Changes between Version 7 and Version 8 of WAM/FirmwareUpdate


Ignore:
Timestamp:
Aug 18, 2011, 6:41:53 PM (9 years ago)
Author:
cv
Comment:

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  • WAM/FirmwareUpdate

    v7 v8  
    44
    55== Pucks™ ==
    6         1. Move to the btutil directory (cd ~/btclient/src/btutil)
    7         1. Make the btutil application (make clean; make)
     6        1. Move to the btutil directory ({{{cd ~/btclient/src/btutil}}})
     7        1. Make the btutil application ({{{make clean; make}}})
    88        1. Turn on the WAM power supply
    99        1. Press <SHIFT+RESET/IDLE> on the control pendant
    10         1. Determine which version of firmware you are upgrading from (./btutil -g 1)
     10        1. Determine which version of firmware you are upgrading from ({{{./btutil -g 1}}})
    1111        1. Note the VERS (version) and CTS (counts) parameters.
    1212        1. Repeat the following steps (replace <id> with a Puck™ number to update, 1 – 7):
    1313                a. For WAMs with optical encoders (if CTS = 40960)
    14                         * Motors 1-4: ./btutil -d <id> -f puck2.tek.r39b
    15                         * Motors 5-6: ./btutil -d <id> -f puck2.tek.r39b.wdiff
    16                         * Motor 7: ./btutil -d <id> -f puck2.tek.r39b.wroll
    17                 a. For WAMs with magnetic encoders (if CTS = 4096), all motors: ./btutil -d <id> -f puck2.tek.r185
     14                        * Motors 1-4: {{{./btutil -d <id> -f puck2.tek.r39b}}}
     15                        * Motors 5-6: {{{./btutil -d <id> -f puck2.tek.r39b.wdiff}}}
     16                        * Motor 7: {{{./btutil -d <id> -f puck2.tek.r39b.wroll}}}
     17                a. For WAMs with magnetic encoders (if CTS = 4096), all motors: {{{./btutil -d <id> -f puck2.tek.r185}}}
    1818                a. Wait for the download to complete
    19                 a. Set the default parameters for the new firmware (./btutil -p <id> -l <id>)
     19                a. Set the default parameters for the new firmware ({{{./btutil -p <id> -l <id>}}})
    2020                        * “-l” is a dash-ell, not dash-one
    21                         * example for puck 2: ./btutil -p 2 -l 2
     21                        * example for puck 2: {{{./btutil -p 2 -l 2}}}
    2222        1. Switch off the WAM power supply when you have finished updating all the pucks.
    2323        1. Update the Safety Board firmware using the instructions on the following page (this is not optional).