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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.ENantel

Content

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36	36	* Fixes:
37	37	** Improved LED patterns for clarity.
38	38	** ID is now kept during a firmware update.
	39	+
	40	+== Version 369 (EXPERIMENTAL) ==
	41	+
	42	+Released 2021-06-18
	43	+
	44	+* Fixed race condition in communication resulting in occasional corrupt responses. Most prevelant but not limited to the QN command.
	45	+* Support for baud rates higher than 250k. We've certified 9600, 19200, 38400, 57600, 230400, 250000, 460800 and 500000 baud but 750000 and 921600 have also passed our testing. Only these exact baud rates are recognized by the servo.
	46	+* Improvement in query response time of around 15% at 250k baud and much greater now that higher baud rates can be used.
	47	+
	48	+== Version 370 (EXPERIMENTAL) ==
	49	+
	50	+Released 2021-09-20
	51	+This update is a major overhaul to the communication sub-system. Expect major performance improvements and bugs! ;)
	52	+
	53	+* Backwards compatibility is a priority. This firmware shouldn't affect existing code, please report any issues. Include a reproductible command sequence if possible.
	54	+* Allows multiple commands to be sent and received as a group
	55	+* Group commands can include multiple servos without bus conflict/contention
	56	+** Ex. #0QD#5QD#10QD\r - queries 3 servos at once for position
	57	+** #0QD0QC0#5QD0QC0 - queries 2 servos at once for position and current (milliamps). 0 required to separate commands QD and QC
	58	+* Increase in supported baud rates up to 921k (adds 500k, 750k, 921.6k) with 2 and 3Mbit coming soon
	59	+* Auto baud rate (ABR) can be enabled (off by default):
	60	+** Ex. #254ABR1 - Enable baudrate detection on first byte received after power-up.
	61	+** #254ABR2,30 - Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
	62	+** Warning: ABR doesn't work well with LSS Config at the moment, updated LSS Config coming soon.
	63	+* Using #254QID120 can scan the entire bus at once for servos without conflict.
	64	+** Servos will use a simple formula to delay their response: 200usec + <id> * 120usec, where <id> is their servo ID 0 to 253.
	65	+** The first parameter (ex. 120) indicates how many milliseconds to delay between IDs and 120usec is a safe number.
	66	+** Warning: #254QID with no parameter will still conflict to remain backward compatibility with LSS Config.
	67	+* Configure a slot# for each servo and using (ex.) #254QD can query all servos at once without conflict
	68	+** Ex. We have 3 servos at ID 0, 5, and 10. We want to configure them to be slots 0, 1, and 2 respectively.
	69	+*** #254SLOTCOUNT3\r - configure 3 slots on our bus
	70	+*** #0SLOT0\r - we don't really have to do this one, servos default to slot 0 on power-up
	71	+*** #5SLOT1\r - Servo ID5 to slot 1
	72	+*** #10SLOT2\r - Servo ID10 to slot 2
	73	+*** #254QD\r - Query all servos for position
	74	+*** #254QD0QC0\r - Query all servos for position and current (milliamps)
	75	+** Note: You only need to configure slots once on power-up, #254<cmd> will offset all servo replies based on slot# after this is set.
	76	+** Note: Why not just use servo ID as slot#? Many LSS bus setups are not using sequential IDs so it's more efficient to assign slot# then expect everyone to change their robot's logical servo IDs to be sequential.
	77	+* Fixed memory leak in MMD command
	78	+* General firmware cleanup & improvements