Firmware Version Update Log

v0.0.11 (2025-06-03)

New Features

None

Optimization and Fixes

1. Adjusted the finger stroke limits based on the DV prototype hardware, leaving 3° margins at both the beginning and the end of the stroke to prevent mechanical locking. The available user stroke limits are:
   • thumb_flex: 59°
   • thumb_aux: 90°
   • index: 81°
   • middle: 81°
   • ring: 81°
   • pinky: 81°
2. Optimized the target positions for built-in gestures.

v0.0.10 (2025-05-13)

New Features

1. Added protocol controls for the backlight, buzzer, and vibration motor switches.

Optimization and Fixes

1. Fixed the physical shaking issue observed during the thumb root motor movement.
2. Fixed an occasional joint misalignment issue that occurred during power-on initialization.
3. Optimized reset interruptions.
4. Optimized the starting current for position control (the PID controller limits the PWM duty cycle to 60% during stationary startup).
5. Optimized the reverse braking current when reaching the target position (the PID controller limits the PWM duty cycle to 50% for reverse braking).
6. Optimized target positions for internal built-in gestures.

v0.0.9 (2025-04-29)

New Features

1. Added end-of-stroke mechanical protection (thumb tip protection stroke margin is 5°, other fingers are 3°).
2. Added factory reset functionality via a 5-second long press of the button. This restarts the system and restores the following defaults:
   • Default Slave ID: Left hand -> restores to 0x7E (126); Right hand -> restores to 0x7F (127).
   • RS485 Baud Rate: restores to 460800 bps.
   • CAN FD Baud Rate: restores to 5 Mbps.
3. Increased the granularity and precision of physical quantity mode control parameters to 0.1°.
4. Modified manual zero-return functionality to be triggered via a short press of the button.

Optimization and Fixes

1. Optimized the duty cycle of the power-on reset sequence and added time-scheduled power-on to reduce peak current surges.
2. Fixed standard frame length issues for CAN FD data packets.
3. Fixed reporting bugs in the motor status polling mechanism.
4. Optimized the thumb tip usable travel constraints (the previous firmware version incorrectly defined the thumb travel to be greater than the actual hardware limits).

v0.0.8 (2025-04-14)

New Features

1. Added support for ultra-high-speed RS485 communication baud rates at 1 Mbps, 2 Mbps, and 5 Mbps.

Optimization and Fixes

1. Fixed the high-frequency whistling noise issue with current-controlled motors.
2. Fixed logic execution bugs related to action sequences.
3. Fixed the mechanical clicking noise issue with speed-controlled motors.
4. Fixed the returned serial number (SN) payload length issue.

Defect Tracking

• The hardware currently retains the last retrieved queried motor status instead of polling the real-time instantaneous status.

Pending Features

• Motor self-diagnosis functions (excessive speed, over-current, stalling) including power-on self-test reports.

v0.0.7 (2025-04-09)

New Features

1. Added automatic hardware recognition for differentiating between left and right hands.
2. Added software factory reset commands.
3. Added configuration profiles for finger over-current protection thresholds.
4. Added default position recovery commands for built-in fingers.
5. Added high-speed position control modes.
6. Added locking current configuration for the thumb abduction (aux) motor.

Optimization and Fixes

1. Addressed various known control logic stability issues.
2. Fixed EEPROM storage bugs for saving custom action sequences.

Defect Tracking

• The hardware currently retains the last retrieved queried motor status instead of polling the real-time instantaneous status.

Pending Features

• Motor self-diagnosis functions (excessive speed, over-current, stalling) including power-on self-test reports.

v0.0.2 (2025-03-21)

New Features

1. Integrated built-in default gestures and advanced action sequence functionalities over the protocol.

Optimization and Fixes

1. Fixed transition logic bugs between position and speed control modes.
2. Fixed EEPROM storage bugs for saving custom action sequences.

v0.0.1 (2025-03-19)

• Initial release.

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Document Revision History

• 2025-03-19: Initial release (v0.0.1)
• 2025-03-21: Release (v0.0.2)
• 2025-04-09: Release (v0.0.7)
• 2025-04-14: Release (v0.0.8)
• 2025-04-29: Release (v0.0.9)
• 2025-05-13: Release (v0.0.10)
• 2025-06-03: Release (v0.0.11)