With having basic support for Granites Simplemotion V2 protocol users have more options of motor drivers again.

While the project is best uses with our custom designed TMC4671 based driver the Granite Ioni drivers were in the past used for Simucube V1 / OSW kits and also provide good quality force feedback with high compatibility.

The drivers use RS485 instead of CAN or SPI so it has to use the less reliable uart peripheral of the STM32 with new pins but it still works perfectly fine at 1kHz single with a single axis by using the fast cycle update. The regular protocol has a high overhead and does interfere slightly so it should be avoided at the moment and is only used for the setup and getting specific data from the driver.