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

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manoukianv wants to merge 27 commits intoUltrawipf:developmentfrom

manoukianv:feat/tmc_anticogging_slewratedetector

Commits on Apr 29, 2026

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

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

Feat(#3): Add TMC anticogging slewratedetector#169
manoukianv wants to merge 27 commits intoUltrawipf:developmentfrom
manoukianv:feat/tmc_anticogging_slewratedetector

Commits on Apr 25, 2026

docs: pure code cleanup, typing and Doxygen documentation

feat: add torque slew rate limiter and driver calibration

feat: refactor torque calculation into a 7-step pipeline

feat: add ARM CMSIS-DSP library infrastructure and optimized filters

feat: add FFB reconstruction filter and DSP optimizations

feat: final TMC optimizations, project configs and build tools

Commits on Apr 29, 2026

feat: migrate to new CMIS-DSP source code

fix: git clone submodule for cmis-dsp

feat: add equalizer and handsoff detection

fix: add missing source in DSP for handsup

fix: resolve boot-up deadlocks and refactor TMC state machine to non-blocking

feat: add anti-cogging calibration with heap memory management

feat: implement slew rate detector and limiter for motor drivers

fix: move the cogging data in area where th eeprom manager can safely erase data without killing programme data.

fix: update algo to optimisation memory usage to keep max free space in stack mem

feat: add linear interpolation on "cogging sample"

fix: move the anticogging process in turn to synchronise the anti-cogging process with the read_pos precesus

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…

feat: add security on cogging launch to not start if motor is not ready.

fix_temp: try to solve calib issue

fix: memory optimisation to safety launch the firmware

feat: restaure the atomic process to have a high refresh rate to capture element in PIdAutoTuning and CoggingDetection

fix: optimize th calibration process.

feat: migrate cogging detection to FFT

fix: move memory var for cogging to memory.

feat: move to DFT.

fix: clean init method for cogging data