On Thursday and Friday, I spend some times coding the threads of the test PCB. I first debug and check if everything was ok for our thread that will read the state of all the box via the hall effect sensor. I used a logic analyser to check if everything was fine. I checked that the four pins that will be used for the multiplexer will not change until the end of the sending of an I2C message. Then I code a thread that initializes all the H-bridge by putting them at the 0 state.
I also realize that I have not seen a mistake in our scheme.… Read more