code-history.txt

History - Kwabena Agyeman, 02/10/2012 12:14 am

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Code Revision History
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v1.0 - 11/01/01
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- first release version
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v1.1 - 11/26/01
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- changes to support new PCB version
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  - added board version detect
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  - added support for status LED and L1 command
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  - added support for S1 command
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  - added support for I1 command
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- fixed bug in version number reporting
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- added new raw mode bit flags
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  - 0x01 = output numbers are raw bytes
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  - 0x02 = ACK and NCK not printed
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  - 0x04 = input numbers are raw bytes
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- fixed bug so TW now works when poll mode is enabled
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- added support for servo at 38400 baud
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- rescaled servo timing so center position is 64
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- added MM bit 2 flag for servo direction flip
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- added jumper based servo direction flip for auto start mode
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v1.11 - 12/23/01
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- added support for 'N' packet type
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- added MM bit 3 flag for 'N' packet type
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- some i2c code clean up
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v1.12 - 01/31/02
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- added support for slower microprocessors
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  - added support for two more baud rates: 9600, 19200
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    - this version now supports: 9600, 19200, 38400, 115200
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    - changed jumper settings needed to start demo mode
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    - see manual for new jumper settings
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  - added "DM" command to insert an optional delay before each character sent
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    from the camera to help slower processors to keep up
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    - see manual for details
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  - modified servo driving code to provide full positional resolution
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    at lower baud rates
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- removed support for very old prototype boards, dated November 2001
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  - note that all boards sold by Acroname and Seattle Robotics
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    are compatible with this code version
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  - these old boards can be made compatible by cutting the trace 
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    from the camera pixel clock (pin 18 on the camera bus) to pin 6 
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    of the processor and jumpering the camera pixel clock to pin 1 
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    of the processor
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