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nucleus-p4b 0.1.86

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@AtlanticTM AtlanticTM released this 02 Nov 07:18
nucleus-p4b-0.1.86
d604eb5

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.

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