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tonybaltovski merged 1 commit into from
Aug 14, 2026
Merged

Document Firmware Update Changes #683

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59 changes: 33 additions & 26 deletions docs_versioned_docs/version-ros2jazzy/components/_clearpath_firmware.mdx
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down Expand Up @@ -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 <code>PWR_MODE</code> switch from <code>NORM</code> to <code>ALT</code>. If the robot is on, press the <code>M_RST</code> button. Otherwise, turn the robot on with the power button.

</TabItem>
<TabItem
value="W200"
Expand Down Expand Up @@ -110,6 +110,7 @@ sudo apt install ros-jazzy-clearpath-firmware
**Place the W200 MCU into bootloader mode**

While pressing <code>BT0</code> on the MCU, connect the external computer to Warthog's MCU using a USB cable.

</TabItem>
<TabItem
value="R100"
Expand Down Expand Up @@ -157,15 +158,17 @@ sudo apt install ros-jazzy-clearpath-firmware
The Ridgeback's MCU is normally rotated 90 degrees when it is installed in the robot; the `NORM` position is typically towards the top of the robot's chassis and the `AUX` position is normally towards the bottom.

:::

</TabItem>
<TabItem
value="DX100"
label="DX100"
default
>
:::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.

:::

Expand All @@ -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.

</TabItem>
<TabItem
value="DX150"
label="DX150"
default
>
:::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.

:::

Expand All @@ -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.

</TabItem>
</Tabs>


### Flash the firmware

Run the Clearpath firmware flash tool:
Expand All @@ -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

Expand All @@ -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.

</TabItem>

Expand All @@ -263,8 +268,8 @@ flashing, you can attempt to flash again over USB.
label="J100"
>

Switch the <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. The robot will turn off.
Power it back on with the power button.
Switch the <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. The robot will turn off.
Power it back on with the power button.

</TabItem>

Expand All @@ -274,7 +279,7 @@ flashing, you can attempt to flash again over USB.
default
>

Press the <code>RST</code> button. The MCU should enter regular operation.
Press the <code>RST</code> button. The MCU should enter regular operation.

</TabItem>

Expand All @@ -283,30 +288,32 @@ flashing, you can attempt to flash again over USB.
label="R100"
>

Switch the <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. The robot will turn off.
Power it back on with the power button.
Switch the <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. The robot will turn off.
Power it back on with the power button.

</TabItem>


<TabItem
value="DX100"
label="DX100"
>

Switch the <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. 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.

</TabItem>
After flashing via USB, switch the <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. The robot will turn off.
Power it back on with the power button.

</TabItem>

<TabItem
value="DX150"
label="DX150"
>

Switch the <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. 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 <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. The robot will turn off.
Power it back on with the power button.

</TabItem>

Expand Down
33 changes: 18 additions & 15 deletions docs_versioned_docs/version-ros2jazzy/ros/api/lighting.mdx
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Expand Up @@ -34,25 +34,27 @@ The lighting node will publish the current lighting command directly to the MCU.
| Low Battery | <img src="/img/robot_images/common_images/lighting_images/low_battery.gif" width="100"/> | 12 | No | |
| Driving | <img src="/img/robot_images/common_images/lighting_images/driving.png" width="100"/> | 13 | Yes | |
| Idle | <img src="/img/robot_images/common_images/lighting_images/idle.png" width="100"/> | 14 | Yes | |
| Firmware Update | <img src="/img/robot_images/common_images/lighting_images/firmware_update.png" width="100"/> | 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.|
</TabItem>
<TabItem value="Dingo D100">
| Lighting State | Lighting Pattern | Priority | User commands allowed |
| :------------- | :--------------- | :------- | :-------------------- |
| Light Control Fault (or boot failure) | <img src="/img/robot_images/common_images/lighting_images/light_control_fault.gif" width="100"/> | N/A | No |
| Battery Fault | <img src="/img/robot_images/common_images/lighting_images/battery_fault.gif" width="100"/> | 0 | No |
| Shore Power Fault | <img src="/img/robot_images/common_images/lighting_images/shore_fault.gif" width="100"/> | 1 | No |
| Shore Power and Charged | <img src="/img/robot_images/common_images/lighting_images/shore_and_charged.gif" width="100"/> | 5 | Yes |
| Shore Power | <img src="/img/robot_images/common_images/lighting_images/shore_power.png" width="100"/> | 7 | Yes |
| Charged | <img src="/img/robot_images/common_images/lighting_images/charged.png" width="100"/> | 8 | Yes |
| Charging (wired or wireless) | <img src="/img/robot_images/common_images/lighting_images/charging.gif" width="100"/> | 9 | Yes |
| Emergency Stop Engaged | <img src="/img/robot_images/common_images/lighting_images/stopped.gif" width="100"/> | 11 | No |
| Low Battery | <img src="/img/robot_images/common_images/lighting_images/low_battery.gif" width="100"/> | 12 | No |
| Driving | <img src="/img/robot_images/common_images/lighting_images/driving.png" width="100"/> | 13 | Yes |
| Idle | <img src="/img/robot_images/common_images/lighting_images/idle.png" width="100"/> | 14 | Yes |
| Lighting State | Lighting Pattern | Priority | User commands allowed | Notes |
| :------------- | :--------------- | :------- | :-------------------- | :---- |
| Light Control Fault (or boot failure) | <img src="/img/robot_images/common_images/lighting_images/light_control_fault.gif" width="100"/> | N/A | No | |
| Battery Fault | <img src="/img/robot_images/common_images/lighting_images/battery_fault.gif" width="100"/> | 0 | No | |
| Shore Power Fault | <img src="/img/robot_images/common_images/lighting_images/shore_fault.gif" width="100"/> | 1 | No | |
| Shore Power and Charged | <img src="/img/robot_images/common_images/lighting_images/shore_and_charged.gif" width="100"/> | 5 | Yes | |
| Shore Power | <img src="/img/robot_images/common_images/lighting_images/shore_power.png" width="100"/> | 7 | Yes | |
| Charged | <img src="/img/robot_images/common_images/lighting_images/charged.png" width="100"/> | 8 | Yes | |
| Charging (wired or wireless) | <img src="/img/robot_images/common_images/lighting_images/charging.gif" width="100"/> | 9 | Yes | |
| Emergency Stop Engaged | <img src="/img/robot_images/common_images/lighting_images/stopped.gif" width="100"/> | 11 | No | |
| Low Battery | <img src="/img/robot_images/common_images/lighting_images/low_battery.gif" width="100"/> | 12 | No | |
| Driving | <img src="/img/robot_images/common_images/lighting_images/driving.png" width="100"/> | 13 | Yes | |
| Idle | <img src="/img/robot_images/common_images/lighting_images/idle.png" width="100"/> | 14 | Yes | |
| Firmware Update | <img src="/img/robot_images/common_images/lighting_images/firmware_update.png" width="100"/> | N/A | No | The robot has transitioned to bootloader mode for a firmware update. Only for firmware v3.0.6 or greater.|
</TabItem>
<TabItem value="Dingo D150">
| Lighting State | Lighting Pattern | Priority | User commands allowed |
| :------------- | :--------------- | :------- | :-------------------- |
| Lighting State | Lighting Pattern | Priority | User commands allowed | Notes |
| :------------- | :--------------- | :------- | :-------------------- | :---- |
| Light Control Fault (or boot failure) | <img src="/img/robot_images/common_images/lighting_images/light_control_fault.gif" width="100"/> | N/A | No |
| Battery Fault | <img src="/img/robot_images/common_images/lighting_images/battery_fault.gif" width="100"/> | 0 | No |
| Shore Power Fault | <img src="/img/robot_images/common_images/lighting_images/shore_fault.gif" width="100"/> | 1 | No |
Expand All @@ -65,6 +67,7 @@ The lighting node will publish the current lighting command directly to the MCU.
| Low Battery | <img src="/img/robot_images/common_images/lighting_images/low_battery.gif" width="100"/> | 12 | No |
| Driving | <img src="/img/robot_images/common_images/lighting_images/driving.png" width="100"/> | 13 | Yes |
| Idle | <img src="/img/robot_images/common_images/lighting_images/idle.png" width="100"/> | 14 | Yes |
| Firmware Update | <img src="/img/robot_images/common_images/lighting_images/firmware_update.png" width="100"/> | N/A | No | The robot has transitioned to bootloader mode for a firmware update. Only for firmware v3.0.6 or greater. |
</TabItem>
<TabItem value="Ridgeback R100">
| Lighting State | Lighting Pattern | Priority | User commands allowed |
Expand Down
Binary file added static/img/robot_images/common_images/lighting_images/firmware_update.png
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