AWR MICROSTEP VERSION HISTORY

V0.72 release April 2007
NEW FEATURE
New protocol command :R?# to poll the status of all three relays and the override setting. The reply is fully packeted and will get passed straight through the Intelligent Handset to the HOST computer in the form :Rab# where a is the coded status of the relays and b is the status of the Override setting.
All replies to commands now have a final # delimiter sent.
New version 1.16 MICROSTEP PROTOCOL DOCUMENT.
V0.71 release March 2007
BUG FIX
A small issue to do with backlash correction speed. If the motor just buzzes instead of performing the backlash then upgrade to this chip. It is only an issue if you have a very high value of RATIO (300,000 or above). The fix lowers the backlash speed by a factor of 4. The motor then operates correctly.

V0.70 release October 2006
BUG FIX
We have discovered a minor bug in tracking on DEC. If you have set the DEC to TRACK then use the telescope adjust buttons then the direction of the tracking changed to the last direction used, and not return to the desired direction. No change to the Intelligent Handet software is required to correct this function.

V0.69 release July 2004
COMPATIBILITY PROBLEM
Change in processor data sheet required change to oscillator configuration. This has fixed a problem on some units where nothing would happen for ages after powering up the drivebox.
V0.59 release 6th February 2002
This release applies to all versions MICROSTEP and FRGEN products. Processor type change to PIC16F74.
NEW FEATURES
Implemented BACKLASH corrections for both axes. Tested thoroughly from zero to 1 degree.
Revised low level protocol.
Improved command buffer to reduce error message flow.
BUG FIX
PULSE command is now debugged (for periodic error correction).

V0.58 release 13th November 2000
COMPATIBILITY PROBLEM
New processor 'F874 requires 0x07 for ADCON1. Backwards compatible.
This stopped U1 and U3 from working.

V0.57 release 28th March 2000
BUGFIX
RA drive was not implemeting a reverse properly at MOVE 3x.
Sundry improvements around slow speed implementation.
RELEASE
Released for general use.

V0.54 release 4th October 1999
NEW FEATURES
Implemented very slow speeds.
OVERRIDE and index PULSE code commands now installed.
BUGFIX
Removed startup serial bug by hardware change (USTEP COMMS ERR) DEC tracking rate was not updated when new tracking rate sent.
HARDWARE
Startup serial bug caused by lack of resistor on Tx line on processor in microstep.
RELEASE
Released for general use.

V0.53 release 30th September 1999
NEW FEATURES
Added 'X' command to tell if telescope at track or moving.
RELEASE
For internal testing only.

V0.52 release 15th August 1999
NEW FEATURES
Software for ADVANCED END.
Shortened dead time between command and telescope movement.
BUG FIX
Keyboard de-bouncing was prone to noise causing lock-up.
Underflow on next compare period causing frequencies to jump which stalled motor.
Initial motor pulse from STOP was random causing stalling.
RELEASE
For general use.

V0.51 release 7th May 1999
BUGFIX (SHEFFIELD)
Fixed bug in DEC SLEW. 'sdec_target' was not being set.
Simple handset speed setting and IH speed setting were corrupting each other.
RELEASE
For general use.

V0.50 release 20th April 1999
NEW FEATURES
Major protocol changes, everything changed locations to gain order.
GUIDE rates now being implemented immediately if they are changed.
BUGFIX
Acceleration rate at high speed was 32x the programmed rate, at low speed it is as programmed.
Major re-write of slew algorithm.
COMPATIBILITY
V5 means all op_vars in EE have changed locations and CRC error results when upgrading from V4 onwards.
HARDWARE
Two capacitors required on RA_DIR and DEC_DIR lines at the IH end - not seeing the direction lines.
RELEASE
For SHEFFIELD only.