricates packets in code. In a real deployment each USB bulk transfer would carry one packet, which you pass to process_bytes, transmitting the returned response bytes back.

• Wiring to a concrete USB device stack is a later phase.