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Revision to CAN connection

David Crocker

* Power down the system and connect the next board to be configured
-* Power up the system and use M952 agani to set the address of the new board, choosing a different new address this time
+* Power up the system and use M952 again to set the address of the new board, choosing a different new address this time
* Repeat until you have configured all the boards
+
+== LED behaviour and error codes ==
+
+All expansion and tool boards have a red LED. Some also have a green LED. On more recent boards, the red LED is labelled STATUS and the green on is labelled ACT (for Activity). On older boards the red LED is labelled DIAG.
+
+The red LED behaviour is:
+
+* Flashing once per second, in time with the red STATUS or DIAG LED on the main board: operating normally, in CAN communication with the main board
+* Flashing continuously and rapidly: board is running but does not have CAN communication with the main board
+* Flashing a number of times, pausing, and repeating: the bootloader is reporting a problem and the number of flashes represents an error code. Sometimes it may alternate between two error codes. The table below gives the meaning.
+
+{table
+|! Number of flashes
+|! Meaning
+|--
+| 2
+| Invalid firmware
+|--
+| 3
+| Bad firmware CRC
+|--
+| 4
+| The bootloader requested a firmware data block from the main board, but the main board didn't respond in time
+|--
+| 5
+| The main board reported that it didn't have the correct firmware file in its /sys folder
+|--
+| 6
+| The main board reported that the file offset requested by the bootloader was beyond the length of the file
+|--
+| 7
+| The main board encountered some other error in trying to fetch and return a block of firmware data
+|--
+| 8
+| Bootloader internal error (no buffer available)
+|--
+| 9
+| Bootloader was unable to initialise the flash memory controller
+|--
+| 10
+| Bootloader was unable to unlock flash memory
+|--
+| 11
+| Bootloader was unable to erase flash memory
+|--
+| 12
+| Bootloader was unable to write flash memory
+|--
+| 13
+| Bootloader was unable to lock flash memory
+|--
+| 14
+| The VIN voltage was too low to to be considered safe to flash the bootloader
+}
+
+== Factory resetting a tool or expansion board ==
If you need to factory reset a board:
-* On those boards having two buttons, power the system up while holding both buttons down
-* On those boards having a reset jumper, fit the jumper and then power up the board
+* On EXP3HC, set all four address switches off
+* On boards having two buttons (e.g. TOOL1LC), power the system up while holding both buttons down
+* On those boards having a reset jumper (e.g. EXP1XD(, fit the jumper and then power up the board
-The board will reset its address to default and request firmware from the main board.
+The board will reset its address and CAN bus speed to default and request firmware from the main board.

To undo the changes made by this version, click 'Revert Changes.' This will automatically restore the previous version of this guide.

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