> ## Documentation Index
> Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt
> Use this file to discover all available pages before exploring further.

# MotorBridge 0.4.3 Release Test Note

<Note>Source: `CHANGELOG.md` + `docs: dm-device runtime` commits</Note>

# MotorBridge 0.4.3 Release Test Note

Date: 2026-06-03

## Summary

Introduces the Damiao `dm-device` transport backed by the DaMiao DM\_Device SDK
(`USB2CANFD`, `USB2CANFD_DUAL`, `LINKX4C`). The largest transport addition
since the v0.3 line.

## Version Alignment

| Component             | Version  |
| --------------------- | -------- |
| Git release tag       | `v0.4.3` |
| Rust workspace crates | `0.4.3`  |
| Python package        | `0.4.3`  |
| C++ package metadata  | `0.4.3`  |

## Key Changes

### Added

* Damiao `dm-device` transport backed by DaMiao DM\_Device SDK (`USB2CANFD`,
  `USB2CANFD_DUAL`, `LINKX4C`). Adapter must be in USB mode; Damiao protocol
  only.
* Vendored DM\_Device SDK runtime under `third_party/dm_device` (Linux/macOS/Windows
  libraries).
* `DmDeviceBus` in `motor_core` and a C++ SDK shim exposing a stable C ABI.
* Rust CLI flags `--transport dm-device`, `--dm-device-type`, `--dm-channel`.
  `usb2canfd` uses `0`; `usb2canfd-dual` uses `0`/`1`; `linkx4c` uses `0..3`.
* ABI constructor `motor_controller_new_dm_device(...)`.
* Python `Controller.from_dm_device(...)` and Python CLI `--transport dm-device`.
* Python DM\_Device runtime resolver and `motorbridge-install-dm-device` helper.
  Wheels do not embed the vendor runtime; the resolver prints the required file,
  GitHub download URL, cache/source-tree paths, and platform ABI requirements.
* WebSocket gateway `dm-device` support for Damiao, including `dm_device_type`
  and `dm_channel` target fields.

### Fixed

* Aligned Damiao `dm-device` scans in Rust CLI, Python CLI, and WebSocket
  gateway to use the stable feedback request path.
* Updated `dm-device` scan semantics: omitting `--dm-channel` / `dm_channel`
  scans every channel for the selected adapter; specifying a channel restricts
  the scan to one physical channel.
* Changed Python wheel packaging to omit `libdm_device.so/.dylib/.dll` by
  default to avoid Linux manylinux `auditwheel` failures.
* Added readback verification for WebSocket Damiao register writes.
* Softened Damiao WebSocket mode/register confirmation timeouts.
* Fixed Linux aarch64 CI builds via the matching C++ cross compiler.
* Restricted Windows DM\_Device runtime selection to x86\_64.

### Verified

* Runtime ABI requirements documented (Linux x86\_64/aarch64).
* Verified USB2CANFD\_DUAL channel 0/1 and LINKX4C channel `0..3` scan paths on
  Linux x86\_64 when the matching DM\_Device runtime is available.

## See Also

* [DM-Device Transport](/source/transports/dm-device)