Changes for page LSS Firmware

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

From version < 15.1 >
edited by Eric Nantel
on 2021/09/20 08:20
To version < 13.1 >
edited by Eric Nantel
on 2021/09/20 08:11
< >
Change comment: There is no comment for this version

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... ... @@ -37,20 +37,6 @@
37 37  ** Improved LED patterns for clarity.
38 38  ** ID is now kept during a firmware update.
39 39  
40 -== Version 368 ==
41 -
42 -Released 2020-04-07
43 -
44 -Many bug fixers and new features!
45 -
46 -* QF now reports more details on version number (QF, QF1, QF2, QF3)
47 -* Maximum motor duty cycle can be controlled using MMD, QMMD (min25%, max100% = 1023).
48 -** Can set it asymmetrical by passing 2 values separated by a comma (pos limit, neg limit).
49 -* Motion filter was added for EM0.
50 -** Can be controlled with FPC, CFPC, QFPC.
51 -* IPMS system was added for EM0.
52 -** Controlled with IPE and QIPE
53 -
54 54  == Version 369 (EXPERIMENTAL) ==
55 55  
56 56  Released 2021-06-18
... ... @@ -67,12 +67,12 @@
67 67  * Backwards compatibility is a priority. This firmware shouldn't affect existing code, please report any issues. Include a reproductible command sequence if possible.
68 68  * Allows multiple commands to be sent and received as a group
69 69  * Group commands can include multiple servos without bus conflict/contention
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
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
72 72  * Increase in supported baud rates up to 921k (adds 500k, 750k, 921.6k) with 2 and 3Mbit coming soon
73 73  * Auto baud rate (ABR) can be enabled (off by default):
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.
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.
76 76  ** Warning: ABR doesn't work well with LSS Config at the moment, updated LSS Config coming soon.
77 77  * Using #254QID120 can scan the entire bus at once for servos without conflict.
78 78  ** Servos will use a simple formula to delay their response: 200usec + <id> * 120usec, where <id> is their servo ID 0 to 253.
... ... @@ -81,11 +81,11 @@
81 81  * Configure a slot# for each servo and using (ex.) #254QD can query all servos at once without conflict
82 82  ** Ex. We have 3 servos at ID 0, 5, and 10. We want to configure them to be slots 0, 1, and 2 respectively.
83 83  *** #254SLOTCOUNT3\r - configure 3 slots on our bus
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)
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)
89 89  ** 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.
90 90  ** 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.
91 91  * Fixed memory leak in MMD command
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