1.30
Bugfixes:
- SPI encoders didn't work in v.1.29
- TLE5012 wrong initialization

1.29
- Added "Serial-over-CAN" functionality (main firmware 2.72b0+)
- Telemetry from the driver can be requested via Serial API (main firmware 2.72b0+)
- Added a support of hardware version CAN_DRV 1.2.x
- Minor bugfixes

1.26
- Improved efficiency in a high-speed rotation mode
- Bugfix: not all combinations of motor/encoder rotation direction worked properly

1.16
- New encoder supported: Netzer VLX60 (Biss-C)

1.15
- Aksim2 encoder support (SPI & Biss-C)
- change method of PWM encoder capture (RLS Orbis PWM fixed errors in reading near zero point)
- AMT223/AMT222 encoder support
- CAN protocol update - more stable, ready to work in parallel with GPS_IMU


1.11
- bugfix: RL calibration may fail with some hardware
- bugfix: instability of current PI-loop at maximum power
- bugfix: offline encoder calibration
- bugfix: current clipping may occure in some conditions
- the RL calibration changed: user is not involved into the calibration process
- improved BEMF & voltage drop compensation algorithms
- Added extra safety checks and safety limit parameters
- Added motor R compensation over the temperature

1.07
- add a support of new encoders: Zettlex IncOder (SPI-over-RS422), iC-Haus iC-MU (SPI), TLE5012B (SPI, PWM), A1335 (SPI, I2C), AM4096 (I2C),  AS5048B (PWM), MA730 (SPI, PWM)