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2023-02-01
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@jpieper jpieper released this 01 Feb 19:46
0.1-20230201
3578e72
  • Support sending and receiving arbitrary data from a UART configured on one of the auxiliary ports
    • when mode 'kTunnel' is selected, then the diagnostic protocol can be used to send and receive data
    • aux1 is diagnostic channel 2
    • aux2 is diagnostic channel 3
  • Permit I2C encoders to operate at up to 1kHz
  • Report control position, velocity, and torque as well as the errors in tracking them over the register protocol as registers 0x038 through 0x03d
  • Provide support for synchronizing the clock of a moteus controller with a host application.
  • In the diagnostic data, report the number of times that hall sensors changed more than one bit at the same time. This is an imperfect measure of problematic hall data, but better than nothing.
  • Fix register 0x006 to be reported in revolutions as it previously was and as it is still documented
  • Expose the drv8353 fault flags over the register protocol as registers 0x140 and 0x141
Assets 4
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