Difference between revisions of "CanServo/FW Version Value/en"
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| (7 intermediate revisions by the same user not shown) | |||
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1. Read Register 0xFC, 0xFE | 1. Read Register 0xFC, 0xFE | ||
V=REG[0xFC] | * V=REG[0xFC] | ||
nV=REG[0xFE] | * nV=REG[0xFE] | ||
| Line 20: | Line 20: | ||
* Bootloader Type = bit 15 | * Bootloader Type = bit 15 | ||
** bit value = 0 : NEW BOOTLOADER ( B2 or | ** bit value = 0 : NEW BOOTLOADER ( B2 or later ) | ||
** bit value = 1 : OLD BOOTLOADER ( B1 ) | ** bit value = 1 : OLD BOOTLOADER ( B1 ) | ||
* Version Value = bit 14:0 = 0 ~ 32767 | * Version Value = bit 14:0 = 0 ~ 32767 | ||
| Line 27: | Line 27: | ||
ex) 2.1(2) = 2012 | 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 | |||
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* 21052 = 21.5(2) = "1.5(2) /U" | * 21052 = 21.5(2) = "1.5(2) /U" | ||
5. Special Case | 5. Special Case | ||
Latest revision as of 04:22, 28 October 2025
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 later )
- 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".