Made DFU erase all internal flash on programming to lessen bad config issues

uart doc improvements

Author: PAJohnson

GUI/src/assets/odriveEnums.json

@@ -76,6 +76,7 @@
     "AXIS_ERROR_ESTOP_REQUESTED": 16384,
     "AXIS_ERROR_HOMING_WITHOUT_ENDSTOP": 131072,
     "AXIS_ERROR_OVER_TEMP": 262144,
+    "AXIS_ERROR_UNKNOWN_POSITION": 524288,
     "MOTOR_ERROR_NONE": 0,
     "MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE": 1,
     "MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE": 2,
@@ -111,6 +112,8 @@
     "CONTROLLER_ERROR_INVALID_MIRROR_AXIS": 8,
     "CONTROLLER_ERROR_INVALID_LOAD_ENCODER": 16,
     "CONTROLLER_ERROR_INVALID_ESTIMATE": 32,
+    "CONTROLLER_ERROR_INVALID_CIRCULAR_RANGE": 64,
+    "CONTROLLER_ERROR_SPINOUT_DETECTED": 128,
     "ENCODER_ERROR_NONE": 0,
     "ENCODER_ERROR_UNSTABLE_GAIN": 1,
     "ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH": 2,

docs/uart.md

@@ -10,7 +10,7 @@ To use UART connect it like this:
 
 The logic level of the ODrive is 3.3V. The GPIOs are 5V tolerant.
 
-You can use `odrv0.config.uart_a_baudrate` to change the baudrate and `odrv0.config.enable_uart_a` to disable/reenable UART_A. Currently the UART port runs both the [Native Protocol](native-protocol) and the [ASCII Protocol](ascii-protocol) at the same time.
+You can use `odrv0.config.uart_a_baudrate` to change the baudrate and `odrv0.config.enable_uart_a` to disable/reenable UART_A. The UART_A port can run the [Native Protocol](native-protocol) or the [ASCII Protocol](ascii-protocol), but not both at the same time. You can configure this by setting `odrv0.config.uart0_protocol` to either `STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT` for the ASCII protocol or `STREAM_PROTOCOL_TYPE_FIBRE` for the native protocol.
 
 ### How to use UART on GPIO3/4
 

tools/odrive/dfu.py

@@ -381,9 +381,11 @@ def update_device(device, firmware, logger, cancellation_token):
 
     # Erase
     try:
-        for i, (sector, data) in enumerate(touched_sectors):
-            print("Erasing... (sector {}/{})  \r".format(i, len(touched_sectors)), end='', flush=True)
-            dfudev.erase_sector(sector)
+        internal_flash_sectors = [sector for sector in dfudev.sectors if sector['name'] == 'Internal Flash']
+        for i, sector in enumerate(dfudev.sectors):
+            if sector['name'] == 'Internal Flash':
+                print("Erasing... (sector {}/{})  \r".format(i, len(internal_flash_sectors)), end='', flush=True)
+                dfudev.erase_sector(sector)
         print('Erasing... done            \r', end='', flush=True)
     finally:
         print('', flush=True)