May 19, 2026 V2.83
* TCP command port: second simultaneous client is rejected (accept-and-close) instead of queued; avoids NDK socket exhaustion/crash when two clients connect to the same ticket port.
* TCP objWriteCAN: synchronous CAN slave OD write over the command channel (same mailbox as Web `slvobj`).
* HDrive manual: Ethernet services and connection limits (one command client, motor stream), objWriteCAN example, HDriveConfigFile sub-key tables for m2/m4/m5/m6.

May 17, 2026 V2.82
* Ticket/XML path hardened: bounded parsing on all RX tickets; fixed-size responses on TX binary/CAN/EEPROM/config tickets and WebServer CGI handlers (writeTicket, parameter save, slave OD, firmware upload).
* CAN master: ISR start/stop sequencing improved for safer operation under heavy bus traffic and during slave parameter transfers.
* TCP objReadCAN: synchronous CAN slave OD read over the command channel; waits for CAN bus-off recovery before issuing a slave read.
* HDrive manual and README updated for CAN slave access over HTTP and TCP.

March 29, 2026 V2.81
* CAN master/slave: object dictionary read/write on any slave via new IDs (master TX 220+canId, reply 231). 
    *  Web: getData.cgi?slvobj=r_slot_main_sub (read), slvobj=w_slot_main_sub_value (write). 
    *  TCP: <objReadCAN sl="slot" m="mainKey" s="subKey" /> reads a CAN slave object via the master.
* CAN master/slave: Ability for FW update over CAN
* Web GUI: new "CAN Slaves" page showing FW/voltage/temperature/position/torque per slot with a per-slave Upload Firmware button and progress bar.
* Web GUI: new control mechanic so also CAN-slaves can be controled from master GUI

Feb 13, 2026 V2.67
* When UDP host is set to 0.0.0.0, UDP packets are sent to the IP of the connected TCP client
* Read object: Fixed memory leaks (replaced std::string/std::stoi with snprintf/atoi), fixed getData.cgi crashes and RX buffer overflow; output format changed to shorter format (e.g. <r a="4" b="22" v="0" />)

June 18, 2024 V2.60
* Added torque ripple compensation

March 17, 2023 V2.55
* Fixed Step/Dir Interface
* Fixed a bug in CAN communication interface

March 17, 2023 V2.54
* Added Oszillation motor mode

Mai 15, 2022 V2.53
* Added Speed Out as PWM interface
* Add HW-Release V7 compatibility
Implemented HW-Revision 7

Mai 15, 2022 V2.51
Added new message ticket "Binary Can Ticket Full" with additional information like speed and torque for all attached slaves
Added new Velocity / Direction interface over digital I/O

Oct 06, 2021 V2.49
Fixed a bug in the Homing procedure. Different starting positions on the axis could lead to different zero positions after a successful homing.
relaxed the over speed observer

July 17, 2021 V2.48
Changed DRV8412 fault pin detection algorithm to a more relaxed one.
Auto disable the motor when firmware upgrade process is running
Fixed digital I/O Interface
Removed ABI interface of motor encoder because it is not used anymore

Mar 18, 2021 V2.45
Fixed “PWM in” for Position, Speed or Torque control by Digital I/O
Digital I/O Pin mapping synced for HW rev. 5 and rev. 6
Increased ADC current filters by oversampling of the ADC
Changed internal velocity measurement to continuous data acquisition
Fixed a bug in the scaling of the graphs in the GUI
Fixed the torque scaling in stepper mode (the torque was to high) 

Feb 22, 2021 V2.42
Improved ADC measurement accuracy to reduce system noise
Continuous speed filter to increase deterministic 

Jan 25, 2021 V2.41
Added compatibility for HW. Rev 6
Increased performance of control timings
Fixed the TCP-Port - it was set statically
Fixed Digital I/O, the protocol did not deliver the whole Digital I/O state
Fixes CAN issues
Updated to Web GUI to version1.10 with many bugfixes
General Refactoring, disabled support for HW. Rev 4 or less.