The tidal current energy generation system, which works underwater and is interfered by electrical transmission during the process of data communication, has field update requirements but cannot directly use In-System Programming (ISP) to update, so a remote multi-processor updating system is developed based on ISP and CAN bus. This system consists of a shore station host computer, master controller and the slaves. The host computer transmits the HEX file to the master controller via CAN bus, and the master controller updates the appointed slave by ISP. This paper studies retransmission mechanism and ISP process. The system avoids failed update caused by data channel interference through separating the HEX file transmission and the ISP process.
PackML2: State Machine Based System Programming, Monitoring and Control in ROS2