This is the first pre-release of the next-gen v1.x firmware series. It is a pre-release of beta quality, and bugs are present for sure. Do not use on production systems.
[Documentation is currently being updated here](https://tinymovr.readthedocs.io/en/develop/)
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses a version compatibility check between firmware and studio. You will need to have compatible firmware and studio versions.
- There are several versions of this firmware. Download the correct one according to your board revision (R3.2, R3.3, R5 or M5).
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with Tinymovr studio v1.1.1.dev2. Please clone this repo and use `pip install -e .` for now for a development installation of Tinymovr Studio.
fw-v0.8.17
Changes:
- [bug] Improve Hall effect sensor calibration (thanks eufrizz !)
- [feat] Add velocity ramping (thanks eufrizz !)
- [devtools] Revise launch configurations
- [docs] Improved Hall effect sensor documentation
- [docs] Add Servokit R5 STEP and STL models
**Full Changelog**: https://github.com/tinymovr/Tinymovr/compare/fw-v0.8.16...fw-v0.8.17
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses a version compatibility check between firmware and studio. You will need to have compatible firmware and studio versions. If incompatible versions are detected you will be informed during discovery. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are several versions of this firmware. Download the correct one according to your board revision (R3.2, R3.3, or R5).
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.17](https://pypi.org/project/tinymovr/0.3.17/).
__This is the last feature release of the 0.8.x line. From now on, this line will only accept hotfixes.We are gradually transitioning to the next-gen 1.x Tinymovr firmware/software, and all new features are added there, in the `develop` branch.__
fw-v0.8.16
Changes:
- [feat] Add Watchdog timer (thanks eufrizz !)
- [feat] Add task for building Tinymovr docs in VS Code
- [bug] Return true per-device unique ID (thanks amcunio !)
- [bug] Fixed exporting and importing of config files
- [docs] Improved documentation of control loop
- [docs] Add documentation for shortcut commands
- [docs] Add documentation for Hall effect sensor setup and use
**Full Changelog**: https://github.com/tinymovr/Tinymovr/compare/fw-v0.8.15...fw-v0.8.16
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses version compatibility check between firmware and studio. You will need to have compatible firmware and studio versions. If incompatible versions are detected you will be informed during discovery. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are several versions for this firmware. Download the correct one according to your board revision (R3.2, R3.3 or R5).
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.16](https://pypi.org/project/tinymovr/0.3.16/) or later. Check the [current version of Tinymovr studio](https://pypi.org/project/tinymovr/)
fw-v0.8.15
Changes:
- [bug] Fix an issue where the eccentricity map was not saved in config
- [bug] Fix exporting and restoring config fromto/from JSON
- [docs] Improve control documentation
- [docs] Add Tinymovr R5 PDF drawing
**Full Changelog**: https://github.com/tinymovr/Tinymovr/compare/fw-v0.8.14...fw-v0.8.15
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses version compatibility check between firmware and studio. You will need to have compatible firmware and studio versions. If incompatible versions are detected you will be informed during discovery. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are several versions for this firmware. Download the correct one according to your board revision (R3.2, R3.3 or R5).
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.15](https://pypi.org/project/tinymovr/0.3.15/) or later. Check the [current version of Tinymovr studio](https://pypi.org/project/tinymovr/)
fw-v0.8.14
Changes:
- [bug] Fix various issues with gimbal calibration
- [feat] Add Iq limit UART command
- [docs] Remove outdated inline instructions
- [docs] Update gimbal calibration procedure
- [docs] Update UART protocol documentation
**Full Changelog**: https://github.com/tinymovr/Tinymovr/compare/fw-v0.8.13...fw-v0.8.14
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses version compatibility check between firmware and studio. You will need to have compatible firmware and studio versions. If incompatible versions are detected you will be informed during discovery. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are several versions for this firmware. Download the correct one according to your board revision (R3.2, R3.3 or R5).
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.13](https://pypi.org/project/tinymovr/0.3.13/) or later. Check the [current version of Tinymovr studio](https://pypi.org/project/tinymovr/)
fw-v0.8.13
Changes:
- [feat] Add general R5 hardware support
- [feat] Hall sensor support for R5 boards
- [feat] Add support for more UART commands
- [feat] Improve build configuration using VSCode argument selection and passing board revision through makefile vars
- [fix] Improve calibration reliability
- [fix] Improve rotor position observer performance
- [fix] Inline some utility functions for performance
- [docs] Updates for most R5 features (Hall documentation coming soon!)
-
**Full Changelog**: https://github.com/tinymovr/Tinymovr/compare/fw-v0.8.12...fw-v0.8.13
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses version compatibility check between firmware and studio. You will need to have compatible firmware and studio versions. If incompatible versions are detected you will be informed during discovery. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are several versions for this firmware. Download the correct one according to your board revision (R3.2, R3.3 or R5).
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.13](https://pypi.org/project/tinymovr/0.3.13/) or later. Check the [current version of Tinymovr studio](https://pypi.org/project/tinymovr/)
fw-v0.8.12
Changes:
- [feat] Anti-hunt with configurable deadband
- [fix] Move motor resistance and inductance to separate CAN endpoint for full float32 resolution
- [fix] Removed unused functions coming from PAC SDK
- [fix] Revert build pipeline to output both .hex and .bin files
- [docs] Updates in API and other minor updates/clarifications
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses version compatibility check between firmware and studio. You will need to have compatible firmware and studio versions. If incompatible versions are detected you will be informed during discovery. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are two versions for this firmware. Download the correct one according to your board revision.
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.12](https://pypi.org/project/tinymovr/0.3.12/) or later. Check the [current version of Tinymovr studio](https://pypi.org/project/tinymovr/)
fw-v0.8.11
Changes:
- [feat] Make-compatible, build system supporting VSCode
- [fix] Improved value wrapping algorithm
- [docs] small improvements in quickstart and here and there
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses version compatibility check between firmware and studio. You will need to have compatible firmware and studio versions. If incompatible versions are detected you will be informed during discovery. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are two versions for this firmware. Download the correct one according to your board revision.
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.10](https://pypi.org/project/tinymovr/0.3.10/) or later. Check the [current version of Tinymovr studio](https://pypi.org/project/tinymovr/)
fw-v0.8.10
Changes:
- [feat] (One-shot read/write endpoints)[https://tinymovr.readthedocs.io/en/latest/api/guide.html#api-reference]
- [feat] VBus filtering of sensor readings
- [fix] Improve message if a Tinymovr is found but version is incompatible
- [test] One-shot endpoint tests
Notes
- **UPDATE**: tl;dr: Install like so:
pip install --no-deps tinymovr
pip install tinymovr
Apparently pip does not support installing from PyPi when there are other dependencies to the package outside PyPi itself. There is no warning when publishing the package and of course tox tests pass because the package is not fetched from PyPi. This has led to an issue where Studio cannot be installed because it depends on a forked version of python-can.
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses version compatibility check between firmware and studio. You will need to upgrade *both* firmware and studio for this to work. If you do not update studio, unexpected behavior might occur. If you do not update firmware studio will not work. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are two versions for this firmware. Download the correct one according to your board revision.
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.10](https://pypi.org/project/tinymovr/0.3.10/).
fw-v0.8.9
Changes:
- [bug] Fix Trajectory Planner not working correctly with position offsets
- [feat] Improve readability of some CAN-bus errors in Studio
- [test] Add regression test for Trajectory Planner + pos offset
Notes
- When flashing this release with the ActiveFlashLight app, please select the `Full Erase` option, next to `Auto Program`, otherwise a verification error may occur.
- This release uses version compatibility check between firmware and studio. You will need to upgrade *both* firmware and studio for this to work. If you do not update studio, unexpected behavior might occur. If you do not update firmware studio will not work. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are two versions for this firmware. Download the correct one according to your board revision.
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.8](https://pypi.org/project/tinymovr/0.3.8/).
fw-v0.8.8
Changes:
- [feat] Trajectory Planner
- [docs] Add planner documentation
- [docs] Fixed some blank pages
- [docs] Index page cleanup
Notes
- This release uses version compatibility check between firmware and studio. You will need to upgrade *both* firmware and studio for this to work. If you do not update studio, unexpected behavior might occur. If you do not update firmware studio will not work. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are two versions for this firmware. Download the correct one according to your board revision.
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.8](https://pypi.org/project/tinymovr/0.3.8/).
fw-v0.8.7
Changes:
- [feat] Setting rotor zero-point
- [feat] Version compatibility check between board and studio
- [feat] Slightly improved SPI reading performance
- [fix] Gimbal motor and manual R/L calibration
- [docs] Add high-level control overview
- [refactor] Simplify NVM writing
Notes
- This release introduces version compatibility check between firmware and studio. You will need to upgrade *both* firmware and studio for this to work. If you do not update studio, unexpected behavior might occur. If you do not update firmware studio will not work. If you are absolutely sure about what you're doing, use the `--no-version-check` flag.
- There are two versions for this firmware. Download the correct one according to your board revision.
- Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
- Follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
- This firmware release is compatible with [Tinymovr studio v0.3.7](https://pypi.org/project/tinymovr/0.3.7/). ~~Please note that, due to an ongoing issue with iPython and the jedi library, you may get an error while using iPython auto-completion.~~ It seems the latest iPython fixed this issue. If this is still affecting you, please read the instructions in the previous release.
fw-v0.8.6
Tinymovr Firmware version 0.8.6.
Please note: There are two versions for this firmware. Please download the correct one according to the board version you are using.
Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
Please follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
This firmware introduces a new calibration procedure that requires no load to be attached to the motor, ideally not even inertial loads. After calibration, you can save your configuration and apply the loads.
Please note that after applying this firmware, the positive direction of your encoder may change. This will be configurable in the next firmware release.
This firmware release is compatible with [Tinymovr studio v0.3.5](https://pypi.org/project/tinymovr/0.3.5/). Please note that, due to an ongoing issue with iPython and the jedi library, you may get an error while using iPython auto-completion. If this is affecting you, there is a temporary workaround: After installing Tinymovr studio, issue the following to install a specific version of jedi:
pip3 uninstall jedi
pip3 install jedi==0.17.2
It is expected that the next iPython release will address this issue.
fw-v0.8.4
Tinymovr Firmware version 0.8.4.
Please note: There are two versions for this firmware. Please download the correct one according to the board version you are using.
Do not download the "z_testbed_fw.bin" file. This is for internal testing purposes.
Please follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
This firmware release is compatible with [Tinymovr studio v0.3.4](https://pypi.org/project/tinymovr/0.3.4/). Please note that, due to an ongoing issue with iPython and the jedi library, you may get an error while using iPython auto-completion. If this is affecting you, there is a temporary workaround: After installing Tinymovr studio, issue the following to install a specific version of jedi:
pip3 uninstall jedi
pip3 install jedi==0.17.2
It is expected that the next iPython release will address this issue.
fw-v0.8.3
Tinymovr Firmware version 0.8.3.
Please note: There are two versions for this firmware. Please download the correct one according to the board version you are using.
Please follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
This firmware release is compatible with [Tinymovr studio v0.3.3](https://pypi.org/project/tinymovr/0.3.3/). Please note that, due to an ongoing issue with iPython and the jedi library, you may get an error while using iPython auto-completion. If this is affecting you, there is a temporary workaround: After installing Tinymovr studio, issue the following to install a specific version of jedi:
pip uninstall jedi
pip install jedi==0.17.2
It is expected that the next iPython release will address this issue.
fw-v0.8.1
Tinymovr Firmware version 0.8.1.
Please note: There are two versions for this firmware. Please download the correct one according to the board version you are using.
Please follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
fw-v0.7.4
Tinymovr Firmware version 0.7.4.
Please note: There are two versions for this firmware. Please download the correct one according to the board version you are using.
Please follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
fw-v0.7.3
Tinymovr Firmware version 0.7.3.
Please note: There are two versions for this firmware. Please download the correct one according to the board version you are using.
Please follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
fw-v0.7.2
Please follow the [bootloader flashing instructions](https://tinymovr.readthedocs.io/en/latest/studio/usage.html#upgrading-firmware) in the documentation.
fw-v0.7.1