Ensure everything is stopped when entering the bootloader

While we're at it, ensure the primary ISR is stopped when entering the bootloader or when an assertion failure occurs.
mjbots · Jul 24, 2023 · c72fc7f · c72fc7f
1 parent 3759121
commit c72fc7f
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Showing 4 changed files with 25 additions and 9 deletions.
diff --git a/fw/board_debug.cc b/fw/board_debug.cc
@@ -796,7 +796,9 @@ class BoardDebug::Impl {
     }
 
     if (cmd_text == "flash") {
-      // TODO: Get the USART and direction pin from our config.
+      // Ensure everything is stopped!
+      MoteusEnsureOff();
+
       MultiplexBootloader(multiplex_protocol_->config()->id, USART1, GPIOA, 8);
       // We should never get here.
       MJ_ASSERT(false);

diff --git a/fw/moteus_assert.cc b/fw/moteus_assert.cc
@@ -33,14 +33,7 @@ extern "C" {
 void mbed_die(void) {
   // We want to ensure the motor controller is disabled and flash an
   // LED which exists.
-  gpio_t power;
-  gpio_init_out(&power, moteus::g_hw_pins.drv8323_hiz);
-  gpio_write(&power, 0);
-
-  // Also, disable the DRV8323 entirely, because, hey, why not.
-  gpio_t enable;
-  gpio_init_out(&enable, moteus::g_hw_pins.drv8323_enable);
-  gpio_write(&enable, 0);
+  moteus::MoteusEnsureOff();
 
   gpio_t led;
   gpio_init_out(&led, moteus::g_hw_pins.debug_led1);

diff --git a/fw/moteus_hw.cc b/fw/moteus_hw.cc
@@ -271,4 +271,22 @@ MoteusHwPins FindHardwarePins(FamilyAndVersion fv) {
   return result;
 }
 
+void MoteusEnsureOff() {
+  gpio_t power;
+  gpio_init_out(&power, moteus::g_hw_pins.drv8323_hiz);
+  gpio_write(&power, 0);
+
+  // Also, disable the DRV8323 entirely, because, hey, why not.
+  gpio_t enable;
+  gpio_init_out(&enable, moteus::g_hw_pins.drv8323_enable);
+  gpio_write(&enable, 0);
+
+  // We want to ensure that our primary interrupt is not running.
+  // Which one it is could vary, so just turn them all off.
+  NVIC_DisableIRQ(TIM2_IRQn);
+  NVIC_DisableIRQ(TIM3_IRQn);
+  NVIC_DisableIRQ(TIM4_IRQn);
+  NVIC_DisableIRQ(TIM5_IRQn);
+}
+
 }
diff --git a/fw/moteus_hw.h b/fw/moteus_hw.h
@@ -128,4 +128,7 @@ MoteusHwPins FindHardwarePins(FamilyAndVersion);
 
 extern MoteusHwPins g_hw_pins;
 
+// Ensure the DRV8323 is turned off.
+void MoteusEnsureOff();
+
 }