PACMod Firmware Release Notes

2.0.0 (Compatible with AS ROS Binary Driver Versions 2.0.0 and newer)

Previously, there were separate firmware packages for customers with PACMod v1.x and PACMod v2.x boards. They have now been merged into a single firmware package.
Feature Addition: Now supports the Lexus RX-450h.
Feature Addition: Several delays were being reported in the firmware (upon enable, some braking). These have been resolved/removed.
Feature Addition: The firmware now transmits a Vehicle VIN report on CAN ID 0xFF.
Bug Fix: On several vehicles, the steering values were being reported in the wrong reference frame (LHR instead of RHR). This has been resolved.
Bug Fix/Feature Addition: The brake command and report values were previously between -1.0 and 0. This has now been changed to 0 to 1.0, matching other systems.
Bug Fix: Some messages were not being sent in the same encoding format as others. All messages are now transmitted in Big-Endian format.
Feature Addition: Added additional messages transmitted for specific vehicle types (like wiper status for International Prostar 122+ and Lat/Lon/Heading report for Lexus RX-450h). See the PACMod ROS Driver details for more information.
Breaking Change: The enumeration values for shift have changed. They are now: PARK: 0, REVERSE: 1, NEUTRAL: 2, HIGH/DRIVE: 3, LOW: 4.

Bug fix: Fixed the sign on the steering report message.
Bug fix: Fixed the value on the steering report message to not include the calibrated offset from center.
Bug fix: Fixed manual shift report issue (flipping between F and R on output).
Bug fix: Fixed report values for brake.
Feature addition: Added new code to handle GEM hardware revision on shift module.

Changed to no longer listen for the heartbeat message from the driver and instead base the user CAN timeout on any message received on the user CAN.
When disabled, the PACMod will no longer enable power steering mode on the provided EPAS motor. It will now default to manual steering to avoid a jitter bug in the EPAS.

Increase CAN read and write intervals to prevent dropped messages.
Fixed scaling value for vehicle speed. This impacts the ROS driver topic /vehicle_speed_rpt
Added support for watchdog timer between firmware and ROS driver. If firmware does not receive heartbeat from the PACMod ROS Driver for more than 100mS, drive by wire controls are disabled. Fault notification messages are included in the global report CAN message.
Added support for watchdog timer between firmware and actuators. If firmware does not receive heartbeat from the actuators for more than 100mS, drive by wire controls are disabled. Fault notification messages are included in the global report CAN message.