Support » Qik 2s15v9 User’s Guide » 5. Serial Parameters and Commands »
5.b. 0x81: Get Firmware Version
Command 0x81 (129): Get Firmware Version
Compact protocol: 0x81
Pololu protocol: 0xAA, device ID, 0x01
This command returns the a single ASCII byte that represents the version of the firmware running on the Qik. All Qik 2s15v9’s produced so far have firmware version ‘1’ or ‘2’.
Firmware version 2 fixes a bug in the handling of motor fault errors (see Section 5.c for more information on motor fault errors). Hardware-level motor errors cause the motor driver ICs on the Qik to latch their outputs off until the appropriate inputs are toggled. Firmware version 1 does not correctly toggle these inputs, so Qiks with firmware version 1 must have their power cycled in order to re-enable a motor driver that has experienced the error. Firmware version 2 performs the necessary toggling automatically whenever a motor fault error occurs.