Ensure you download from the official ODrive Robotics GitHub to avoid outdated or erroneous clone schematics.
The ODrive doesn’t measure motor current just by looking at the DC input. Instead, it measures the current in each phase individually using low-ohm shunt resistors placed between the low-side MOSFETs and ground. odrive 3.6 schematic
Uses an STM32F405 microcontroller for high-speed computation. Ensure you download from the official ODrive Robotics