= Puck Firmware Update = These instructions apply for updating the firmware of motor pucks. To update the firmware of the safety puck, see [[Detailed Safety Board Instructions]]. == Make Software == Move to the btutil directory {{{ cd ~/btclient/src/btutil }}} Make the btutil application {{{ make clean; make }}} == Identify Existing Firmware Version == Turn on the WAM power supply Press Shift-Idle on the control pendant Determine which version of firmware you are upgrading from {{{ ./btutil -g 1 }}} Note the VERS (version) and CTS (counts) parameters. If the puck firmware version is less than 32, you will need to download updated firmware over the serial port. Follow these [PuckFirmwareUpdateSerial Puck firmware serial update] instructions. == Download New Firmware for Optical WAMs == '''Note:''' These instructions apply for WAMs of type '''WAM-Oxxx''' (not '''WAM-Mxxx''' or '''WAM-Hxxx'''). To determine your system type, see [[WAMTypes| WAM Types]]. Download the new firmware. Replace with a puck number to update (1-7) For WAMs with optical encoders (CTS = 40960), motors 1-4: {{{ ./btutil -d -f puck2.tek.r39b }}} For WAMs with optical encoders, motors 5-6: {{{ ./btutil -d -f puck2.tek.r39b.wdiff }}} For WAMs with optical encoders, motor 7: {{{ ./btutil -d -f puck2.tek.r39b.wroll }}} == Download New Firmware for Magnetic WAMs == '''Note:''' These instructions apply for WAMs of type '''WAM-Mxxx''' or '''WAM-Hxxx''' (not '''WAM-Oxxx'''). To determine your system type, see [[WAMTypes| WAM Types]]. For WAMs with magnetic encoders (CTS = 4096), all motors: {{{ ./btutil -d -f puck2.tek.r185 }}} == Set Default Parameters == Wait for the download to complete Set the default parameters for the new firmware {{{ ./btutil -p -l }}} (that is a dash-ell, not dash-one) (example for puck 2: ./btutil -p 2 -l 2) Repeat the download and default parameter process for each puck == Additional Steps == If you are upgrading from a puck firmware version less than 40, follow the FindMotorOffsets procedure. Switch off the WAM power supply when you have finished updating all the pucks. Continue on to [[WAM/FirmwareUpdate/DetailedSafetyBoardInstructions| update the Safety Board firmware]] (required).