eros:upgrademainboard_fw

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eros:upgrademainboard_fw [2017/11/16 12:05] Pedro Ramiloeros:upgrademainboard_fw [2024/03/13 16:02] (current) Marco Prata
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 ===== EROS: Upgrading the Main Board Firmware ===== ===== EROS: Upgrading the Main Board Firmware =====
  
-In the EROS architecture all processors have a bootloader pre installed, which means they can all be easily upgraded by the customers.+In the EROS architectureall processors have a bootloader pre-installed, which means they can all be easily upgraded by the customers.
  
 Seed Robotics policy is that of continuous improvement and, for that reason, we may release firmware upgrades from time to time, either to address potential issues or to add new features. Seed Robotics policy is that of continuous improvement and, for that reason, we may release firmware upgrades from time to time, either to address potential issues or to add new features.
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 ==== Recommended Updates ==== ==== Recommended Updates ====
  
-If you are using firmware version 23 or newer (which introduced emulated ''BULK_READ'' and ''SYNC_WRITE'' for compatibility with major frameworks), we recommend that you also check the firmware version of each of the internal actuators.+If you are using **Main Board firmware** version 23 or older (which introduced support for ''BULK_READ'' and ''SYNC_WRITE'' enabling compatibility with major frameworks), we recommend that you check the firmware version of each of the Internal actuators after you update the main board firmware.
  
-We recommend [[eros:seedactuators:upgrading_fw|updating the firmware of your internal actuators to latest version]] if you are running actuators with firmware version older than 20. You should do this only __after__ you update the main board firmware.\\ +If any of your Internal Actuators is running a version older than 20, we strongly recommend updating them tooUpdating the firmware on the Internal actuators is a separate procedure and you can find instructions on how to that on a [[eros:seedactuators:upgrading_fw|dedicated page]]. The present document covers the Mainboard firmware only.
-This document covers updating the Main Board firmware only. Updating the actuators is a separate procedure and you find instructions on how to that on a [[eros:seedactuators:upgrading_fw|dedicated page]].+
  
 ==== Latest Firmware version ==== ==== Latest Firmware version ====
-The latest firmware version for the EROS Architecture can be downloaded from the links below. +The latest firmware version for the EROS Architecture can be obtained by contacting support@seedrobotics.com
- +
-**IMPORTANT:** From version 25 (2.5) onward, a Critical compatibility fix is introduced to address a situation with memory allocation strategies that could cause a board to stop responding after a number of ''SYNC_WRITE'' or ''BULK_READ'' commands. \\ +
-''SYNC_WRITE'' and ''BULK_READ'' are widely used by many libraries including the Darwin-OP framework and PyPot. If you have an older version, please upgrade at your earliest convenience. +
- +
-The firmware files for the RH4D and RH7D are slightly different. Therefore, please make sure you select the correct file depending on your model. +
- +
-For RH4D: [[http://storage.seedrobotics.com/firmware_eros/MainBoard/EROSfw_v27_RH4D.hex|EROSfw_v27_RH4D.hex]] (Right-click->Save target As) +
- +
-For RH7D: [[http://storage.seedrobotics.com/firmware_eros/MainBoard/EROSfw_v30A_RH7D.hex|EROSfw_v30A_RH7D.hex]] (Right-click->Save target As)+
  
 The Release notes with Full Changelog are available here: [[http://storage.seedrobotics.com/firmware_eros/MainBoard/Changelog.txt|EROS firmware Changelog]]\\ The Release notes with Full Changelog are available here: [[http://storage.seedrobotics.com/firmware_eros/MainBoard/Changelog.txt|EROS firmware Changelog]]\\
 You may want to read this file before upgrading your firmware. You may want to read this file before upgrading your firmware.
  
-Older firmware versions are archived under [[http://storage.seedrobotics.com/firmware_eros/]]. Make sure you read the [[http://storage.seedrobotics.com/firmware_eros/MainBoard/Changelog.txt|Changelog]] if you are considering downgrading your version as some downgrade paths may not be supported. +Older firmware versions are archived under [[http://storage.seedrobotics.com/firmware_eros/]]. **Downgrading (installing an older version) is __strongly discouraged__**If you are considering downgrading, please check with our Support team (support@seedrobotics.com) before attempting it
  
 ==== Firmware Upgrade Instructions ==== ==== Firmware Upgrade Instructions ====
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 In order to upgrade the firmware of your unit you will need: In order to upgrade the firmware of your unit you will need:
   * A USB micro-B cable to connect to the unit's USB port    * A USB micro-B cable to connect to the unit's USB port 
-  * The firmware loader tool from the [[https://github.com/Koromix/tytools/releases/tag/v0.7.5|TyQT version 0.7.5]]. TyQT is available pre compiled for Windows and Mac; for Linux, download the file with the source code, and refer to the included README file for instructions on how to compile it. +  * The firmware loader tool from the [[https://github.com/Koromix/tytools/releases|TyQT]]. TyQT is available pre compiled for Windows and Mac; for Linux, download the file with the source code, and refer to the included README file for instructions on how to compile it. 
-  * If you are using a Windows version **earlier than Windows 10**, you need to install the necessary Virtual COMM Port drivers; If you are using **Linux** you need to **add udev rules**. Check the [[eros:settingup_usbconnection|USB Connection]] set-up instructions, where you will find the details on how to setup the device drivers for the USB connection, necessary to perform the upgrade procedure.+  * If you are using a Windows version **earlier than Windows 10**, you need to install the necessary Virtual COMM Port drivers; If you are using **Linux** you need to **add udev rules**. Check the [[eros:settingup_usbconnection|USB Connection]] set-up instructions, where you will find the details on how to setup the device drivers for the USB connection, necessary to perform the upgrade procedure. 
  
 __Upgrading__ __Upgrading__
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   - Download the Firmware file   - Download the Firmware file
   - Open TyQT   - Open TyQT
-  - Remove the small cover located on the side of your unit, near the back. RH4D units have a snap in cover; for RH7D units you need to remove a small bolt on the side to remove the cover. (Earlier RH7D models don't have a side cover; in this case you need to loosen the top cover screws and gently lift the back of the cover about 5mm; this will expose the connector)+  - Remove the small cover located on the side of your unit, near the back. RH4D units have a snap-in cover; for RH8D, RH7D, RH5D and RH2D units you need to remove a small bolt on the side to remove the cover.  
-  - Connect the USB cable to the hand+  - Connect the USB cable to the hand and to your Computer
   - Wait for the board's processor to show up on the TyQT list. (it should show up as "Teensy")   - Wait for the board's processor to show up on the TyQT list. (it should show up as "Teensy")
   - Click the "Actions" menu and select "Upload New Firmware".   - Click the "Actions" menu and select "Upload New Firmware".
-  - Select the firmware file you wish to flash and click Open+  - Select the firmware file to Upload and click Open
  
 The Firmware installation procedure begins: the Teensy icon in the TyQT window turns orange and you will see a progress bar in the TyQT window. Once the upload is complete the icon turns Black again and the unit reboots automatically. The Firmware installation procedure begins: the Teensy icon in the TyQT window turns orange and you will see a progress bar in the TyQT window. Once the upload is complete the icon turns Black again and the unit reboots automatically.
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 If you wish to confirm the new version is running correctly you have two options:\\ If you wish to confirm the new version is running correctly you have two options:\\
-(1) Open a [[eros:consolecommands|Console Terminal]] and enter the ''help'' command. The first lines should show you the firmware version.\\+(1) Open a [[eros:consolecommands|Console Terminal]] and enter the ''about'' command. The first lines should show you the firmware version.\\
 (2) You can also use the Dynamixel Protocol or STP Protocol and read the memory position 2 on the control table of of the main board. This will return the running firmware version. (2) You can also use the Dynamixel Protocol or STP Protocol and read the memory position 2 on the control table of of the main board. This will return the running firmware version.
 (3) You may also use a GUI Tool such a the Robotis Dynamixel Wizard or the herborist (pypot) tool to check the installed firmware version. (3) You may also use a GUI Tool such a the Robotis Dynamixel Wizard or the herborist (pypot) tool to check the installed firmware version.

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  • eros/upgrademainboard_fw.1510833904.txt.gz
  • Last modified: 2017/11/16 12:05
  • by Pedro Ramilo