Software Interface and Firmware

Micromodem Software Interface Guides and Firmware:

(See bottom of page for Micromodem-1)

Micromodem-2 Software Interface Guide:

The Micromodem-2 Users Guide describes the User Interface for the Micromodem-2.

• Micromodem2-Users-Guide

Updating Micromodem-2 DSP Firmware:

• As of 2025-02-20, Micromodem-2 DSP firmware v3.9.4 is the latest stable and feature-complete general firmware release.
• This firmware is for the DSP on the WHOI-201005 Micromodem-2 main board itself, not firmware for the DSP on the WHOI-203004 Coprocessor board.
• The Micromodem-2’s firmware revision is reported in the $CAREV NMEA sentence, for example:

  $CAREV,191605,AUV,3.9.4*19

• The Micromodem-2 firmware can be upgraded via the modem serial port. We provide a python script for upgrading Micromodem-2 and coprocessor firmware:

  um2_update_fw.py

• python um2_update_fw.py documentation (see also link above): ACOMMS Firmware Update Guide
• We recommend the python-based firmware updater, but if you cannot use it, the details of the NMEA firmware update sentences are also described in the Micromodem-2 Users Guide (link above), and we can provide text firmware update files that do not require python.
• This release is for WHOI-201005b and newer Micromodem-2’s with bootloader version 2.0.17175 or higher.
• Please contact Keenan Ball at kball@whoi.edu if you have any questions.

Updating Coprocessor Firmware on a Micromodem-2:

• As of 2024-02-08, PSK v1.0.4 is the latest stable and feature-complete general firmware release for coprocessors on Micromodem-2 systems. The coprocessor firmware is ONLY distributed via email from Keenan Ball at kball@whoi.edu
• The coprocessor firmware is for the DSP on the WHOI-203004 Coprocessor board, not the DSP on WHOI-201005 Micromodem-2 main board.
• The Coprocessor’s firmware revision is reported in the $CAREV NMEA sentence, for example:

  $CAREV,203941,COPROC,20-1.0.3*7D

• The coprocessor firmware can be upgraded via a Micromodem-2 serial port using the same python script linked above (um2_update_fw.py).
• psk-300-master-v1.0.4.hex is for newer coprocessors with “300” printed in silkscreen on the TI DSP on top of the coprocessor board, indicating a DSP capable of running at 300MHz. 300MHz firmware will only work on 300MHz DSPs.
• psk-225-master-v1.0.4.hex is for older coprocessors without “300” in silkscreen, indicating a DSP capable of running at a maximum of 225MHz. 225MHz firmware will work on both 225MHz and 300MHz DSPs.
• See the coprocessor board images below showing the presence or lack of the “300” silkscreen on the DSP chip. There is no way to probe in firmware for whether a chip is 300MHz or 225MHz. The silkscreen is the only indicator.
  

Micromodem-2 FPGA Firmware:

• Micromodem FPGA firmware can typically only be upgraded at WHOI. Please contact Keenan Ball at kball@whoi.edu for additional  information.
• The $CCCFQ,info NMEA command can be used to query the FPGA firmware version version:

  $CACFG,info.fpga_version,2.0.34918*60

• The Micromodem DSP and FPGA firmware must be a matched set to ensure proper functionality.
• The Micromodem FPGA firmware version is dependent on the BOM variant and revision of the board to be upgraded.
• The BOM variant and version can be seen on the serial number label on the Micromodem DSP (Label Example: M3-S-0-AA2 SN1335 shows the BOM variant as M and the revision as 3).

Micromodem-1 Software Interface Guides:

• 401040-SIG Micromodem-1 Software Interface Guide

The Micromodem-1 Software Interface Guide describes the Micromodem-1’s user interface. It describes modem operation, including configuration, specifies all NMEA commands and messages, and documents all features added since firmware version AUV 0.79.0.1 for the Micromodem-1.

• 401004-SPEC Micromodem-1 Synchronous Navigation Guide

The Micromodem-1 Synchronous Navigation Guide describes using the Micromodem-1 for passive synchronous navigation

Micromodem 1.3 Firmware:

The Micromodem-1.3 firmware can be upgraded via modem serial port. There are different versions to chose, and in some cases a custom firmware build is required, with project-specific features. Custom firmware builds may be available for your application. The Micromodem and Coprocessor Firmware Programming Tutorial covers direct cable and in-situ firmware programming of the Micromodem and Micromodem Coprocessor.

• AUV-0.94.0.01 is the latest stable and feature-complete general firmware release as of 2011-05-16. This release is for 201002 Micromodems
  (i.e. 1.3, 1.3b, 1.3c or newer revisions) with bootloader version 1.3.2 or higher. 201002 Micromodems with bootloader version 1.3.0 can be upgraded at WHOI at no cost to the user. Older 201001 Micromodem hardware (i.e. v1.1, v1.1b) is no longer supported by WHOI. Please contact Keenan Ball at kball@whoi.edu for additional upgrade information.

REMUS Ranger NOTE: When upgrading the modem firmware in a REMUS Ranger with AUV-0-94-0-01 or newer please make sure to set the NVRAM parameter EDR=1. This will ensure proper legacy message timing in the REMUS Ranger system.

• Micromodem and Coprocessor Firmware Programming Tutorial

Upgrading Coprocessor Firmware on a Micromodem-1.3:

The coprocessor firmware can be upgraded via a Micromodem-1.3 serial port using an application that can be installed and executed on the Micromodem-1.3. The Micromodem-1.3 will need bootloader version 1.3.2 or higher and a coprocessor with PLD version 3. Please contact Keenan Ball at kball@whoi.edu for additional upgrade information.
IMPORTANT NOTE: If your modem is equipped with a 203004 Coprocessor you must upgrade the coprocessor firmware to PSK-0-10-0-46 or newer when you upgrade to modem firmware to AUV-0-93-34 or newer to maintain proper functionality.

• PSK-0.10.0.46 is the latest stable and feature-complete general firmware release for Micromodem-1.3 systems. ONLY available via email.
  • cpflash-0-01-0-03 is the downloader application for programming firmware on the Coprocessor via the Micromodem-1.3.

Micromodem Forward / Backward Firmware Compatibility:

The Micromodem is a continuously evolving system. Over the course of time certain standards and functionality must be updated for better performance or usability. While we strive to maintain compatibility across all generations of Micromodem hardware and firmware, there are a few discontinuities that users should be aware of.

Here are some explanations of the most critical incompatibilities and features:

4-bit vs 7-bit addressing using FSK Rate 0:

With more and more exercises and installations requiring large numbers of modem systems in the water at one time, the 16 addresses (4-bit) that were originally available are no longer enough. Newer firmware versions now support 7-bit addressing. However, there are incompatibilities when operating a mix of hardware running 4-bit and 7-bit firmware.

A table of some of the incompatibilities is shown below.

The point of departure from 4-bit to 7-bit addressing is detailed in the table below:

The typical symptom that is observed is that 16 will be added to the destination address.

PSK (all rates) compatibility:

All Micromodem hardware and firmware versions can transmit PSK. However, the format of the PSK communication scheme has changed over time and is no longer forward or backwards compatible.

In-situ programming:

Not all Micromodem-1.3 firmware versions support in-situ programming. All Micromodem-1.3 firmware versions AUV-0-92-0-28 or newer that have BRN and BSP NVRAM parameters support in-situ programming. The Micromodem-1.3 bootloader version must be version 1.3.2 or newer to support in-situ programming.

Hardware Versions and Firmware:

The v1.1 and v1.1b Micromodem hardware is not compatible with the v1.3 firmware and should not be upgraded nor should the v1.3 boards be downgraded.

Firmware version AUV13-0-90-39 was the first version available for the Micromodem-1.3.

Micromodem-2 firmware cannot be used on Micromodem-1.3 hardware. Micromodem-1.3 firmware cannot be used on Micromodem-2 hardware.