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2022-06-28
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@jpieper jpieper released this 28 Jun 12:46
· 402 commits to main since this release
0.1-20220628
4c0e1c4
  • Implement a new flexible I/O subsystem
    • New encoders are supported, including hall effects, ABI, sine/cosine, iC-PZ, and AksIM-2
    • More than one encoder can be connected
    • Configurable control over which encoders are used for commutation, output control, and output reducer disambiguation
    • Compensation tables for encoder eccentricity and cogging torque are available along with draft calibration tools
    • ENC or ABS connector pins not used for encoders can be used for digital inputs or outputs, and some for analog inputs
  • Upgrade the ARM gcc to 2022.02
  • Support a theta rate in voltage FOC mode
  • Position mode has a new optional flag that can cause it to run in fixed voltage mode for the duration of the command with an arbitrary voltage
  • When responding to a CAN frame, attempt to match the BRS and FDCAN flags of the query. By not specifying BRS, the client can ensure that only 1Mbps operation is used with no persistent configuration required.
  • kd_scale can now be set in zero velocity mode
  • The maximum control frequency has been decreased from 40kHz to 30kHz
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