I would like to control a µDriver directly connected via SPI to a raspberry.
Has anyone already implemented the master-side of the protocol used by the µDriver and the master-board to communicate on linux ?
Not as far as I know, there is no such code on the linux side. We all use the master board so far.
Hi, as I need this for a robotic class, I made a functional prototype library in python. This will evolve during the coming days.
I’m now able to control two motors at 1khz with a direct SPI connection with a Raspberry Pi.
You can find the repo temporary hosted here: GitHub - thomasfla/odri-spi-rpi: Python code to access ODRI (Open Dynamic Robot Initiative) brushless drivers using directly SPI from a raspberry pi board.
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Hi ,we are trying to use your program connect a Respberry Pi with Ti boards to control two motor following ´open_robot_actuator_hardware/README.md at master · open-dynamic-robot-initiative/open_robot_actuator_hardware · GitHub
and use this program ´https://github.com/open-dynamic-robot-initiative/udriver_firmware´
, but when we run you program, there is an error¨sensor frame is corrupted is uDriver powered on?¨
So we want to know if your program can work with TI boards or we should change some configuration?
Waiting for your reply 
Hi
I’m afraid you won’t be able to use an SPI connection with TI dev board. With uDriver V2, we made a small change to the pinout used by TI launchpad in order to free one of the two SPI used to configurate the MOSFET gate drivers.
Instead, you can use a CAN adapter, see the software for CAN on odri GitHub.
Hoping this helps,
Best,
Thomas.
Hi,
In that case , can you send us something about the new pinout?
Best,
Yujie
You will find the schematic of the uDriver V2 at this page: