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2022.03.1

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@bimac bimac released this 02 Mar 22:16
· 96 commits to master since this release
2022.03.1
f9d938d

What's Changed

  • Hardware revision 1.4 adding
    • hardware SPI communication (for TMC2130 and TMC5160 drivers)
    • powering of Teensy through barrel jack (enabling use independent of PC or Bpod)
    • detection of external motor supply voltage (VM)
    • switchable logic voltage (VIO) for driver IC
    • support for DIAG pins (TMC2100, TMC2130 and TMC5160)
  • SPI communication with TMC2130 and TMC5160 using TMCStepper library, enabling
    • setting of motor current
    • support for different chopper modes
    • detection of fault conditions (under-voltage, over-temperature, short-detection, etc ...)
    • preliminary (incomplete!) support for TMC5160's "Motion Controller Mode"
  • fully configurable IO ports
    • floating / pull-up / pull-down
    • assignment of various functions (see README)
  • predefined absolute targets with individual velocity and acceleration
  • extremely high pulse-rates thanks to luni64's amazing TeensyStep library
  • MATLAB live-view for observing velocity, acceleration and motor load
  • checksummed storage of configuration across reboots (EEPROM)
  • tracking of last-known position across reboots (using SD-card)
  • optional support for serial debugging
  • ...

Full Changelog: 2021.04.1...2022.03.1

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