Description:
The MechaWare Model Downloader (mdl2mw.exe) now supports the -clearFirst option, which erases any existing models on the controller before download.

How do I use this feature?

This option should be used to clear the MechaWare block buffer without performing a controller reset.

Description:

The MechaWare Model Downloader (mdl2mw.exe) only supports up to 320 entries when downloading a LOOKUP block.

Fix/Solution:

The limit was increased to 5000 entries.

Problem/Cause:
MFWMWBlockTypeBIT_INPUT retuned 0 after download.

This was caused by a bug is mdl2mw and mwloader.lib

Fix/Solution:
The bug was fixed.

Affects to Application Code:
None. MFWMWBlockTypeBIT_INPUT returns the correct address.

Problem/Cause:

The Control IO Output block outputs the wrong bit number from the controller when downloading mdl2mw. The mdl2mwI translated the bit number incorrectly.

The mdl2mw incorrectly converts the bit number from model to the firmware bit. Additionally, the bit number was not written to the firmware memory.

Fix/Solution:

The model_utils.c was corrected to display the model bit number and the control bit number when downloading.

Problem/Cause:

When use the mpiPlatformMapController(), it assigns an address from 0x80000000 or 0x81000000. However, mdl2mw could not assign an address greater than 0x80000000.

This was caused by handling the address as long.

Fix/Solution:

The handling of the address was corrected to unsigned long.

Problem/Cause:

If a MEMOUT, MEMOUT_USER, or MEMOUT_EN block with a data type of INT32 was given an input value greater than 2,147,483,647 (0x7FFFFFFF), the value is truncated to the specified value.

This was caused by the input value being converted to a signed integer.

Fix/Solution:

The input value is treated as an unsigned integer before being written out. This allows output such as those from the BROL block to retain the most significant bit.

Problem/Cause:

The ATAN2 X input and Y input are turned upside down.

Fix/Solution:

The ATAN2 funstion was corrected to ATAN2[Y, X]

Problem/Cause:

A biquad file with duplicate Coeff indices loads coeffs more than once, replacing the first and leaving undefined values.

The problem was caused because the Coeff indices were never checked for duplicates.

Fix/Solution:

The file parsing routine checks for duplicates. If a duplicate index is found, the parsing routine returns MPIMechaWareMessageBIQ_FILE_INVALID and mdl2mw exits.

Problem/Cause:

MATLAB utilities in C:\MEI\MechaWare\Matlab\v14\Utilities do not check whether Ts parameter is valid.

The problem is caused when a value larger than 0.001 is specified and no error message is returned.

Fix/Solution:

MATLAB utilities now verify if Ts parameter is valid. If a value larger than 0.001 is specified, an error message is returned.

Problem/Cause:

The biquad lookup algorithm for Fixed Lookup types extrapolated the coefficients when the input was below the minimum value or above the maximum value (min + # of biquads * delta).

Fix/Solution:

The problem was corrected by limiting the input to the range of the lookup.