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[RPSW-2297] Updated W200 MCU flash details. #264

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Aug 26, 2024
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[RPSW-2297] Updated W200 MCU flash details. #264

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57 changes: 39 additions & 18 deletions docs_versioned_docs/version-ros2humble/components/_clearpath_firmware.mdx
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Expand Up @@ -3,34 +3,36 @@ import TabItem from "@theme/TabItem";

:::caution

Before flashing firmware, place your robot up on blocks. Firmware loading does not usually result in unintended motion, but it is safest when off the ground.
Before flashing firmware, place your robot up on blocks or disengage the drivetrain. Firmware loading does not usually result in unintended motion, but it is safest when off the ground.

:::

#### 1. Download the Clearpath Firmware package from the Clearpath package server

On the robot computer, run the following commands:
<Tabs groupId="platform">
<TabItem
value="J100"
label="J100"
>

```
sudo apt-get update
sudo apt-get install ros-humble-clearpath-firmware
```

#### 2. Prepare the Robot
#### 1. Download the Clearpath Firmware package from the Clearpath package server

:::note
On the robot computer, run the following commands:

Platforms with an Ethernet connection to the MCU have the option of flashing over USB or Ethernet.
If you are updating to ROS 2 Humble for the first time, you must use USB. If you are updating ROS 2 Humble firmware
to a newer version, using Ethernet is recommended. Skip this step if flashing over Ethernet.
```
sudo apt-get update
sudo apt-get install ros-humble-clearpath-firmware
```

:::
#### 2. Prepare the Robot

<Tabs groupId="platform">
<TabItem
value="J100"
label="J100"
>
:::note

Platforms with an Ethernet connection to the MCU have the option of flashing over USB or Ethernet.
If you are updating to ROS 2 Humble for the first time, you must use USB. If you are updating ROS 2 Humble firmware
to a newer version, using Ethernet is recommended. Skip this step if flashing over Ethernet.

:::

The J100 MCU is mounted to the rear inside wall of the robot. To access it, open the lid, keeping the computer
tray secured to the underside of the lid.
Expand Down Expand Up @@ -74,6 +76,25 @@ to a newer version, using Ethernet is recommended. Skip this step if flashing ov
default
>

#### 1. Download the Clearpath Firmware package from the Clearpath package server

On an external computer, run the following commands:

```
sudo apt-get update
sudo apt-get install ros-humble-clearpath-firmware
```

#### 2. Prepare the Robot

:::note

Platforms with an Ethernet connection to the MCU have the option of flashing over USB or Ethernet.
If you are updating to ROS 2 Humble for the first time, you must use USB. If you are updating ROS 2 Humble firmware
to a newer version, using Ethernet is recommended. Skip this step if flashing over Ethernet.

:::

The W200 MCU is located on the underside of the metal frame over the top of the computer.

<center>
Expand Down