=================================================================
    FiveCo's FMod-I2CSTEPMOT 35/1 and 35/0.1 SLP README file         
                 	   21-APRIL-2021

*****************************************************************
*            CHECK THE FIVECO WEB SITE FOR THE LATEST           *
*               INFORMATION ABOUT FIVECO PRODUCTS               *
*                     http://www.fiveco.com/                    *
*****************************************************************

CONTENTS

1. Introduction
2. Revision history
3. Upgrade sequence
4. Copyright Notice

=================================================================
1. Introduction

This file is intended to help the user to understand new features,
enhancement and bug corrections of new firmware of the 
I2CSTEPMOT SLP 35/1 and 35/0.1 motion control devices.

The user should upgrade the firmware only if it was told to do it
by a FiveCo's support engineer.

=================================================================
2. Revision history (only released revisions are commented)

Fw 7.30 (Hw1.3-1.4) 2021-04-21
------------------------------
- Bootloader v2.4 (BIOS) update for old devices
- Loops peak current not all time

Fw 7.25 (Hw1.3-1.4) 2019-12-13
------------------------------
- Internal faster code for limits action, and bug corrected

Fw 7.24 (Hw1.3-1.4) 2019-11-19
------------------------------
- Reduced CPU performance for logic 5V <4.11V glitch, (previous <4.33V)
- Auto Homing @ startup wait for no Undervoltage (Warning bit)
- Limits wait for Homing finished (issue when UnderVoltage)
- Limits chg RegulationMode only 1x per newState, to accept SleepMode

Fw 7.20 (Hw1.3) 2019-03-15
--------------------------
- Upd of Bootloader 2.4, each 1KB erase, write, verify progression

Fw 7.18 (Hw1.3) 2019-02-15
--------------------------
- Version 7.18=old 3.18, same versionning as DC and EC FiveCo's Controlleurs
- New Loops management, add LoopsOptions bit 2 cmd (0=loops range, 1=absolute)
- new cmd 0x72 LoopsRangeOutSidePositionInput, 0x73 LoopsRangeNewInput
- new goal range for loops, range in Input space when inside last full step, (4 full step if sync4Step)

Fw 3.14 (Hw1.3) 2018-10-23
--------------------------
- Add reg 0x57 ComWatchDog 4B
- Add reg 0x3B TrackPosition 4B, 0x3C KppTrack 4B, 0x3D TrackMaxSpd 4B
- New LoopsInput Counter mode LoopsRangePosition and LoopsRangePositionInput

Fw 3.9 (Hw1.3) 2018-01-08
-------------------------
- Limits working with StandBy mode to wake-up the controller
- Interpolation Step option @ bit 22 (Options register 0x2C)

Fw 3.8 (Hw1.3) 2017-12-21
-------------------------
- Better management of processor undervoltage

Fw 3.7 (Hw1.3) 2017-10-27
-------------------------
- Reset the controller when voltage is under 2.8V (BOR)

Fw 3.6 (Hw1.3) 2017-08-14
-------------------------
- debug wrong config when update from <F3.1

=================================================================
3. Upgrade procedure

1) Unzip Firmware_FMod-I2CSTEPMOT_SLP_1A_H1_x_Fx_x.zip or Firmware_FMod-I2CSTEPMOT_SLP_0A1_H1_x_Fx_x.zip
2) Connect FMod-I2CSTEPMOT-SLP-35/x to an FMod-TCP-DB or FMod-TCP-BOX
3) Connect FMod-TCP-DB or FMod-TCP-BOX to your network.
4) Start "FWUpgrader.exe".
5) Click on the "Scan..." button.
6) Search and click on the FMod-TCP-DB or FMod-TCP-BOX connected to the FMod-I2CSTEPMOT-SLP-35/x
7) Click on "Scan I2C devices..."
8) Search and click on the FMod-I2CSTEPMOT-SLP-35/x
9) Click on "Change *.bi2 file" button and choose the file with
   the new firmware "FMod-I2CStepMotSLP_1A_T43_1_H1_x_Fx_x.bi2" or "FMod-I2CStepMotSLP_0A1_T43_2_H1_x_Fx_x.bi2" (F=firmware,H=hardware)
10) Click on "START" button. Upgrade start.
   BEWARE : Do not unplug ethernet cable or power cable during 
   process!
11) Following result should be displayed :

Start upgrade.
Check actual firmware version.
Check actual firmware version on I2C device.
Bi2 file uploaded succesfully.
Flashing I2C device.
Upgrade finished successfully.

That's it !

=================================================================
4. Copyright Notice

Software, documentation and related materials:
Copyright (c) 2002-2021 FiveCo
All rights reserved.