Firmware
Every FRAME board runs the openUC2 ESP32 firmware (youseetoo/uc2-esp32), built per board. ImSwitch on the Raspberry Pi 5 sends serial JSON to the HAT+ v2 ESP32 (CANopen master, node 1, 921600 Bd) through ESP32Manager / uc2rest; the master forwards each command over CAN to the satellite that owns the device (Connect ImSwitch, Serial & CANopen interface).
| Board | Image (env) | CAN node | Update via |
|---|---|---|---|
| HAT+ v2 ESP32 (master) | UC2_canopen_master | 1 | USB-C, web flasher |
| Motor satellites A/X/Y/Z | UC2_canopen_slave_motor | 10/11/12/13 | CAN, or USB |
| Laser board | UC2_canopen_slave_laser | 20 | CAN, or USB |
| LED / illumination board | UC2_canopen_slave_led | 30 | CAN, or USB |
| Galvo | UC2_canopen_slave_galvo | 40 | CAN, or USB |
| GPIO / E-stop | UC2_canopen_slave_gpio | 60 | CAN, or USB |
Update and verify
- Stop ImSwitch; it holds the serial port.
- Master: flash
UC2_canopen_masterwith the web flasher over the HAT+ USB-C port. - Satellites: update over CAN through the master, without opening the FRAME. A replacement board: add a CAN satellite (flash, set node ID, wire).
- Check: ImSwitch
UC2ConfigController/getFirmwareInfoshowspindefUC2_canopen_masterandfwVersion; the serial command{"task":"/can_act","scan":true}lists every node with itsfwVersion.
Node IDs and routing: Boards, roles & node IDs. Hardware: Electronics and controllers. Operator-level steps: Day-1 software install.