2.0.0

2.0.0 (2023-11-21)

• API changes:
  • New packet format for Firmware Rev 8
    • Supports different numbers of signals for different boards (QLA, DQLA, DRAC)
  • qlacloserelays removed, use qlacommand instead
  • Consistent naming of firmware
    • FPGA V1 firmware renamed from FPGA1394-QLA to FPGA1394V1-QLA
    • FPGA V2 firmware renamed from FPGA1394Eth-QLA to FPGA1394V2-QLA
    • FPGA V3 firmware is named FPGA1394V3-XXX, where XXX is BCFG, QLA, DQLA or DRAC
  • Use types from stdint instead of custom AmpIO_*
  • Moved FPGA-specific methods from AmpIO to new FpgaIO class (AmpIO inherits from FpgaIO)
• New features:
  • Support for new hardware:
    • Si controllers (dRA1+FPGAv3)
    • New Classic controllers (QLA+DQLA+FPGAv3)
  • Support for QLA Version 1.5+
    • Control either motor current (as before) or voltage (AmpIO::SetMotorVoltage)
    • Interface to I/O expander for additional digital I/O
  • Support for cross-compiling for FPGAv3 ARM32 processor
    • Added ZynqEmioPort for Zynq ARM to access FPGA registers via EMIO interface
  • Support for dongle (with Dallas DS2480B driver) to access DS2505 chip in da Vinci instruments
  • Read/write motor configuration and status registers (Firmware Rev 8+)
  • Added qlacommand
  • BasePort class gathers more information about connected boards (FPGA version, hardware type)
  • More data displayed in qladisp
  • Added dvrktest for manufacturing testing
    • Displays summary of connected controllers
    • Requires custom test board for running tests
  • Added Amp1394Console library from existing files, so that it can more easily be used by other projects
  • Added pgm1394 option to download FPGA PROM to MCS file
• Bug fixes:
  • Improved velocity estimation