- Disable interrupts before setting the reboot cookie
- Delay after NVIC_SystemReset before jumping to bootloader
(see comment for an explanation)
- Make a variable for the reboot cookie
- Do reboot cookie checks before C++ static initializers
osPriorityNormal is the same priority as the communication task. If the USB pump task runs on the same priority, it sometimes fails to respond to the host in time, causing spurious halt conditions.
- check return code of enqueue_modulation_timings
- wrap all hardware access to safety critical hardware timer registers in safety_critical_ sections. These functions like the armed-ness of each PWM output to a corresponding armed state that can only be set at start or by the user
- ensure NaN in any variables doesn't cause unpredictable behavior on the safety critical PWM outputs
Samuel Sadok