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Can you confirm if this board has some sort of current sense capability. I don't seem to see any current sense op-amps in the .STEP file, the pictures I have seen online or the schematics you provided.
Without current sensing hardware an alternate firmware like SimpleFOC will be limited to voltage based torque control and will not be able to do DC current or FOC current control.
BTT did not post firmware sources on Github. So this is S42C schematic guide.
Maybe someone can find the matching firmware and make it work.
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