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Tinymovr 3.2.0

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@yconst yconst released this 02 Aug 16:03
3.2.0
95f652b

What's Changed

  • Add differential (vernier) dual-sensor commutation mode with refined multiturn calibration and seeding
  • Add X5.1 board revision (M5.1 electricals with onboard geared second encoder, differential mode by default)
  • Skip position-sensor ECC by default when commutation uses a separate encoder
  • Studio Web: trajectory planner, anonymous usage analytics (Umami), Linux WebSerial permissions hint, calibration banner dismissal on CL_CONTROL pick

Full Changelog: 3.0.0...3.2.0

Changes since 3.0.0

Differential (vernier) dual-sensor commutation (3.1.0)

A new position-to-commutation transform initialization mode, DIFFERENTIAL, derives a commutation-to-shaft transform from both the commutation (motor) sensor and an external (shaft) sensor during calibration and origin alignment, then tracks using commutation only at runtime. This enables high-resolution absolute multiturn position on geared setups using a vernier sensor pair. STANDARD remains the default on existing boards. New configuration options are exposed under the sensors/transform endpoints.

Related change: position-sensor error checking (ECC) is now skipped by default when commutation uses a separate encoder.

X5.1 board revision (3.2.0)

X5.1 is electrically identical to M5.1 but carries the geared second encoder onboard, wired where M5.1 exposes the external SPI sensor. It boots in differential (vernier) transform-init mode by default. Firmware binaries for X51 are included in this release.

Studio Web updates

  • Trajectory planner
  • Anonymous usage analytics via Umami
  • Linux WebSerial permissions hint
  • Calibration banner dismissed when a closed-loop control mode is picked

Studio Desktop (Python)

Studio Desktop is rebuilt against the v3.2.0 protocol. Install or upgrade with:

pip install -U tinymovr

Compatibility

Protocol hash changed from 3.0.0 (new endpoints added). Use Studio Desktop 3.2.0 or Studio Web 3.2.0 with this firmware. Studio 3.0.0 will not connect.

Notes

Flashing Instructions:

There are three methods for flashing:

  1. Via Tinymovr DFU: After downloading the correct "upgrade" firmware according to your board revision (R3.x, R5.x, M5.x or X5.x), connect your device to CAN bus as usual and follow the instructions in our documentation. This is available to boards with fw 1.6.0 or later, featuring the new bootloader.
  2. Via ActiveFlashLight: After downloading the correct "upgrade" firmware according to your board revision (R3.x, R5.x, M5.x or X5.x), connect your device to ActiveFlashLight and follow the instructions in our documentation, selecting the Full Erase option, next to Auto Program. This method is applicable to boards with the old bootloader.
  3. Via JLink & VSCode: This method enables comprehensive upgrade of both bootloader and firmware, but it requires specialized hardware (JLink) and hardware connections. Follow the instructions in our documentation, observing correct hardware revision, and choosing the Release target.

Supported Board Revisions:

  • R32, R33 (Tinymovr R3.x series)
  • R50, R51, R52, R53 (Tinymovr R5.x series)
  • M51 (Tinymovr M5.1 and M5.2)
  • X51 (Tinymovr X5.1)

Please use Tinymovr Studio 3.2.0 (Python) or Studio Web 3.2.0 with this firmware release.

Support

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