Changes between Version 8 and Version 9 of Therapy/FWUpdate


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Timestamp:
Jan 22, 2018, 3:37:22 AM (9 months ago)
Author:
al
Comment:

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  • Therapy/FWUpdate

    v8 v9  
    3030=== Step 2 ===
    3131
     32Download the firmware-bin file:
     33{{{
     34wget http://web.barrett.com/support/Burt_Documentation/FirmwareUpgrade/mainboard.dev-mainboard-1.2.2-0-g203d1e8.bin
     35}}}
     36
    3237Open a terminal
    3338{{{
     
    3742}}}
    3843
    39 Before upgrading the first time, you must install btflash. To check if you have btflash installed open up a terminal and type
     44=== Step 3 ===
     45
     46Verify your Mainboard version again.
     47
    4048{{{
    41 btflash --version
     49burt-util mainboard get_versions
    4250}}}
    4351
    44 If you have btflash you will get a response similar to this:
    4552
    46 {{{
    47 btflash, version 0.2.0
    48 }}}
    49 
    50 Please note that the version number may be different.
    51 
    52 To install btflash, follow the installation instructions in the first section from our btflash repository ([[https://git.barrett.com/software/btflash | link]]), but skip the "setting up for development" section. You need to be connected to the internet to install btflash.
    53 
    54 == Setting up CAN ==
    55 
    56 Before using btflash, you will need to guarantee that the CAN adapter is plugged in and then run the following commands. To configure CAN, type:
    57 
    58 {{{
    59 sudo ip link set can0 type can bitrate 1000000
    60 sudo ip link set up can0
    61 }}}
    62 
    63 == Upgrading ==
    64 
    65 To perform an upgrade you will need a .bin file provided by Barrett. You can carry out the upgrade using the following series of commands (see [#Footnote footnote]):
    66 
    67 {{{
    68 btflash flash 10 path/to/main-board-comm.<version>.bin
    69 btflash reset 10
    70 }}}
    71 
    72 You should follow these instructions for both consoles to upgrade both Main Boards.
    73 
    74 === Footnote ===
    75 
    76 For some context, the Main Board, which is what runs the control firmware and talks to ROS, has an id of 10. In the above series of commands you are telling btflash to flash, write to the program memory of the device, the firmware from the defined file to the device with id 10. The reset commands provides a soft reset for the firmware on the Main Board. You should not need to power cycle, but if issues occur a power cycle is recommended.