_SAT Satellite I/O Board Firmware Release Notes ----------------------------------------------- Version 1.06 10-Jan-1999 RHIN ----------------------------- - Increased the IPL for the TouCAN controller to 5 and reduced the IPL of the SCI interrupt to 3 - Added a deferred processing routine to the CAN HAL used to offload the majority of the processing from the CAN ISR. This allows the satellite code to receive CAN packets at a much higher rate. - Removed deferred processing and stepper diagnostics from production builds - Added a re-entry counter for the stepper ISR's to the engineering builds - This version of _SAT firmware was built using the following baseline components: Baseline Build #1464 built: Jan. 10, 1999 376: 1.57 06-Jan-2000 * SAT: 1.20 06-Jan-2000 * ERR: 1.08 23-Nov-1999 URT: 1.13 26-Nov-1999 MON: 1.42 25-Nov-1999 UTL: 1.31 13-Dec-1999 * SIF: 1.15 09-Dec-1999 STP: 1.17 06-Jan-2000 * (*) - denotes a changed subsystem Version 1.05 13-Dec-1999 RHIN ----------------------------- - Added unsolicited update support to stepper code - Added output gain control and direction mode control - Stepper controller must be initialized (output gain and direction mode) to be enabled - Added alternate sensor invert mask functionlity - Added unsolicited update support to stepper code - ALICE and PDB Rev A no longer supported - Added PDB Rev C support - Fixed trajectory mode bug - This version of _SAT firmware was built using the following baseline components: Baseline Build #1443 built: Dec. 10, 1999 376: 1.53 08-Dec-1999 * SAT: 1.19 29-Nov-1999 * ERR: 1.08 23-Nov-1999 * URT: 1.13 26-Nov-1999 * MON: 1.42 25-Nov-1999 * UTL: 1.30 09-Dec-1999 * SIF: 1.15 09-Dec-1999 * STP: 1.16 09-Dec-1999 * (*) - denotes a changed subsystem Version 1.04 14-Oct-1999 RHIN/LWIL ---------------------------------- - Potential Tx buffer over-write bugs fixed in the DF1 driver code. - Implememented full dual stepper motor functionality for GENINE board only. - Implemented software timing measurements for the stepper motor ISRs - Changed CA1.BRAKE from CPWM5 pin to TPU0 pin for GENINE board only. - Added CA1.BRAKEOVER (brake override signal) to bit 0 of VR DIR set #4 (0x0109) for GENINE - Changed the way the digital output register AND/OR masks work. Now any non-zero write to the OR or the AND mask will trigger the operation (now done during the CAN interrupt) - Added background hardware checking to terminate the stepper motor when specific signals required for proper operation of the stepper motor (i.e. Cable detects etc.) are not present. - Modified heap memory allocation algorithm slightly - Added CA1.BRAKE, CA0.ENABLE/ and CA0.CLEAR/ outputs to VR DOR set #2 (0x0003) for GENINE - Swapped H/A sensors 0 and 1 to conform with H/W. (GENINE) - Added second Stepper VR set. (0x0720) (GENINE) - Fixed problem on GENINE board were analog inputs were not being read correctly. - Fixed problem on GENINE board were DOR 0x0003 was not writing the correct hardware outputs. - PDB Rev. B firmware was not reading discrete inputs that were on the TPU pins. Fixed by changing TPU DIO function to read input pins on HSRR command. - Fixed bug in reading/setting inputs bits for virtual register 0x0103. (virtual register 0x0103 bit 3 was not being driven) - Fixed bug in DF1 serial port driver Rx state machine that would send a NAK when receiving any 12 byte packet. - This version of _SAT firmware was built using the following baseline components: Baseline Build #1401 built: Oct. 14, 1999 376: 1.41 21-Sep-1999 * SAT: 1.17 13-Oct-1999 * ERR: 1.07 18-May-1999 URT: 1.12 11-Jun-1999 MON: 1.38 04-Oct-1999 * UTL: 1.27 11-Oct-1999 * SIF: 1.08 01-Oct-1999 * STP: 1.12 13-Oct-1999 * (*) - denotes a changed subsystem - KNOWN BUG: The trajectory mode operation of the stepper motor has a bug in it which causes extra steps to be added to the end of a trajectory follow move. - KNOWN BUG: The stepper motor driver on the ALICE board does not work (the background hardware checking routine is preventing it). Version 1.03 12-Aug-1999 LWIL/RHIN ---------------------------------- - The overflow interrupt for the CTM4 FCSM12 timer is now used to provide a greater timing duration for internal firmware timing measurements. This interrupt now occurs every 6.5msec. (at low priority) This feature is only used internally in the firmware, and has no external functional effect. - Added support for the new PDB Rev 'B' hardware. There are now two separate PDB firmware binaries: PDBFMW.BIN - use for PDB Rev. 'B', and PDBFMW_A.BIN use for PDB Rev. 'A' (original prototype PDB boards) - Added Support for the GENINE I/O board. - Moved hardware specific stepper motor functionality to the SAT board subsystem (internal firmware changes only - no functional changes) - ALICE Digital Output Register 0x0000, bits 27,28 no longer drives DRV.EN or CA.ENABLE signals. These are handled internally by the firmware. - PDB Rev 'A' Digital Output Register 0x0000, bits 6,7 no longer drives STEP_BRAKE or DRV.EN/ signals. These are handled internally by the firmware. - PDB Rev 'B' Digital Output Register 0x0000, bit 7 no longer drives STEP_BRAKE signal. It is handled internally by the firmware. - This version of _SAT firmware was built using the following baseline components: Baseline Build #1353 built: Aug. 12, 1999 376: 1.39 30-Jul-1999 * SAT: 1.15 09-Aug-1999 * ERR: 1.07 18-May-1999 URT: 1.12 11-Jun-1999 MON: 1.35 28-Jul-1999 UTL: 1.25 28-Jul-1999 SIF: 1.07 13-Jul-1999 STP: 1.11 09-Aug-1999 * (*) - denotes a changed subsystem Version 1.02 30-July-1999 LWIL ------------------------------ - Fixed bug in DF1 serial port drivers where if the BCC value was 00, it was not being transmitted. The DF1 driver would then no longer function. - The remote serial (DF1) access feature will no longer send out SCON Virtual Read/Write request messages to the serial host. Previously it was 'echoing' these types of SCON packets back to the host for access to remote CAN I/O boards. - The DF1 Receiver state machine has improved error detection. - Stepping Motor Subsystem (STP) changes: o Added multiple position (home and away) sensor functionality o Added a default H/W configuration for unknown board types (does nothing) - This version of _SAT firmware was built using the following baseline components: Baseline Build #1344 built: July 30, 1999 376: 1.38 29-Jul-1999 SAT: 1.12 06-Jul-1999 ERR: 1.07 18-May-1999 URT: 1.12 11-Jun-1999 MON: 1.35 28-Jul-1999 UTL: 1.25 28-Jul-1999 SIF: 1.07 13-Jul-1999 STP: 1.09 28-Jul-1999 Version 1.01 23-July-1999 LWIL ------------------------------ - Added remote serial access support over the diagnostic serial port at 9600 baud. This is done with the full-duplex DF1 binary protocol running ta 9600 baud. There are two new commands used to enable this new feature: "sat remote gateway CR" - Allows access to local I/O board and other I/O boards on the CAN bus behind the local I/O board. NOTE: You MUST have at least one other I/O board running on the CAN bus for this mode to work. "sat remote local CR" - Allows access to the local I/O board only. CAN bus controller is disabled. Use this mode when there are no other CAN I/O boards attached to the local I/O board. - The WIN32 version of the firmware will now accept the 'Creo^M" password string and signon. - This version of _SAT firmware was built using the following baseline components: Baseline Build #1339 built: July 23, 1999 376: 1.37 22-Jul-1999 SAT: 1.12 06-Jul-1999 ERR: 1.07 18-May-1999 URT: 1.12 11-Jun-1999 MON: 1.34 07-Jul-1999 UTL: 1.22 22-Jun-1999 SIF: 1.07 13-Jul-1999 STP: 1.08 09-Jul-1999 Version 1.00 12-July-1999 LWIL ------------------------------ - First released version of the Satellite firmware. - Does not support serial port(s) as remote I/O devices. - Scans I/O at 10msec rate. - Diagnostic serial port operates at 9600 baud. (not 57600) Requires the input string 'Creo^M' (^M means a CR) before it will print monitor signon message, and then accept diagnostic monitor commands. (do not enter the ') - The baud rate of the diagnostic serial port can be changed with the 'sat baud nnnnn' command. (nnnnn = numerical decimal baud rate desired) - This version of _SAT firmware was built using the following baseline components: Baseline Build #1330 built: July 12, 1999 376: 1.33 08-Jul-1999 SAT: 1.12 06-Jul-1999 ERR: 1.07 18-May-1999 URT: 1.12 11-Jun-1999 MON: 1.34 07-Jul-1999 UTL: 1.22 22-Jun-1999 SIF: 1.06 06-Jul-1999 STP: 1.08 09-Jul-1999 Version 1.00 04-June-1999 LWIL ------------------------------ - Can read/write virtual registers via local monitor command and via the Can bus. (use the sif read|write commands on ALICE/MCE) - I/O Scanner is now working. Can read digital/analog inputs, and write digital outputs. Virtual Registers are created in ram on startup. - Added monitor commands "sat", "spi", & "adc".