SPARK MAX Firmware 24.0.0

Breaking Changes

• Moves the IAccum value to periodic status frame 7
  • Periodic status frame 7 is new to this release, and by default is sent every 250ms.

Enhancements

• Allows changing the CAN ID of a SPARK MAX connected directly via USB without affecting other SPARK devices on the CAN bus with the same CAN ID
• Makes changes towards improving the reliability of saving and persisting parameters

Bug fixes

• Fixes alternate encoder position accuracy
• Fixes the main quadrature encoder position jumping in brushed mode

SPARK MAX Firmware 1.6.3

Version 1.6.3

• Fixes issue where changing the inversion mode of the duty cycle absolute encoder with a zero offset specified would cause the physical zero position to change

SPARK MAX Firmware 1.6.2

Version 1.6.2

• Fixes critical issue where new parameters introduced in 1.6.0 were not being burned to flash correctly
• Fixes issue where new parameters were not being read back correctly despite being set correctly

SPARK MAX Firmware 1.6.1

Version 1.6.1

• Fixes duty cycle offset to match the inverted setting
• Fixes parameters being NaN after updating to 1.6.0
• Fixes burn flash command response

Version 1.6.0

• Adds new parameters for configuring hall sensor velocity measurement
• Adds support for duty cycle absolute encoders
• Adds new parameters to enable and configure position PID rollover

SPARK Flex Firmware 24.0.8

• Fixes bug in velocity calculation when changing the encoder average depth
• Fixes issue causing motor EEPROM to occasionally reload fully after disabling the motor, causing brief dropout of status frames

SPARK Flex Firmware 24.0.7

• Adds parameters for status frame periods
• Performs contextual validation on the sensor type parameter
• Always keeps the hall sensor active when in brushless mode, in addition to the specified sensor type
• Recalculates the hall angle more frequently to prevent lockup

SPARK Flex Firmware 24.0.6

• Fixes issue where an invalid sensor type for a given motor type can cause a sensor fault

SPARK Flex Firmware 24.0.5

• Improves handling of errors on the CAN bus
• Fixes incorrect EEPROM faults appearing
• Reduces boot time
• Properly handles the case where a CAN device sends a payload longer than 8 bytes
• Improves internal watchdog

SPARK Flex Firmware 24.0.4

• Fixes issue where SPARK Flex constantly disables itself while running when certain third-party commands are being sent to the CAN bus
• Fixes position data inaccuracy when the position conversion factor is not 1

SPARK Flex Firmware 24.0.2

• Improves filtering of invalid PWM signals
  • Previously, noise on the signal wires could be occasionally be erroneously interpreted as a PWM signal, causing the motor to spin unexpectedly
• Fixes issue where CAN errors would cause the device to switch between brake mode and coast mode, resulting in a clicking sound if you manually turned the motor