Changes between Initial Version and Version 1 of WAM/FirmwareUpdate/DetailedPuckInstructions


Ignore:
Timestamp:
May 13, 2011, 3:21:40 PM (11 years ago)
Author:
edison
Comment:

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  • WAM/FirmwareUpdate/DetailedPuckInstructions

    v1 v1  
     1= Puck Firmware Update =
     2
     3These instructions apply for updating the firmware of motor pucks.  To update the firmware of the safety puck, see FILL ME IN HERE PLEASE.
     4
     5== Make Software ==
     6
     7Move to the btutil directory
     8
     9{{{
     10cd ~/btclient/src/btutil
     11}}}
     12
     13Make the btutil application
     14
     15{{{
     16make clean; make
     17}}}
     18
     19== Identify Existing Firmware Version ==
     20
     21Turn on the WAM power supply
     22
     23Press Shift-Idle on the control pendant
     24
     25Determine which version of firmware you are upgrading from
     26
     27{{{
     28./btutil -g 1
     29}}}
     30
     31Note 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.
     32
     33== Download New Firmware for Optical WAMs ==
     34
     35'''Note:''' These instructions apply for WAMs of type '''WAM-Oxxx''' (not '''WAM-Mxxx''' or '''WAM-Hxxx''').  To determine your system type, see ["WAMTypes"].
     36
     37Download the new firmware. Replace <id> with a puck number to update (1-7)
     38
     39For WAMs with optical encoders (CTS = 40960), motors 1-4:
     40
     41{{{
     42./btutil -d <id> -f puck2.tek.r39b
     43}}}
     44
     45For WAMs with optical encoders, motors 5-6:
     46
     47{{{
     48./btutil -d <id> -f puck2.tek.r39b.wdiff
     49}}}
     50
     51For WAMs with optical encoders, motor 7:
     52
     53{{{
     54./btutil -d <id> -f puck2.tek.r39b.wroll
     55}}}
     56
     57== Download New Firmware for Magnetic WAMs ==
     58
     59'''Note:''' These instructions apply for WAMs of type '''WAM-Mxxx''' or '''WAM-Hxxx''' (not '''WAM-Oxxx''').  To determine your system type, see ["WAMTypes"].
     60
     61For WAMs with magnetic encoders (CTS = 4096), all motors:
     62
     63{{{
     64./btutil -d <id> -f puck2.tek.r119
     65}}}
     66
     67== Set Default Parameters ==
     68
     69Wait for the download to complete
     70
     71Set the default parameters for the new firmware
     72
     73{{{
     74./btutil -p <id> -l <id>
     75}}}
     76
     77(that is a dash-ell, not dash-one)
     78
     79(example for puck 2: ./btutil -p 2 -l 2)
     80
     81Repeat the download and default parameter process for each puck
     82
     83== Additional Steps ==
     84
     85If you are upgrading from a puck firmware version less than 40, follow the FindMotorOffsets procedure.
     86
     87Switch off the WAM power supply when you have finished updating all the pucks.
     88
     89Continue on to [wiki:SafetyFirmwareUpdate update the safety board firmware] (required)