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UNIFLASH

Joel Clasquin
Intellectual 700 points

Other Parts Discussed in Thread: UNIFLASH

Hello,

I'm trying to use UniFlash to program both cores on a Concerto, but right now I'm concentrating on the M3 core.  After a lot of experimentation I've found that the GUI works if I go to the Program menu, click on Load Program and then navigate to my OUT file.  

But if I click on "Programs" in the main view, add the same OUT file to the program list and click the Program button, it doesn't work.  I see a pop up window telling me the file is being loaded, that stays on the screen for a moment, and then it disappears and the console window says "Programs Loading Finished".  But the program wasn't really loaded.  I never saw the progress bar moving and I didn't see any messages about Flash being erased, etc.  When I cycled power on my board I could tell the program wasn't running.

What's the difference between these two programming methods?  Why does one work and the other doesn't?  

I'm also trying to program from the command line and that isn't working.  Maybe the command line is basically the same as using the main view (which doesn't work in the GUI either).

Thanks,
Joel 

  • 0
    TI__Expert 4150 points

    Hi Joel,

    Are you using the UniFlash v1.1 found here: http://processors.wiki.ti.com/index.php/CCS_UniFlash_v1.1_Release_Notes ?

    Thanks,

    Victor

  • 0 in reply to Victor Yang
    Intellectual 700 points

    Hi Victor,

    I believe that is the version, yes.  The "about" window shows version 1.1.00011. 

  • 0 in reply to Joel Clasquin
    TI__Expert 4150 points

    Hi Joel,

    The "Programs" tab is used to load multiple out files onto the target without resetting it in between the load, so the other messages like erase, program etc are suppressed. Also, the progress bar is reflecting the percentage of the total number of .out file that is loaded. Therefore with only one .out file you won't see the bar progressing gradually, as it was meant for multiple files.

    The command line load indeed default to the load that was used in "Programs" tab. Could you please attach the log of your console that includes your command and the output that you were seeing?

    Also, you could do a "verify only" load to confirm whether the right contents are written to the target. To do so, go to "Download Settings" under the M3 core, click on the "verify only" radio button. Then, go ahead and load the program you want to verify against using the "Program->Load Program" dialog. The verify only option basically walks through the write process again, but drop the write calls and only does the verification, so do not be alarmed if the progress information says "writing to target...". The output from the console will output "Cortex_M3_0: Verification-Only step was successful." if it was successful or "Cortex_M3_0: Flash verification returned error condition. Operation cancelled." if the verification fails. Remember to turn the radio button back to "Erase and Program" after you are done with the verifications.

    Victor

  • 0 in reply to Victor Yang
    Intellectual 700 points

    Victor,

    I went to the Flash Settings tab and clicked the checkbox for "Enable Verbose Output".  Doing that allows me to see that the Programs tab method is actually trying to erase and program the part.  It's not just a progress bar that doesn't move. 

    However, using that method still doesn't work.  I clicked the button to clear the Uniflash Debug Console window, and then I clicked the Programs tab.  I copied the console window output to the attached file called "bad.txt".  I cycled power on my board and there was no blinking LED.

    Then I cleared the console window again and clicked on the Program menu selection at the top.  I copied the console window output to the attached file called "good.txt".  I cycled power again and the LED is blinking.

    You can see that there are only a couple of lines that are different in those two files.  There are two more "verify" lines at the bottom of "good.txt", but other than that, the two files are the same.  

    I will keep looking at this, and I'll try the "verify only" load, but I wanted to go ahead and get you these files.

    Thanks,

    Joel

    Fullscreen 1667.good.txt Download 
    Cortex_M3_0: GEL Output: Watchdog Timers Enabled

Cortex_M3_0: GEL Output: UARTs Enabled

Begin Writing Flash memory operation... 
Loading program: C:\ti\uniflashv1\ccs_base\scripting\examples\uniflash\programs\TC_M3.out
Cortex_M3_0: Writing Flash @ Address 0x200030 of Length 6

Cortex_M3_0: Erasing Flash Bank 0, Sector N

Cortex_M3_0: Erasing Flash Bank 0, Sector M

Cortex_M3_0: Erasing Flash Bank 0, Sector L

Cortex_M3_0: Erasing Flash Bank 0, Sector K

Cortex_M3_0: Erasing Flash Bank 0, Sector J

Cortex_M3_0: Erasing Flash Bank 0, Sector I

Cortex_M3_0: Erasing Flash Bank 0, Sector H

Cortex_M3_0: Erasing Flash Bank 0, Sector G

Cortex_M3_0: Erasing Flash Bank 0, Sector F

Cortex_M3_0: Erasing Flash Bank 0, Sector E

Cortex_M3_0: Erasing Flash Bank 0, Sector D

Cortex_M3_0: Erasing Flash Bank 0, Sector C

Cortex_M3_0: Erasing Flash Bank 0, Sector B

Cortex_M3_0: Erasing Flash Bank 0, Sector A

Cortex_M3_0: Finish Writing Flash @ Address 0x200030 of Length 6

Cortex_M3_0: Writing Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Verifying Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Finish Writing Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Writing Flash @ Address 0x201200 of Length 3802

Cortex_M3_0: Verifying Flash @ Address 0x201200 of Length 3800

Cortex_M3_0: Finish Writing Flash @ Address 0x201200 of Length 3802

Cortex_M3_0: Writing Flash @ Address 0x204010 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x204010 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x206810 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x209010 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x20B810 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x204010 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Verifying Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Finish Writing Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Writing Flash @ Address 0x260000 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x260000 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x262800 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x265000 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x267800 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x260000 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x267FF0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x267FF0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26A7F0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26CFF0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26F7F0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x267FF0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x26FFE0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x26FFE0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x2727E0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x274FE0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x2777E0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x26FFE0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x277FD0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x277FD0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27A7D0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27CFD0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27F7D0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x277FD0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Verifying Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Finish Writing Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Verifying Flash @ Address 0x200030 of Length 8

Cortex_M3_0: Verifying Flash @ Address 0x2020D8 of Length 8

Operation Writing Flash memory returned.

    Fullscreen 7382.bad.txt Download 
    Cortex_M3_0: GEL Output: Watchdog Timers Enabled

Cortex_M3_0: GEL Output: UARTs Enabled

Start loading multiple programs to the target core...
Loading program: C:\ti\uniflashv1\ccs_base\scripting\examples\uniflash\programs\TC_M3.out
Cortex_M3_0: Writing Flash @ Address 0x200030 of Length 6

Cortex_M3_0: Erasing Flash Bank 0, Sector N

Cortex_M3_0: Erasing Flash Bank 0, Sector M

Cortex_M3_0: Erasing Flash Bank 0, Sector L

Cortex_M3_0: Erasing Flash Bank 0, Sector K

Cortex_M3_0: Erasing Flash Bank 0, Sector J

Cortex_M3_0: Erasing Flash Bank 0, Sector I

Cortex_M3_0: Erasing Flash Bank 0, Sector H

Cortex_M3_0: Erasing Flash Bank 0, Sector G

Cortex_M3_0: Erasing Flash Bank 0, Sector F

Cortex_M3_0: Erasing Flash Bank 0, Sector E

Cortex_M3_0: Erasing Flash Bank 0, Sector D

Cortex_M3_0: Erasing Flash Bank 0, Sector C

Cortex_M3_0: Erasing Flash Bank 0, Sector B

Cortex_M3_0: Erasing Flash Bank 0, Sector A

Cortex_M3_0: Finish Writing Flash @ Address 0x200030 of Length 6

Cortex_M3_0: Writing Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Verifying Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Finish Writing Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Writing Flash @ Address 0x201200 of Length 3802

Cortex_M3_0: Verifying Flash @ Address 0x201200 of Length 3800

Cortex_M3_0: Finish Writing Flash @ Address 0x201200 of Length 3802

Cortex_M3_0: Writing Flash @ Address 0x204010 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x204010 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x206810 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x209010 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x20B810 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x204010 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Verifying Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Finish Writing Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Writing Flash @ Address 0x260000 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x260000 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x262800 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x265000 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x267800 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x260000 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x267FF0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x267FF0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26A7F0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26CFF0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26F7F0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x267FF0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x26FFE0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x26FFE0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x2727E0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x274FE0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x2777E0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x26FFE0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x277FD0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x277FD0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27A7D0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27CFD0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27F7D0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x277FD0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Verifying Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Finish Writing Flash @ Address 0x27FFC0 of Length 16

Programs loading finished.

  • 0 in reply to Victor Yang
    Intellectual 700 points

    Hi Victor,

    Here are the outputs from the two "verify only" loads.  

    Verifying after loading with the Program menu selection passes, and I copied that output to "good.txt".

    Verifying after loading with the Programs tab fails, and that output is in "bad.txt"

    Thanks,

    Joel

    Fullscreen 5481.good.txt Download 
    Cortex_M3_0: GEL Output: Watchdog Timers Enabled

Cortex_M3_0: GEL Output: UARTs Enabled

Begin Writing Flash memory operation... 
Loading program: C:\ti\uniflashv1\ccs_base\scripting\examples\uniflash\programs\TC_M3.out
Cortex_M3_0: Writing Flash @ Address 0x200030 of Length 6

Cortex_M3_0: Finish Writing Flash @ Address 0x200030 of Length 6

Cortex_M3_0: Writing Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Verifying Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Finish Writing Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Writing Flash @ Address 0x201200 of Length 3802

Cortex_M3_0: Verifying Flash @ Address 0x201200 of Length 3800

Cortex_M3_0: Finish Writing Flash @ Address 0x201200 of Length 3802

Cortex_M3_0: Writing Flash @ Address 0x204010 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x204010 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x206810 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x209010 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x20B810 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x204010 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Verifying Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Finish Writing Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Writing Flash @ Address 0x260000 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x260000 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x262800 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x265000 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x267800 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x260000 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x267FF0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x267FF0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26A7F0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26CFF0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26F7F0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x267FF0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x26FFE0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x26FFE0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x2727E0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x274FE0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x2777E0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x26FFE0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x277FD0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x277FD0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27A7D0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27CFD0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27F7D0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x277FD0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Verifying Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Finish Writing Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Verifying Flash @ Address 0x200030 of Length 8

Cortex_M3_0: Verifying Flash @ Address 0x2020D8 of Length 8

Cortex_M3_0: Verification-Only step was successful.

Operation Writing Flash memory returned.

    Fullscreen 3157.bad.txt Download 
    Cortex_M3_0: GEL Output: Watchdog Timers Enabled

Cortex_M3_0: GEL Output: UARTs Enabled

Begin Writing Flash memory operation... 
Loading program: C:\ti\uniflashv1\ccs_base\scripting\examples\uniflash\programs\TC_M3.out
Cortex_M3_0: Writing Flash @ Address 0x200030 of Length 6

Cortex_M3_0: Finish Writing Flash @ Address 0x200030 of Length 6

Cortex_M3_0: Writing Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Verifying Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Finish Writing Flash @ Address 0x201000 of Length 432

Cortex_M3_0: Writing Flash @ Address 0x201200 of Length 3802

Cortex_M3_0: Verifying Flash @ Address 0x201200 of Length 3800

Cortex_M3_0: Finish Writing Flash @ Address 0x201200 of Length 3802

Cortex_M3_0: Writing Flash @ Address 0x204010 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x204010 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x206810 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x209010 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x20B810 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x204010 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Verifying Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Finish Writing Flash @ Address 0x20C000 of Length 6280

Cortex_M3_0: Writing Flash @ Address 0x260000 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x260000 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x262800 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x265000 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x267800 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x260000 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x267FF0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x267FF0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26A7F0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26CFF0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x26F7F0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x267FF0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x26FFE0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x26FFE0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x2727E0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x274FE0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x2777E0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x26FFE0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x277FD0 of Length 32752

Cortex_M3_0: Verifying Flash @ Address 0x277FD0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27A7D0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27CFD0 of Length 10240

Cortex_M3_0: Verifying Flash @ Address 0x27F7D0 of Length 2032

Cortex_M3_0: Finish Writing Flash @ Address 0x277FD0 of Length 32752

Cortex_M3_0: Writing Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Verifying Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Finish Writing Flash @ Address 0x27FFC0 of Length 16

Cortex_M3_0: Verifying Flash @ Address 0x200030 of Length 8

Cortex_M3_0: Error during Flash verification (Flash algorithm returned error condition). Operation cancelled.

Cortex_M3_0: Flash verification returned error condition. Operation cancelled.

Cortex_M3_0: Please make sure the memory location you are programming have not already been programmed.

Cortex_M3_0: Verifying Flash @ Address 0x2020D8 of Length 8

Cortex_M3_0: Error during Flash verification (Flash algorithm returned error condition). Operation cancelled.

Cortex_M3_0: Flash verification returned error condition. Operation cancelled.

Cortex_M3_0: Please make sure the memory location you are programming have not already been programmed.

Cortex_M3_0: Verification-Only step was successful.

Operation Writing Flash memory returned.

  • 0 in reply to Joel Clasquin
    TI__Genius 13125 points

    Joel,

    Thank you for posting your output logs. From analyzing these logs, it is hinting at a potential problem with writing cache data to Flash memory (due to 64bit aligned memory writes) when operating in the "multi-load" mode (the default for the command line tool and the "Program" tab).

    To help us confirm this issue, is it possible for you to send us the program you are loading? If so, either attach the program to this thread, or email it to me directly (my email is available in my profile info.)

    Thanks,

    Ricky

  • 0 in reply to Ricky Lau
    Intellectual 700 points

    Thanks for the response.


    I just sent the program to your e-mail address.

  • 0 in reply to Joel Clasquin
    TI__Genius 13125 points

    Joel,

    Thanks for sending me your program. I was able to confirm the problem when loading the program, and it is as I described in my previous post.

    I have filed a bug report to track this issue (SDSCM00045667), and have implemented a fix for it. This fix will be included in UniFlash v2.0, which should hopefully be out sometime in November-December timeframe. But please note that the next release (v1.2) will not have this fix.

    The current workaround is to not use the multi-load feature on the Concerto devices if you are only loading one program. I can also provide updated command line files to make it support single load only if you need.

    Sorry for the inconvenience this is causing.

    Regards,

    Ricky

  • 0 in reply to Ricky Lau
    Intellectual 700 points

    No problem.  Thanks for confirming what we're seeing.  This isn't a problem for us as long as we use the correct method inside the GUI, and we can wait a while before we need to implement something more automated using the command line.  So we'll just look forward to version 2.0.

    Thanks,
    Joel