Build

Building the firmware

This page covers the common build steps for the firmware in this repository.

Prerequisites (Linux example)

• Python 3.8+
• pip
• gcc-arm-none-eabi
• openocd (for ST-Link flash targets)
• stlink-tools (optional)
• tup (the Makefile uses tup during the build)
• make

Install common packages on Debian/Ubuntu:

sudo apt update
sudo apt install -y python3 python3-pip make gcc-arm-none-eabi openocd stlink-tools tup

Build steps

cd Firmware
make
# or parallel: make -j$(nproc)

After a successful build, firmware artifacts live in Firmware/build/ (for example ODriveFirmware.hex and ODriveFirmware.elf).

Flash using ST-Link / OpenOCD

cd Firmware
make flash    # uses openocd & stlink (flash-stlink2 target)

Other targets in the Firmware/Makefile include: clean, flash-bmp, dfu, erase, unlock, and libfibre-* build helpers.

Notes

• The Makefile will call tup — ensure tup is installed and configured.
• Building the Python tools (odrivetool) is done in the tools folder. Install with pip install -e tools for local development.