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Fix model selection for firmware-specific configurations - #120

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Michi-Tsubaki wants to merge 1 commit into
ROBOTIS-GIT:mainfrom
Michi-Tsubaki:fix/firmware-model-selection
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Michi-Tsubaki wants to merge 1 commit into
ROBOTIS-GIT:mainfrom
Michi-Tsubaki:fix/firmware-model-selection

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@Michi-Tsubaki

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Why ?

Firmware-specific model files such as _fw52.model describe the control table for firmware versions up to and including 52. Previously, the selection logic treated the suffix as a lower bound. Devices running firmware below 52 could therefore select the base model file and use incorrect Indirect Data addresses.

Changes

Select the smallest firmware suffix greater than or equal to the device firmware version.

For models with an _fw52.model file, firmware versions 1–52 now use that file, while firmware 53 and later continue to use the base model file.

Backward compatibility

Existing fallback behavior is preserved. Unknown firmware (0), models without firmware-specific files, and firmware newer than all available suffixes continue to use the base model file. Firmware 52 still selects _fw52.model.

No public APIs or model file formats are changed.

Copilot AI balanced review requested due to automatic review settings November 7, 2026 09:24

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