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

Timestamp:

May 13, 2011, 3:21:40 PM (14 years ago)

Author:

edison

Comment:

--

WAM/FirmwareUpdate/DetailedPuckInstructions

@@ +1 @@
+= Puck Firmware Update =
+
+These instructions apply for updating the firmware of motor pucks.  To update the firmware of the safety puck, see FILL ME IN HERE PLEASE.
+
+== 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"].
+
+Download the new firmware. Replace <id> with a puck number to update (1-7)
+
+For WAMs with optical encoders (CTS = 40960), motors 1-4:
+
+{{{
+./btutil -d <id> -f puck2.tek.r39b
+}}}
+
+For WAMs with optical encoders, motors 5-6:
+
+{{{
+./btutil -d <id> -f puck2.tek.r39b.wdiff
+}}}
+
+For WAMs with optical encoders, motor 7:
+
+{{{
+./btutil -d <id> -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"].
+
+For WAMs with magnetic encoders (CTS = 4096), all motors:
+
+{{{
+./btutil -d <id> -f puck2.tek.r119
+}}}
+
+== Set Default Parameters ==
+
+Wait for the download to complete
+
+Set the default parameters for the new firmware
+
+{{{
+./btutil -p <id> -l <id>
+}}}
+
+(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 [wiki:SafetyFirmwareUpdate update the safety board firmware] (required)