When I went to re-program them, a large portion of the boards failed tests surrounding the quality of the current sense measurements, indicating there was too much noise in the current sense measurements, specifically when driving 0 current. Thus, my saga started when I went to re-program a few dozen boards using the end-of-line test fixture so that they could all match the most recent version. That said, there is some effort made to ensure that large orders all have the same firmware on them. There is also an end-of-line test fixture that is used to run tests on every board and some other firmware level performance tests.īecause of all that testing, we’re pretty confident to release new firmware images once all the tests have passed, and try to ship out boards with firmware that is within a week or two of the newest on all boards and devices that go out the door. There is a hardware-in-the-loop dynamometer test fixture that is used to run a separate battery of tests. There are unit tests that run with pieces of the firmware compiled to run in a host environment. Moteus has a variety of testing done on every firmware release. Here’s a not-so-brief story about troubleshooting a problem that was at times vexing, impossible, incredibly challenging, frustrating, and all around just a terrible time with the bare-metal STM32G4 firmware for the moteus brushless motor controller.
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