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    NACK Received when updating voxl esc

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    • wilkinsafW
      wilkinsaf ModalAI Team
      last edited by

      I am getting a "NACK Received" when I am trying to update the firmware on my voxl esc. I get to about 4% and then I get this error
      Here is a video explaining it in closer detail
      https://www.loom.com/share/f016b3a706a242c2a2235107f2faabb0

      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @wilkinsaf
        last edited by

        @wilkinsaf , you have a M0117 ESC, this can be seen @ 0:32 of your video (and other parts), but you are trying to install firmware for M0138 ESC.

        Also, three of your ESC channels have ESC version 39 (ids 0,1,2) and id 3 has firmware version 36.

        In any case, you can use the following script to auto detect the ESC (and pick correct firmware) and install it :

        cd /usr/share/modalai/voxl-esc-tools/
        ./voxl-esc-upload-firmware-all.sh
        

        This should update firmware for all all 4 ESCs.

        Then you will need to install the desired ESC params to your ESC. Please note that IDs 0 and 3 are missing params (that is why they are defaulting to 57600 baud rate), but the voxl-esc-upload-params.py script should take care of it. You can always force the update params script to use specific baud rate (such as 57600).

        Alex

        wilkinsafW 1 Reply Last reply Reply Quote 0
        • wilkinsafW
          wilkinsaf ModalAI Team @Alex Kushleyev
          last edited by

          @Alex-Kushleyev

          Yes, whenever I try to have the auto-update for the firmware I get this

          VOXL Platform: M0054
          Detected RB5 Flight, VOXL2 M0054 or M0104!
          INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
          Sending library name request: libslpi_qrb5165_io.so
          Sending initialization request
          INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
          INFO: ESC(s) detected: [1, 2]
          WARNING: Specified ESC ID not detected; perform manual power cycle now
          Updated baud rate to 230400
          INFO: Installing firmware to ESC ID 0 : /usr/share/modalai/voxl-esc-tools/firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin
          
          ERROR: An error occured during the write process.
          
          
          wilkinsafW 1 Reply Last reply Reply Quote 0
          • wilkinsafW
            wilkinsaf ModalAI Team @wilkinsaf
            last edited by

            When I try and update the parameters I get

            voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-upload-params.py --params-file ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml 
            Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
            [GCC 8.4.0]
            dpkg-query: no packages found matching voxl-esc-board-detect.py
            dpkg-query: no packages found matching voxl-esc-calibrate.py
            dpkg-query: no packages found matching voxl-esc-led.py
            dpkg-query: no packages found matching voxl-esc-neopixel-test.py
            dpkg-query: no packages found matching voxl-esc-scan.py
            dpkg-query: no packages found matching voxl-esc-spin-helper.sh
            dpkg-query: no packages found matching voxl-esc-spin-sine.py
            dpkg-query: no packages found matching voxl-esc-spin-step.py
            dpkg-query: no packages found matching voxl-esc-spin.py
            dpkg-query: no packages found matching voxl-esc-tools-bin
            dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
            dpkg-query: no packages found matching voxl-esc-upload-firmware.py
            dpkg-query: no packages found matching voxl-esc-upload-params.py
            dpkg-query: no packages found matching voxl-esc-verify-params.py
            dpkg-query: no packages found matching voxl_esc_setup_paths.py
            dpkg-query: no packages found matching voxl_serial.py
            Found voxl-esc tools bin version: 1.6
            
            INFO: Params file name : ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml 
            INFO: Params file size : 7507 bytes
            
            
            VOXL Platform: M0054
            Detected RB5 Flight, VOXL2 M0054 or M0104!
            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
            Sending library name request: libslpi_qrb5165_io.so
            Sending initialization request
            INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
            INFO: ESCs detected:
            INFO: ---------------------
            ID: 1, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
            ID: 2, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
            ---------------------
            INFO: Loading XML config file...
            INFO: Uploading params for ESC ID 255...
            -- board config
            -- id config
            -- uart config
            -- tune config
                DONE
            INFO: Resetting ESCs...
                DONE
            VOXL Platform: M0054
            Detected RB5 Flight, VOXL2 M0054 or M0104!
            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
            INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
            Updated baud rate to 230400
            ERROR: No ESC(s) detected
            VOXL Platform: M0054
            Detected RB5 Flight, VOXL2 M0054 or M0104!
            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
            INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
            Updated baud rate to 230400
            ERROR: No ESC(s) detected
            VOXL Platform: M0054
            Detected RB5 Flight, VOXL2 M0054 or M0104!
            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400
            INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
            Updated baud rate to 230400
            ERROR: No ESC(s) detected
            VOXL Platform: M0054
            Detected RB5 Flight, VOXL2 M0054 or M0104!
            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
            INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 57600
            INFO: ESCs detected:
            INFO: ---------------------
            ID: 0, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
            ID: 3, SW: 36, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
            ---------------------
            ERROR: ESC firmware version 36 is incompatible with params supported by this utility
                   Acceptable ESC firmware versions are:  [38, 39]
            
            

            I have tried a parameter set in the "old" parameter folder with similar results

            wilkinsafW 1 Reply Last reply Reply Quote 0
            • wilkinsafW
              wilkinsaf ModalAI Team @wilkinsaf
              last edited by

              Ok, Here is how I solved it.

              1. Installed old firmware: ./voxl-esc-upload-firmware.py --firmware-baud-rate 57600 -f firmware/old/modalai_esc_firmware_m0117_1_v0_36_f75f1fdb.bin --id 0
              2. Installed newer firmware: ./voxl-esc-upload-firmware.py --firmware-baud-rate 250000 -f firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin --id 0

              I was loading a custom SDK on this vehicle so I am theorizing that there is somehting custom/funky going on with voxl-esc

              Alex KushleyevA 1 Reply Last reply Reply Quote 0
              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @wilkinsaf
                last edited by

                @wilkinsaf , yes, you got it. By the way, you did not have to restore the old firmware, you could have just done this:

                ./voxl-esc-upload-firmware.py --firmware-baud-rate 57600 -f firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin --id 0
                

                The following note does not really help, if you also have power connected to VOXL2..

                WARNING: Specified ESC ID not detected; perform manual power cycle now
                

                However, if the ESC is connected to a PC, you can just power cycle the ESC and the the bootloader will start up and firmware update will being.

                Alex

                1 Reply Last reply Reply Quote 0
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