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Release 107

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@PCrnjak PCrnjak released this 24 Aug 11:54
V107
04ec180

STEPFOC firmware V107 — application image for flashing via the Spectral bootloader.

Bug fixes

  • Fixed PD mode (IN_DATA_PACK_PD over CAN): the commanded speed was written into Feedforward_speed, but PD_mode() reads Velocity_setpoint for its KD term — so the KD (velocity-damping) term of the impedance controller was always evaluated against a stale/zero setpoint and had no effect. The CAN handler now writes the field the control law actually reads. IN_DATA_PACK_1 / position mode is unaffected — Feedforward_speed there is correct and continues to feed the position cascade.

CAN bus

  • Added a generic settings command (IN_SETTINGS) so future boolean settings don't each need their own command ID. Payload is mask + value (one byte each), one bit per setting — only bits set in the mask are applied, so a sender only needs to know about the bits it cares about.
  • First setting on this command: brake vs. coast (bit 0), previously only selectable over UART (Brake / Coast), now selectable over CAN as well.

Assets

  • stepfoc-firmware-V107.bin — application firmware image (flash at 0x08003000, target STM32F103CB).
  • firmware.json — manifest with version, size, and SHA-256 for download verification by the web flasher.

Integrity

  • SHA-256: 63699037c79318e1d78738edcb13e9f9bc00a3393dc5803f920b244a60622ae2
  • Size: 98972 bytes

Built from commit 04ec180 on bootloader-version. Includes bootloader entry support (CAN/UART reset-into-bootloader).

Assets 4
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