Changes between Initial Version and Version 1 of Burt-Research/FWUpdate

Timestamp:

Nov 29, 2016, 7:42:12 PM (8 years ago)

Author:

aj

Comment:

--

Burt-Research/FWUpdate

@@ +1 @@
+= Firmware Update =
+
+To set up for an upgrade you will need a PEAK CAN USB to CAN adapter (provided by Barrett). Plug this into the service port on the front of the console and then into one of the USB ports on the front of the console.
+
+== Installing btflash ==
+
+To upgrade you first need to install btflash. This will only need to be done the first time you upgrade if you don't have btflash installed. To check if you have this installed open up a terminal and type {{{btflash --version}}}
+
+If you have btflash you will get a response similar to the below text. Please note that the version number may be different.
+
+{{{btflash, version 0.2.0}}}
+
+To install btflash follow the installation instructions in the first section from our btflash repository. Do not follow the "setting up for development" section: https://git.barrett.com/software/btflash. You need to be connected to the internet to install btflash.
+
+== Setting up CAN ==
+
+Before using btflash  you will need to guarantee that the CAN adapter is plugged in and then run the following commands. These commands will configure:
+
+{{{
+sudo ip link set can0 type can bitrate 1000000
+sudo ip link set up can0
+}}}
+
+
+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:
+
+{{{
+btflash flash 10 path/to/main-board-comm.<version>.bin
+btflash reset 10
+}}}
+
+For some context the Main Board, which is what runs the control firmware and ROS talks to, 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.
+
+You should follow these instructions for both consoles to upgrade both Main Boards. You may use the same console USB port, but you will need to plug the USB to CAN adapter into the CAN Service port on the front of both consoles to perform the upgrade.
+
+For this particular upgrade please use this bin: http://web.barrett.com/support/Proficio_Firmware/waterloo/main-board-comm.dev-k-main-board-0.1.3-0-gb35cf1d.bin
+
+Please report any errors and please capture all outputs to report to us on.