nucleus-p4b 0.1.86

Nucleus 0.1.86 for the barnacle: the OSSM R+D board with an M5Stack Stamp-P4 (build env flagship_p4_barnacle). Prerelease: keep the e-stop in reach. The helper firmware stays v5.

A barnacle on 0.1.82 or later updates through Phosphor:

1. Open the Firmware card.
2. Select Update.
3. Double-press PAIR (S2 on the R+D board).

The Stamp-P4 brings the helper up to date over J8 by itself.

A new barnacle takes two USB flashes. Before you connect USB, power off the R+D board. Disconnect the wires to J8 as well. The Stamp's USB-C feeds the R+D board's 5 V through J8.

1. Flash barnacle-shim 0.1.82 on the R+D board over its own USB-C at https://openvalence.org/flash/#helper.
2. Flash this release on the Stamp-P4 over its own USB-C at https://openvalence.org/flash/#barnacle, or with esptool.

File	Offset
bootloader.bin	0x2000
partitions.bin	0x8000
ota_data_initial.bin	0xF000
nucleus-p4b-0.1.86-app.bin	0x20000 (ota_0)

App only, keeps the saved Wi-Fi:

esptool --chip esp32p4 --port COMx --baud 921600 write-flash 0x20000 nucleus-p4b-0.1.86-app.bin

Changes since 0.1.85 (the 0.1.85 release lists the changes since 0.1.82):

• Some Phosphor labels read as words again. The 0.1.85 images predate this fix. The fields read "Curve smoothness", "Forced-home stroke length", "Row 0 signal" to "Row 6 signal", "Secured rows", "Saved rows" and "Slot 0 signal" to "Slot 3 signal".
• Phosphor fetches the machine's catalog again once after an update from a 0.1.85 release image, because the field descriptions changed.
• The motor power refusal names the cause once. After a hardware kill, a refused move reads "motor power off: tripped by a hardware kill" (was "motor power off: motor power trip"). The motor switch fault lines in the log use the same words. A log filter or script that matches "motor power trip" in those lines needs the new words.
• The log shows the motor power refusal as two lines. The first line names the refused action and the switch state. The second line names the last motor switch fault. Before, one line could pass 103 characters, and the machine cut the end of the fault name.

No file holds a network name, a password or an OTA key. Checksums in SHA256SUMS.txt.

Built from Nucleus commit 31f4b85.

nucleus-p4b 0.1.85

Superseded by 0.1.86. The 0.1.85 images predate the label fix.

Nucleus 0.1.85 for the barnacle: the OSSM R+D board with an M5Stack Stamp-P4 (build env flagship_p4_barnacle). Prerelease: keep the e-stop in reach. The helper firmware stays v5.

A barnacle on 0.1.82 or later updates through Phosphor:

1. Open the Firmware card.
2. Select Update.
3. Double-press PAIR (S2 on the R+D board).

The Stamp-P4 brings the helper up to date over J8 by itself.

A new barnacle takes two USB flashes. Before you connect USB, power off the R+D board. Disconnect the wires to J8 as well. The Stamp's USB-C feeds the R+D board's 5 V through J8.

1. Flash barnacle-shim 0.1.82 on the R+D board over its own USB-C at https://openvalence.org/flash/#helper.
2. Flash this release on the Stamp-P4 over its own USB-C at https://openvalence.org/flash/#barnacle, or with esptool.

File	Offset
bootloader.bin	0x2000
partitions.bin	0x8000
ota_data_initial.bin	0xF000
nucleus-p4b-0.1.85-app.bin	0x20000 (ota_0)

App only, keeps the saved Wi-Fi:

esptool --chip esp32p4 --port COMx --baud 921600 write-flash 0x20000 nucleus-p4b-0.1.85-app.bin

Changes since 0.1.82:

• Log lines, refusals and setting descriptions use plain words. The motor replaces the drive or servo. The carriage replaces the emitter. Every number, unit and next step stays. A log filter or script that matches the old words needs the new ones.
• Phosphor fetches the machine's catalog again once after this update, because the setting descriptions changed. A few Phosphor labels change: "Requested position" (was "Asked position"), "Oscillations per second" (was "Cycles a second"), "Motion plans computed" and "Motor ramp".
• Long log lines keep their ends. The machine keeps the first 103 characters of each log line; about 25 lines are now shorter or split in two.
• One name per thing. "max travel" replaces "rail limit". "motor power trip" replaces "EN node trip". "Wi-Fi join" replaces "wifi join". "J7 thermistor" replaces THERM. The motor switch lines read "trip line" for the voltage on the line that cuts motor power. The matching refusal reads "a hardware kill holds motor power tripped".

No file holds a network name, a password or an OTA key. Checksums in SHA256SUMS.txt.

Built from Nucleus commit fa2ef94.

nucleus-p4 0.1.86

Nucleus 0.1.86 for the OSSM Flagship (build env flagship_p4). Prerelease: keep the e-stop in reach. The Flagship board is pre-production.

Power down the motor before you connect USB. Then flash it at https://openvalence.org/flash/#flagship, or with esptool. The flasher never erases the chip: NVS holds the hub identity, the trust ledger and pairing.

File	Offset
bootloader.bin	0x2000
partitions.bin	0x8000
ota_data_initial.bin	0xF000
nucleus-p4-0.1.86-app.bin	0x20000 (ota_0)

App only, keeps the saved Wi-Fi:

esptool --chip esp32p4 --port COMx --baud 921600 write-flash 0x20000 nucleus-p4-0.1.86-app.bin

If esptool cannot connect, hold the BOOT pad TP903 to GND while you plug in USB. Then try again.

Later updates go through Phosphor:

1. Open the Firmware card.
2. Select Update.
3. Double-press PAIR.

Changes since 0.1.85 (the 0.1.85 release lists the changes since 0.1.82):

• Some Phosphor labels read as words again. The 0.1.85 images predate this fix. The fields read "Curve smoothness", "Forced-home stroke length", "Row 0 signal" to "Row 6 signal", "Secured rows", "Saved rows" and "Slot 0 signal" to "Slot 3 signal".
• Phosphor fetches the machine's catalog again once after an update from a 0.1.85 release image, because the field descriptions changed.
• The motor power refusal names the cause once. After a hardware kill, a refused move reads "motor power off: tripped by a hardware kill" (was "motor power off: motor power trip"). The motor switch fault lines in the log use the same words. A log filter or script that matches "motor power trip" in those lines needs the new words.
• The log shows the motor power refusal as two lines. The first line names the refused action and the switch state. The second line names the last motor switch fault. Before, one line could pass 103 characters, and the machine cut the end of the fault name.

No file holds a network name, a password or an OTA key. Checksums in SHA256SUMS.txt.

Built from Nucleus commit 31f4b85.

nucleus-p4 0.1.85

Superseded by 0.1.86. The 0.1.85 images predate the label fix.

Nucleus 0.1.85 for the OSSM Flagship (build env flagship_p4). Prerelease: keep the e-stop in reach. The Flagship board is pre-production.

Power down the motor before you connect USB. Then flash it at https://openvalence.org/flash/#flagship, or with esptool. The flasher never erases the chip: NVS holds the hub identity, the trust ledger and pairing.

File	Offset
bootloader.bin	0x2000
partitions.bin	0x8000
ota_data_initial.bin	0xF000
nucleus-p4-0.1.85-app.bin	0x20000 (ota_0)

App only, keeps the saved Wi-Fi:

esptool --chip esp32p4 --port COMx --baud 921600 write-flash 0x20000 nucleus-p4-0.1.85-app.bin

If esptool cannot connect, hold the BOOT pad TP903 to GND while you plug in USB. Then try again.

Later updates go through Phosphor:

1. Open the Firmware card.
2. Select Update.
3. Double-press PAIR.

Changes since 0.1.82:

• Log lines, refusals and setting descriptions use plain words. The motor replaces the drive or servo. The carriage replaces the emitter. Every number, unit and next step stays. A log filter or script that matches the old words needs the new ones.
• Phosphor fetches the machine's catalog again once after this update, because the setting descriptions changed. A few Phosphor labels change: "Requested position" (was "Asked position"), "Oscillations per second" (was "Cycles a second"), "Motion plans computed" and "Motor ramp".
• Long log lines keep their ends. The machine keeps the first 103 characters of each log line; about 25 lines are now shorter or split in two.
• One name per thing. "max travel" replaces "rail limit". "motor power trip" replaces "EN node trip". "Wi-Fi join" replaces "wifi join". "J7 thermistor" replaces THERM. The motor switch lines read "trip line" for the voltage on the line that cuts motor power. The matching refusal reads "a hardware kill holds motor power tripped".

No file holds a network name, a password or an OTA key. Checksums in SHA256SUMS.txt.

Built from Nucleus commit fa2ef94.

garnet-waveshare-s3-43 0.1.1

Garnet 0.1.1 for the Waveshare ESP32-S3-Touch-LCD-4.3 with 8 MB flash (build env waveshare_s3_43). Prerelease. Earlier Garnet builds ran on this board; this build is not yet tested on hardware. The 16 MB versions of the board need another build.

Garnet is a Valence remote. It connects to the hub over Wi-Fi. The touch screen is its input, and the BOOT button can take an action on the Map tab.

Flash it at https://openvalence.org/flash/#waveshare-s3-43, or with esptool. The file is one full image at 0x0. Writing it erases the saved Wi-Fi networks and the key map.

esptool --chip esp32s3 --port COMx erase-flash
esptool --chip esp32s3 --port COMx --baud 921600 write-flash 0x0 garnet-waveshare-s3-43-0.1.1.bin

If esptool cannot connect, hold BOOT. Tap RESET. Release BOOT. Then try again.

With no saved network, the remote opens a hotspot named Garnet-XXXX. The Setup tab shows its password. To enter your Wi-Fi network:

1. Join the hotspot with a phone.
2. Open http://192.168.4.1.
3. Enter your Wi-Fi network.

The remote then finds the hub on the same network. To skip these steps, fill in Pre-program Wi-Fi on the flasher page before you write.

A new remote connects with watch access: Halt and Pause work, the other controls do not. To get control:

1. Open the Setup tab.
2. Select Request control.
3. Approve the request in Phosphor.

No file holds a network name, a password or an OTA key. Checksum in SHA256SUMS.txt.

Built from Garnet commit 820ad52 (version garnet-0.1.1).

garnet-m5-remote 0.1.1

Garnet 0.1.1 for the OSSM M5 Remote: a CoreS3 or CoreS3 SE on the remote board (build env m5_remote). Prerelease. This build is not yet tested on hardware.

Garnet is a Valence remote. It connects to the hub over Wi-Fi. It does not use the original OSSM ESP-NOW protocol. A Core2 does not run it.

Flash it at https://openvalence.org/flash/#m5-remote, or with esptool. The file is one full image at 0x0. Writing it erases the saved Wi-Fi networks and the key map.

esptool --chip esp32s3 --port COMx erase-flash
esptool --chip esp32s3 --port COMx --baud 921600 write-flash 0x0 garnet-m5-remote-0.1.1.bin

If esptool cannot connect, hold the CoreS3's reset button for about 3 s, until the small green LED lights. Then try again.

Default controls: Knob L sets the speed, Knob CL and Knob CR set the window, Knob R sets the sensation. The MX key starts and stops the pattern. Push L changes the window mode, Push R selects the next pattern. A short press of the power key halts the machine. To release the halt, hold a new press for 3 s. The Map tab rebinds each control.

With no saved network, the remote opens a hotspot named Garnet-XXXX. The Setup tab shows its password. To enter your Wi-Fi network:

1. Join the hotspot with a phone.
2. Open http://192.168.4.1.
3. Enter your Wi-Fi network.

The remote then finds the hub on the same network. To skip these steps, fill in Pre-program Wi-Fi on the flasher page before you write.

A new remote connects with watch access: Halt and Pause work, the other controls do not. To get control:

1. Open the Setup tab.
2. Select Request control.
3. Approve the request in Phosphor.

No file holds a network name, a password or an OTA key. Checksum in SHA256SUMS.txt.

Built from Garnet commit 820ad52 (version garnet-0.1.1).

garnet-cores3se 0.1.1

Garnet 0.1.1 for a bare M5Stack CoreS3 SE or CoreS3 (build env m5_cores3se). Prerelease. Earlier Garnet builds ran on a CoreS3 SE; this build is not yet tested on hardware.

Garnet is a Valence remote. It connects to the hub over Wi-Fi. The touch screen and the power key are its inputs. For the OSSM M5 Remote with its knobs and keys, use garnet-m5-remote.

Flash it at https://openvalence.org/flash/#cores3se, or with esptool. The file is one full image at 0x0. Writing it erases the saved Wi-Fi networks and the key map.

esptool --chip esp32s3 --port COMx erase-flash
esptool --chip esp32s3 --port COMx --baud 921600 write-flash 0x0 garnet-cores3se-0.1.1.bin

If esptool cannot connect, hold the CoreS3's reset button for about 3 s, until the small green LED lights. Then try again.

With no saved network, the remote opens a hotspot named Garnet-XXXX. The Setup tab shows its password. To enter your Wi-Fi network:

1. Join the hotspot with a phone.
2. Open http://192.168.4.1.
3. Enter your Wi-Fi network.

The remote then finds the hub on the same network. To skip these steps, fill in Pre-program Wi-Fi on the flasher page before you write.

A new remote connects with watch access: Halt and Pause work, the other controls do not. To get control:

1. Open the Setup tab.
2. Select Request control.
3. Approve the request in Phosphor.

No file holds a network name, a password or an OTA key. Checksum in SHA256SUMS.txt.

Built from Garnet commit 820ad52 (version garnet-0.1.1).

nucleus-p4b 0.1.82

Nucleus 0.1.82 for the barnacle: the OSSM R+D board with an M5Stack Stamp-P4 (build env flagship_p4_barnacle). Prerelease: keep the E-stop in reach.

First, once: disconnect the wires from J8. Flash barnacle-shim 0.1.82 (helper firmware v5) on the R+D board over its own USB-C. Power off, with the wires still disconnected from J8. Then flash this release on the Stamp-P4 at https://openvalence.org/flash/ (preset: Nucleus recovery, source: this release), or flash it with esptool. From then on, update through Phosphor: the Firmware card, Update, then double-press PAIR (S2 on the R+D board). The Stamp-P4 brings the helper up to date over J8 by itself.

File	Offset
bootloader.bin	0x2000
partitions.bin	0x8000
ota_data_initial.bin	0xF000
nucleus-p4b-0.1.82-app.bin	0x20000 (ota_0)

To flash only the app and keep the saved Wi-Fi, run this command:

esptool --chip esp32p4 --port COMx --baud 921600 write-flash 0x20000 nucleus-p4b-0.1.82-app.bin

Changes:

• The machine carries helper firmware v5. It installs that firmware over J8 by itself whenever no motion runs, in about 40 s (an estimate, not yet measured). The new helper firmware runs on trial until the machine confirms it. Without that confirmation, the helper goes back to its old firmware by itself within 30 s.
• Starting the helper update unhomes the machine. Home it again once the update finishes. Motion that starts during the transfer stops the update. The helper keeps its old firmware. The update starts over once motion stops. A few seconds after the helper restarts, it measures its 0 A reading with the machine at rest. Homing works again after that.
• A helper on firmware v4 cannot take updates: the machine logs that and works as before until barnacle-shim 0.1.82 is flashed over USB.
• A firmware update now also waits for homing and a return to the paused position to finish.

No file holds a network name, a password or an OTA key. Checksums in SHA256SUMS.txt.

nucleus-p4b 0.1.79

Nucleus 0.1.79 for the barnacle: the OSSM R+D board with an M5Stack Stamp-P4 (build env flagship_p4_barnacle). Prerelease: keep the E-stop in reach.

Power off. Disconnect the wires from J8. Then flash at https://openvalence.org/flash/ (preset: Nucleus recovery, source: this release), or use esptool.

File	Offset
bootloader.bin	0x2000
partitions.bin	0x8000
ota_data_initial.bin	0xF000
nucleus-p4b-0.1.79-app.bin	0x20000 (ota_0)

To flash only the app and keep the saved Wi-Fi, run this command:

esptool --chip esp32p4 --port COMx --baud 921600 write-flash 0x20000 nucleus-p4b-0.1.79-app.bin

Changes:

• Homing searches the whole rail, whatever max_rail says, and a completed home stores the measured rail.
• A current spike while running no longer stops the machine; only homing uses the current sensor.
• A start refused for setup names the missing values ("set in Setup: jog speed, jog accel, input jerk").

After flashing, confirm jog speed, jog accel and input jerk in Setup once. Home the machine. Then start a pattern. The helper firmware (barnacle-shim) stays on 0.1.78.

No file holds a network name, a password or an OTA key. Checksums in SHA256SUMS.txt.

barnacle-shim 0.1.82

The barnacle helper firmware v5 for the R+D board's ESP32-WROOM-32D. Prerelease.

Helper firmware v5 takes its updates from the Stamp-P4 over J8. Flash it once over USB. After that, nucleus-p4b 0.1.82 or later keeps it up to date. A new helper firmware runs on trial until the Stamp-P4 confirms it. If the Stamp-P4 does not confirm it, the helper goes back to its old firmware within 30 s.

Flash the helper firmware before you flash nucleus-p4b 0.1.82. Power off. Disconnect the wires from J8. Connect USB to the R+D board's own USB-C connector (CP2102). If no port appears, install the Silicon Labs CP210x driver. Then flash at https://openvalence.org/flash/#helper, or run esptool:

esptool --chip esp32 --port COMx erase-flash
esptool --chip esp32 --port COMx --baud 460800 write-flash 0x0 barnacle-shim-0.1.82.bin

One full image at 0x0. No file holds a network name, a password or an OTA key. Checksum in SHA256SUMS.txt.

Built from Nucleus 0.1.82, barnacle_shim/.