What are all these Versions?

You will encounter a range of version numbers, which can be confusing at first. This overview aims to clarify them.

STorM32 Boards

Firmware

The first digit in the firmware version indicates its generation. There are three generations of firmware:

• v3.xx: Latest generation of firmware. Main characteristics: Does not support STorM32 boards with STM32F103 microcontroller(v1.3x, v3.3, v4.1).

• v2.xx: Previous generation of firmware. Main characteristics: Strictly relies on the NT bus, i.e., requires setups which use the NT bus.

• v0.96: Super old generation of firmware. Main characteristics: Only to be used for setups which use the I2C bus for the IMU(s).

Hardware

The hardware design of the STorM32 main controller board has also seen many revisions over time. The first digit again indicates the generation.

• v6.x: Latest generation of STorM32 boards. Main characteristics: Are based on the STM32H7A3 microcontroller.

• v4.1: Main characteristics: Is based on the STM32F103RC microcontroller. Is similar to the v3.3 series of boards, but has motor drivers on board. Not supported by v3.xx firmware.

• v3.3: Few different versions exist. Main characteristics: Are based on the STM32F103RC microcontroller and specifically designed for the NT bus, but have no on-board motor drivers (i.e., one needs to use NT Motor modules). Not supported by v3.xx firmware.

• v1.3x: First generation STorM32 boards. A large number of different versions exist, which in one or the other way are variants of the original v1.3 board. Not supported by v3.xx firmware.

NT Modules

In addition to the STorM32 main controller board, various NT modules are needed (at minimum one NT camera IMU). They come with their own firmware and hardware version numbers.

Firmwares

• v3.xx: NT module firmware versions for v3.xx STorM32 firmwares
• v0.xx: NT module firmware versions for v2.xx STorM32 firmwares

Hardware

Similar to the STorM32 main boards, the leading digit in the hardware version specifies the generation of the NT module design. For instance, at time of writing these NT module designs are around:

• NT Imu
  • v4.x: Main characteristics: STM32G4 based
  • v1.x, v2.x: Main characteristics: STM32F103 based
• NT Motor
  • v4.x: Main characteristics: STM32G4 based
  • v2.x: Main characteristics: STM32F103 based
• NT Logger
  • v2.x: Main characteristics: STM32G4 based
  • v1.x: Main characteristics: STM32F103 based

Compatibility

STorM32 v3 is not supported on hardware which are using the STM32F103 microcontroller. That is, the main board must have a STM32H7 microcontroller (v6.x boards), and all NT modules must have a STM32G4 microcontroller.