Firmware Release v0.0.3

Firmware v0.0.3 is out. This release is a big step forward for SABO / John Deere users and brings a handful of robustness improvements that benefit all platforms.

SABO / John Deere Support

Most of the work in this release went into maturing SABO support, driven almost entirely by @Apehaenger — huge thanks!

The SABO carrier board can now be considered properly supported:

• BMS integration — The SBS/SABO battery management system is now integrated, giving the firmware visibility into battery state, charge levels, and health.
• Dynamic power management — Power management functions are now implemented dynamically and wired up for the SABO platform, allowing the firmware to manage power states intelligently rather than statically.
• COBS parsing efficiency — The YardForce ESC driver received a character-match interrupt to make COBS frame parsing more efficient, reducing CPU load during serial communication.

Input Service Improvements

The input handling layer got a round of improvements:

• Configurable delays — Input service delays are now configurable, making it easier to tune debounce and hold behaviour per platform.
• Key press injection — A mechanism to inject synthetic key presses has been added, which is useful for automated testing and hardware-in-the-loop simulation.
• Brief-input emergency trigger — The firmware now correctly triggers an emergency stop for inputs that are only active for a very short time. Previously, a momentary signal could be missed — this is now fixed, improving safety on all platforms.

Internals

• xbot_framework and the services submodule have both been updated to their latest versions.
• The SystemView build (used for real-time tracing and debugging) has been fixed.

Download

Grab the firmware bundle from the v0.0.3 release page:

• fw-openmower-v2-v0.0.3.zip — contains binaries for all supported carrier boards

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