firmware v1.1.2

Changes since 1.0

• Change the default gate drive strength for moteus-n1 to the values which it was qualified at. When the moteus-c1 was introduced, the moteus-n1 was accidentally set to more aggressive gate drive strength values. This could result in increased gate drive failure rates with poor phase wire soldering or input voltages above 36V.
• Improve hall effect performance
  • Reduce velocity ripple by not starting the velocity decay process until after the expected transition
  • Improve velocity estimation when hall rising and falling times are mismatched
• Fix AksIM-2 wrapping on startup
• CUI AMT21: Actually operate the RS485 bus in half-duplex mode. Previously, transmit was always asserted, which would occasionally sometimes work, but resulted in two masters on the bus at the same time.
• Improve I2C aux port robustness
  • Reset peripherals that are unresponsive
  • Enable the STM32 analog filter
  • Disable the STM32 own address matching feature
• Fix the location of the default UART port for moteus-c1 and moteus-n1. The location of the UART port by default for all controllers now matches the documentation:
  • moteus-r4: AUX2/ABS
  • moteus-n1: AUX1
  • moteus-c1: AUX2
  • moteus-x1: AUX1