CanServo/FW Version Value/en

You can read FW Version on Register 0xFC, 0xFE.

1. Read Register 0xFC, 0xFE

V=REG[0xFC] nV=REG[0xFE]

2. Check if V is equal to the bit-inverted value of nV

if not equal

• This is Ver 1.x of CanServo/History
• It has NO VERSION INFO.
• It has NO BOOTLOADER TYPE INFO.
• End Process

3. Now V has Version and Bootloader Type.

• Bootloader Type = bit 15
  • bit value = 0 : NEW BOOTLOADER ( B2 or B3 )
  • bit value = 1 : OLD BOOTLOADER ( B1 )
• Version Value = bit 14:0 = 0 ~ 32767
  • Version Value = a x 1000 + b x 10 + c
  • Format: a.b(c) = (dec) aabbc

ex) 2.1(2) = 2012

• Depending on the value of a, FW File Type is divided
  • CanServo/FW Type/en - FW File Type - /A /C /U

4. Version

• 3052 = 3.5(2) = "1.5(2) /A"
• 11052 = 11.5(2) = "1.5(2) /C"
• 21052 = 21.5(2) = "1.5(2) /U"

5. Special Case

2.1(2) = 2012

• This is First UAVCAN only FW.
• Think of it as "1.1(2) /U".