How to Upgrade ODrive

To achieve optimal performance from your ODrive, ensure it's updated to the latest version that's compatible with your hardware.

The latest firmware version for ODrive 3.6 boards is 0.5.6.
Check here.

Upgrade a genuine board

The ODrive team has done a great job upgrading a genuine board:

All you have to do is launch the odrivetool dfu command while your board is connected.

Here’s the complete procedure for a Windows computer:

1. Install odrivetool (official procedure here)
2. 1. Install Anaconda (Python)
   2. Open the Anaconda terminal
   3. Install odrivetool with the command:

   4. 1. pip install --upgrade odrive

3. Upgrade (official procedure here)
4. 1. Connect only the board you want to upgrade
   2. Type this command in Anaconda terminal:

   3. 1. ​odrivetool dfu

   4. odrivetool will seamlessly download the latest firmware, set your board to DFU mode, upload the firmware, and then reboot it into RUN mode.

If you have trouble detecting your ODrive, you probably need to install Zadig and change the ODrive USB driver to libusb0.
See official documentation here.

Upgrade a custom board

Things will go wild with a custom (not genuine) board!

odrivetool will not recognize the board and refuse to upgrade.

Upgrade with STLink

It's very hard to achieve an upgrade from Windows for a custom board. Majority of people will do it the old way with an STLink, which is a good solution if you have one on hand.

If you need the .hex files, here are the links:

https://www.wybosimu.com/r/odrive3.6-24V_fw-0.5.6.hex

https://www.wybosimu.com/r/odrive3.6-56V_fw-0.5.6.hex

Upgrade from your Raspberry Pi

Alternatively, since WYBOController is hosted on a Raspberry Pi, upgrading it from there is much more straightforward compared to upgrading from Windows.

Therefore, we have already prepared the binary for you :)

Here are the steps:

1. Connect to your Raspberry Pi by SSH (you can use putty)
2. 1. Default user is pi and password is raspberry
3. Install dfu-util tool with  this command:

4. 1. sudo apt install dfu-util

5. Retrieve your firmware binary by executing one of the commands below, depending on your specific hardware:

6. 1. wget https://www.wybosimu.com/r/odrive3.6-24V_fw0.5.6.bin

   2. wget https://www.wybosimu.com/r/odrive3.6-56V_fw0.5.6.bin

7. Manually activate DFU Mode on your board using the specific physical switch or jumper.
8. Connect the board to the pi with USB
9. Type the command:

10. 1. sudo dfu-util -a 0 -s 0x08000000 -D firmware.bin

    2. replace firmware.bin by the name of the firmware you've just downloaded
11. Disconnect the board, switch again in RUN Mode, and you're ready to go!