/
CHANGELOG
200 lines (175 loc) · 7.79 KB
/
CHANGELOG
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
1.0.5
* use latest aliases for PRU indexes
* add support for PocketBeagle
* integrate PX4 build handling
* clean-up some messages from rc_balance
* fix rc_startup_routine start delay
* fix rc_filter_duplicate initialization check
* fix stdin control mode for rc_balance
* add PRU to startup routine checks and required kernel modules
1.0.4
* fix missing stddef.h include in i2c.h
* add kmartin36's PRU encoder robustness improvement
* fix rc_startup_routine not completing in some configurations
1.0.3
* correct default pinmux value for UART and SPI to those functions
* fix string length error in rc_spi_loopback_test
* add minimum realization case for PI and P controller in rc_filter_pid
* fix compass heading in 2 DMP orientation options
* fix uninitialized matrix in rc_altitude example
* fix spi randomly breaking due to non-initialized struct
* small documentation improvements
1.0.2
* Add function rc_filter_duplicate()
* add macro RC_VECTOR_INITIALIZER
* add macro RC_MATRIX_INITIALIZER
* add macro RC_RINGBUF_INITIALIZER
* add macro RC_FILTER_INITIALIZER
* add macro RC_KALMAN_INITIALIZER
* fix broken rc_kalman_alloc_ekf and rc_kalman_update_ekf
1.0.1
* Support pwm driver changes introduced in 4.14.61-ti-r68
* documentation improvements
1.0.0
* finally, v1.0.0 release!
* rename package to librobotcontrol
* extended SPI interface
* extended model interface to detect Rpi and PC
* add x86_64 package
* add more manual pages to documentation
* new slack workspace!
* update serial IO to use size_t for consistency
* add workaround for BB pwm frequency changes
* backwards compatability links for roboticscape
* lots of little bugfixes
0.4.4
* go back to generic .so name to avoid conflicts
* add rc/encoder.h as generic interface to all 4 channels
0.4.3
* rc_startup_routine makes log timestamps relative to power button press
* encoder and servo pru code has more robust checking of if PRU binary actually loaded
* remove pruss-blacklist.conf
* option in rc_test_escs to disable warmup period
* tweaks for PX4 build environment
* DSM calibration now logs center positions too
* GPIO device interface now separates gpiochips for portability
* fix some floating point number comparisons
* put back rc_usefulincludes.h for backwards compatibility
* optimizations in QR decomposition
* switch to semantic version scheme
* label so version as major version 0
0.4.2
* new kalman filter module wtih rc_test_kalman and rc_altitude examples
* new <rc/deprecated.h> to help some transition from v0.3 to v0.4 library
* convert all linear algebra from single to double precision due to rounding errors
* merge RobertCNelson's systemd service improvements
* add third order complementary filter function
* Improve DSM robustness
* rc_make_pid_file also makes the pid directory and provides helpful error messages
* 'make' in the library now runs on any architecture
* new rc_matrix_symmetrize and rc_matrix_subtract functions
* redundant motor functions removed
* Lots of random little bugfixes
0.4.1
* Simplify configure_robotics_dt.sh by removing unnecessary UUID line
* update Black and Black wireless device trees to have new LED driver and IIO adc
* add Jason's STDIN mode to rc_balance
* add ycdtosa's fixed to deb package
* fix pru encoder counter
* make PWM work with old and new driver
* rc_test_dmp prints temp when requested
* add library make options for native architecture
* add DSM examples and improve DSM performance
* add rc_disable_noncritical_services.sh to source
* add accelerometer calibration
* add rc_test_drivers.c
0.4.0
* complete rewrite and overhaul
* move all docs to doxygen
* all subsystems are now in independent headers
* move gpio to new device driver
* move ADC from mmap to iio
* deprecate rc_initialize(), new functions for handling PID files/signals
* most examples no longer require root
* all examples are dependent on single subsystems for portability
* pwm through driver instead of mmap
* mpu9250 IMU config allows custom gpio pin and address
* mpu9250 DMP tap detection allowed
* mpu9250 dmp mode can now run slower than 200hz
* button interface allows custom buttons
* uart interface allows config on initialization
* add mavlink interface over udp
* add PRU interface for custom PRU binary loading
* split encoder counting on eqep and pru to avoid conflicts
* cpu frequency interface now controls scheduler
* LED interface controls battery LEDs, USR, and WIFI leds
* various renaming and fixes in math lib
* single include for all math sub-libs
* new pthread helpers
* servo interface now has same function to handle one and all channels
* battery monitor has startup and power-change flash patterns
* roboticscape systemd service helps set permissions of device drivers
* project template demonstrates PID file and signal handling
* new rc_test_esc example
* new makefile for examples means all src files can be in same folder
* all makefiles keep src/bin folders separate
0.3.4
* add setuid on example install so 'sudo' is not needed
* rc_balance will calibrate gyro automatically if needed
* add ldconfig to deb package scripts
0.3.3
* update project template for new api
* warn user if not running as root
* remove touch from makefiles
0.3.2
* Fix DSM driving in balance
* Update documentation source comments
* Smoother install with new debconf question
0.3.1
* Safely handle old and new device trees with and without postfix
* stricter whitelisting of supported boards and device trees
0.3.0
* add noninteractive mode to deb package installer
* add rc_ prefix to all functions and examples for uniqueness requirement
* fix IMU DMP priority and thread join causing segfaults in labview
* New functions rc_usleep and rc_nanosleep
* new timing functions rc_nanos_since_epoch(), rc_nanos_since_boot()
* New function rc_nanos_since_epoch() and rc_test_time example
* linear algebra functions use ARM-NEON hardware acceleration
* new exmaples rc_test_vectors, rc_test_polynomial, rc_benchmark_algebra
* functions to enable/disable signal handler
* rc_create_filter functions for both vectors and arrays
* new functions rc_poly_div(), rc_poly_add(), rc_poly_subtract()
* add get_random_double for accelerated double-precision float generation
* Handle new BB_BLUE red and green LEDs being controlled by the kernel
* rc_battery_monitor whitelists Black, Black Wireless, and Blue
* other minor improvements
0.2.2
* move ldconfig out of makefile
0.2.1
* add options for degrees, radians, and raw to test_imu
* print tait bryan angles in test_dmp in untis of degrees
* check kernel and debain version in install.sh
0.2.0
* Pinmux functions for BB Blue
* gpio and pwm exposed in roboticscape.h
* DSM radio fixed and robustified
* debug target for libroboticscape.so
* BB Wireless device tree
* project template in /usr/share/roboticscape
* calibration files moved to /var/lib/roboticscape
* startup log moved to /var/log/roboticscape
* PRU bins compile with pru-software-support-package
0.1.5
* add userspace pinmux configuration for some headers
0.1.4
* implement debounce for buttons
0.1.3
* fix debconf question on install
* move project template to /etc/robot_template
* preserve /etc/roboticscape on reinstall to keep startup link
0.1.2
* new device tree to enable PRU support on Black
0.1.0
* installs on Blue as well and Black
// indentation is with spaces to allow copy/paste into debian/changelog