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.