Repository navigation
chore(firmware): 随包固件升级到主爪 1.2.7 / 从爪 1.2.17（协议 V2.9） - #30
Merged
Merged
Conversation
Replace the bundled images with leader 1.2.7 and follower 1.2.17 built from tc-gu-01 8c059e9 (tc-gu-01#24 on top of #23) with arm-none-eabi-gcc 10.3.1; manifest size/CRC32 verified against the files. Leader image is the one verified on the taccap-collector backpack. Docs, CHANGELOG and OTA example names updated; host-breaking timestamp timebase change called out (this SDK already unwraps it). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
在 #29 分支上把随包固件换成正式发布版本，SDK 代码未改动。
firmware/：tc-gu-01-master-1.2.7.bin、tc-gu-01-slave-1.2.17.bin替换 1.2.6 / 1.2.16；镜像来自 tc-gu-018c059e9（tc-gu-01#24，基于 feat(firmware): 随包从爪固件 1.2.15(RS00 按 SN 左右定开合方向) #23），arm-none-eabi-gcc 10.3.1 构建。firmware/manifest.json：主从两条更新（大小、CRC32、协议 V2.9、工具链、说明），已逐一核对与文件一致。firmware/README.md、docs/FIRMWARE.md、README.md、python/examples/ota_update.py：版本与文件名同步；新增时间戳时基变化提示。CHANGELOG.md：Unreleased 增加固件升级条目。0x19e881dd2cc25db1bcb0f63028547f912305d36098cbe8a4d4cf5b6330902f7c543e81910xf019df365409b19f02150314d24c4fe321d780aebcf6f2e4f9a3f9febe1385580a777e79对上位机不兼容：IMU/编码器
timestamp由 DWT/250（约 17.18 s 回绕）改为 TIM2 1 MHz（约 71 min 35 s 回绕）。本 SDK 已按新时基展开（imu.cpp），旧上位机不会。验证：
scripts/check_protocol_drift.py --firmware <tc-gu-01@8c059e9> --require通过；manifest 大小/CRC32 与文件一致。test_ota_update_all.py需要本地编译 native 模块，本机未跑，交给 CI。主爪镜像即采集端背包真机验证所用镜像（结果见 tc-gu-01#24）；从爪镜像未经本方真机验证。🤖 Generated with Claude Code