HARSFEN0602
6.3.2.2 The CP command
The CP command clears the entire user area in the serial flash. It may take a significant time.
In special, CP sets the Program Valid flag to –1.
Possible Execution Failures:
1) Motor is on.
2) Program is running.
6.3.2.3 The CC command
The command CC=xxxx does as follows:
Read the actual length of the user partition from the TOC.
Calculate 32-bit checksum for the entire actual user partition.
The checksum shall be calculated by summing all the consecutive 2-bytes sequences (short int numbers) that
form the user program space and the checksum number itself. The total summing result must be zero to pass.
If the resulting checksum matches xxxx then:
Set the program ready flag.
Copy functions and variables symbol tables from the user partition to internal dsp flash memory
Else an error code is return.
CC returns 1 if the program ready flag in the serial flash is set
Otherwise it returns zero.
Possible Execution Failures:
1) Actual length in the TOC is less then 2 flash pages, or is beyond user program address limit.
2) Calculated checksum doesn’t match to xxxx.
6.3.3 Downloading a Program 6.3.3.1 The DL command
The Dl command executes downloading a program.
Downloading to a non-protected area in the Flash goes as follows:
LP[1]=start;
DL##xxxxxxxxx<ESC>CS;
where above xxxxxxxxx denotes the escape-sequenced data payload.
Start denotes the byte address in the user program flash.
CS denotes the 16 bits checksum for the message, including the DL##.
DL takes time, since it has to burn & verify.
Possible Execution Failures:
1) Attempt to write to protected area in the flash. It may happen that DL will start to write
legally to the Flash, but its last bytes will attempt an illegal (protected) write. In any case DL
command will be rejected, and the contents of the serial flash is unpredictable.
2) DL is used when motor is on.
3) DL is used when program is running.
4) Faulty checksum – DL will be rejected but creates no harm.
5) Verify error – If DL attempts to write to a previously written area in the flash, probably the
writing will fail by verify error. In that case the contents of the Flash is unpredictable and the
Flash has to be cleared and completely re-written.
6) DL string is too long. The maximum length of a DL string is 500 bytes, due to internal Dama
limits.
7) Program Valid flag is not –1. In that case DL command will not be executed (CP must be issued
before DL).
6.3.3.2 Program downloading process