Welcome Kai ! He has joined the project as a contributor, and we are working on the third alpha  firmware release, with some improvements :

• support of encoders I2C et PWM
• self calibration of motor / encoder
• faster FOC update (up to 16KHz)
• faster Position / Velocity / Torque PID loop
• 1Mbps CAN-FD user interface for control and feedback (position, torque, temperature, voltage, error)
• Fail-safe (brake when encoder error, over-heating, or under/over-voltage)
• new operating mode "Position control with torque limit and velocity & acceleration profile".

We have tested the current firmware with two different hardware configurations :

• A 40xx brushless motor and an absolute position sensor AS5600 with a I2C interface (1Mbps)
• A 50xx brushless motor and an absolute position sensor AS5048a with a PWM interface (1Khz)

Here is the pinout of the ESC, with both I2C and PWM interface for encoders :

There are so many things to add and to improve. 

Bye,

Patrick.