Code Revision History v1.0 - 11/01/01 - first release version v1.1 - 11/26/01 - changes to support new PCB version - added board version detect - added support for status LED and L1 command - added support for S1 command - added support for I1 command - fixed bug in version number reporting - added new raw mode bit flags - 0x01 = output numbers are raw bytes - 0x02 = ACK and NCK not printed - 0x04 = input numbers are raw bytes - fixed bug so TW now works when poll mode is enabled - added support for servo at 38400 baud - rescaled servo timing so center position is 64 - added MM bit 2 flag for servo direction flip - added jumper based servo direction flip for auto start mode v1.11 - 12/23/01 - added support for 'N' packet type - added MM bit 3 flag for 'N' packet type - some i2c code clean up v1.12 - 01/31/02 - added support for slower microprocessors - added support for two more baud rates: 9600, 19200 - this version now supports: 9600, 19200, 38400, 115200 - changed jumper settings needed to start demo mode - see manual for new jumper settings - added "DM" command to insert an optional delay before each character sent from the camera to help slower processors to keep up - see manual for details - modified servo driving code to provide full positional resolution at lower baud rates - removed support for very old prototype boards, dated November 2001 - note that all boards sold by Acroname and Seattle Robotics are compatible with this code version - these old boards can be made compatible by cutting the trace from the camera pixel clock (pin 18 on the camera bus) to pin 6 of the processor and jumpering the camera pixel clock to pin 1 of the processor