message: add write_otp to Makefile
diff: @@ -28,6 +28,50 @@ bmp: all
  erase_config:
  openocd -f interface/stlink-v2.cfg -f target/stm32f4x.cfg -c init -c reset\ halt -c flash\ erase_address\ 0x80C0000\ 0x40000 -c reset\ run -c exit
  +# OTP format:
  +# - OTP format version (0xFE: version 1)
  +# - vendor ID (01: ODrive Robotics - do not use this on custom incompatible hardware!)
  +# - product ID (01: ODrive)
  +# - hardware major version
  +# - hardware minor version
  +# - hardware variant (00: 24V, 01: 48V)
  +# Bits in the OTP can only ever be set to 0 but never back to 1.
  +# Therefore do not try to run this on the same board twice with different data.
  +#
  +# This OpenOCD command is intended for a STM32F405 and does the following:
  +# FLASH_KEYR = 0x45670123; // unlock FLASH_CR
  +# FLASH_KEYR = 0xCDEF89AB; // unlock FLASH_CR
  +# FLASH_CR = (1 << FLASH_CR_PG); // unlock flash memory
  +# [write OTP]
  +write_otp:
  +ifeq ($(ODRV_FACTORY),TRUE)
  + # Data:
  + openocd -f interface/stlink-v2.cfg -f target/stm32f4x.cfg \
  + -c init \
  + -c 'reset halt' \
  + -c 'mww 0x40023C04 0x45670123' \
  + -c 'mww 0x40023C04 0xCDEF89AB' \
  + -c 'mww 0x40023C10 0x00000001' -c 'sleep 10' \
  + -c 'mwb 0x1fff7800 0xFE' -c 'sleep 10' \
  + -c 'mwb 0x1fff7801 0x01' -c 'sleep 10' \
  + -c 'mwb 0x1fff7802 0x01' -c 'sleep 10' \
  + -c 'mwb 0x1fff7803 0x03' -c 'sleep 10' \
  + -c 'mwb 0x1fff7804 0x04' -c 'sleep 10' \
  + -c 'mwb 0x1fff7805 0x01' -c 'sleep 10' \
  + -c 'reset run' \
  + -c exit
  +
  +else
  + @echo "The one-time programmable memory can only be"
  + @echo "written ONCE on every board (what a surprise)."
  + @echo "If you're on an ODrive v3.5 or later we already did this for you."
  + @echo "Otherwise, if you're mentally ready for this, do the following steps:"
  + @echo " 1. open the Makefile and look at the write_otp target"
  + @echo " 2. understand the structure of the OTP"
  + @echo " 3. edit the bytes that are written to match your board version"
  + @echo "Run this command again, this time with ODRV_FACTORY=TRUE"
  +endif
  +
  clean:
  -rm -fR .dep $(BUILD_DIR)
  