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


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Timestamp:
Nov 29, 2016, 7:42:12 PM (8 years ago)
Author:
aj
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  • Burt-Research/FWUpdate

    v1 v1  
     1= Firmware Update =
     2
     3To 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.
     4
     5== Installing btflash ==
     6
     7To 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}}}
     8
     9If you have btflash you will get a response similar to the below text. Please note that the version number may be different.
     10
     11{{{btflash, version 0.2.0}}}
     12
     13To 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.
     14
     15== Setting up CAN ==
     16
     17Before using btflash  you will need to guarantee that the CAN adapter is plugged in and then run the following commands. These commands will configure:
     18
     19{{{
     20sudo ip link set can0 type can bitrate 1000000
     21sudo ip link set up can0
     22}}}
     23
     24
     25To perform an upgrade you will need a .bin file provided by Barrett. You can carry out the upgrade using the following series of commands:
     26
     27{{{
     28btflash flash 10 path/to/main-board-comm.<version>.bin
     29btflash reset 10
     30}}}
     31
     32For 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.
     33
     34You 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.
     35
     36For 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
     37
     38Please report any errors and please capture all outputs to report to us on.