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Installing DVL Firmware (Deprecated)

These instructions apply to versions of CeruleanTracker released before November 1, 2022.

The DVL firmware consists of two parts: a firmware file for the master CPU, and a firmware file for the four channel CPUs. Firmware files have an “.ELF” file type. Both are included in every comprehensive firmware Zip file.

Releases of master firmware after March 1, 2021 require that channel firmware prior to March 1, 2021 be updated as well. The system will complain if channel firmware incompatible with master software is installed.

Channel firmware is updated less often than master software, as most updates are adding user-requested features that usually don’t affect basic operation. Although sometimes not strictly required, we recommend that you update master firmware, channel firmware, and CeruleanTracker together when installing a new release.

When making a firmware update, we recommend the following sequence:

  • Install the new version of CeruleanTracker. This usually just involves copying the new .EXE file to the location you run it from, and possibly renaming it or updating any shortcuts you made to the old version.

  • Connect to the DVL with CeruleanTracker and ensure that freeform messages are turned on (DVL Command Window, refresh settings button, then Toggle Send Freeform if not ON). See figure below.

When installing firmware, be sure to turn on freeform messages. First refresh the settings display to see the state of the freeform messages, then toggle the state if it’s off.

  • Install the new master CPU firmware as normal. Click the “Master CPU” and navigate to the location of the firmware file. The download can be less than one second over Ethernet, and may take about 20 seconds over serial.

Click the Master CPU button to begin installing Master CPU firmware.

The output window will look like this when the firmware has been successfully downloaded.

  • (optional) When the system reboots and starts counting down the boot sequence, send a PAUSE command using the Pause button on the CeruleanTracker DVL Command Window.

Counting down the boot sequence looks like this. Ideally, you will pause this before it completes.
Use the PAUSE button to pause the boot sequence before loading Channel CPU firmware. This will prevent a cascade of error messages if the Master/Channel versions are severely mismatched.

  • If you miss sending the PAUSE command during the boot sequence countdown, simply cycle the power and try again.

  • Refresh the nonvolatile settings by clicking the "Refresh Settings" button. These may have been set back to default when the master firmware was installed. See step 2, above. You may also change any other non-volatile parameters that were defaulted while you are at it.

  • Install the new Channel CPU firmware, in a manner analogous to the master CPU firmware.

  • When the downlink finishes (it's quite fast on Ethernet so you might miss it) send the RESUME command using the RESUME button.

  • When you see the messages that the firmware load is complete for all four channels A thru D, the DVL should take off and start processing as usual.

The output window should look like this after all four Channel CPUs have been updated and the system has rebooted and resumed normal operation.

The output window will look like this after downloading the firmware but before installing it. You need to click the RESUME button for the installation to proceed.

  • When you see the messages that the firmware load is complete for all four channels A thru D, the DVL should take off and start processing as usual.

The output window should look like this after all four Channel CPUs have been updated and the system has rebooted and resumed normal operation.
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