Instructions Circuit Diagram

- 47 -
9.4. Step 3 Transferring a YETI-program
DLR (German Centre for Aerospace and Space Technology) developed
a tool called Flash, which has been developed to transfer a YETI-
program to the YETI robot by the dedicated COM-port, included in the
robot set. The Flash tool takes care of all actions needed to download
the selected YETI HEX program, e.g. “test.hex”, from the PC into the
YETI microprocessor.
The YETI contains a small built-in, hidden communication tool, called
“bootloader”, which cannot be accessed or deleted by user actions.
SwitchingontheYETIwillalwaysstartthebootloaderrst.Thehidden
communication tool listens for 3 seconds, waiting for infrared signals
from the computer’s Flash program. On reception of a Flash signal the
YETI starts reception of the program and writes the program into its
memory. If no signal is found, the YETI will proceed by processing the
program, which previously had been loaded in the memory.
YETI is equipped with a special memory type preserving data after
switching off the robot. This type of memory is called “Flash”-memory
and of course “Flash” may also be a suitable name for an uploading
tool for this type of memory.