Changelog for the EROS Firmware Releases: ============================================================== Please note: not all version may be listed; this may happen when interihm versions are not released to the public. In these cases, the changelog for the next version will show the cumulative changes since the last published version. Version 42 ========== - Fixes a race condition introduced in V41, where communications could become out of sync (i.e. a command would return the reply of the previous command) Version 41 ========== - Fixes an issue with units using SEED58 actuators: the hand could halt communication if a SYNC_WRITE was issued to a SEED58 actuator - Introduced support for the new palm Time of Flight Sensor. Version 40 ========== - Improved behaviour when the unit is connected to a bus that already has active communications - Unified firmware versions for all models (previously there was a firmware version for RH2D/RH4D and RH5D7RH7D/RH8D). Now a single file is used for all models for simplification. Version 39 ========== - Interhim release to support new hardware revision Version 38 ========== - Improvements in communication speed (Rund trip time from request to returned data improved by up to 40% depending on the conditions) - Fixed an issue with BULK_READ commands where the unit could enter na error state when a specific circunstance was encountered Version 37 ========== - Improvements to more reliably detect and configure Bluetooth modules Version 36 ========== - Reverts the tweak to the way Current was measured and reported, based on customer feedback. - Optimized STP protocol command 'setpos' to reduce the communications flow on high frame rate scenarios - Adds support for the new revision (3.2) of main boards for RH4D and RH2D Version 34 ========== - Improves Fan speed management when supply voltage is under 12V Version 33 ========== - Improves detection fo Internal Actuators and improves the performance of communications when using the latest Actuator Firmware versions - Minor tweak to the way Current was measured and reported. Version 32 ========== - Fixed a bug in the console parser for cases where a command was passed wihtou any content (just a \n or \r\n was sent) This caused the board to crash. Because the tsbloader uses this, sometimes it crashed the board. - Changed the pin mode of the INternal comm to INPUT_PULLDOWN when rebooting the internal psu for bootloader access The intention is that it reduces chances of Ghost power through the comm pin but not sure if this works. Sending it to Erik for testing. Version 30B (3.0) ================ (Version 30B is a recompile of V30 with a fine-tuning in the detection of power transitions (last point in the changelog) and improvements in internal servo enumeration and boot timing algorithms ) This version includes a host of new features: - Tuned the fan speed algorithm for smoother speed transitions and improved stability at lower speeds. - Fan speed multiplier can now be adusted by the user. Refer to the Main board control table or the Console commands ('setfan') - The main unit LED will now turn RED if it intercepts any hardware error in the internal actuators. Use the Console 'status' command to display the Error mask and which actuator has the error(s). - Improved the output of Console commands status and about. They are now cleaner and easier to read. - Improved speed in SYNC_WRITE commands when used in conjuntion with version 23, or newer, of the Seed Robotics Actuators firmware. - Minor improvements to parser efficiency on incoming messages under Dynamixel protocol 1 - Improved the bridge mode functionality to upgrade the internal actuators firmware. - The main processor now enables a pull-up on the internal bus signal line, to improve behaviour when no actuators are connected. - When connected via USB and external power simultaneously, or if connected via USB first and external power is applied later, the unit now automatically detects power changes transition and re-enumerates the internal bus automatically. Version 28, 29 ============== Feature specific releases not made available to the general public. Version 27 (2.7) ================ This version includes: - Specific compatibility improvements for the PyPot framework. In particular this version is capable of emulating the CCW Angle limit reporting for all Seed Robotics actuators with version <20. It will fix PyPot compatibility issues ("wheel mode" errors) without requiring the users to upgrade the firmware in the internal actuators. - New console feature that can now report the error status of all the internal actuators at once, when users issue a "status" command in the main board console. This is particularly useful for online diagnostics using either Bluetooth or USB - A completely redesigned algorithm for upgrading the firmware in the internal actuators. This version is now the minimum supported/required version to upgrade the firmware of the Seed Robotics internal actuators. Version 26 (2.6A) ================ This is an interim version. We recommend that users install version 27 instead. This version includes: - Specific compatibility improvements for the PyPot framework. - New filter for bus commands that tracks ID changes and ensures the user does not set overlapping or invalid IDs in the internal bus. - An improved algorithm for updating the internal actuators firmware. Version 25 (2.5) ================ This is a Critical Compatibility update. Users running version 23 are advised to upgrade to version 25 IMMEDIATELY. - Changed the memory allocation strategies to fix an issue where a sequence of SYNC_WRITES or BULK_READs could cause a borad to stop responding. - Minor bugfixes This update ensures continued compatibility with major frameworks such as the Darwin-OP framework and PyPot. Version 24 (2.4) ================ Interim release for internal testing only. Version 23 (2.3) ================ This is a major MILESTONE version. IMPORTANT: after installing this version it is recommend that you update your actuators firmware to version 16 (1.6) or newer. Older versions do not support the necessary features for BULK_READ emulation and may become un responsive under specific conditions. - Added support for SYNC_READ and BULK_WRITE under Dynamixel 1.0 for improved compatibility with popular frameworks such as PyPot and the Darwin-OP framework. Note that support for REG_WRITE and ACTION is not implemented is likely not going to be implemented as SYNC_WRITE performs the same function in a more efficient way. - Added support for Serial COMM Bridge mode, which allows the update of the internal actuators firmware without the need to open the hand or disconnecting them from the main board. - Exposed two new options in the Control table: Internal PSU power status (ON/OFF) and Force re scan of the internal bus (useful if the board is powered up via USB, before external power is applied and available for the internal actuators). - Minor bugfixes and fine tunnings. Versions 21, 22 (2.1, 2.2) ========================== These versions were shipped directly to customers and were never released as a feature upgrade. Version 20 (2.0) ================ Initial release of the EROS firmware. Eros firmware versions started counting at 20, to distinguish them for the ARES firmware releases.