EPS Lessons Learned

1. The Software ICD suggests that "waiting 20ms after transmitting" is enough to ensure you'll get a good response, but that polling is another option. This is a lie; polling appears to be the only option, as the reception is unreliable no matter how long you wait.
2. The no_operation command doesn't appear to update the result register, and thus the RC (CC+1) byte in the response still shows the previous command's execution when using the no_operation command.
3. The watchdog timer must be serviced as part of the "MVP" implementation.

EPS via I2C

The EPS is connected by UART, as I2C was not working reliably. The following are notes are about the now-unused I2C implementation.

1. For I2C on the STM32, you must left-shift the address by 1, compared to what's in the Software ICD.
2. From the start, write out the TX and RX bytestreams to a debug UART when working with I2C.