Added erase flash to Platformio projecs tasks to restore motor to unc…

…alibrated state

README.md

@@ -13,10 +13,10 @@
 - A4950 current drivers (integrated mosfets) - **IMPORTANT** - do not back drive the motor without the [board modification](https://github.com/dzid26/RetroPilot-SERVO42B/wiki/Board-BEMF-protection-mod)
 
 ## Firmware
+- It uses Platformio build system, to configure, upload and debug the program
 - Uses ST's (old) Standard Peripheral Library (src/lib) for registers configuration
-- CAN handling c-code is generated from dbc file using cantools. See `generate_Msg.sh` 
-- It uses Platformio to build, upload and debug the program
-- User can interract with Function buttons (F1 and F2) and Reset button (Rst) or via debug virtual serial, aka semihosting
+- CAN handling c-code is generated from dbc file using cantools. See `generate_Msg.sh`
+- User can interact with the program using Function buttons (F1 and F2) and Reset button (Rst)
 
 ### Build and upload
 - Specify your programming dongle in `firmware/platformio.ini` - default is stlink
@@ -27,7 +27,8 @@
     platformio run
 ```
 - Upload firmware to the board by pressing Upload arrow at the status bar in VScode
-- Eeprom is not erased when flashing the firmware - any future calibration will not be lost.
+- Eeprom is not erased when flashing the firmware - any future calibration will not be lost
+- Eeprom can be erased to factory state using ST-Link tool or in Platformio activity bar ServoCAN_dev -> Custom -> Erase Flash
 
 ### Configuration
 - In `firmware/src/BSP/actuator_config.c` set:

firmware/erase_task.py

@@ -0,0 +1,38 @@
+from SCons.Script import ARGUMENTS
+from os.path import join
+Import("env")
+
+def do_erase(*args, **kwargs):
+    board = env.BoardConfig()
+    platform = env.PioPlatform()
+    upload_protocol = env.subst("$UPLOAD_PROTOCOL")
+    debug_tools = board.get("debug.tools", {})
+    openocd_args = [
+        join(platform.get_package_dir("tool-openocd"), "bin", "openocd"),
+        "-d%d" % (2 if int(ARGUMENTS.get("PIOVERBOSE", 0)) else 1)
+    ]
+    # openocd_args.extend([
+    #     "-c", "set CPUTAPID 0x2ba01477",
+    # ])
+    openocd_args.extend(
+        debug_tools.get(upload_protocol).get("server").get("arguments", []))
+    # actual erase command: erase bank 0, first sector to last sector.
+    # assumes it's a 1-bank device. some STM32s have dual bank.
+    openocd_args.extend([
+        "-c",
+        "init; halt; flash probe 0;  flash erase_sector 0 0 last; reset; shutdown;"
+    ])
+    # print("OpenOCD args", openocd_args)
+    # string escape every argument
+    openocd_args = ['"' + arg + '"' for arg in openocd_args]
+    env.Execute(" ".join(openocd_args))
+
+env.AddCustomTarget(
+    name="erase",
+    dependencies=None,
+    actions=[
+        do_erase
+    ],
+    title="Erase Flash",
+    description="Erase eeprom (calibrations) and flash (program). Flash new program after this and perform motor calibration"
+)

firmware/platformio.ini

@@ -34,7 +34,9 @@ build_flags =
 
 board_build.ldscript = ./src/APP/STM32F103C8_DEFAULT.ld
 board_upload.maximum_size = 63488
-extra_scripts = pre:linker_options_pio.py
+extra_scripts = 
+  pre:erase_task.py
+  pre:linker_options_pio.py
 
 check_tool = cppcheck, clangtidy
 check_skip_packages = yes ;don't inlcude compiler package inludes