Firmware for Reverse Current Circuitry

[gbalke]

A small driver needs to be written to toggle the shunt (R21) in case of regeneration caused by backdrive of the motor controllers. For now, R21 is to be left unpopulated.

CLARIFICATION: The firmware has never successfully uploaded. The firmware did not exist before #4 which was just setting up the makefile to compile the script without and real world hardware testing.

[gbalke]

Initial steps addressed by #4.

[gbalke]

Currently debugging upload issues on this branch with firmware here.

When I upload and attach a debugger I get the following:

Reading symbols from build/program.elf...
Remote debugging using localhost:3333
0xbc08bcf8 in ?? ()
(gdb) b *main
Breakpoint 1 at 0x8130: file src/main.c, line 18.
(gdb) start
The program being debugged has been started already.
Start it from the beginning? (y or n) y
Temporary breakpoint 2 at 0x8134: file src/main.c, line 21.
Starting program: ......./project/build/program.elf
Note: automatically using hardware breakpoints for read-only addresses.
^C
Program received signal SIGTRAP, Trace/breakpoint trap.
0xfffffffe in ?? ()
(gdb)

Probing shows everything is working alright...

$ st-info --probe
Found 1 stlink programmers
 serial: 303030303030303030303031
openocd: "\x30\x30\x30\x30\x30\x30\x30\x30\x30\x30\x30\x31"
  flash: 196608 (pagesize: 128)
   sram: 20480
 chipid: 0x0447
  descr: L0x Category 5 device

My openocd upload is definitely complaining but not failing and I've had similar results using st-flash:

Info : Device: STM32L0xx (Cat.5)
Info : STM32L flash has dual banks. Bank (0) size is 128kb, base address is 0x8000000
flash 'stm32lx' found at 0x08000000
auto erase enabled
Warn : couldn't use loader, falling back to page memory writes
wrote 8192 bytes from file build/program.bin in 1.138968s (7.024 KiB/s)
Error: JTAG failure
Error: Error setting register
Error: timed out while waiting for target halted
target halted due to debug-request, current mode: Handler HardFault
xPSR: 0xf0000003 pc: 0xfffffffe msp: 0x46c0b5f8
Error: error executing cortex_m crc algorithm
verified 6784 bytes in 20.159586s (0.329 KiB/s)
adapter speed: 300 kHz
shutdown command invoked

The crc error comes and goes...