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P2: USB CDC TX data never flows with full peripheral init #524

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opened 2026-03-06 22:36:22 -05:00 by seb · 0 comments
seb commented 2026-03-06 22:36:22 -05:00
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Problem

USB CDC (virtual serial over USB) stops transmitting data when the full balance firmware peripheral set is initialized. USB enumeration works, CDC RX works, but TX data never arrives on the host.

Documented in USB_CDC_BUG.md.

Impact

  • Cannot use USB for Jetson communication (USART6 workaround in place)
  • Limits debugging options

Workaround

USART6 (PC6=TX, PC7=RX @ 921600 baud) used instead. This is the production path.

Suspected causes

  • Peripheral clock or DMA conflict with other peripherals
  • USB OTG interrupt priority issue
  • DCache coherency issue on STM32F7
## Problem USB CDC (virtual serial over USB) stops transmitting data when the full balance firmware peripheral set is initialized. USB enumeration works, CDC RX works, but TX data never arrives on the host. Documented in USB_CDC_BUG.md. ## Impact - Cannot use USB for Jetson communication (USART6 workaround in place) - Limits debugging options ## Workaround USART6 (PC6=TX, PC7=RX @ 921600 baud) used instead. This is the production path. ## Suspected causes - Peripheral clock or DMA conflict with other peripherals - USB OTG interrupt priority issue - DCache coherency issue on STM32F7
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#524
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