v4.87

Added support for SIN/COS position sensors
Added option to reverse direction signals
No longer using velocity tracker in AB(Z) mode
Fixed "turns"

Bugfix version supersedes 4.71

Corrected calculation of rotor frequency in speed estimator
Corrected calculation of rotor speed in resolver mode
Improved sampling SNR in resolver mode
angle displayed in ° (0-360) instead of digits (0-65536)
Corrected regen calculation for synchronous motors

First official version with current limiter

Added AC current limiter in software
Using tracking loop to calculate motor velocity in Resolver and quadrature modes
Added parameter encki for finetuning speed estimation
Added parameter respolepairs for resolvers with different pole count to motor
Fixed resolver mode ADC setup
Counting number of rotor turns since startup
Added (temporary) parameters for speed estimator
Added power limits: maximum DC current in and out, throttle limiter
Added button mode for direction selection
Added error message on inverter over temperature
Added CPU load display
Saving CAN map using uids instead of parameter index -> CAN map survives firmware upgrade
Using both CAN receive FIFOs

First unified version

v4.5

Formatting and spelling corrections