Engineering Change Notice

ECN100003 - GateKEEPER Bug - Noisy CAN Bus Watchdog Restart

Affected SKUs

Change Description

This affects GateKEEPER 2.0.0.

CANBus logic has been hardened to prevent a possible watchdog trigger due to changes made for Variable CAN Bitrate Support. CANBus Off is also now being tracked correctly in ESC logs.

Change Reason

In GateKEEPER 2.0.0, a mechanism was added to allow for switching the CANBus to monitor mode in the case of noisy bus. This is to prevent the ESC from continually creating noise on the bus if set at a different bitrate.

In some situations where the bus is noisy but also sometimes receiving valid packets, this can cause relatively high frequency switching between active and monitoring mode. This switching mechanism, if activated enough times, has a bug which can lead to the watchdog restarting the ESC.

Customer Effect

Customers running DroneCAN with GateKEEPER 2.0.0 are should immediately update to the patch 2.0.1 to prevent this issue.