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[firmware] disable DFU feature for board version <= 3.4 because it can break the board

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This commit is contained in:
Samuel Sadok
2018-04-24 13:20:21 -07:00
parent 32e76bf2ce
commit 49dcf47b37
2 changed files with 36 additions and 18 deletions
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Firmware/Board/v3/Src/main.c
+20 -13
View File
@@ -100,19 +100,26 @@ int main(void)
{
/* USER CODE BEGIN 1 */
/*
* This wait loop works around an obscure timing issue.
* When the transition NVIC_SystemReset() => STM bootloader happens quickly,
* there is a yet unexplained phenomenon where both the high side and low side
* brake resistor FETs would turn on simultaneously for about 2.5ms.
* This manifests in an audible click and may lead to failure of the FETs.
* When adding a delay before entering DFU mode the issue does not occur.
*
* This loop takes about 5 cycles per iteration, so the delay
* is about 1/168000kHz*5*1000000 = 30ms
*/
for (size_t i = 0; i < 1000000; ++i) {
__NOP();
if(*((unsigned long *)0x2001C000) == 0xDEADFE75) {
/* The STM DFU bootloader enables internal pull-up resistors on PB10 (AUX_H)
* and PB11 (AUX_L), thereby causing shoot-through on the brake resistor
* FETs and obliterating them unless external 3.3k pull-down resistors are
* present. Pull-downs are only present on ODrive 3.5 or newer.
* On older boards we disable DFU by default but if the user insists
* there's only one thing left that might save it: time.
* The brake resistor gate driver needs a certain 10V supply (GVDD) to
* make it work. This voltage is supplied by the motor gate drivers which get
* disabled at system reset. So over time GVDD voltage _should_ below
* dangerous levels. This is completely handwavy and should not be relied on
* so you are on your own on if you ignore this warning.
*
* This loop takes 5 cycles per iteration and at this point the system runs
* on the internal 16MHz RC oscillator so the delay is about 2 seconds.
*/
for (size_t i = 0; i < (16000000UL / 5UL * 2UL); ++i) {
__NOP();
}
*((unsigned long *)0x2001C000) == 0xDEADBEEF;
}
/* We could jump to the bootloader directly on demand without rebooting
Firmware/MotorControl/commands.cpp
+16 -5
View File
@@ -109,11 +109,6 @@ void motors_run_anticogging_calibration_func() {
}
}
void enter_dfu_mode() {
*((unsigned long *)0x2001C000) = 0xDEADBEEF;
NVIC_SystemReset();
}
#if HW_VERSION_MAJOR == 3
// Determine start address of the OTP struct:
// The OTP is organized into 16-byte blocks.
@@ -142,6 +137,22 @@ const uint8_t fw_version_minor = FW_VERSION_MINOR;
const uint8_t fw_version_revision = FW_VERSION_REVISION;
const uint8_t fw_version_unreleased = FW_VERSION_UNRELEASED; // 0 for official releases, 1 otherwise
void enter_dfu_mode() {
if ((board_version_major == 3) && (board_version_minor >= 5)) {
*((unsigned long *)0x2001C000) = 0xDEADBEEF;
NVIC_SystemReset();
} else {
/*
* DFU mode is only allowed on board version >= 3.5 because it can burn
* the brake resistor FETs on older boards.
* If you really want to use it on an older board, add 3.3k pull-down resistors
* to the AUX_L and AUX_H signals and _only then_ uncomment these lines.
*/
//*((unsigned long *)0x2001C000) = 0xDEADFE75;
//NVIC_SystemReset();
}
}
// This table specifies which fields and functions are exposed on the USB and UART ports.
// TODO: Autogenerate this table. It will come up again very soon in the Arduino library.
// clang-format off