Difference between revisions of "CanServo/FW Version Value/en"
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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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* 11052 = 11.5(2) = "1.5(2) /C" | * 11052 = 11.5(2) = "1.5(2) /C" | ||
* 21052 = 21.5(2) = "1.5(2) /U" | * 21052 = 21.5(2) = "1.5(2) /U" | ||
Latest revision as of 23:33, 24 September 2023
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".