Moteus

* Encoder registers 0x050-0x054 now report positions and velocities in terms of revolutions instead of counts
* AS5600 support now reports the full resolution instead of omitting the lower 8 bits
* External motor temperature can now be sensed and used for power limiting
* When in fixed voltage mode, `servo.bemf_feedforward` is used. This can allow gimbal control mode to operate at any speed, and AC induction motors to be operated in open loop V/Hz mode.
* Use dwarf-4 debugging symbols, so gdb will actually work

* Properly handle hall effect encoder sources that have a non-zero offset

* Fix `servo.max_power_W` to not half an implicit factor of 0.5x
* Add `servo.bemf_feedforward`, which applies a feedforward voltage in proportion to the commanded velocity and motor Kv rating
* Improve ADC initialization to be robust to new compiler optimizations

* Make motor_position.output.sign actually work
* This can be used to change the direction of rotation of the motor, but previously using it did not achieve that effect.

* Make the high-rate debug output work now that servo_stats.position means what most people think it should

* 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