diff --git a/docs_versioned_docs/version-ros2jazzy/components/_clearpath_firmware.mdx b/docs_versioned_docs/version-ros2jazzy/components/_clearpath_firmware.mdx
index bee06f4aa..927ee7ee0 100644
--- a/docs_versioned_docs/version-ros2jazzy/components/_clearpath_firmware.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/components/_clearpath_firmware.mdx
@@ -7,7 +7,6 @@ Before flashing firmware, place your robot up on blocks or disengage the drivetr
:::
-
### Download the Clearpath Firmware package from the Clearpath package server
On an external computer, run the following commands:
@@ -71,6 +70,7 @@ sudo apt install ros-jazzy-clearpath-firmware
Open the lid of the robot to expose the MCU and make sure the mini-USB cable is connected to the robot computer.
Switch the PWR_MODE switch from NORM to ALT. If the robot is on, press the M_RST button. Otherwise, turn the robot on with the power button.
+
BT0 on the MCU, connect the external computer to Warthog's MCU using a USB cable.
+
- :::note
+ :::safety-caution
- ROS 2 Jazzy firmware on DX100 must be flashed via USB. Flashing via Ethernet is not supported at this time.
+ For firmware versions 3.0.6 or greater, ethernet firmware flashing is available.
+ This step is only necessary for flashing ROS 2 Jazzy firmware on DX100 via USB. Flashing via Ethernet does not require these steps.
:::
@@ -186,15 +189,17 @@ sudo apt install ros-jazzy-clearpath-firmware
As is shown in the image above, set the `PWR_MODE` switch to the `ALT` position.
Press the `M_RST` or restart the robot using the HMI panel. Now, the MCU is in bootloader mode, ready to receive new firmware.
+
- :::note
+ :::safety-caution
- ROS 2 Jazzy firmware on DX150 must be flashed via USB. Flashing via Ethernet is not supported at this time.
+ For firmware versions 3.0.6 or greater, ethernet firmware flashing is available.
+ This step is only necessary for flashing ROS 2 Jazzy firmware on DX150 via USB. Flashing via Ethernet does not require these steps.
:::
@@ -215,10 +220,10 @@ sudo apt install ros-jazzy-clearpath-firmware
As is shown in the image above, set the `PWR_MODE` switch to the `ALT` position.
Press the `M_RST` or restart the robot using the HMI panel. Now, the MCU is in bootloader mode, ready to receive new firmware.
+
-
### Flash the firmware
Run the Clearpath firmware flash tool:
@@ -230,14 +235,14 @@ ros2 run clearpath_firmware flash
Select your platform, then select which method of flashing you would like to use.
-| Platform | Flashing Method |
-| :------------------ | :-------------- |
-| Husky A300 | Ethernet |
-| Jackal J100 | USB |
-| Warthog W200 | USB |
-| Ridgeback R100 | USB |
-| Dingo DD100 / DO100 | USB |
-| Dingo DD150 / DO150 | USB |
+| Platform | Flashing Method |
+| :------------------ | :--------------------------------------- |
+| Husky A300 | Ethernet |
+| Jackal J100 | USB |
+| Warthog W200 | USB |
+| Ridgeback R100 | USB |
+| Dingo DD100 / DO100 | USB or Ethernet (preferred after v3.0.6) |
+| Dingo DD150 / DO150 | USB or Ethernet (preferred after v3.0.6) |
:::caution
@@ -254,7 +259,7 @@ flashing, you can attempt to flash again over USB.
label="A300"
>
- After flashing, the robot powers off. Power the robot back on by pressing the Power button.
+After flashing, the robot powers off. Power the robot back on by pressing the Power button.
@@ -263,8 +268,8 @@ flashing, you can attempt to flash again over USB.
label="J100"
>
- Switch the PWR_MODE switch from ALT back to NORM. The robot will turn off.
- Power it back on with the power button.
+Switch the PWR_MODE switch from ALT back to NORM. The robot will turn off.
+Power it back on with the power button.
@@ -274,7 +279,7 @@ flashing, you can attempt to flash again over USB.
default
>
- Press the RST button. The MCU should enter regular operation.
+Press the RST button. The MCU should enter regular operation.
@@ -283,30 +288,32 @@ flashing, you can attempt to flash again over USB.
label="R100"
>
- Switch the PWR_MODE switch from ALT back to NORM. The robot will turn off.
- Power it back on with the power button.
+Switch the PWR_MODE switch from ALT back to NORM. The robot will turn off.
+Power it back on with the power button.
-
- Switch the PWR_MODE switch from ALT back to NORM. The robot will turn off.
- Power it back on with the power button.
+After flashing via Ethernet, the robot powers off. Power the robot back on by pressing the Power button.
-
+After flashing via USB, switch the PWR_MODE switch from ALT back to NORM. The robot will turn off.
+Power it back on with the power button.
+
- Switch the PWR_MODE switch from ALT back to NORM. The robot will turn off.
- Power it back on with the power button.
+After flashing via Ethernet, the robot powers off. Power the robot back on by pressing the Power button.
+
+After flashing via USB, switch the PWR_MODE switch from ALT back to NORM. The robot will turn off.
+Power it back on with the power button.
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/api/lighting.mdx b/docs_versioned_docs/version-ros2jazzy/ros/api/lighting.mdx
index c84b0db87..af6496df2 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/api/lighting.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/api/lighting.mdx
@@ -34,25 +34,27 @@ The lighting node will publish the current lighting command directly to the MCU.
| Low Battery | 
| 12 | No | |
| Driving | 
| 13 | Yes | |
| Idle | 
| 14 | Yes | |
+ | Firmware Update | 
| N/A | No | The robot has transitioned to bootloader mode for a firmware update. This will be accompanied by the following message on the display "Updating Firmware! Do not power down! Wait for automatic shutdown, then power on. This message will persist until power on.". Only for firmware v3.0.6 or greater.|
- | Lighting State | Lighting Pattern | Priority | User commands allowed |
- | :------------- | :--------------- | :------- | :-------------------- |
- | Light Control Fault (or boot failure) | 
| N/A | No |
- | Battery Fault | 
| 0 | No |
- | Shore Power Fault | 
| 1 | No |
- | Shore Power and Charged | 
| 5 | Yes |
- | Shore Power | 
| 7 | Yes |
- | Charged | 
| 8 | Yes |
- | Charging (wired or wireless) | 
| 9 | Yes |
- | Emergency Stop Engaged | 
| 11 | No |
- | Low Battery | | 12 | No |
- | Driving | | 13 | Yes |
- | Idle | | 14 | Yes |
+ | Lighting State | Lighting Pattern | Priority | User commands allowed | Notes |
+ | :------------- | :--------------- | :------- | :-------------------- | :---- |
+ | Light Control Fault (or boot failure) | | N/A | No | |
+ | Battery Fault | | 0 | No | |
+ | Shore Power Fault | | 1 | No | |
+ | Shore Power and Charged | | 5 | Yes | |
+ | Shore Power | | 7 | Yes | |
+ | Charged | | 8 | Yes | |
+ | Charging (wired or wireless) | | 9 | Yes | |
+ | Emergency Stop Engaged | | 11 | No | |
+ | Low Battery | | 12 | No | |
+ | Driving | | 13 | Yes | |
+ | Idle | | 14 | Yes | |
+ | Firmware Update | | N/A | No | The robot has transitioned to bootloader mode for a firmware update. Only for firmware v3.0.6 or greater.|
- | Lighting State | Lighting Pattern | Priority | User commands allowed |
- | :------------- | :--------------- | :------- | :-------------------- |
+ | Lighting State | Lighting Pattern | Priority | User commands allowed | Notes |
+ | :------------- | :--------------- | :------- | :-------------------- | :---- |
| Light Control Fault (or boot failure) | | N/A | No |
| Battery Fault | | 0 | No |
| Shore Power Fault | | 1 | No |
@@ -65,6 +67,7 @@ The lighting node will publish the current lighting command directly to the MCU.
| Low Battery | | 12 | No |
| Driving | | 13 | Yes |
| Idle | | 14 | Yes |
+ | Firmware Update | | N/A | No | The robot has transitioned to bootloader mode for a firmware update. Only for firmware v3.0.6 or greater. |
| Lighting State | Lighting Pattern | Priority | User commands allowed |
diff --git a/static/img/robot_images/common_images/lighting_images/firmware_update.png b/static/img/robot_images/common_images/lighting_images/firmware_update.png
new file mode 100644
index 000000000..76235c3d8
Binary files /dev/null and b/static/img/robot_images/common_images/lighting_images/firmware_update.png differ