CanServo/History

• Ver 2.0 - testing

• Ver 1.12 - 2022_10_19
  • ADD SG10

• Ver 1.11 - 2022_08_22
  • Add Function
    • Realtime ID1, ID2
      • Reg 0xA2, bit 12 = 0(normal), 1(realtime update)
  • Bug Fixed
    • 0x96 message checksum don't care fixed

• Ver 1.10 - 2022_05_26
  • Add Function
    • Motor Direction
      • Reg 0x84, bit 0 = 0(normal), 1(reverse), Servo Reset needed
    • Run Mode : CR, Speed
    • DroneCAN
      • Run Mode: Multi-Turn, Servo, CR, Speed
      • DNA
      • Param Service
      • F/W Update

• Ver 1.7
  • Change Platform from Ver 1.5(2)

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• Ver 1.6(2)

  • Add Function
    • DroneCAN
      • Run Mode: Multi-Turn, Servo
      • DNA (Dynamic Node Alloaction)
  • Relased Date
    • MDxxx - 2022_10_11
    • SG33 - 2022_12_28

• Ver 1.6(1) (2022_03_22) ---> TEST VERSION ---> Bench Test Only ---> NO FLY !!!
  • Add Function
    • Multi-Turn in DroneCAN

• Ver 1.6(0) (2021_11_09) ---> TEST VERSION ---> Bench Test Only ---> NO FLY !!! ---> Not recommanded

  • Add Function
    • DroneCAN: DNA
  • found bug
    • (NEW) SERVO_ID may changed by other node's DNA message -> fixed at Ver 1.6(1)

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• Ver 1.5(2) (2021_09_06)

  • Add Function
    • Fail Safe
  • Add Limit
    • Turn off Motor Power, if NOT POSITION_MIN < POSITION_MAX, if Run Mode is SERVO MODE.
  • Bug Fixed
    • The deceleration time of the trapezoidal velocity profile is longer than the specified time.
    • If the Register POWER write message is received without delay, the motor output turns off and does not turn on again before reset.

• Ver 1.5(1) (2021_06_10)
  • DB961-CAN First Version
  • Add Function
    • Stream CAN ID
  • UAVCAN
    • Now, Node ID and Actuator ID can be set as desired for ID2 and ID1.
      • ID modes ( 1,2,3 ) all removed.

• Ver 1.5
  • SG50-CAN Second Version
  • Pause Stream function added
  • Bug Fixed
    • Winch bug fixed

• Ver 1.4(3)
  • DB961-CAN Devel Version

• Ver 1.4(2)
  • Enhancements
    • Stream Speed Up to 500Hz
    • Setup Hz of Stream Speed
  • Bug Fixed
    • UAVCAN NodeInfo Name first 7 byte dummy removed
  • UAVCAN
    • ID mode 3 added

• Ver 1.4(1)
  • Enhancements
    • Smart Sense

• Ver 1.4
  • Add Function
    • High Voltage Electric Brake
    • Start Position ( This is Not Fail Safe )
    • Switch to Bootloader ( Bootloader B3 needed )
    • Edit Register TURN ( CanServo/TURN, CanServo/TURN/en )
  • Bug Fixed
    • work as 640kbps, if setup with 800kbps, 87.5%
  • ADD SG50-CAN

• Ver 1.3(1)
  • ADD SG33-CAN

• Ver 1.3
  • Bug Fixed

  • Speed Value: Unit Changed

• Ver 1.1(2) [ OLD Ver 2.1(2) ]
  • First UAVCAN FW

• Ver 1.x
  • First FWs