Moteus

* 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

* Re-enable PWM dead-band compensation for all control modes - this significantly improves current control on r4.8 boards
* Change the default value of `servo.velocity_threshold` to 0.0 - the modern way to achieve similar audible noise reduction is to reduce the encoder bandwidth
* Actually saturate values reported over the register interface as documented!
* Improve accuracy of power limiting
* Attempt automatically recover from CAN bus-off events due to CAN controller errors

* Support r4.11 boards
* Optionally report schemas for configuration structs, tview can use this to render drop-downs for enumerated values
* Improved cooldown behavior. When exiting position control, target 0 D and Q current while in cooldown rather than braking
* tview can now properly display arrays of structures

* Implement velocity and acceleration limited trajectories

See the two new configuration options, `servo.default_velocity_limit` and `servo.default_accel_limit`

* Support configurable PWM rates
* Implement brake mode
* Configurable action in the position timeout mode
* Do not assert if an invalid mode is commanded

* Support for AS5600 auxiliary encoders
* `servo.voltage_mode_control` for high resistance gimbal motors
* `servo.fixed_voltage_mode` for low speed, constant power, encoderless operation
* The current sense resistance is now configurable