Feat(#3): Add TMC anticogging slewratedetector#169

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manoukianv wants to merge 47 commits intoUltrawipf:developmentfrom

manoukianv:feat/tmc_anticogging_slewratedetector

Commits on Apr 29, 2026

feat: migrate to new CMIS-DSP source code
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fix: git clone submodule for cmis-dsp
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feat: add equalizer and handsoff detection
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fix: add missing source in DSP for handsup
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fix: resolve boot-up deadlocks and refactor TMC state machine to non-blocking
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feat: add anti-cogging calibration with heap memory management
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feat: implement slew rate detector and limiter for motor drivers
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fix: move the cogging data in area where th eeprom manager can safely erase data without killing programme data.
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fix: update algo to optimisation memory usage to keep max free space in stack mem
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feat: add linear interpolation on "cogging sample"
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fix: move the anticogging process in turn to synchronise the anti-cogging process with the read_pos precesus
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feat: reduce cogging detection speed. Rework security i.e. stop if emergency of voltage failed, regoup error management and changing motor step at the end. Check sample overstack, add security on b…
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feat: add security on cogging launch to not start if motor is not ready.
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fix_temp: try to solve calib issue
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fix: memory optimisation to safety launch the firmware
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feat: restaure the atomic process to have a high refresh rate to capture element in PIdAutoTuning and CoggingDetection
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fix: optimize th calibration process.
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feat: migrate cogging detection to FFT
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fix: move memory var for cogging to memory.
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feat: move to DFT.
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fix: clean init method for cogging data
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Commits on May 3, 2026

Commits on May 4, 2026

Commits on May 5, 2026

Commits on May 7, 2026