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DMA continous request, faster ADC IT 40KHz TIM1 (20KHz motor PWM) Better main loop, running at 20KHz with AS5048A Main loop at +40KHz.
Maximum performance with a small reserve 22KHz FOC 4Kh PID 100KHz main loop
AS5048A bug around ZERO at high speed
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Pull request awaiting AS5600 check.