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XM10 Extension Module SDK v2.3.0

Release date: 2026-07-15 | Target HW: Rev 1.1 / Rev 2.0 | KIT H10 FW: v2.3.0+

At a Glance

This is a minor release that adds two sensor-hub example programs and brings the firmware, system code, and examples inside the SDK fully up to date with each other.

  • Added Ex.41 IMU Hub Dashboard and Ex.42 EMG Hub Biofeedback (both Rev 2.0-only)
  • Updated the SDK's firmware library (libXM_Lib.a) and system code (Core/) to the latest version — fixing places where some system code had fallen behind the library. Every file in an SDK build is now on the same version.
  • Fixed runtime behavior in control/logging examples (Ex.12 / 17 / 28 control, Ex.10 / 10c logging, etc.)
  • Corrected version.h to the actual release version (2.3.0) — the version number had not been updated in the v2.2.1 / v2.2.2 patches, so the firmware kept reporting 2.2.0

Existing user code continues to work as-is. No changes to user code (Control_Setup / Control_Loop) or public API signatures.

Download

File Target board
Rev1.1.zip XM10 Rev 1.1 (early development board)
Rev2.0.zip XM10 Rev 2.0 (latest board — includes Ethernet / PSRAM / RTC)

Extracting the archive produces a single folder. That folder is both the STM32CubeIDE import root and the Claude Code entry directory.

Download the ZIP that matches your board revision. If the board label is unclear, a quick visual check works: an RJ45 Ethernet port means Rev 2.0; no RJ45 means Rev 1.1. For a detailed comparison, see docs/hardware/README.en.md — Board Revision Comparison.

Release Attachments

The bootloader is unchanged from v2.2.x — no need to reinstall if you already have it. The KIT H10 firmware and contents files have been updated in this release — please download the latest files below and update, even if you installed them with a previous release.

File Description
AGR_Bootloader.bin XM10 bootloader (v1.1.0). Install once at 0x08000000.
SUIT_H10_Binary_*.zip/SUIT_CM_APP_2_3_0.bin KIT H10 CM firmware (v2.3.0). Update directly via USB-C storage.
SUIT_H10_Binary_*.zip/SUIT_SAM10_APP_2_3_0.bin KIT H10 MD (SAM10) firmware (v2.3.0).
SUIT_H10_Binary_*.zip/SUIT_ESP32_FW_2_3_0.bin KIT H10 ESP32 firmware (v2.3.0).
SUIT_ContentsFiles.zip KIT H10 contents files. Replace the entire SD card folder.

Update procedure: docs/kit-h10-firmware/.

Tools

Tool Link
PhAI Studio (real-time monitoring, data collection) studio.onephai.com
STM32CubeProgrammer (initial bootloader install) st.com
STM32CubeIDE (firmware development IDE) st.com

New Examples — Two Sensor-Hub Programs (Rev 2.0-only)

XM10 Rev 2.0 connects to the IMU Hub / EMG Hub modules over CAN-FD. These two examples show that once you plug a hub into XM10 and connect it, data arrives automatically (plug-and-play), and then process/feed that data back on-device.

  • Ex.41 IMU Hub Dashboard ⭐⭐⭐ — Receives orientation (quaternions) from up to 6 channels of the IMU Hub Module and converts them to Euler angles (roll / pitch / yaw). Connection auto-detection + LED indication + 18-channel streaming over USB. An observation-only example with no motor, so you can safely explore posture data.
  • Ex.42 EMG Hub Biofeedback ⭐⭐⭐ — Receives muscle activation (envelope / MVC%) from the EMG Hub Module, performs MVC-normalization calibration (BTN), and provides LED and on-screen biofeedback on the PC proportional to activation. No motor.

The IMU Hub and EMG Hub are modules under internal development. To use them, please contact us at https://huphailab.com/contact.

SDK Refresh — Library, System Code, and Examples on One Version

The SDK ships the XM10 firmware core as a static library (libXM_Lib.a). This release brings the library, system code (Core/), headers, and examples onto the same v2.3.0 firmware.

  • Firmware library (libXM_Lib.a) updated — rebuilt from the v2.3.0 firmware.
  • System code (Core/) updated — the parts that had fallen behind are now on the same version as the library.
  • Example sources updated — example .c files refreshed to the latest content.

Example Runtime Fixes

  • Ex.28 (Admittance) — Fixed ordering where admittance torque was applied before the left/right computation completed (now computed per side, then applied).
  • Ex.17 (FSM Gait Intent) — Corrected the body-mass parameter unit (g) and the level scale factor.
  • Ex.12 (Active Assist) — Corrected the anchor-angle scale (×10).
  • Ex.10 / 10c (MSC Log) — Log start now happens at state entry (on_entry) + safe fallback on start failure.
  • Unified entry-point comments (Control_Setup / Control_Loop) and difficulty markers.

version.h Corrected to 2.3.0

version.h was not updated during the v2.2.1 / v2.2.2 patches, so the firmware had been reporting version 2.2.0. This release corrects it to 2.3.0.0 (Rev 1.1 / Rev 2.0 alike).

Compatibility

Item Impact
User code (Control_Setup / Control_Loop) No change — existing code builds as-is
API signatures No change
Ex.41 / 42 Rev 2.0-only (CAN-FD sensor hub · external-power API) — not included in the Rev 1.1 SDK
KIT H10 firmware · contents files Updated — please update with the latest files attached to this release
Bootloader v1.1.0 unchanged — no reinstall needed
User data (USB storage logs, etc.) No change — data format compatible