Firmware Changelog

October 2019 - [7.2.7 - 7.3.5]

Added
  • QF for autopos algorithm
  • Moving average filter for autortls
  • FSM state indicator
  • Expanded HAL for zephyr builds
  • Stats via BLE init
Improved
  • BLE improvements on zephyr based tags
  • Setting of anchor to initiator
  • Scalability
  • Sensor readings for DWM1001 target
  • BLE stability in general
  • Automatic parsing of anchorlist after changes
  • Centralisation of fixed ID settings
Fixed
  • Autortls taglist & anchorlist rare parameters
  • Rare autopos issue in autortls mode
  • Taskqueue parsing on wired anchors
  • Check on origiinal long UID for exteneded tasks
Removed
  • Config & speedfile via otherlist.
  • Obsolete error notification functions
Changed
  • Engine default parameters tweaked
  • Autortls slotting parameters
  • TDMA settings on DWM1001 targets
  • Reports only for distances under 400m
  • Temporarily disabled TDOA2 mode

September 2019 - [7.0.6 - 7.2.7]

Added
  • Anchor slot division & sharing
  • User button support for DWM1001-Dev target
Improved
  • Position engine
  • Low power - disable of systick
  • Firmware updates for bigger files and smaller packages (512+)
  • Usage of watchdog in zephyr builds
  • Init of decawave for K22 targets
  • Handle multiple join requests at once in Autortls
  • Output of positions & distances via BLE
Fixed
  • Sensor init that sometimes failed
  • Issue when anchor temporarily acts as tag
  • Fake join requests
Removed Changed
  • Don't read speedfile when version is 0
  • Autortls anchor & tag limitations increased
  • Set default hairs to short

August 2019 - [6.9.4 - 7.0.5]

Added
  • Passing data via SPI
  • TX/RX statistics for listener
  • GPS SV info
  • Active Timestamp Error Correction (ATEC)
  • Startup timing and other info
  • TX fail statistics
Improved
  • Debug print routines
  • Fixed ID routines
  • RX overrun handler
  • Setting of some alarms
  • Autortls routines
Fixed
  • Potential risk for crash during readout of RSSI values
  • Median filters issue with dynamic memory allocation
  • Props message issue
Removed
  • Obsolete Decawave iniit routines
Changed
  • Default address for configs
  • Task buildup
  • Message buffers increased

July 2019 - [6.7.8 - 6.9.3]

Added
  • Pin muxing of some missing peripherals
Improved
  • Inlining of Decawave init routines
  • Low power init
  • Event counter support
  • Bleeding routines
  • Quality factor of UWB messages
  • Tickless idle mode
  • Autortls routines
  • Lis2dh driver
Fixed Removed
  • Obsolete SPI routines
  • Obsolete printing routines
Changed
  • Tick function pointers
  • Voltage ramp during startup

June 2019 - [6.7.1 - 6.7.7]

Added
  • Speedfile downloads for NRF52 targets
  • Quaternion output via BLE
  • Temperature for wired anchors
  • DWM1001 accelerometer (LIS2DH)
Improved
  • Centralized Decawave Initialization routines
  • Autortls initialization
  • Autortls anchor slotting
  • Autortls multiple initiators
  • Only send taskqueue when enet link is up
Fixed
  • K66 target builds fixed
  • GPS Time pulse signal
  • Prevent overflow of reports
  • Prevent overflow of several messages
  • Fake reports limit
Removed
  • Obsolete frame types & related routines
  • Resending reports
  • Retransmissions on tag
  • Obsolete fwup & config routines
Changed
  • SPI routines generalization
  • hal_sys_time, hal_sys_time_us, time_clock_now_us
  • Reset type labelling
  • Maximum reports increased to 45

May 2019 - [6.6.2 - 6.7.0]

Added
  • Output positions of tags via UWB
  • Read out A2A via BLE
  • Read out positions of tags via BLE connection of anchors
  • Median filters to improve A2A measurements
Improved
  • Enabled watchdog on tag firmware
  • Internal position engine bookkeeping
  • Internal position engine algorithm
  • Autopositioning algorithm
  • USB print routines
  • Anchor poll message
  • Generic LED routines
  • Zephyr Threading system
  • Zephyr restructured flash architecture
  • Flash erase & write routines
  • Fasttag out of persistant list
  • OSAL
  • Listener correctly configured immediately after reflash
  • Init routines simplified
  • GPS
Fixed
  • UWB profile for join messages
  • Firmware update also possible for slow tags
Removed
  • Target 6 & 7
Changed
  • Default UWB mode set to 0 for all targets

April 2019 - [6.5.3 - 6.6.2]

Added
  • Added IMU & quaternion test
  • Listener via UART/USB
  • Bootloader running under zephyr
Improved
  • Load speedfile separately from config
  • Saving of speedfile more performant
  • Switch off GPS module by default on anchors
  • Config & speedfile validation
  • Improved timing parameters for adhoc
  • Various improvements to OSAL
  • Improved impulse response message
  • Various message length for firmware updates
  • More performant implementation of CANbus routines
  • Various improvements to adhoc in terms of stability
Fixed
  • Fix of VUSB_Sense pinning on ATH tags
Removed

March 2019 [6.4.3 - 6.5.2]

Added
  • Added operation system abstraction layer (OSAL)
  • Init of BLE in zephyr builds
  • Various improvements on BLE functionality
  • ZEPHYR support for DWM1001 tags
  • Readded Impulse Response support
Improved
  • Further zephyr support for DWM1001 tags (firmwareloader & firmware)
  • Improved zephyr SPI driver for nRF52
  • Various shell (UART & USB) improvements
  • SPI abstraction layer expanded to support more hardware
Fixed
  • Fix LED pinning on SJP tags

Febuary 2019 - [6.2.5-6.4.2]

Added
  • ADHOC functionality
  • ADHOC support by the bootloader
  • CAN DF protocol
  • Adhoc additions
  • BLE support for DWM1001 tags
  • Subversioning to all tags & anchors
  • LED heartbeat on anchors & listeners
  • Firmware Update via task queue. Now possible to also update tags in slow mode
Improved
  • SPI driver reinforcements
  • BLE stability
  • IMU stability
Fixed
  • GPS timing
  • Heartbeat on Anchor FRDM
Removed
  • Obsolete LED toggles.
Changed
  • CAN message changed. Message version from 1 -> 2