But I think the kv sqrt2 multiply should be done in the bemf calculation on line 398. It’s confusing when you print out the kv and find the value has been changed from what you specified in the constructor, or change it on the fly when tuning and don’t know to do the multiply yourself. There’s already a division by the _RPM_TO_RADS constant there, so multiplying by another constant won’t have any performance penalty.
I’ve run SimpleFOC recently on the Arduino Nano BLE, which is a Nordic based board. Unfortunately the PlatformIO support for the nRF52 seems to be out of commission at the moment, which took me a while to figure out. But on ArduinoIDE it worked in the end.