fix HWIL tests

Firmware/odrive-interface.yaml

@@ -258,6 +258,7 @@ interfaces:
               Setting this to False even though a brake resistor is connected is
               harmless. Setting this to True even though no brake resistor is
               connected can break the power supply.
+              Changes to this value require a reboot to take effect.
 
           dc_bus_undervoltage_trip_level:
             type: float32

tools/odrive/tests/closed_loop_test.py

@@ -40,6 +40,9 @@ class TestClosedLoopControlBase():
 
         # Set brake resistor settings
         axis_ctx.parent.handle.config.brake_resistance = float(axis_ctx.parent.yaml['brake-resistance'])
+        # The docs say this requires a reboot but here's a small secret:
+        # Since the brake resistor is also started in clear_errors() this
+        # circumvents the need for a reboot.
         axis_ctx.parent.handle.config.enable_brake_resistor = True
 
         # Set calibration settings

tools/odrive/tests/integration_test.py

@@ -106,6 +106,8 @@ class TestSimpleCANClosedLoop():
         # Make sure there are no funny configurations active
         logger.debug('Setting up clean configuration...')
         axis_ctx.parent.erase_config_and_reboot()
+        axis_ctx.parent.handle.config.enable_brake_resistor = True
+        axis_ctx.parent.save_config_and_reboot()
 
         # run calibration
         axis_ctx.handle.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
@@ -162,7 +164,7 @@ class TestSimpleCANClosedLoop():
             test_assert_eq(axis_ctx.handle.config.can.node_id, node_id+20)
 
             # Reset node ID to default value
-            asyncio.run(command(canbus.handle, node_id+20, extended_id, 'set_node_id', node_id=node_id))
+            command(canbus.handle, node_id+20, extended_id, 'set_node_id', node_id=node_id)
             fence()
             test_assert_eq(axis_ctx.handle.config.can.node_id, node_id)