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.