start working on current sense

firmware/lib/currentsense/adc.c

@@ -0,0 +1,189 @@
+#include "adc.h"
+
+ADC_HandleTypeDef hadc1;
+ADC_HandleTypeDef hadc2;
+DMA_HandleTypeDef hdma_adc1;
+DMA_HandleTypeDef hdma_adc2;
+
+uint32_t HAL_RCC_ADC12_CLK_ENABLED = 0;
+
+void MX_ADC1_Init(void)
+{
+  ADC_MultiModeTypeDef multimode = {0};
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  hadc1.Instance = ADC1;
+  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV16;
+  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.GainCompensation = 0;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  hadc1.Init.LowPowerAutoWait = DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.NbrOfConversion = 1;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
+  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
+  hadc1.Init.DMAContinuousRequests = ENABLE;
+  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
+  hadc1.Init.OversamplingMode = DISABLE;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    SIMPLEFOC_DEBUG("HAL ADC1 Init fail.");
+  }
+
+  multimode.Mode = ADC_MODE_INDEPENDENT;
+  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
+  {
+    SIMPLEFOC_DEBUG("HAL ADC1 Multimode configuration fail.");
+  }
+
+  sConfig.Channel = ADC_CHANNEL_VOPAMP1;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
+  sConfig.SingleDiff = ADC_SINGLE_ENDED;
+  sConfig.OffsetNumber = ADC_OFFSET_NONE;
+  sConfig.Offset = 0;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+void MX_ADC2_Init(void)
+{
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  hadc2.Instance = ADC2;
+  hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV16;
+  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc2.Init.GainCompensation = 0;
+  hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
+  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  hadc2.Init.LowPowerAutoWait = DISABLE;
+  hadc2.Init.ContinuousConvMode = DISABLE;
+  hadc2.Init.NbrOfConversion = 2;
+  hadc2.Init.DiscontinuousConvMode = DISABLE;
+  hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
+  hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
+  hadc2.Init.DMAContinuousRequests = ENABLE;
+  hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
+  hadc2.Init.OversamplingMode = DISABLE;
+  if (HAL_ADC_Init(&hadc2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfig.Channel = ADC_CHANNEL_VOPAMP2;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
+  sConfig.SingleDiff = ADC_SINGLE_ENDED;
+  sConfig.OffsetNumber = ADC_OFFSET_NONE;
+  sConfig.Offset = 0;
+  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfig.Channel = ADC_CHANNEL_VOPAMP3_ADC2;
+  sConfig.Rank = ADC_REGULAR_RANK_2;
+  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
+{
+
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+  if(adcHandle->Instance==ADC1)
+  {
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
+    PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    HAL_RCC_ADC12_CLK_ENABLED++;
+    if(HAL_RCC_ADC12_CLK_ENABLED==1){
+      __HAL_RCC_ADC12_CLK_ENABLE();
+    }
+
+    /* ADC1 DMA Init */
+    /* ADC1 Init */
+    hdma_adc1.Instance = DMA1_Channel1;
+    hdma_adc1.Init.Request = DMA_REQUEST_ADC1;
+    hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_adc1.Init.Mode = DMA_NORMAL;
+    hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
+  }
+  else if(adcHandle->Instance==ADC2)
+  {
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
+    PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    HAL_RCC_ADC12_CLK_ENABLED++;
+    if(HAL_RCC_ADC12_CLK_ENABLED==1){
+      __HAL_RCC_ADC12_CLK_ENABLE();
+    }
+
+    /* ADC2 DMA Init */
+    /* ADC2 Init */
+    hdma_adc2.Instance = DMA1_Channel2;
+    hdma_adc2.Init.Request = DMA_REQUEST_ADC2;
+    hdma_adc2.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_adc2.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_adc2.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_adc2.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_adc2.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_adc2.Init.Mode = DMA_CIRCULAR;
+    hdma_adc2.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_adc2) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc2);
+  }
+}
+
+void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
+{
+
+  if(adcHandle->Instance==ADC1)
+  {
+    HAL_RCC_ADC12_CLK_ENABLED--;
+    if(HAL_RCC_ADC12_CLK_ENABLED==0){
+      __HAL_RCC_ADC12_CLK_DISABLE();
+    }
+
+    HAL_DMA_DeInit(adcHandle->DMA_Handle);
+  }
+  else if(adcHandle->Instance==ADC2)
+  {
+    HAL_RCC_ADC12_CLK_ENABLED--;
+    if(HAL_RCC_ADC12_CLK_ENABLED==0){
+      __HAL_RCC_ADC12_CLK_DISABLE();
+    }
+
+    HAL_DMA_DeInit(adcHandle->DMA_Handle);
+  }
+}

firmware/lib/currentsense/adc.h

@@ -0,0 +1,25 @@
+#ifndef __ADC_H__
+#define __ADC_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_adc.h"
+
+extern ADC_HandleTypeDef hadc1;
+extern ADC_HandleTypeDef hadc2;
+extern DMA_HandleTypeDef hdma_adc1;
+extern DMA_HandleTypeDef hdma_adc2;
+
+void MX_ADC1_Init(void);
+void MX_ADC2_Init(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 
+

firmware/lib/currentsense/dma.c

@@ -0,0 +1,26 @@
+#include "dma.h"
+
+void MX_DMA_Init(void)
+{
+  __HAL_RCC_DMAMUX1_CLK_ENABLE();
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
+
+  HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
+
+}
+
+extern "C" {
+void DMA1_Channel1_IRQHandler(void)
+{
+  HAL_DMA_IRQHandler(&hdma_adc1);
+}
+
+void DMA1_Channel2_IRQHandler(void)
+{
+  HAL_DMA_IRQHandler(&hdma_adc2);
+}
+}

firmware/lib/currentsense/dma.h

@@ -0,0 +1,20 @@
+#ifndef __DMA_H__
+#define __DMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_dma.h"
+
+void MX_DMA_Init(void);
+void DMA1_Channel1_IRQHandler(void);
+void DMA2_Channel2_IRQHandler(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 
+

firmware/lib/currentsense/opamp.c

@@ -0,0 +1,77 @@
+#include "opamp.h"
+
+OPAMP_HandleTypeDef hopamp1;
+OPAMP_HandleTypeDef hopamp2;
+OPAMP_HandleTypeDef hopamp3;
+
+void opamp_init(OPAMP_HandleTypeDef *hopamp, OPAMP_TypeDef *opamp)
+{
+  hopamp1.Instance = opamp;
+  hopamp1.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
+  hopamp1.Init.Mode = OPAMP_PGA_MODE;
+  hopamp1.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO1;
+  hopamp1.Init.InternalOutput = ENABLE;
+  hopamp1.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
+  hopamp1.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_NO;
+  hopamp1.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15; // Adjust this to change the gains of the opamp.
+  hopamp1.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
+  if (HAL_OPAMP_Init(&hopamp) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+void configureOPAMPs(void)
+{
+  opamp_init(&hopamp1, OPAMP1); // PA3
+  opamp_init(&hopamp2, OPAMP2); // PB0
+  opamp_init(&hopamp3, OPAMP3); // PA1
+}
+
+void HAL_OPAMP_MspInit(OPAMP_HandleTypeDef* opampHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(opampHandle->Instance==OPAMP1)
+  {
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    GPIO_InitStruct.Pin = GPIO_PIN_3;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  }
+  else if(opampHandle->Instance==OPAMP2)
+  {
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    GPIO_InitStruct.Pin = GPIO_PIN_0;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  }
+  else if(opampHandle->Instance==OPAMP3)
+  {
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  }
+}
+
+void HAL_OPAMP_MspDeInit(OPAMP_HandleTypeDef* opampHandle)
+{
+
+  if(opampHandle->Instance==OPAMP1)
+  {
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_3);
+  }
+  else if(opampHandle->Instance==OPAMP2)
+  {
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0);
+  }
+  else if(opampHandle->Instance==OPAMP3)
+  {
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1);
+  }
+}
+

firmware/lib/currentsense/opamp.h

@@ -0,0 +1,22 @@
+#ifndef __OPAMP_H__
+#define __OPAMP_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_opamp.h"
+
+extern OPAMP_HandleTypeDef hopamp1;
+extern OPAMP_HandleTypeDef hopamp2;
+extern OPAMP_HandleTypeDef hopamp3;
+
+void configureOPAMP(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+

firmware/lib/currentsense/utils.c

@@ -0,0 +1,79 @@
+#include "adc.h"
+#include "opamp.h"
+#include "dma.h"
+#include "../stm32_mcu.h"
+#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
+#include "communication/SimpleFOCDebug.h"
+
+volatile uint16_t adc1Result = {0};
+volatile uint16_t adc2Result[2] = {0};
+
+float adcSens = 3.3f * 1.440f / 4096.0f;
+
+float _readVoltageInline(const uint8_t pin, const void *cs_params)
+{
+    switch (pin)
+    {
+    case PA3:
+        return adc1Result * adcSens;
+        break;
+
+    case PB0:
+        return adc2Result[0] * adcSens;
+        break;
+
+    case PA1:
+        return adc2Result[1] * adcSens;
+        break;
+
+    default:
+        return 0.0f;
+        break;
+    }
+}
+
+void *_configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC)
+{
+    _UNUSED(driver_params);
+
+    HAL_Init();
+    MX_GPIO_Init();
+    MX_DMA_Init();
+    MX_ADC1_Init(&hadc1);
+    MX_ADC2_Init(&hadc2);
+    configureOPAMPs();
+
+    MX_DMA1_Init(&hadc1, &hdma_adc1, DMA1_Channel1, DMA_REQUEST_ADC1);
+    MX_DMA1_Init(&hadc2, &hdma_adc2, DMA1_Channel2, DMA_REQUEST_ADC2);
+
+    if (HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc1Result, 1) != HAL_OK)
+    {
+        SIMPLEFOC_DEBUG("DMA read init failed");
+    }
+    if (HAL_ADC_Start_DMA(&hadc2, (uint32_t *)adc2Result, 2) != HAL_OK)
+    {
+        SIMPLEFOC_DEBUG("DMA read init failed");
+    }
+
+    HAL_OPAMP_Start(&hopamp1);
+    HAL_OPAMP_Start(&hopamp2);
+    HAL_OPAMP_Start(&hopamp3);
+
+    Stm32CurrentSenseParams *params = new Stm32CurrentSenseParams{
+        .pins = {pinA, pinB, pinC},
+        .adc_voltage_conv = (_ADC_VOLTAGE) / (_ADC_RESOLUTION),
+        .timer_handle = (HardwareTimer *)(HardwareTimer_Handle[get_timer_index(TIM3)]->__this)};
+
+    return params;
+}
+
+void *_configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC)
+{
+    _UNUSED(driver_params);
+    _UNUSED(pinA);
+    _UNUSED(pinB);
+    _UNUSED(pinC);
+
+    SIMPLEFOC_DEBUG("Lemon-Pepper does not use lowside sensing. Use inline current sense instead.");
+    return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
+}

firmware/src/main.cpp

@@ -36,14 +36,23 @@ extern uint8_t RxData[8];
 // simpleFOC things
 #define POLEPAIRS 50
 #define RPHASE 3
-#define MOTORKV 200
+#define MOTORKV 40
-#define ENC_PPR 0xFFFD // 65533 -> 65534 ppr (65535 cause overflow on 16 bit timer)
+#define ENC_PPR 16383 // max 16384
 
-SPIClass spi1(ENC_COPI, ENC_CIPO, ENC_SCK);
+/**
+ * SPI clockdiv of 16 gives ~10.5MHz clock. May still be stable with lower divisor.
+ * The HW encoder is configured using PPR, which is then *4 for CPR (full 12384 gives overflow on 16 bit timer.)
+*/
 SPISettings myMT6835SPISettings(168000000/16, MT6835_BITORDER, SPI_MODE3);
 MagneticSensorMT6835 sensor = MagneticSensorMT6835(ENC_CS, myMT6835SPISettings);
 STM32HWEncoder enc = STM32HWEncoder(ENC_PPR, ENC_A, ENC_B, ENC_Z);
 
+/**
+ * The current sense amps have a gain of 90mA/V -> over 1.5A this is 135mA so we need gain of 24 to get full-scale.
+ * Actually we are limited to powers of 2 for gain. So it should be 16. This gives sensitivity of 1440mV/A.
+ * */ 
+InlineCurrentSense currentsense = InlineCurrentSense(1440, ISENSE_U, ISENSE_V, ISENSE_W);
+
 StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
 StepperMotor motor = StepperMotor(POLEPAIRS, RPHASE, MOTORKV);
 Commander commander = Commander(SerialUSB);
@@ -53,6 +62,7 @@ uint16_t counter = 0;
 // Prototypes
 void configureFOC(void);
 void configureCAN(void);
+void calibrateEncoder(void);
 
 void setup()
 {
@@ -68,11 +78,16 @@ void setup()
 	digitalWrite(MOT_EN, HIGH);
 	digitalWrite(CAL_EN, LOW);
 
-	// configureCAN();
+	configureCAN();
-	// configureEncoder();
+	configureFOC();
-	// configureFOC();
-	sensor.init(&spi1);
 
+	if(sensor.getABZResolution() != ENC_PPR){
+		digitalWrite(LED_FAULT, HIGH);
+	}
+
+	if(false){
+		calibrateEncoder();
+	}
 	// if(boardData.canID == 0x000)
 	// {
 	// 	// If the can ID is not initialized, then we'll look for a free ID.
@@ -89,13 +104,15 @@ void setup()
 
 void loop()
 {	
-	// motor.loopFOC();
+	motor.loopFOC();
-	// motor.move();
+	motor.move();
-	// commander.run();
+	commander.run();
 
-	sensor.update();
+	if(counter == 0){
-	delay(10);
+		motor.target = -motor.target;
-	SerialUSB.printf("%#06x\n", sensor.readRawAngle21());
+	}
+
+	counter++;
 
 	#ifdef HAS_MONITOR
 	motor.monitor();
@@ -117,30 +134,34 @@ void configureFOC(void){
 
 	// Encoder initialization.
 	// Ideally configuring the sensor over SPI then use STM32HWEncoder
-	sensor.init(&spi1);
+	sensor.init();
 	sensor.setABZResolution(ENC_PPR);
 
 	enc.init();
 
 	// Driver initialization.
 	driver.pwm_frequency = 32000;
-	driver.voltage_power_supply = 9;
+	driver.voltage_power_supply = 12;
 	driver.voltage_limit = driver.voltage_power_supply/2;
 	driver.init();
 
 	// Motor PID parameters.
-	motor.PID_velocity.P = 0.2;
+	motor.PID_velocity.P = 5;
-	motor.PID_velocity.I = 3;
+	motor.PID_velocity.I = 24;
-	motor.PID_velocity.D = 0.002;
+	motor.PID_velocity.D = 0.01;
-	motor.PID_velocity.output_ramp = 100;
+	motor.PID_velocity.output_ramp = 750;
-	motor.LPF_velocity.Tf = 0.5;
+	motor.PID_velocity.limit = 10;
+	motor.LPF_velocity.Tf = 4;
+
+	motor.P_angle.P = 600;
+	motor.P_angle.limit = 10000;
 	motor.LPF_angle.Tf = 0; // try to avoid
 
 	// Motor initialization.
-	motor.voltage_sensor_align = 2;
+	// motor.voltage_sensor_align = 2;
-	motor.current_limit = 0.35;
+	motor.current_limit = 1;
-	motor.velocity_limit = 50;
+	motor.velocity_limit = 500;
-	motor.controller = MotionControlType::velocity_openloop;
+	motor.controller = MotionControlType::angle;
 	motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
 	// Monitor initialization
@@ -151,10 +172,15 @@ void configureFOC(void){
 	motor.monitor_downsample = 250;
 	#endif
 
-	motor.linkSensor(&enc);
+	motor.linkSensor(&sensor);
 	motor.linkDriver(&driver);
 
-	motor.target = 10;
+	// currentsense.linkDriver(&driver);
+	// currentsense.init();
+
+	// motor.linkCurrentSense(&currentsense);
+
+	motor.target = 3;
 
 	motor.zero_electric_angle = NOT_SET;
 	motor.sensor_direction = Direction::UNKNOWN;
@@ -183,4 +209,33 @@ void configureCAN(void){
 	FDCAN_Start(0x000);
 }
 
+void calibrateEncoder(void){
+	uint16_t calTime = micros();
+	motor.target = 35; // roughly 2000rpm -> need to write 0x1 to Reg. AUTOCAL_FREQ
+
+	MT6835Options4 currentSettings = sensor.getOptions4();
+	currentSettings.autocal_freq = 0x1;
+	sensor.setOptions4(currentSettings);
+
+	while (calTime - micros() < 2000000)
+	{
+		motor.loopFOC();
+		motor.move();
+
+		if(calTime - micros() > 2000){
+			// after motor is spinning at constant speed, enable calibration.
+			digitalWrite(CAL_EN, HIGH);
+		}
+	}
+
+	digitalWrite(CAL_EN, LOW);	
+
+	uint8_t calibrationState = sensor.getCalibrationStatus();
+
+	if(calibrationState != 0x3){
+		digitalWrite(LED_FAULT, HIGH);
+	}
+}
+
+
 

hardware/currentsense.kicad_sch

@@ -712,12 +712,12 @@
     (property "LCSC Part" "C146412" (at 125.73 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid d60ea7da-e95d-4c22-ad65-def1505307db))
+    (pin "1" (uuid d60ea7da-e95d-4c22-ad65-def1505307dd))
-    (pin "1" (uuid d60ea7da-e95d-4c22-ad65-def1505307db))
+    (pin "1" (uuid d60ea7da-e95d-4c22-ad65-def1505307dd))
     (pin "11" (uuid e8d3a338-a773-49b8-a716-d1ab18131472))
     (pin "12" (uuid 8c659ecd-ac7a-4f4a-9995-9dcc08bc6ebc))
-    (pin "2" (uuid e042e7b2-9853-43dd-9d84-0a27309e347c))
+    (pin "2" (uuid e042e7b2-9853-43dd-9d84-0a27309e347e))
-    (pin "2" (uuid e042e7b2-9853-43dd-9d84-0a27309e347c))
+    (pin "2" (uuid e042e7b2-9853-43dd-9d84-0a27309e347e))
     (pin "6" (uuid 2c89c0c4-ec2f-42de-81b6-e62c8d188968))
     (pin "10" (uuid 95506ff9-4ec7-44f1-b5f7-87c53697753f))
     (pin "5" (uuid d5cf600e-4c97-43db-818b-ea3248045403))
@@ -776,12 +776,12 @@
     (property "LCSC Part" "C146412" (at 125.73 158.75 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid f3a4724f-c83e-4357-93f5-de2b64412a0c))
+    (pin "1" (uuid f3a4724f-c83e-4357-93f5-de2b64412a0e))
-    (pin "1" (uuid f3a4724f-c83e-4357-93f5-de2b64412a0c))
+    (pin "1" (uuid f3a4724f-c83e-4357-93f5-de2b64412a0e))
     (pin "11" (uuid 381951b5-9e1d-46d9-9fdd-5023089bf34f))
     (pin "12" (uuid 4a0f3bdc-1b3f-4b5a-9fdd-ad98ac9347e8))
-    (pin "2" (uuid e061c3c4-4715-4c93-a856-a0881bf59bad))
+    (pin "2" (uuid e061c3c4-4715-4c93-a856-a0881bf59baf))
-    (pin "2" (uuid e061c3c4-4715-4c93-a856-a0881bf59bad))
+    (pin "2" (uuid e061c3c4-4715-4c93-a856-a0881bf59baf))
     (pin "6" (uuid c4b7cfc6-3923-4e8e-beab-8edfebf00db1))
     (pin "10" (uuid 2f7d9d6f-7117-437c-a6f9-ab265c02086b))
     (pin "5" (uuid 040e7810-ff19-4cb2-8089-e98a109dca74))
@@ -940,12 +940,12 @@
     (property "LCSC Part" "C146412" (at 125.73 123.19 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid ac305c0b-c868-41dc-8758-5dddab10c0b4))
+    (pin "1" (uuid ac305c0b-c868-41dc-8758-5dddab10c0b6))
-    (pin "1" (uuid ac305c0b-c868-41dc-8758-5dddab10c0b4))
+    (pin "1" (uuid ac305c0b-c868-41dc-8758-5dddab10c0b6))
     (pin "11" (uuid 5f952846-310c-40d4-879c-8b224fb60661))
     (pin "12" (uuid 9720c386-328c-42a4-97c9-f29be92781fd))
-    (pin "2" (uuid 81d43ea9-5248-42eb-8446-126bd3fa7bc5))
+    (pin "2" (uuid 81d43ea9-5248-42eb-8446-126bd3fa7bc7))
-    (pin "2" (uuid 81d43ea9-5248-42eb-8446-126bd3fa7bc5))
+    (pin "2" (uuid 81d43ea9-5248-42eb-8446-126bd3fa7bc7))
     (pin "6" (uuid 15056b44-bd76-49d3-97b1-8f239c766f7b))
     (pin "10" (uuid 43fa4b5b-1368-473b-a20c-160035bf6d2e))
     (pin "5" (uuid 9f25a38a-708f-427f-b757-bac5c276de82))

hardware/lemon-pepper.kicad_prl

@@ -1,6 +1,6 @@
 {
   "board": {
-    "active_layer": 0,
+    "active_layer": 31,
     "active_layer_preset": "",
     "auto_track_width": true,
     "hidden_netclasses": [],
@@ -21,7 +21,7 @@
       "keepouts": true,
       "lockedItems": true,
       "otherItems": true,
-      "pads": true,
+      "pads": false,
       "text": true,
       "tracks": true,
       "vias": true,
@@ -63,7 +63,7 @@
       39,
       40
     ],
-    "visible_layers": "fffffff_ffffffff",
+    "visible_layers": "fffffef_ffffffff",
     "zone_display_mode": 0
   },
   "meta": {

hardware/mcu.kicad_sch

@@ -1423,7 +1423,7 @@
     (stroke (width 0) (type default))
     (uuid 9975e605-ba9e-4e9c-9204-4cd27b0982ab)
   )
-  (wire (pts (xy 127 90.17) (xy 116.84 90.17))
+  (wire (pts (xy 128.27 90.17) (xy 116.84 90.17))
     (stroke (width 0) (type default))
     (uuid 999afe51-81af-4de8-ad1c-b54fb6e08e3d)
   )
@@ -1729,7 +1729,7 @@
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid a19c3557-9fdf-4507-a59d-8b25daa91599)
   )
-  (hierarchical_label "TIM3_CH1" (shape input) (at 73.66 115.57 180) (fields_autoplaced)
+  (hierarchical_label "TIM3_CH1" (shape input) (at 73.66 118.11 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid abba505e-e6e4-43c1-976d-628b1593ec96)
   )
@@ -1741,11 +1741,11 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid b2e2e711-bf4e-4c2c-8542-d341b63162b1)
   )
-  (hierarchical_label "TIM3_ETR" (shape input) (at 73.66 120.65 180) (fields_autoplaced)
+  (hierarchical_label "TIM3_ETR" (shape input) (at 73.66 115.57 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid b431fb32-a08c-4eb8-89f2-23b466b1f8bd)
   )
-  (hierarchical_label "TIM3_CH2" (shape input) (at 73.66 118.11 180) (fields_autoplaced)
+  (hierarchical_label "TIM3_CH2" (shape input) (at 73.66 120.65 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid d358859b-ec8e-4c3a-bf01-3644c8c83381)
   )
@@ -1753,7 +1753,7 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid f75268da-ac5b-49c4-973b-54d7afbaa945)
   )
-  (hierarchical_label "DIR" (shape input) (at 127 90.17 0) (fields_autoplaced)
+  (hierarchical_label "DIR" (shape input) (at 128.27 90.17 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid f7b629f6-08f3-41ef-8c7d-8ac6dab2ecbf)
   )

hardware/psu.kicad_sch

@@ -563,7 +563,7 @@
   (junction (at 146.05 99.06) (diameter 0) (color 0 0 0 0)
     (uuid 49e213cb-6f8a-45d7-92de-afa8696e3499)
   )
-  (junction (at 114.3 74.93) (diameter 0) (color 0 0 0 0)
+  (junction (at 113.03 74.93) (diameter 0) (color 0 0 0 0)
     (uuid 4cf2e7f3-d96e-4b8b-a1b2-7507c3bae1a1)
   )
   (junction (at 173.99 74.93) (diameter 0) (color 0 0 0 0)
@@ -606,7 +606,7 @@
     (stroke (width 0) (type default))
     (uuid 12b4d185-50bb-48aa-9540-0eb8590132d3)
   )
-  (wire (pts (xy 114.3 74.93) (xy 114.3 91.44))
+  (wire (pts (xy 113.03 74.93) (xy 113.03 91.44))
     (stroke (width 0) (type default))
     (uuid 131dcf5d-e8c2-4a1c-b30d-f263034d8952)
   )
@@ -666,11 +666,11 @@
     (stroke (width 0) (type default))
     (uuid 4f6e7932-fe2b-442c-b0a5-454b594665aa)
   )
-  (wire (pts (xy 114.3 96.52) (xy 114.3 99.06))
+  (wire (pts (xy 113.03 96.52) (xy 113.03 99.06))
     (stroke (width 0) (type default))
     (uuid 531f6e61-0184-4587-82ca-d6e30e36c203)
   )
-  (wire (pts (xy 114.3 74.93) (xy 123.19 74.93))
+  (wire (pts (xy 113.03 74.93) (xy 123.19 74.93))
     (stroke (width 0) (type default))
     (uuid 55eb581a-5f35-43df-b8a4-28768df07191)
   )
@@ -678,7 +678,7 @@
     (stroke (width 0) (type default))
     (uuid 574524db-273d-4208-b55a-0d316d625a29)
   )
-  (wire (pts (xy 114.3 99.06) (xy 123.19 99.06))
+  (wire (pts (xy 113.03 99.06) (xy 123.19 99.06))
     (stroke (width 0) (type default))
     (uuid 5c052775-0e24-45ed-96db-8d81123a8e55)
   )
@@ -738,7 +738,7 @@
     (stroke (width 0) (type default))
     (uuid bb1a91e4-65b9-4787-9076-17770805c1f8)
   )
-  (wire (pts (xy 114.3 71.12) (xy 114.3 74.93))
+  (wire (pts (xy 113.03 71.12) (xy 113.03 74.93))
     (stroke (width 0) (type default))
     (uuid d39136ce-e4bb-4d8b-8040-82d9cf6c1deb)
   )
@@ -767,8 +767,8 @@
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 3ed50f4c-bb0e-492c-888f-523b07f8b5fa)
   )
-  (text "Ra = Rb(Vout/0.9 - 1)\n3.36V (closest to 3v3 with basic parts)"
+  (text "For MAX15062AATA+T (C2846801): \nR501: 0R\nR502, R503: DNP\n\nFor MAX15062CATA+T (C1121853):\nR501: 200k\nR502, R503: 51k, 22k\n\nRa = Rb(Vout/0.9 - 1)\n3.36V (closest to 3v3 with basic parts)"
-    (at 195.58 87.63 0)
+    (at 195.58 96.52 0)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 4d457700-0f26-4182-b9c8-e87ac9edf932)
   )
@@ -777,19 +777,19 @@
     (uuid 4d9f6cb8-0fea-4ab0-96c8-d8e869b904c3)
   )
 
-  (symbol (lib_id "matei:Vmot") (at 114.3 71.12 0) (unit 1)
+  (symbol (lib_id "matei:Vmot") (at 113.03 71.12 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 0f88b24d-bacd-40e7-a4b6-69f653212543)
-    (property "Reference" "#PWR0501" (at 109.22 74.93 0)
+    (property "Reference" "#PWR0501" (at 107.95 74.93 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "Vmot" (at 114.3 66.04 0)
+    (property "Value" "Vmot" (at 113.03 66.04 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 114.3 71.12 0)
+    (property "Footprint" "" (at 113.03 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 114.3 71.12 0)
+    (property "Datasheet" "" (at 113.03 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 64b5325f-b096-44d4-b26f-140153030d35))
@@ -1204,22 +1204,22 @@
     )
   )
 
-  (symbol (lib_id "Device:C_Small") (at 114.3 93.98 0) (unit 1)
+  (symbol (lib_id "Device:C_Small") (at 113.03 93.98 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid c2e248dc-262a-4629-a710-625bec428a81)
-    (property "Reference" "C501" (at 111.76 92.7163 0)
+    (property "Reference" "C501" (at 110.49 92.7163 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "10u" (at 111.76 95.2563 0)
+    (property "Value" "10u" (at 110.49 95.2563 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 114.3 93.98 0)
+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 113.03 93.98 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 114.3 93.98 0)
+    (property "Datasheet" "~" (at 113.03 93.98 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C440198" (at 114.3 93.98 0)
+    (property "LCSC Part" "C440198" (at 113.03 93.98 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid db63675f-4a64-405c-903a-43db0df0c925))

hardware/usb.kicad_sch

@@ -296,73 +296,6 @@
         )
       )
     )
-    (symbol "Device:D" (pin_numbers hide) (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
-      (property "Reference" "D" (at 0 2.54 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Value" "D" (at 0 -2.54 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Footprint" "" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "~" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Sim.Device" "D" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Sim.Pins" "1=K 2=A" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_keywords" "diode" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_description" "Diode" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_fp_filters" "TO-???* *_Diode_* *SingleDiode* D_*" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "D_0_1"
-        (polyline
-          (pts
-            (xy -1.27 1.27)
-            (xy -1.27 -1.27)
-          )
-          (stroke (width 0.254) (type default))
-          (fill (type none))
-        )
-        (polyline
-          (pts
-            (xy 1.27 0)
-            (xy -1.27 0)
-          )
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-        (polyline
-          (pts
-            (xy 1.27 1.27)
-            (xy 1.27 -1.27)
-            (xy -1.27 0)
-            (xy 1.27 1.27)
-          )
-          (stroke (width 0.254) (type default))
-          (fill (type none))
-        )
-      )
-      (symbol "D_1_1"
-        (pin passive line (at -3.81 0 0) (length 2.54)
-          (name "K" (effects (font (size 1.27 1.27))))
-          (number "1" (effects (font (size 1.27 1.27))))
-        )
-        (pin passive line (at 3.81 0 180) (length 2.54)
-          (name "A" (effects (font (size 1.27 1.27))))
-          (number "2" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "Power_Protection:SRV05-4" (pin_names (offset 0)) (in_bom yes) (on_board yes)
       (property "Reference" "U" (at -5.08 11.43 0)
         (effects (font (size 1.27 1.27)) (justify right))
@@ -683,58 +616,6 @@
         )
       )
     )
-    (symbol "matei:Vmot" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
-      (property "Reference" "#PWR" (at -5.08 -3.81 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Value" "Vmot" (at 0 3.81 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Footprint" "" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_keywords" "global power" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_description" "Power symbol creates a global label with name \"Vmot\"" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "Vmot_0_1"
-        (polyline
-          (pts
-            (xy -0.762 1.27)
-            (xy 0 2.54)
-          )
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-        (polyline
-          (pts
-            (xy 0 0)
-            (xy 0 2.54)
-          )
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-        (polyline
-          (pts
-            (xy 0 2.54)
-            (xy 0.762 1.27)
-          )
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-      )
-      (symbol "Vmot_1_1"
-        (pin power_in line (at 0 0 90) (length 0) hide
-          (name "Vmot" (effects (font (size 1.27 1.27))))
-          (number "1" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "power:GND" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
       (property "Reference" "#PWR" (at 0 -6.35 0)
         (effects (font (size 1.27 1.27)) hide)
@@ -783,9 +664,6 @@
   (junction (at 182.88 115.57) (diameter 0) (color 0 0 0 0)
     (uuid 7f829efe-2549-4b4f-90e8-0852a4a099b6)
   )
-  (junction (at 182.88 74.93) (diameter 0) (color 0 0 0 0)
-    (uuid 88593d01-2247-428d-90be-d1303e2afca7)
-  )
   (junction (at 133.35 87.63) (diameter 0) (color 0 0 0 0)
     (uuid 9aafd402-ac62-47f2-ae12-2053d8ddf9fb)
   )
@@ -819,11 +697,6 @@
     (stroke (width 0) (type default))
     (uuid 0a14d4da-021c-4d9e-9679-6c4310bab1e5)
   )
-  (polyline (pts (xy 205.74 78.74) (xy 205.74 57.15))
-    (stroke (width 0) (type dash))
-    (uuid 113a1c01-3880-457c-b8d2-a322d976f3eb)
-  )
-
   (wire (pts (xy 129.54 87.63) (xy 133.35 87.63))
     (stroke (width 0) (type default))
     (uuid 189a4a91-86d9-4c15-b8a3-52fe3bc43652)
@@ -844,11 +717,6 @@
     (stroke (width 0) (type default))
     (uuid 27844c04-3d11-4309-84f5-54db6ebdb4f4)
   )
-  (polyline (pts (xy 187.96 57.15) (xy 187.96 78.74))
-    (stroke (width 0) (type dash))
-    (uuid 28c3b3eb-96a9-4dd7-abd6-f07914b20eb2)
-  )
-
   (wire (pts (xy 149.86 105.41) (xy 160.02 105.41))
     (stroke (width 0) (type default))
     (uuid 2f8faf9e-0eca-4d3b-b618-2d2541be2cb8)
@@ -873,18 +741,10 @@
     (stroke (width 0) (type default))
     (uuid 5ce767fc-dbe5-40e4-9e44-c72b35d2bd48)
   )
-  (wire (pts (xy 182.88 74.93) (xy 193.04 74.93))
-    (stroke (width 0) (type default))
-    (uuid 7b0a80c6-a7c8-4760-8461-97ec7cd2522b)
-  )
   (wire (pts (xy 129.54 80.01) (xy 135.89 80.01))
     (stroke (width 0) (type default))
     (uuid 7e89535e-57a8-4efc-8386-a47a38a5c010)
   )
-  (wire (pts (xy 200.66 74.93) (xy 210.82 74.93))
-    (stroke (width 0) (type default))
-    (uuid 7eaa406d-3ca7-4d29-9f00-240038370acb)
-  )
   (wire (pts (xy 160.02 102.87) (xy 160.02 105.41))
     (stroke (width 0) (type default))
     (uuid 8b4a695f-7d13-4eb2-9dcc-16c2356aaeaa)
@@ -905,19 +765,10 @@
     (stroke (width 0) (type default))
     (uuid 924ac973-8620-473f-a942-9d5f8ba6a69e)
   )
-  (polyline (pts (xy 187.96 57.15) (xy 205.74 57.15))
-    (stroke (width 0) (type dash))
-    (uuid 934f6af3-25d2-4464-865c-3380099b47e3)
-  )
-
   (wire (pts (xy 160.02 93.98) (xy 170.18 93.98))
     (stroke (width 0) (type default))
     (uuid 940e3e0b-4c9a-42fb-8b5c-a42c8008ec1c)
   )
-  (wire (pts (xy 210.82 74.93) (xy 210.82 69.85))
-    (stroke (width 0) (type default))
-    (uuid 95a2635d-92c4-4fc9-8f40-af48ec2bb2e5)
-  )
   (wire (pts (xy 160.02 93.98) (xy 160.02 97.79))
     (stroke (width 0) (type default))
     (uuid 9f0edadd-0571-4b2e-b4a0-84447677e15c)
@@ -942,11 +793,6 @@
     (stroke (width 0) (type default))
     (uuid bdc95b9b-cec6-4f4f-a442-91b4b1fcb098)
   )
-  (polyline (pts (xy 187.96 78.74) (xy 205.74 78.74))
-    (stroke (width 0) (type dash))
-    (uuid c6ecf75e-e0e5-47af-b010-cc57251b582b)
-  )
-
   (wire (pts (xy 129.54 82.55) (xy 135.89 82.55))
     (stroke (width 0) (type default))
     (uuid d5ebe916-192c-4adf-9cd5-109115062f48)
@@ -980,11 +826,6 @@
     (uuid f955368a-83b4-45d0-b05e-385531054e24)
   )
 
-  (text "not sure if\ngood idea" (at 191.77 63.5 0)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid 094e3f22-7dfb-4ec5-9d75-4dad2b796bfb)
-  )
-
   (label "USB_5V" (at 151.13 74.93 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 3309461f-9ec9-4f09-8ce5-3188505d8775)
@@ -1061,41 +902,6 @@
     )
   )
 
-  (symbol (lib_id "Device:D") (at 196.85 74.93 180) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid 68b1a8c4-1258-4055-9cf5-0723ea413e16)
-    (property "Reference" "D201" (at 196.85 68.58 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Value" "1N4148WS" (at 196.85 71.12 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "Diode_SMD:D_SOD-323" (at 196.85 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 196.85 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Sim.Device" "D" (at 196.85 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Sim.Pins" "1=K 2=A" (at 196.85 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "LCSC Part" "C2128" (at 196.85 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid e555ab3b-eb30-4349-9c23-402619def6cc))
-    (pin "2" (uuid 1efac732-ac4b-4e69-b1bc-4ad87a05b9a8))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
-          (reference "D201") (unit 1)
-        )
-      )
-    )
-  )
-
   (symbol (lib_id "Connector:USB_C_Receptacle_USB2.0") (at 114.3 90.17 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 7dadba43-7b05-4cb5-aa6a-7b6320a6123d)
@@ -1218,31 +1024,6 @@
     )
   )
 
-  (symbol (lib_id "matei:Vmot") (at 210.82 69.85 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid b9dba828-f517-41cc-8de1-0faef402be40)
-    (property "Reference" "#PWR0202" (at 205.74 73.66 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "Vmot" (at 210.82 64.77 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "" (at 210.82 69.85 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (at 210.82 69.85 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid f1d6e431-3a02-4643-9c81-2852037ee064))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
-          (reference "#PWR0202") (unit 1)
-        )
-      )
-    )
-  )
-
   (symbol (lib_id "Device:C_Small") (at 149.86 100.33 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid cb323398-3b6f-4a42-a847-71234d3d92ba)

platformio.ini

@@ -23,7 +23,8 @@ board_build.f_cpu = 168000000
 framework = arduino
 upload_protocol = stlink
 debug_tool = stlink
-monitor_port = /dev/cu.usbmodem208A318D42531
+; monitor_port = /dev/cu.usbmodem208A318D42531
+monitor_port = /dev/cu.usbmodem208B316742531
 monitor_speed = 115200
 monitor_eol = LF
 build_flags = 
@@ -31,10 +32,12 @@ build_flags =
 	-D SIMPLEFOC_STM32_DEBUG
 	-D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC
 	-D HAL_FDCAN_MODULE_ENABLED
+	-D HAL_OPAMP_MODULE_ENABLED
 	-D FDCAN_ALT1
 	-D SN65HVD23x
 	-D ARDUINO_GENERIC_G431CBUX
 	-D PCB_REV1 ; or PCB_REV2
+	; -D HAS_MONITOR
 
 lib_deps = 
 	askuric/Simple FOC@^2.3.1