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28	28
29	29	Released 2019-05-01
30	30
31		-* Initial production version (first official release).
	31	+Initial production version (first official release)
	32	+
32	32	* New commands:
33	33	** CLB/QLB to control the blinking of the RGB LED during various phases of motion.
34	34	* New features:
...	...	@@ -37,42 +37,62 @@
37	37	** Improved LED patterns for clarity.
38	38	** ID is now kept during a firmware update.
39	39
	41	+== Version 368 ==
	42	+
	43	+Released 2020-04-07
	44	+
	45	+Many bug fixers and new features!
	46	+
	47	+* New features:
	48	+** QF now reports more details on version number (QF, QF1, QF2, QF3)
	49	+** Maximum motor duty cycle can be controlled using MMD, QMMD (min25%, max100% = 1023).
	50	+*** Can set it asymmetrical by passing 2 values separated by a comma (pos limit, neg limit).
	51	+** Motion filter was added for EM0.
	52	+*** Can be controlled with FPC, CFPC, QFPC.
	53	+** IPMS system was added for EM0.
	54	+*** Controlled with IPE and QIPE
	55	+
40	40	== Version 369 (EXPERIMENTAL) ==
41	41
42	42	Released 2021-06-18
43	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.
	60	+* New features
	61	+** Support for baud rates higher than 250k. 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.
	62	+** Improvement in query response time of around 15% at 250k baud and much greater now that higher baud rates can be used.
	63	+* Fixes
	64	+** Fixed race condition in communication resulting in occasional corrupt responses. Most prevelant but not limited to the QN command.
47	47
48	48	== Version 370 (EXPERIMENTAL) ==
49	49
50	50	Released 2021-09-20
51		-This update is a major overhaul to the communication sub-system. Expect major performance improvements and bugs! ;)
52	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
	70	+Major overhaul to the communication sub-system. Expect major performance improvements and bugs! Backwards compatibility is a priority. This firmware shouldn't affect existing code, please report any issues and include a reproductible command sequence if possible.
	71	+
	72	+* New features
	73	+** Group commands: Allows multiple commands to be sent and received as a group and can include multiple servos without bus conflict / contention
	74	+*** #0QD#5QD#10QD\r  -  As an example, this single command queries three servos for their respective positions
	75	+*** #0QD0QC0#5QD0QC0  -  This queries two servos for their position and current (milliamps). Note: 0 is required to separate commands QD and QC
	76	+** **A**uto **B**aud **R**ate (ABR) which can be enabled (off by default):
	77	+*** #254ABR1  -  Enable baud rate detection on first byte received after power-up.
	78	+*** #254ABR2,30  -  Enable baud rate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
	79	+*** Warning: ABR doesn't work well with LSS Config at the moment
	80	+** Delayed & ordered query response.
	81	+*** #254QID120  -  For example, this command can scan the entire bus at once for servos without conflict.
	82	+*** Servos use a simple formula to delay their response: 200usec + <id> * 120usec, where <id> is their servo ID 0 to 253.
	83	+*** The first parameter (ex. 120) indicates how many milliseconds to delay between IDs and 120usec is a safe number.
	84	+*** Warning: #254QID with no parameter will still conflict to remain backward compatible with the LSS Config software
	85	+** Configure a **SLOT** # for each servo and using (ex.)
	86	+*** #254QD  -  An example of how all servos can be queried at once without conflict
	87	+*** Ex. Three servos with ID 0, 5, and 10 and want to configure them to be slots 0, 1, and 2 respectively:
	88	+**** #254SLOTCOUNT3\r - configures 3 slots on the bus
	89	+**** #0SLOT0\r  -  Don't really have to do this one, servos default to slot 0 on power-up
	90	+**** #5SLOT1\r  -  Servo ID5 to slot 1
	91	+**** #10SLOT2\r  -  Servo ID10 to slot 2
	92	+**** #254QD\r  -  Query all servos for position
	93	+**** #254QD0QC0\r  -  Query all servos for position and current (milliamps)
	94	+*** 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.
	95	+*** 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.
	96	+* Fixes
	97	+** Increase in supported baud rates up to 921k (adds 500k, 750k, 921.6k)
	98	+** Fixed memory leak in MMD command
	99	+** General firmware cleanup & improvements