Added link to the DFU protocol appnote

firmware/bootloader/readme.txt

@@ -41,5 +41,5 @@ The bootloader executable works as follows:
 - Init ChibiOS and UART/Serial driver using tunerstudio_io code;
 - Create a thread to listen to UART (thBootloaderSerial), using dfuStartLoop();
 - The PC 'stm32-flasher' software sends its request byte only once, so we don't wait for it - the bootloader sends an answer as soon as it starts (both the request & answer bytes are known consts);
-- Ff the next command doesn't come immediately (<100 ms), we abort the bootloader dfu loop and run the application code - calling dfuJumpToApp() in main().
+- If the next command doesn't come immediately (<100 ms), we abort the bootloader dfu loop and run the application code - calling dfuJumpToApp() in main().
 - Otherwise, if at least one command is received, we stay in the bootloader mode and process commands.

firmware/bootloader/src/dfu.cpp

@@ -129,7 +129,7 @@ bool dfuStartLoop(void) {
 			break;
 		}
 		
-		// check if we have a correct command recieved
+		// check if we have a correct command received
 		if (complement != complementByte(command)) {
 			sendByte(DFU_NACK_BYTE);
 			continue;
@@ -141,7 +141,7 @@ bool dfuStartLoop(void) {
 		// set normal (longer) timeout, we're not in a hurry anymore
 		sr5Timeout = DFU_SR5_TIMEOUT_NORMAL;
 
-		// now execute it
+		// now execute it (see ST appnote "AN3155")
     	switch (command) {
         case DFU_UART_CHECK:
 			break;
@@ -187,7 +187,7 @@ bool dfuStartLoop(void) {
             	break;
             if (!getByte(&complement))
 				break;
-			// check if we have a correct byte recieved
+			// check if we have a correct byte received
 			if (complement != complementByte(byte)) {
 				sendByte(DFU_NACK_BYTE);
 				break;

firmware/bootloader/src/dfu.h

@@ -13,6 +13,10 @@
 
 #define DFU_BUFFER_SIZE    258   // Max. 256 bytes at a time plus 2 bytes (numBytes+checksum)
 
+
+// DFU/USART Protocol is described in AN3155 document "Application note. USART protocol used in the STM32 bootloader"
+// http://www.st.com/resource/en/application_note/cd00264342.pdf
+
 #define DFU_UART_CHECK     0x7F  // "UART handshake" escape byte
 
 #define DFU_GET_LIST_CMD   0x00  // "Get supported commands list" command

firmware/controllers/electronic_throttle.cpp

@@ -184,6 +184,16 @@ void setDefaultEtbParameters(void) {
 	engineConfiguration->etbFreq = 300;
 }
 
+bool isETBRestartNeeded(void) {
+	/**
+	 * We do not want any interruption in HW pin while adjusting other properties
+	 */
+	return engineConfiguration->bc.etbControlPin1 != activeConfiguration.bc.etbControlPin1 ||
+		   engineConfiguration->bc.etbControlPin2 != activeConfiguration.bc.etbControlPin2 ||
+		   engineConfiguration->bc.etbDirectionPin1 != activeConfiguration.bc.etbDirectionPin1 ||
+		   engineConfiguration->bc.etbDirectionPin2 != activeConfiguration.bc.etbDirectionPin2;
+}
+
 void stopETBPins(void) {
 	unmarkPin(activeConfiguration.bc.etbControlPin1);
 	unmarkPin(activeConfiguration.bc.etbControlPin2);

firmware/controllers/electronic_throttle.h

@@ -13,6 +13,7 @@ void initElectronicThrottle(void);
 void setDefaultEtbParameters(void);
 void setEtbPFactor(float value);
 void setEtbIFactor(float value);
+bool isETBRestartNeeded(void);
 void stopETBPins(void);
 void startETBPins(void);
 void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration);

firmware/controllers/system/pwm_generator_logic.cpp

@@ -123,7 +123,7 @@ static efitimeus_t togglePwmState(PwmConfig *state) {
 	efitimeus_t nextSwitchTimeUs = getNextSwitchTimeUs(state);
 #if DEBUG_PWM
 	scheduleMsg(&logger, "%s: nextSwitchTime %d", state->name, nextSwitchTime);
-#endif
+#endif /* DEBUG_PWM */
 	// signed value is needed here
 //	int64_t timeToSwitch = nextSwitchTimeUs - getTimeNowUs();
 //	if (timeToSwitch < 1) {

firmware/hw_layer/hardware.cpp

@@ -234,7 +234,10 @@ void applyNewHardwareSettings(void) {
     stopInjectionPins();
 	stopIgnitionPins();
 	stopCanPins();
+	bool etbRestartNeeded = isETBRestartNeeded();
+	if (etbRestartNeeded) {
 		stopETBPins();
+	}
 	stopVSSPins();
 	stopAuxPins();
 
@@ -293,7 +296,9 @@ void applyNewHardwareSettings(void) {
 	startInjectionPins();
 	startIgnitionPins();
 	startCanPins();
+	if (etbRestartNeeded) {
 		startETBPins();
+	}
 	startVSSPins();
 	startAuxPins();