--------------------------------------------------------------------------------
DspFirmware:  Build 1056
Release Date: $Date: 2018-12-04 17:03:18 +0100 (Di, 04 Dez 2018) $
SVN Revision: $Revision: 28877 $
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1056
- CHG: prevent from wrong internal calculations, if motorNumberOfPolePairs or 
       encoderCountsPerRevolution is set to 0 
- NEW: added general signal StreamGapCount
- NEW: implemented stream gap counting. counts missing stream packets  
- CHG: changed cExtrapolationSize in streamInterpoator from 20 to 0 


--------------------------------------------------------------------------------
DspFirmware:  Build 1055
Release Date: Date: 2018-11-12 10:17:15 +0100 (Mo, 12 Nov 2018) 
SVN Revision: Revision: 28741 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1055


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DspFirmware:  Build 1054
Release Date: Date: 2018-11-06 10:05:14 +0100 (Di, 06 Nov 2018) 
SVN Revision: Revision: 28697 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1054
- CHG: allow to reset an axis error in axis state Standstill (allows to reset 
       stream interpolator errors)


--------------------------------------------------------------------------------
DspFirmware:  Build 1053
Release Date: Date: 2018-09-05 15:11:35 +0200 (Mi, 05 Sep 2018)
SVN Revision: Revision: 28316
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1053
- FIX: fixed comm timeout during STO fault simulations problem (see Bug 537)
       (no change in DSP firmware, modifications in MonLogicXXX only) 


--------------------------------------------------------------------------------
DspFirmware:  Build 1052
Release Date: Date: 2018-07-04 15:09:22 +0200 (Mi, 04 Jul 2018) 
SVN Revision: Revision: 27882 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1052
- FIX: PathPlanner did not work as expected for the case when a running stop 
       command is superseded by move command (modulo recalculation worked with
       the new move command instead of the stop command)
         

--------------------------------------------------------------------------------
DspFirmware:  Build 1051
Release Date: Date: 2018-02-28 14:03:19 +0100 (Mi, 28 Feb 2018) 
SVN Revision: Revision: 26973 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1051
- CHG: use new generated, separated registerLayout4_5_6 files instead of merged file 
- INT: no longer use define RLID which was used for selection inside RegisterLayout4_5_6.h
- INT: use constant c_RegisterLayoutId where the RegisterLayout ID is needed 


--------------------------------------------------------------------------------
DspFirmware:  Build 1050
Release Date: Date: 2018-01-22 16:25:52 +0100 (Mo, 22 Jan 2018) 
SVN Revision: Revision: 26746 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1050
- NEW: implemented stream path interpolation feature
- NEW: implemended Limit600 feature on new drive types TS152, TS352, TSP352 and TSP702
- INT: use TriaLink commands IDs from generated RRT_TriaLinkCommandItems.h
- NEW: implemented Limit600Hz feature for new TS152, TS352, TSP352 and TSP702 
- NEW: added support for new 128MB flash (use the new flash with the identical MAP as 32MB flash) 


--------------------------------------------------------------------------------
DspFirmware:  Build 1049
Release Date: Date: 2017-07-05 12:17:49 +0200 (Mi, 05 Jul 2017) 
SVN Revision: Revision: 25049 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,


Changes since last Build:
- set new FW version to 1049
- FIX: solved problem with invertMotorDirection=true, which can cause iD|Q error 
- CHG: apply sine signal during commutation angle search phase fix for 3 signal periods 
- CHG: improved stability of angle search controller during ramp up phase when
       using commutation phasing method RotorAngleSearch.    


--------------------------------------------------------------------------------
DspFirmware:  Build 1048
Release Date: Date: 2017-06-13 10:43:08 +0200 (Di, 13 Jun 2017) 
SVN Revision: Revision: 24874 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1048
- NEW: implemented paging mechanism for communication interface between FPGA and DSP
       (this mechanism needs FPGA FW version>=1532)
- CHG: improved resolution of ActualBridgeVoltage measurement          
- NEW: added registers for detailed logic monitor and bridge monitor states
- NEW: added entries for detailed fault and state infos to supervision register
- NEW: added extIn(3:2) to inputBits register 
- NEW: pwm short detection (phase-to-phase and phase-to-earth) for TSxxx
       (this feature needs FPGA FW version>=1532) 
- CHG: removed unused NonLinearPwmCompensation features (2..7)
- CHG: implemented power stage errors and warnings for TSP drive types
- NEW: implemented possibility to show a warning during operational state 
       (information is also available in merged PLC states Bit14) 
- CHG: differentiated error detection for overCurrent and midVoltage error on TSP  
- CHG: no longer provide special Firmware releases _1 and _2. Special features 
       can now be activated via parameter 'General.FirmwareFeature'   
       - General.firmwareFeature == Standard (no special features)
       - General.firmwareFeature == TwoStageControlAndFieldWeakening (former FWxyz_1)
           implementation for special summation inputs via TamVars for iD with TamVar2,
           iQ with TamVar3 and position X with TamVar4. 
           Do not use TamVars(2..4) in Tama prog, if this firmwareFeature is activated!
       - General.firmwareFeature == NonLinearPwmCompensation (former FWxyz_2)
           implementation for compensation of nonlinear PWM output using TamVar0..2, 
           TamVar23..24 and TamIntVar0. Do not use TamVar0..2, TamVar23..24 and 
           TamIntVar0 in Tama prog, if this firmwareFeature is activated!


--------------------------------------------------------------------------------
DspFirmware:  Build 1047
Release Date: Date: 2016-09-21 09:19:15 +0200 (Mi, 21 Sep 2016) 
SVN Revision: Revision: 23185 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Rev0,Rev1 Drives,

Changes since last Build:
- set new FW version to 1047
- FIX: prevent from i2t error after a STO watchDog test 
- CHG: optimized i2t calculation (calculate number of samples to transfer once only)
- FIX: no longer poll STO fault reason if fault is pending. this prevents from 
       unpredicted behaviour using other FPGA write access commands      
- FIX: path interpolator timestamp modulo wrap problem solved

SPECIAL_VERSION (not released)
- 1047_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1047_1 is installed!
- 1047_2 implementation for compensation of nonlinear PWM output using TamVar0,1,2,24 and TamIntVar0-4.
         Do not use TamVar0,1,2,24 and TamIntVar0-4 in Tama prog if FW 1047_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1046
Release Date: Date: 2015-10-22 14:16:47 +0200 (Do, 22 Okt 2015) 
SVN Revision: Revision: 21106 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 RevA,RevB Drives,

Changes since last Build:
- set new FW version to 1046

SPECIAL_VERSION (not released)
- 1046_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1046_1 is installed!
- 1046_2 implementation for compensation of nonlinear PWM output using TamVar0,1,2,24 and TamIntVar0-4.
         Do not use TamVar0,1,2,24 and TamIntVar0-4 in Tama prog if FW 1046_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1045
Release Date: Date: 2015-06-26 17:16:32 +0200 (Fr, 26 Jun 2015) 
SVN Revision: Revision: 20306 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 RevA,RevB Drives,

Changes since last Build:
- set new FW version to 1045
- NEW: implemented more robust path interpolation with capability to correct
       one or two missing samples  
- FIX: highspeed timestamp entry in iso messages had 100us lag. corrected now
- FIX: prevent from CurrentLimitMotorOrDrive error condition when switching to 2DC

SPECIAL_VERSION (not released)
- 1045_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1045_1 is installed!
- 1045_2 implementation for compensation of nonlinear PWM output using TamVar0,1,2,24 and TamIntVar0-4.
         Do not use TamVar0,1,2,24 and TamIntVar0-4 in Tama prog if FW 1045_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1044
Release Date: Date: 2014-12-19 14:54:35 +0100 (Fr, 19 Dez 2014) 
SVN Revision: Revision: 19191 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 RevA,RevB Drives,

Changes since last Build:
- set new FW version to 1044
- FIX: STO inconsistent event in NotReady state showed short intermediate Ready
       before showing the Inconsistent Fault  
- CHG: protect flash anyway after programming 
- NEW: support for TL100 HR03 (inactive DSP code arter start up and SPI release)
- NEW: nonLinearity compensation test mode for 3 phase motors (_2 version)
- INT: removed code for special versions NONLINEAR_CC_FOR_NTB and PHASE_ADVANCE_DEBUG

SPECIAL_VERSION (not released)
- 1044_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1044_1 is installed!
- 1044_2 implementation for compensation of nonlinear PWM output using TamVar0,1,2,24 and TamIntVar0-4.
         Do not use TamVar0,1,2,24 and TamIntVar0-4 in Tama prog if FW 1044_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1043
Release Date: Date: 2014-10-06 15:32:02 +0200 (Mo, 06 Okt 2014) 
SVN Revision: Revision: 18618 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 RevA,RevB Drives,

Changes since last Build:
- set new FW version to 1043
- NEW: added support for TSP350 and TSP700 Revision B drives 

SPECIAL_VERSION (not released)
- 1043_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1042_1 is installed!
- 1043_2 implementation for compensation of nonlinear PWM output using TamVar0,1,2,24 and TamIntVar0-4.
         Do not use TamVar0,1,2,24 and TamIntVar0-4 in Tama prog if FW 1042_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1042
Release Date: Date: 2014-09-17 08:03:47 +0200 (Mi, 17 Sep 2014) 
SVN Revision: Revision: 18479 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Drives,

Changes since last Build:
- set new FW version to 1042
- INT: pilot control added to build 2 for internal tests only

SPECIAL_VERSION (not released)
- 1042_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1042_1 is installed!
- 1042_2 implementation for compensation of nonlinear PWM output using TamVar0,1,2,24 and TamIntVar0-4.
         Do not use TamVar0,1,2,24 and TamIntVar0-4 in Tama prog if FW 1042_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1041
Release Date: Date: 2014-03-20 13:44:43 +0100 (Do, 20 Mrz 2014) 
SVN Revision: Revision: 16826 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1041
- NEW: implemented SVM for two phase motor configurations
- NEW: added resetPhasing functionality to enable axisControl
- CHG: modified implementation of i2t and overcurrent supervision. Stay in 
       FaultReaction until error is disapeared.  
- CHG: made command StopDisableAllAxes more robust against events issued from Tama
- CHG: implement message queue in the same way as other queues and fifos used in TM projects
- CHG: reset all controllerOutputCurrent signals during error and not enabled phase  
- CHG: reset phasing done state in case of an error during enabling phase 
- CHG: force phasing in automatic mode, if a phasing relevant parameter has changed 
- CHG: send immediately response on DriveControl commands with just stopControl 
- CHG: modified nonlinearity compensation of CC (developed by DG). To activate this 
       option compiler option 'NONLINEAR_PWM_COMPENSATION' has to be set. 
- FIX: correct LED control for TIOB and TLC100 and simplified LED control mechanism
- FIX: solved 2 problem cases in reprogramming pathplanner which caused acceleration jumps  
       1. Xb of accMove is already behind the expected end position
       2. superseded move has large vdes and move distance is too short to reach the end
          without overshoot

SPECIAL_VERSION (not released)
- 1041_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1041_1 is installed!
- 1041_2 implementation for compensation of nonlinear PWM output using TamVar0,1,2,24 and TamIntVar0-4.
         Do not use TamVar0,1,2,24 and TamIntVar0-4 in Tama prog if FW 1041_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1040
Release Date: Date: 2013-12-18 10:04:57 +0100 (Mi, 18 Dez 2013) 
SVN Revision: Revision: 16350 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1040
- NEW: implemented new motorbase configuration for 2-phase asynchronous motors 
- NEW: implemented SVM for two phase motor configurations
- CHG: modified nonlinearity compensation of CC (developed by DG). To activate this 
       option compiler option 'NONLINEAR_PWM_COMPENSATION' has to be set. 
- CHG: support for AnalogEncoderAmplitude supervision implemented (available since FF1277)
- CHG: plausibility check for phase currents used for i2t supervision introduced
- NEW: Response of AboStartStop command returns TriaLink timestamp  
- CHG: renamed switchStatesAndTimes entry to outputPhases, reduced number of entries 
       (register is still compatible with previous version)
- INT: replaced all #if xxx with #if defined(xxx) 

------------
- CHG: implemented new STO features (reset STO fault to take LM out of safe mode)
- CHG: implemented new STO features (detect reason of STO fault within local bus access)
- CHG: implemented read mechanism for local bus registers from FPGA (rework of module) 
- CHG: rework on FPGA access (made more robust)
- CHG: lowered sampling time for FPGA readout during STO fault 
- CHG: delay StoActive message to ensure Inconsistent fault can be shown

SPECIAL_VERSION (not released)
- 1040_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1040_1 is installed!
- 1040_2 implementation for compensation of nonlinear PWM output using TamVar0,1,2,3 and 4.
         Do not use TamVar0..4 in Tama prog if FW 1040_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1039
Release Date: Date: 2013-11-18 10:19:42 +0100 (Mo, 18 Nov 2013) 
SVN Revision: Revision: 15959 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1039
- CHG: map LED power red function to status red LED on TLC100 (needs FFID>=1243)  
- CHG: implemented nonlinearity compensation of CC behavior (developed by DG). To 
       activate this option compiler option 'NONLINEAR_PWM_COMPENSATION' have to be set 
- FIX: activating startup settings in factory image lead to hangup. No problem in 
       alternative image. bug was introduced in version 1038 and is corrected now    
- CHG: no longer overwrite pathPlanner.xnew,vnew and anew during path planner init command 
- CHG: implemented opportunity to use the Tama coupled command for the direct coupled mode too 
- CHG: introduced constants for local bus register addresses 
------------
- NEW: implemented new STO features (reset STO fault to take LM out of safe mode)
- NEW: implemented read mechanism for local bus registers from FPGA (rework of module) 
- INT: removed some unused methods
- NEW: implemented new STO features (detect reason of STO fault within local bus access)
- CHG: rework on STO error analysis code 
- CHG: simplified FPGA register access mechanism
- CHG: renamed STO Inconsistent bit to STO SafeMode bit
- CHG: implemented new STO features (startupTest, PulseTest), added new fault identifiers
- CHG: stay in FaultPending until STO faults are disappeared. User ResetFault sends STO
       FaultReset, waits until faults are disappeared and immediately switches to NotReady
       state then

SPECIAL_VERSION (not released)
- 1039_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1039_1 is installed!
- 1039_2 implementation for compensation of nonlinear PWM output using TamVar0(y0) and TamVar1(u0).
         Do not use TamVar0&1 in Tama prog if FW 1039_2 is installed!


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DspFirmware:  Build 1038
Release Date: Date: 2013-05-28 13:59:00 +0200 (Di, 28 Mai 2013) 
SVN Revision: Revision: 15127 
RLID:         4&5&6 & 16
Remarks:      supporting TSx5x RevB,RevC&RevD and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1038 
- NEW: implemented persistent station name feature 
- NEW: TSP350/700 adjust brake voltage depending on BridgeVoltage upperLimit param 
- NEW: implemented prototype for torque limited moves 
       (feature is switched off by compiler switch TORQUE_LIMITED_MODE_PROTO per default)  
- CHG: allow setOperational if drive is already in operational state
- CHG: prevent from noisy limit cycles (standstill) if using digital encoder
- CHG: get the user a chance to reset NoValidTamaCodeAvailable fault within 
       disabling persistent tama start options
- CHG: allow velocity = 0 for discrete and continuous moves 
- FIX: correct implementation of combined drive command (ResetFault and SwitchOn) 
- FIX: correct offset check in register read/write (upperl level check was wrong)
- FIX: do not watch STO bits if hardware is TS150..TS351 Rev B
- CHG: allow changes of path planner parameters if not moving or if moving path 
       will be reprogrammed immediately
- CHG: reject unimplemented Torque move commands
- NEW: implemented FW download for TSx5x RevD drives 
- CHG: speedup FW download within less protection accesses
- CHG: prepared speedup FW download (program used bytes only)
- CHG: removed support for unused SST flash chip

SPECIAL_VERSION (not released)
- 1038_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1038_1 is installed!
- 1038_2 implementation for compensation of nonlinear PWM output using TamVar0(y0) and TamVar1(u0).
         Do not use TamVar0&1 in Tama prog if FW 1038_2 is installed!

 
--------------------------------------------------------------------------------
DspFirmware:  Build 1037
Release Date: Date: 2012-10-17 16:24:59 +0200 (Mi, 17 Okt 2012) 
SVN Revision: Revision: 14100 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1037 
- CHG: rework on multi axes move commands (removed serialization)
- CHG: changed startup setting default addresses (1,xff,xff,xff)
- FIX: improved handover of events from async to sync task. (prevents from losing events) 
- NEW: implemented modulo handling on actual position in disabled state
- CHG: implemented BridgeVoltageWarning behavior in ReadyToSwitchOn state. Changed drive 
       state machine, added startup state, event ResetFault leads to NotReadyToSwitchOn 
       state now (see SWSCN_BridgeVoltageWarning_001GP.pdf for more informations)
- CHG: update watchPllNotLockedFault flag if startup setting have changed 
- CHG: update and change timestamp source if timestamp startup setting have changed 
- CHG: changed implementation of flash access due to thread safety problems 

SPECIAL_VERSION (not released)
- 1037_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1037_1 is installed!
- 1037_2 implementation for compensation of nonlinear PWM output using TamVar0(y0) and TamVar1(u0).
         Do not use TamVar0&1 in Tama prog if FW 1037_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1036
Release Date: Date: 2012-08-30 07:42:58 +0200 (Do, 30 Aug 2012) 
SVN Revision: Revision: 13919 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1036 
- CHG: improved check for overcurrent in mbc TwoBrushDCMotors (check i1, i2 and i1+i2) 
- NEW: implemented special feature for compensation of nonlinear PWM output

SPECIAL_VERSION (not released)
- 1036_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1036_1 is installed!
- 1036_2 implementation for compensation of nonlinear PWM output using TamVar0(y0) and TamVar1(u0).
         Do not use TamVar0&1 in Tama prog if FW 1035_2 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1035
Release Date: Date: 2012-07-02 12:11:02 +0200 (Mo, 02 Jul 2012) 
SVN Revision: Revision: 13578 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1035 
- NEW: added math function sin, cos, log and log10 without hw loops to the float40Lib
- CHG: added dependency of VirtualMachineLib from Float40Lib (new NoHwLoop math functions)
- CHG: made Flaot40Lib and VirtualMachineLib independent on registerLib
- CHG: use math functions sin, cos, log and log10 without HwLoops in VM code
- CHG: use math functions without HwLoops in filter calculation
- CHG: made errno support in VM working (sqrt of neg number)
- CHG: do not automatically restart VM after VM fault if VM is not in NoStack state
- CHG: prevent from zero division if encoderPitch is 0 
- CHG: removed unneeded rounding in path planner modulo handling (rounded twice)
- CHG: moved internal scheduling counter inc to the end of the highPrio part (compatible) 
- CHG: perform highSpeed data sampling after call of CC to get samples from the same time slot 
- CHG: adjusted the i2t current and peak current limits for all drive types
- CHG: removed Field_Weakening debug compiler option (use TWO_STAGE_CONTROL_AND_FIELD_WEAKENING if needed)
- CHG: implemented SafeTorqueOff Active and Inconsistent state
- CHG: changed phase advance times to match timing changes in FPGA
- INT: added debug option for highPrio timing checks
- INT: removed all asserts(), checked and reordered project options 
- INT: added assert() in PPP. This solves mystery computing problem if update modulo max     
- INT: added debug feature for phase advance 
- FIX: spurious high prio interrupts calling the high prio task occured in special
       timing constellations. (t_highPrio + t_lowPrio ~ 10us) fixed in OS
- FIX: prevent from uninitialized currentLimit in 2DC configuration (wrong CurrentLimitXXX Error) 

SPECIAL_VERSION (not released)
- 1035_1 implementation for special summation inputs via TamVars for iD with TamVar2, iQwith TamVar3
         and position X with TamVar4. Do not use TamVars(2..4) in Tama prog if FW 1035_1 is installed!


--------------------------------------------------------------------------------
DspFirmware:  Build 1034
Release Date: Date: 2012-05-08 08:14:11 +0200 (Di, 08 Mai 2012) 
SVN Revision: Revision: 13312 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1034 
- CHG: implemented TAMA execution time supervision 
- CHG: simplified and optimized actPpTick calculation 
- CHG: reset Tama isochronous and asynchronous state in Tama VM initialize step
- CHG: ignore phase currents larger than 50A (iA, iC are 64A in case of STO is open)
- INT: simplified startVM implementation 
- INT: reset testSignals which were used for i2t debug into comment
- FIX: phasing with method angleSearch at some special initial positions did not
       work proper since FW1032 

PREPARED items (not released)
All prepered features and changes are not released and disabled within compiler switch 
per default!
- implementation for special summation inputs via TamVars for iD(2), iQ(3) and position x(4). 


--------------------------------------------------------------------------------
DspFirmware:  Build 1033
Release Date: Date: 2012-05-03 08:57:00 +0200 (Do, 03 Mai 2012)
SVN Revision: Revision: 13269 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1033 
- NEW: Phase advance implemented with fixed times. This feature is needed for fast rotative axes
- CHG: calc parameter commit for PC and CC in main. (this prevents from short timing
       overrun behaviour during commit)
- CHG: rework on filter library, simplified calculations and handling with universal 
       filters, splitted prepare filter coefficient and activation of coefficients, 
       removed Delay2 Filter, implemented slew rate limiter filter
- NEW: calc park/clark transformation with new sin/cos interpolation from table 
       (sin/cos no longer conflicts with sin/cos in main, iso or tama) 
- CHG: use sin/cos during angle search from interpolation table 
- CHG: prevent from zero division if angleSearch amplitude is 0
- CHG: zero pole mapping now at 0.001/Ts instead of 0.1/Ts (adapted to Matlab c2d impl.)
- CHG: rework on highSpeed Abo filling method (optimized timing) 
- CHG: simplified logic for phasing needs
- CHG: no longer watch for direction options in case of relative and additive moves 
       (PLC open conform)
- CHG: calculation of i2t modified. Calculate i2t on all phase currents instead of current Is
- CHG: prepared Flash erase for new Atmel AT25DF161 (incompatible old FW can not erase new flash!)
- CHG: increased block erase timeout (needed for newer, larger flashes)
- CHG: introduced short delay after switching flash protection on/off

PREPARED items (not released)
All prepered features and changes are not released and disabled within compiler switch 
per default!
- NEW: implementation for special summation inputs via TamVars for iD(2), iQ(3) and position x(4). 
- CHG: changed implementation of FieldWeakening (now in PC instead in CC) 


--------------------------------------------------------------------------------
DspFirmware:  Build 1032
Release Date: Date: 2012-03-16 12:19:27 +0100 (Fr, 16 Mrz 2012) 
SVN Revision: Revision: 13024 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP350&700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1032 
- NEW: implemented firmware support for new TSP350 Drive
- CHG: optimized caching of local timestamp flag (no loger perform cyclic read in NotReadyState)
- CHG: optimized implementation and new structuring of asyTama call and PlcStates update
- CHG: correct the asyTama and PlcStates call condition for the case of timestamp overflow  
- CHG: increased Continuous CurrentLimit on Tsp700 (Eco:10A->14.1A; Regular: 5A->7.1A)
- CHG: allow additional 2.5% of peak current for drive peak current detection 
- FIX: prevent from overwriting async send messages (take copy of send message, wait for 
       DMA transfer is completed before sending)
- FIX: correct implementation of internal tick counter synchronization (drive internal 
       clock may run out of synch in case of external triaLink reset)  

PREPARED items (not released)
All prepered features and changes are not released and disabled within compiler switch per default!
- NEW: prepared implementation for Tama calc time supervision.
- NEW: check for propper encoder function during enabling and set encoder error if 
       encoder does not work propper. (encoder error display in TAM is available since TAM 1.31)
- CHG: Test code for fast PC parameter commit introduced (Kr, Tn, Tv, T1 only) 
       (this prevents from fast timing overrun behaviour during normal commit)
- DBG: Implemented special version which adds GenPurposeVar2 to PC.TestSignal. This 
       is a special build for NTB (switch on with compiler switch NONLINEAR_CC_FOR_NTB) 
- DBG: Debug option for Field weakening and Phase advance debuging. This feature is needed
       for fast rotative motors
       

--------------------------------------------------------------------------------
DspFirmware:  Build 1031_0
Release Date: Date: 2011-11-17 12:11:05 +0100 (Do, 17 Nov 2011)
SVN Revision: Revision: 12631
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- CHG: implemented Current controller Gain which depends on requested current. This 
       is a special build for NTB (switch on with compiler switch NONLINEAR_CC_FOR_NTB) 


--------------------------------------------------------------------------------
DspFirmware:  Build 1031
Release Date: Date: 2011-11-17 12:11:05 +0100 (Do, 17 Nov 2011)
SVN Revision: Revision: 12631
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1031 
- CHG: use clip() function of adsp lib for signal limitations
- CHG: timing optimization in PC: no longer set angleSearch parameters during enabling
- CHG: timing optimization in PC: modify only changed parameters 
- FIX: solved enabling problem using rotorAngleSearch phasing method
       (no longer hit with current) 
- CHG: no longer reset positions to 0 before starting phasing methods 
       RotorAlignment and RotorAngleSearch!
- CHG: increased current decrease time which is applied after phasing from 10ms to 20ms 
- CHG: correct usage of &= operator (y &= x is not the same as y = y && x)
- CHG: changed to VisualDSP version 5.0
- NEW: delay(25ms) between enable brake and disable axis implemented for cases
       where brake action is defined
- CHG: Timing optimization: no longer calculate local scheduling counts within
       modulo (implemented real counters)


--------------------------------------------------------------------------------
DspFirmware:  Build 1030
Release Date: Date: 2011-10-07 08:12:52 +0200 (Fr, 07 Okt 2011) 
SVN Revision: Revision: 12386 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1030 
- CHG: mask TamaState with 6Bits mask before checking for Tama state change 
- CHG: implemented new pathPlanner prepare numeric in VelocityMove
- CHG: implemented new integration method VelocityMove with simplified time 
       calculation
- CHG: no longer allow NoMotorTwoAxes on TSx50 (made consistent with TAM)
- CHG: changed format of PLCstates register (not compatible with further version)
- CHG: calculate modulo translation internal with counts (prevents from position 
       lost in vel moves)
- CHG: Timing optimization: calc inverse of bridge voltage once every 100us 
       instead of 10us. 
- CHG: optimized timing of interpolation, no longer check for too late or too
       early samples 
- FIX: correct implementation of highPrioTaskAlreadyRunning counter
- FIX: Timing optimization: moved some code from first high prio cycle to last
       high prio cycle (prevents from high prio task overrun which could lead 
       to short needles on current signal)  
- INT: added time measurement for absolute end time of LowPrioTask 
       (available with setting Schedule)
- INT: simplified HighPrioTask timing measurement implementation 
 

--------------------------------------------------------------------------------
DspFirmware:  Build 1029
Release Date: Date: 2011-06-09 12:19:06 +0200 (Do, 09 Jun 2011) 
SVN Revision: Revision: 12090
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1029 
- NEW: led test during cold start switch green leds on for 500ms the reds leds for
       500ms. Repeats the sequence if the drive runs in the application image.
- CHG: Change to readyToSwitchOn state after booting if PLL is locked only.
- CHG: set fault informations at start of fault event. This shows the fault 
       during axis stopping.
- CHG: correct calculation of TrialLink TimeStamp derived counters (could lead to 
       noisy axis after 5.96h)
- FIX: prevent from zero division in case of any of the provided path planner move
       parameters (Acc,Dec,Vel,Jerk,DRF) is 0.0.
       Check move parameters before executing move command. Execute move command
       if parameters are valid only.    
- FIX: stand alone Tama did not init correcly (program crash was possible)



--------------------------------------------------------------------------------
DspFirmware:  Build 1028
Release Date: Date: 2011-05-17 09:13:49 +0200 (Di, 17 Mai 2011)
SVN Revision: Revision: 11994 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1028 
- FIX: Fixed a bug in the Tama virtual machine where a fall through situation in
       a switch statement would branch to the wrong instruction. This could lead 
       to corrupt state or even cause the device to be no longer responsable.
- CHG: disable Axis at entry into not operational states (no longer set disabled
       at every call)
         

--------------------------------------------------------------------------------
DspFirmware:  Build 1027
Release Date: Date: 2011-05-12 09:13:50 +0200 (Do, 12 Mai 2011)
SVN Revision: Revision: 11961 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1027 
- CHG: Optimized switch statement in Tama virtual machine



--------------------------------------------------------------------------------
DspFirmware:  Build 1026
Release Date: Date: 2011-05-09 11:24:09 +0200 (Mo, 09 Mai 2011)
SVN Revision: Revision: 11927 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1026 
- CHG: setPosition changed: 
       - translate relative to pp.position instead of act.Position in enabled case.
       - translate relative to act.Position in disabled case.
- INT: factory fake function implemented. enable with compiler option FACTORY_FW_FAKER
- FIX: pathplanner modulo recalculation did not work at the end of a discrete move
- FIX: encoder calibration error: reimplemented Analog Sin and Cos signals. The signals 
       were erroneously removed in FW1024. 


--------------------------------------------------------------------------------
DspFirmware:  Build 1025
Release Date: Date: 2011-04-27 10:17:24 +0200 (Mi, 27 Apr 2011) 
SVN Revision: Revision: 11804 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1025 
- NEW: get checksum of persistent parameters implemented in startup settings 
- NEW: implemented modulo moves for coupled motion case 
- CHG: set actual position of TLCxx always to the pathPlanner position


--------------------------------------------------------------------------------
DspFirmware:  Build 1024 (x4.00)
Release Date: Date: 2011-03-22 10:30:38 +0100 (Di, 22 Mrz 2011) 
SVN Revision: Revision: 11723 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC and TSP700 Drives, using new PWM interface

Changes since last Build:
- set new FW version to 1024 (4.00)
- NEW: implemented new SVM/PWM interface used for all drives! 
       this interface works with FFID>1024 only!!!
- NEW: implemented TIOB02 support (uses same implementation as TIOB01) define 
       used TIOB type within flash programmer.
- CHG: reorganized compiler options handling (used for different HwTypes)
- CHG: no longer copy PpCmd.xnew, PpCmd.xnew and PpCmd.anew to PpSig after call
       of Tama coupling init 
- BUG: prevent from PP reprogramming w/o command during a running move  
- BUG: check for watchdog and voltageOutOfRange was erroneous for TIOB and TSP700  
- CHG: local node number added to the hwId 
- NEW: implemented functionality for ASM motor controlled within simple V/Hz method 
- CHG: removed SchneebergerSpecial code 
- CHG: removed delay function on request position in position controller
- DEBUG: spike debug option introduced


--------------------------------------------------------------------------------
DspFirmware:  Build 531 (x2.13)
Release Date: Date: 2011-01-13 11:48:17 +0100 (Do, 13 Jan 2011) 
SVN Revision: Revision: 11370 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC Drives, supporting TSP700 with time based PWM

Changes since last Build:
- set new FW version to 531 (2.13)
- FIX: solved writing periphery registers with address larger than 14 bits (e.g. TIOB01 2.Axis)
- FIX: extended register access address for FPGA control (needed for addresses > 0x4000) 
- NEW: added queue for sending of FPGA control requests (needed for multiple subsequent commands)
- NEW: introduced new Firmware Build for TSP700 (one Axis high performance drive based on TS351)
- CHG: rework on drive fault handling (adapted for monitor errors and added monitor life check)
- CHG: access to gloabl map infos cached now (faster and not blocking) global map info is needed for 
       hwType and hwRevision dependant code   
- CHG: some drive faults extended with stop before switching bridge off 
- CHG: do not respond to service commands if state is NotReadyToSwitchOn (Application) 
- CHG: changed resolution for BridgeVoltage measurement for TSP700 (840V->maxInc)
- BUG: path planner algorithm made zero division in seldom situations
 

--------------------------------------------------------------------------------
DspFirmware:  Build 530 (x2.12)
Release Date: Date: 2010-11-04 11:32:36 +0100 (Do, 04 Nov 2010) 
SVN Revision: Revision: 11074 
RLID:         4&5&6 & 16
Remarks:      supporting RevB&RevC Drives

Changes since last Build:
- set new FW version to 530 (2.12)
- NEW: integrated new TAMA virtual machine VM5 (VM4 is no longer supported)
       you have to recompile yout Tama sources with the new Tama VM5 compiler


--------------------------------------------------------------------------------
DspFirmware:  Build 529 (x2.11)
Release Date: Date: 2010-10-19 18:26:15 +0200 (Di, 19 Okt 2010) 
SVN Revision: Revision: 11036 
RLID:         4&5&6 & 16
Remarks:      First version supporting RevC Drives

Changes since last Build:
- set new FW version to 529 (2.11)
- BUG: Check for "PLL not locked" fault introduced in Fw528, was inconsistent. (solved with cache)
- NEW: Support RevC (HR02) drives. bridge voltage resolution of TS15x same as TS35x.  
- NEW: added new configuration for TLC100LS (lowSpeed -> isochronous period = 200us)
- CHG: TLC100 hardwareIdentification changed to 0x202 (TLC100) before the ID was faked as TLC201 (0x201)  
- CHG: PathPlanner: Wrap function for long moves now every 10. milli second instead of every second. 
- INT: unused testCode in FlashMemory implementation removed.


--------------------------------------------------------------------------------
DspFirmware:  Build 528 (x2.10)
Release Date: Date: 2010-08-11 09:57:32 +0200 (Mi, 11 Aug 2010)
SVN Revision: Revision: 10587 
RLID:         4&5&6 & 16

Changes since last Build:
- set new FW version to 528 (2.10)
- CHG: no longer force PLL locked in stand alone case
- CHG: no longer watch for PLL not locked fault in stand alone case
- CHG: correct handling of axis tamRequests forced from device state change (SwitchOn/Off, FaultOff, ...) 
- CHG: output voltage resolution for RevC++ changed to 10.5V/0x7FFF, RevB uses 10.25V/0x7FFF 


--------------------------------------------------------------------------------
DspFirmware:  Build 527 (x2.0F)
Release Date: Date: 2010-07-19 09:56:12 +0200 (Mo, 19 Jul 2010) 
SVN Revision: Revision: 10524 
RLID:         4&5&6 & 16

Changes since last Build:
- set new FW version to 527 (2.0F)
- CHG: perform verify of Tama VM code in case of persistent mode.
- CHG: use TestSignal8 and testSignal9 as state indicator used by PLC configurations (register is still compatible)
- CHG: added new state entry MergedPlcStates used for PLC usage
- CHG: changed capitalization of some register entries
- CHG: rework on Drive and Axis StateMachines (coupled Axis SM states with Drive Operational)
- CHG: no longer support reset Error in Axis state StandStill 
- CHG: do not disable axis in moving states
- CHG: use same implementation as is uesd on PalDrive VM 
- CHG: made VM independent of registerLib, removed std input and output functionality from VM
- CHG: disable axis in moving states is not allowed. reject axis command disable axis in moving states.
- CHG: use rounding for translation of controller position to enhance the accuracy of modulo moves
- BUG: do not apply move parameter changes (DRF, vel, ...) during running moves
- BUG: TIOB01: write correct encoder format configuration for 2nd Axis to FPGA 
- BUG: no longer set PositionController error in case of drive error 
- BUG: do not send event state change during error stopping
- BUG: correct integralOutputLimitation (AntiWindup) used in CC and PC, made independent of gain factor
       pls check PC and CC integralOutputLimit settings!! 
- BUG: modulo moves: reprogramming during modulo jump did not work. rework on path planner modulo 
       implementation, introduced recalc method (split the execute method same as in matlab dev code)


--------------------------------------------------------------------------------
DspFirmware:  Build 526 (x2.0E)
Release Date: Date: 2010-03-16 14:48:58 +0100 (Di, 16 Mrz 2010) 
SVN Revision: Revision: 9989 
RLID:         4&5&6 & 16

Changes since last Build:
- set new FW version to 2.0E (526)
- BUG: correct handling of index latching. 
- BUG: prevent from invalid TAMA stack in case of zero division requested in TAMA programs.
- BUG: communication timeout. Reason: Disable interrupts during high prio task 
       disabled the async DSP ready interrupt too. Solution: Disable Sport0 
       Interrupt P6I only during high prio task  is running   
- BUG: correct handling of isochronous publications downSampling condition (no longer 
       use modulo, use diff for decision) 
- CHG: timing optimization in high prio task (1.6%). (calc for debug plots and 
       LED blink, sequencer)
- CHG: speed optimized in high speed abo filling.
- CHG: routines for FPGA access made robuster. (check for done and do not overwrite
       if other access is in  progress) 
- CHG: simplified the main state machine and made robuster for accurate asynchronous
       communication.
- CHG: analysis of lowPrio task changed. TimingAll now shows 'netto' time used for 
       lowPrio task (IO,TamaIso,SM)
- BUG: TAMA VM: correct implementation of MOD and comparisons in 
- CHG: TAMA VM: speed optimized all operations (arithmetic, logical) within new peek macro
- CHG: TAMA: call asynchronous TAMA every 160. TriaLink tick (every 1.6ms)


--------------------------------------------------------------------------------
DspFirmware:  Build 525 (x2.0D)
Release Date: Date: 2010-03-02 15:26:20 +0100 (Di, 02 Mrz 2010) 
SVN Revision: Revision: 9932 
RLID:         4&5&6 & 16

Changes since last Build:
- set new FW version to 2.0D (525)
- BUG: correct switching off PathPlanner modulo mode
- CHG: optimized (time) antiWindup implementation for integrator 
- CHG: no longer allocate FlashMap on heap (now its a member of CDrive)
- BUG: setPosition did not work in disabled state since Build 522.  
- BUG: prevent from race condition during setMotorBaseConfig from one axis to two axes
- BUG: Drive commands StopDisable and FaultStopDisable did not function correct  


--------------------------------------------------------------------------------
DspFirmware:  Build 524 (x2.0C)
Release Date: Date: 2010-02-19 16:37:15 +0100 (Fr, 19 Feb 2010) 
SVN Revision: Revision: 9890 
RLID:         4&5&6 & 16

Changes since last Build:
- set new FW version to 2.0C (524)
- NEW: implemented setPositionRelative
- NEW: implemented move commands with dedicated move parameters 
- BUG: correct overflow handling of timestamp. optimized timestamp calculations
- BUG: added initializers for counters (prevents from undefined enabling behavior) 
- BUG: made 2DC running (separated filters in position controller) 
- BUG: made 2DC running chaotic switch states (changed the order of calls during one cycle) 
- CHG: made 2DC running: timing of 2DC modulator optimized 


--------------------------------------------------------------------------------
DspFirmware:  Build 523 (x2.0B)
Release Date: Date: 2010-02-10 20:20:07 +0100 (Mi, 10 Feb 2010) 
SVN Revision: Revision: 9854 
RLID:         4&5&6 & 16

Changes since last Build:
- set new FW version to 2.0B (523)
- BUG: work around for compiler bug in FW522 implemented


--------------------------------------------------------------------------------
DspFirmware:  Build 522 (x2.0A)
Release Date: Date: 2010-02-05 14:42:28 +0100 (Fr, 05 Feb 2010) 
SVN Revision: Revision: 9825 
RLID:         4&5&6 & 16

Changes since last Build:
- set new FW version to 2.0A (522)
- renamed translatedPosition to positionTranslation (register layout remains compatible)
- removed unused zero initializers
- new feature: implemented support for dedicated velocity for PositionMove commands
- new feature: implemented modulo move functionality
- removed encoder based pathPlanner functionality (LK) (PPVtPosition)
- changed implementation of position translation 
- work direct on pathPlanner signals (no longer shadow vars)
- changed implementation of rotorAlignment (feed PI.position instead of position translation)
- call interpolator without sample offset
- changed company name in the copyright 
- AnyEdge Trigger works the same way as AnyEdgeEvent Trigger with an Epsilon now 
- message and register item TriggerLevel changed to triggerLevelOrEpsilon
- implemented state transition for reset error in axis state Startup
- no longer allow transition enableAxis if there is an error pending 
- implemented state transition ErrorStopDisable from errorStopping 


--------------------------------------------------------------------------------
DspFirmware:  Build 521 (x2.09)
Release Date: Date: 2009-11-23 10:08:22 +0100 (Mo, 23 Nov 2009) 
SVN Revision: Revision: 9825 
RLID:         4&5&6 & 16

Changes since last Build:
- set new FW version to 2.09 (521)
- keyword expansion introduced 
- name of release note file changed
- TIOB01 support implemented 
  - added new register layout RLID16 for TIOB01
  - project setup adapted for TIOB01
  - added new enums for TIOB01 signal selection feature
  - added encoder to input signals 
  - added pathplanner to feedback signals
- rework on encoder latch functionality 
- Naming of Devices changed 
- introduced some integer TamaGenPurpose variables (RegisterLayout is still compatible) 
  - changed type and name of float GenPurposeVar25:29 to int GenPurposeIntVar0:4
- trigger condition for raising and falling trigger bound to level 
- implemented AnyEdgeEvent with check range
- enums moved from TriaLink items to CommonEnumerations
- renamed the RegisterLayouts0002.h/0003_0007.h to RegisterLayouts2.h/3_7.h
- added new devices to the fpga devices enumerator
- implementation modulo function 1st steps
  - changed setup interface of pathPlanner
  - implemented new pathPlanner with absPosition and encoderPosition output 
    (encoder not active now)
- implemented wrap function for very long moves (resets the time and relocates
  the position calc) long durating moves are now possible
- added local bus select and local bus data bits in the FPGA-DSP connection
- removed unused F40 pseudo defines 
- moved IRPTEN to the end of all F40 asm routines  
- calculation of 64Bit counter modified low count counts now from -2^31 to 2^31  
- separated methods for persistency activation and validity check 
- bugfix: no longer check the bridge voltage range if drive is not operational
- stay in NotReadyToSwitchOn state if persistent parameters are not valid


--------------------------------------------------------------------------------
DspFirmware:    Build 520 (x208)
ReleaseDate:    09.07.2009
RLID:           4&5&6
SVN Revision:   9230

Changes since last Build:

- set new FW version to 2.08 (520)
- correct usage of &= operator (y &= x is not the same as y = y && x)
- added external inputs (analog encoder connector) to the inputBits register
- bugFix: correct check function in flashMemory erase block method
- set undefined value into sentinel at startup
- direct coupled motion changed. motion state values have to be feed 
  into Axis.commands.pathPlanner.x/v/anewCoupled


--------------------------------------------------------------------------------
DspFirmware:  Build 519 (x207)
ReleaseDate:  16.06.2009
RLID:         4&5&6
SVN Revision: 9173

Changes since last Build:

- set new FW version to 2.07 (519)
- reset position error during enabling to make sure enabling after IdErrorLimit 
  error is possible.
- implemented schneeberger special application with current controller only mode
  (this is switched off within compiler option per default)
- bugfix: correct calculation of modulo counting for commutation (prevent 
  from rounding errors) 


--------------------------------------------------------------------------------
DspFirmware:  Build 518 (x206)
ReleaseDate:  14. Mai 2009
RLID:         4&5&6
SVN Revision: 9120

Changes since last Build:

- set new FW version to 2.06 (518)
- allow enable command in standstill state   
- added configurations for TLC100 and TIOC100
- rework on build environment for all configurations
- implementation of trigger once event (AnyEdgeEvent) used for supervision from application
- introduced HW compliance check for new drive types TS151_1, TS351_1 and JM410_xxx
- bugfix: persistent mode did not work (i2tFilter.setSampleTime() was not called
  in case of persistent parameters
- bugfix: setPosition in disabled state did not work in 517. 
- some spelling corrections in comments
- bugfix: setPosition did not work corectly in case the positionError is not 0. (Balti)  


--------------------------------------------------------------------------------
DspFirmware:  Build 517 (x205)
ReleaseDate:  12. Feb 2009
RLID:         4&5&6
SVN Revision: 8833

Changes since last Build:

- set new FW version to 2.05 (517)
- safe the analog encoder signals (sin/cos) in the register independent of 
  encoder type selection 
- new feature: added new motorBaseConfiguration for AC motors with two phases
- implemented new park/clark method for the 2 phase AC motor
- implemented new modulator method for the 2 phase AC motor
- implemented i2t supervision for the drive (no longer combined with the motor i2t)  
- moved i2t and overcurrent check into i2t routine of position controller to 
  make sure, check is active all the time 
- correct reset of actualCurrentIsSquare
- bugfix: deadlock in case of overcurrent and controller error occured at the same time
- this error was introduced with the new overcurrent and i2t supervision 
- rework on drive and axis state machines (setEventRequest reviewed)
- no longer force a phasing if autoPhasing is selected and Phasing is done before
- replaced 2.0*c_pi with constant c_TwoPi


--------------------------------------------------------------------------------
DspFirmware:  Build 516 (x204)
ReleaseDate   14. Juli 2008
RLID:         4&5&6
SVN Revision: 8509

Changes since last Build:

- correct initialization of signals in the position interpolator
- increased tama stack size from 100 to 200 for both VMs
- increased stack size from 4kW to 8kW, lowered PMDA from 8kW to 4kW


--------------------------------------------------------------------------------
DspFirmware:  Build 515 (x203)
ReleaseDate:  13. Juni 2008
RLID:         4&5&6
SVN Revision: 8472

Changes since last Build:

- implemented support for pulse train device (cyclic output of new register value)
- implemented new feature to send pulse train data via isochronous message to FPGA
- optimized PWM output (combined SVM sequence state and time in one word) 7 registers removed from registers 
- extended isochronous output message between DSP and FPGA for the new pulse train feature
- added new register entries for new pulse train feature
- CRegisters allocated static in CDrive (no longer implemented as singleton)  
- added new register entries for tama VM stack offset
- added method getStackOffset() used for the new registers asynchronous and isochronous StackOffset 
- optimized the PWM output procedure (combined SVM state and time)
- bugfix: calculation of switch time/state table was incorrect in the non economic case


--------------------------------------------------------------------------------
DspFirmware:  Build 514 (x201)
ReleaseDate:  18. Mai 2008
RLID:         4&5&6
SVN Revision: 8402

Changes since last Build:
- set new FW version to 2.02 (514)
- bugfix: wrong Float40 calculation of actual position (was without extension)
- bugfix: highspeed publication for TLC201 have returned 0 values instead of 
  subscribed values. 
- bugfix: SetMotorBaseConfiguration for disallowed MBCs have not returned response.
- bugfix: i2t supervision was twoPi times too fast 
- implemented new i2t supervision for motor and drive (made some improvments)
- set the current limits depending on used hardware and set Eco mode
- modulation methods PwmMin and PwmMax removed
- changes of register items in RLID 4/5/6 (no new register RLID!) 
- applied beautify reformating to all sources
- all TS100 code removed 
- bugfix: tama range was overwritten trough code for axisTwo in case of one axis drives


--------------------------------------------------------------------------------
DspFirmware:  Build 512 (x200)
ReleaseDate:  09. April 2008
RLID:         4&5&6
SVN Revision: 8300

Changes since last Build:

- set new FW version to 2.00 (512)
- bugfix: wrong Float40 calculation of actual position (was without extension)
- spelling of filter names unified
- common enumerations moved from the registerLayout000x.h file to this new file
- new register layouts (4&5) for support of one axis and two axes introduced
- separated powerSwitchDisable for 2DC configuration implemented
- no longer powerBridgeShutDown needed with FPGA FW 544 (powerSwitchDisable1|2 is 
  implemented now) 
- default parameter lsbFirst=fasle in methods read- and writeFlashWordBlock 
  introduced
- register access reorganized
- methods for access to tama area implemented 
- new method implemented which clears the whole register 
- sport channels is no longer single instance 
- #define simulateHW removed
- register structure of global signals and global commands reorganized
- calculation timing analysis reimplemented
- set error condition if enabling an axis without valid motor configuration 
  is requested
- removed periphery access command registers
- moved programming of encoder periphery device to the drive 
- reorganiced implementation of periphery access 
- supervision of PLL locked reimplemented 
- watch fault in readyToSwitchOn state too
- voltage supervision moved from modulator to th DspIO class
- renamed signal supervision struct and show all bits
- bugfix: drive state machine, stay in FaultReactionActive state until fault
  is inactive
- made event read/writable 
- implementation new feature stand-alone drive (parameters, tama, 
  subscriptions, addresses) 
- implemented new persistency control TriaLink message
- implementation of subscription/publication owner identification used for 
  observer functionality (backward compatible) 
- angle tuning parameter removed (using position controller parameters)
- 2 additional filters added to position controller 
- using library method for BiQuad filters
- position controller filters organized in an array
- hardware compliance check during drive start implemented
- made drf adjustment robuster (don't change values during move) 
- bugfix: no drive error was set in state transition to FaultPendingActive. 
  Set drive error during transition to state faultReactionActive.
- speed optimized in highspeed buffer index switching (used for high speed
  acquisition)
- bugfix: prevent unsubscribing of subscription which is already unsubscribed,
  (subscribed a new subscription) 
- reorganized memory map, enlarged the program range and lowered the heap  
- new register layout (RLID6) added used for TLC201 in the 512 release
- new register layout (RLID7) added used for TLC201 in the 261 release
- bugfix: prevent from multiple delegate of command from drive to axes (control 
  within flag)
- bugfix: prevent from zombis to host and timeouts when accessing FPGA device 
  after TriaLink request
- bugfix: commit general registers (with underlying fpga access) was not ok. 
  corrected implementation within modification of state machine. triaLink requests
  with fpga access return the response after access is done now - check for triaLink
  response sending request moved to the send method 
- bugfix: motor base configuration change was not robust enough. (the eventParameter
  used for the selection of the motorbase must be set before the event is fired). 
  This was not always the case.   
- RegisterLayout0001.h no longer supported


--------------------------------------------------------------------------------
DspFirmware:  Build 261 (x105)
ReleaseDate:  30. Oktober 2007
RLID:         3
SVN Revision: 7535

Changes since last Build:

- DSP FW ID increased to x105 (261)
- bugfix: wrong initialization of static tama variables. no longer call vm.reset with path planner init call
- correct dependency for coupling function call
- no longer generate TS100 firmwares
- phaseCurrentLimit renamed to phaseCurrentHardwareLimit
- additional filter added to position controller 
- powerBridgeLimit supervision modified (now upper limit and lower limit)
- no longer hold station address in the dsp code (all station address request code removed)
- workaround for station address update removed
- new register Layout #3 generated
 - station address removed from register
 - new parameters for additional position controller filter
 - new parameters for powerBridgeLimit supervision
- new additional configuration for TLC201LS added (lowSpeed -> isochronous period = 200us)
- new peripheral devices added to SMEtDeviceSddress
- support peripheral access for new devices
- PowerBridgeShutDown coupled with enable of axis (requirement from UP) 
- return value for invalid entries in getIdentification message changed to 0x0
- calculation for LED blinking synchronized with TriaLink count
- bugfix: noise problem asyril: Iso message send moved to the end of the path planner cycle  

 
--------------------------------------------------------------------------------
DspFirmware	Build 260 (x104)
Date:		27. August 2007
RLID:		2
SVN Revision:	7119

Changes since last Build:

- DSP FW ID increased to x104 (260)
- bugfix: return response if the Trialink RSP bit of control command is set only
- bugfix: angleSearchMethod enabling error (wrong calculation of voltage exchange)
- workaround for wrong station address after reboot problem 
  (execute station address request after an AboResetRequest service message is handled) 
- do only send drive faults in case of drive is not in fault handling state
- pll not locked drive fault activated
- do no longer switch from drive state notReadytoSwitchOn to FaultReactionActive 


--------------------------------------------------------------------------------
DspFirmware	Build 259 (x103)
Date:		24.Juli 2007
RLID:		2
SVN Revision:	6941

Changes since last Build:

- DSP FW ID increased to x103 (259)
- modify offsetCommutationangleEncoderAngle within setPositon in enabled case only
- spelling corrected


--------------------------------------------------------------------------------
DspFirmware	Build 258 (x102)
Date:		06.Juli 2007
RLID:		2
SVN Revision:	6859

Changes since last Build:

- DSP FW ID increased to x102
- computing time error implemented
- prevent from overwriting events
- call sequence for TLC201 optimized
- handle commitParameter for TLC201 configuration
- handle tranlateOrigin for TLC201 configuration
- new MotorConfiguration NoMotorTwoAxes introduced
- new MotorConfiguration NoMotor renamed to NoMotorOneAxis
- renamed enumerations in TrialinkCommandItems and RegisterLayout
- Compiler option MULTI_AXES_SUPPORT removed
- set Defaults for Axis decoupled from NoMotor Configuration
- safer implementation for align flag realized
- do no longer run controllers and PWM for TLC201


--------------------------------------------------------------------------------
DspFirmware	Build 257 (x101)
Date:		30.Juni 2007
RLID:		2
SVN Revision:	6783

Changes since last Build:

- DSP FW ID increased to x101
- decoupled setMotorBaseConfiguration(noMotor) from setDefaults
- direct read supervision bits. for TSx5x drives only, TS100 does not support this bits correctly
- bugfix: twice unpublish command had set up new publish entry
- HW problem SPORT communication fixed: removed clock raising edge (CKRE) bit in all SPORT tx channels 


--------------------------------------------------------------------------------
DspFirmware	Build 256 (x100)
Date:		26.Juni 2007
RLID:		2
SVN Revision:	6718

Changes since last Build:

- currentMeasurement factors for TSx5x adjusted
- phase current limit  for TSx5x increased
- voltageMeasurement factors for TSx5x adjusted
- FWID increased to 0x100
- limit for bridgeVoltage supervision reduced to +-20%
- bugfix moving after enable axis: path planner command was not cleared in disabled states
- ReadyLED renamed to StatusLED
- external error command added (forces drive fault)
- reset axis error adapted to new axis and drive control concept
- no longer overwrite error entries
- ReadyLED renamed to StatusLED
- external error command added (forces drive fault)
- implemented switch for TestSignal sinus or rectangle
- baudrate for flash doubled for all drives except TS100 drives
- unused init code for sport channels 3 and 5 removed
- offset between coordinate systems for absolute encoder enabling introduced 
- tama enable flags removed
- made commutation Angle visible in register
- prevent from switching on in noMotor configuration 
- allow additional state transitions in TamaVM control state machine 
- absolute position enabling implemented
- method for setting positions to actual position before enabling starts implemented
- implemented possibility for reset of automatic enabling mode
- change handshake of aligned flag
- implemented possibility for reset of automatic enabling mode
- unused member removed
- correct calculation of align angle after aligning is done 
- change handshake of aligned flag
- commutation angle added to the register signals
- implemented additional state change from enabling to disabled
- added state transition bits at the end of stop commands from drive control
- possibility for reset of automatic enabling mode introduced
- new option for motorBrakeReleaseAction added
- setPosition corrected and simplified
- MototBaseConfiguration types renamed
- bugfix: missing event in case of move done
- renamed members virtualMachine to isoVirtualMachine and asyVirtualMachine
- do not clear TamRequest after request copy  
- asyVirtualMachine moved from MainTask to CDrive 
- timestamp removed from TamaControl command response
- bugfix: set wrong tamRequest 
...

TLC201 related:
- FLAG14 and Flag15 removed from DAI mapping (now direct connection DSP to FPGA is used)
- default direction for FLAG15 defined
- settings for TLC201 reworked
- control of DAI pin20 removed from DaiConfig 
...

