Changes for page LSS Firmware

Last modified by Eric Nantel on 2024/11/21 07:18

From version < 14.1 >
edited by Eric Nantel
on 2021/09/20 08:17
To version < 15.1 >
edited by Eric Nantel
on 2021/09/20 08:20
< >
Change comment: There is no comment for this version

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42 42  Released 2020-04-07
43 43  
44 44  Many bug fixers and new features!
45 +
45 45  * QF now reports more details on version number (QF, QF1, QF2, QF3)
46 46  * Maximum motor duty cycle can be controlled using MMD, QMMD (min25%, max100% = 1023).
47 47  ** Can set it asymmetrical by passing 2 values separated by a comma (pos limit, neg limit).
... ... @@ -66,12 +66,12 @@
66 66  * Backwards compatibility is a priority. This firmware shouldn't affect existing code, please report any issues. Include a reproductible command sequence if possible.
67 67  * Allows multiple commands to be sent and received as a group
68 68  * Group commands can include multiple servos without bus conflict/contention
69 -** Ex. #0QD#5QD#10QD\r - queries 3 servos at once for position
70 -** #0QD0QC0#5QD0QC0 - queries 2 servos at once for position and current (milliamps). 0 required to separate commands QD and QC
70 +** Ex. #0QD#5QD#10QD\r  -  queries 3 servos at once for position
71 +** #0QD0QC0#5QD0QC0  -  queries 2 servos at once for position and current (milliamps). 0 required to separate commands QD and QC
71 71  * Increase in supported baud rates up to 921k (adds 500k, 750k, 921.6k) with 2 and 3Mbit coming soon
72 72  * Auto baud rate (ABR) can be enabled (off by default):
73 -** Ex. #254ABR1 - Enable baudrate detection on first byte received after power-up.
74 -** #254ABR2,30 - Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
74 +** Ex. #254ABR1  -  Enable baudrate detection on first byte received after power-up.
75 +** #254ABR2,30  -  Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
75 75  ** Warning: ABR doesn't work well with LSS Config at the moment, updated LSS Config coming soon.
76 76  * Using #254QID120 can scan the entire bus at once for servos without conflict.
77 77  ** Servos will use a simple formula to delay their response: 200usec + <id> * 120usec, where <id> is their servo ID 0 to 253.
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80 80  * Configure a slot# for each servo and using (ex.) #254QD can query all servos at once without conflict
81 81  ** Ex. We have 3 servos at ID 0, 5, and 10. We want to configure them to be slots 0, 1, and 2 respectively.
82 82  *** #254SLOTCOUNT3\r - configure 3 slots on our bus
83 -*** #0SLOT0\r - we don't really have to do this one, servos default to slot 0 on power-up
84 -*** #5SLOT1\r - Servo ID5 to slot 1
85 -*** #10SLOT2\r - Servo ID10 to slot 2
86 -*** #254QD\r - Query all servos for position
87 -*** #254QD0QC0\r - Query all servos for position and current (milliamps)
84 +*** #0SLOT0\r  -  we don't really have to do this one, servos default to slot 0 on power-up
85 +*** #5SLOT1\r  -  Servo ID5 to slot 1
86 +*** #10SLOT2\r  -  Servo ID10 to slot 2
87 +*** #254QD\r  -  Query all servos for position
88 +*** #254QD0QC0\r  -  Query all servos for position and current (milliamps)
88 88  ** 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.
89 89  ** 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.
90 90  * Fixed memory leak in MMD command
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