From 02126a257b04e35ec4a2172b2ab7fe298980c7f5 Mon Sep 17 00:00:00 2001
From: Josh Pieper <jjp@pobox.com>
Date: Thu, 9 Sep 2021 16:04:53 -0400
Subject: [PATCH] Make version pin detection a bit more reliable

---
 fw/moteus.cc | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/fw/moteus.cc b/fw/moteus.cc
index c051eed8..03435142 100644
--- a/fw/moteus.cc
+++ b/fw/moteus.cc
@@ -213,6 +213,16 @@ int main(void) {
   }
 #endif
 
+  // I initially used a Ticker here to enqueue events at 1ms
+  // intervals.  However, it introduced jitter into the current
+  // sampling interrupt, and I couldn't figure out how to get the
+  // interrupt priorities right.  Thus for now we just poll to look
+  // for millisecond turnover.
+  MillisecondTimer timer;
+
+  // Wait to ensure the pullups are sufficiently pulled up.
+  timer.wait_us(100);
+
   const uint8_t this_hw_pins =
       0x07 & (~(hwrev0.read() |
                 (hwrev1.read() << 1) |
@@ -237,13 +247,6 @@ int main(void) {
   }();
   MJ_ASSERT(compatible);
 
-  // I initially used a Ticker here to enqueue events at 1ms
-  // intervals.  However, it introduced jitter into the current
-  // sampling interrupt, and I couldn't figure out how to get the
-  // interrupt priorities right.  Thus for now we just poll to look
-  // for millisecond turnover.
-  MillisecondTimer timer;
-
   micro::SizedPool<14000> pool;
 
   HardwareUart rs485(&pool, &timer, []() {