merge from upstream

.github/workflows/arduino.yml

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+name: AVR
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          library-manager: update
+          project-type: library
+  build:
+    name: Test compiling 
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          - arduino:avr:uno                          # arudino uno
+          - arduino:sam:arduino_due_x                # arduino due
+          - arduino:avr:mega                         # arduino mega2650
+          - arduino:avr:leonardo                     # arduino leonardo
+
+        include:
+          - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
+            sketch-names: '**.ino'
+            required-libraries: PciManager
+            sketches-exclude: align_current_sense, measure_inductance_and_resistance, 
+              teensy4_current_control_low_side, full_control_serial, angle_control, 
+              bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, 
+              stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, 
+              osc_esp32_fullcontrol, nano33IoT_velocity_control, smartstepper_control,
+              esp32_current_control_low_side, stm32_spi_alt_example, esp32_spi_alt_example, 
+              B_G431B_ESC1, odrive_example_spi, odrive_example_encoder, single_full_control_example, 
+              double_full_control_example, stm32_current_control_low_side, open_loop_velocity_6pwm,
+              efr32_hall_sensor_velocity_6pwm, efr32_open_loop_velocity_6pwm, efr32_torque_velocity_6pwm
+
+          - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
+            sketch-names: single_full_control_example.ino
+
+          - arduino-boards-fqbn: arduino:avr:leonardo # arduino leonardo - one full example
+            sketch-names: open_loop_position_example.ino
+
+          - arduino-boards-fqbn: arduino:avr:mega # arduino mega2660 - one full example
+            sketch-names: single_full_control_example.ino
+
+
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
+    steps:
+    - name: Checkout
+      uses: actions/checkout@master
+    - name: Compile all examples
+      uses: ArminJo/arduino-test-compile@master
+      with:
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          required-libraries: ${{ matrix.required-libraries }}
+          platform-url: ${{ matrix.platform-url }}
+          sketch-names: ${{ matrix.sketch-names }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}

.github/workflows/arduino_mbed.yml

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+name: MDED
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          library-manager: update
+          project-type: library
+  build:
+    name: Test compiling 
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          #- arduino:mbed:giga                        # arudino giga
+          - arduino:mbed:nanorp2040connect           # arduino nano rp2040 connect
+          - arduino:mbed:nano33ble                   # arduino nano 33 ble
+          - arduino:mbed:envie_m7                    # arduino portenta
+
+        include:
+          - arduino-boards-fqbn: arduino:mbed:nanorp2040connect 
+            sketch-names: open_loop_position_example.ino
+
+          - arduino-boards-fqbn: arduino:mbed:nano33ble 
+            sketch-names: open_loop_position_example.ino
+
+          - arduino-boards-fqbn: arduino:mbed:envie_m7 
+            sketch-names: open_loop_position_example.ino
+
+          # - arduino-boards-fqbn: arduino:mbed:giga 
+          #   sketch-names: single_full_control_example.ino
+
+
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
+    steps:
+    - name: Checkout
+      uses: actions/checkout@master
+    - name: Compile all examples
+      uses: ArminJo/arduino-test-compile@master
+      with:
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          required-libraries: ${{ matrix.required-libraries }}
+          platform-url: ${{ matrix.platform-url }}
+          sketch-names: ${{ matrix.sketch-names }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}

.github/workflows/esp32.yml

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+name: ESP32
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          library-manager: update
+          project-type: library
+  build:
+    name: Test compiling 
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          - esp32:esp32:esp32doit-devkit-v1          # esp32
+          - esp32:esp32:esp32s2                      # esp32s2
+          - esp32:esp32:esp32s3                      # esp32s3
+          - esp32:esp32:esp32c3                      # esp32c3
+
+        include:
+
+          - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            sketch-names: bldc_driver_3pwm_standalone.ino,stepper_driver_2pwm_standalone.ino,stepper_driver_4pwm_standalone.ino
+
+          - arduino-boards-fqbn: esp32:esp32:esp32s3 # esp32s3
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino
+
+          - arduino-boards-fqbn: esp32:esp32:esp32c3 # esp32c3
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            sketch-names: esp32_position_control.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone.ino
+
+          - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino
+
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
+    steps:
+    - name: Checkout
+      uses: actions/checkout@master
+    - name: Compile all examples
+      uses: ArminJo/arduino-test-compile@master
+      with:
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          required-libraries: ${{ matrix.required-libraries }}
+          platform-url: ${{ matrix.platform-url }}
+          sketch-names: ${{ matrix.sketch-names }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}

.github/workflows/rpi.yml

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+name: RP2040
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          library-manager: update
+          project-type: library
+  build:
+    name: Test compiling 
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          - arduino:mbed_rp2040:pico                 # rpi pico
+
+        include:
+
+          - arduino-boards-fqbn: arduino:mbed_rp2040:pico # raspberry pi pico - one example
+            sketch-names: open_loop_position_example.ino            
+
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
+    steps:
+    - name: Checkout
+      uses: actions/checkout@master
+    - name: Compile all examples
+      uses: ArminJo/arduino-test-compile@master
+      with:
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          required-libraries: ${{ matrix.required-libraries }}
+          platform-url: ${{ matrix.platform-url }}
+          sketch-names: ${{ matrix.sketch-names }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}

.github/workflows/samd.yml

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+name: SAMD
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          library-manager: update
+          project-type: library
+  build:
+    name: Test compiling 
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          - arduino:samd:nano_33_iot                 # samd21
+          - adafruit:samd:adafruit_metro_m4          # samd51
+
+        include:
+
+          - arduino-boards-fqbn: arduino:samd:nano_33_iot  # samd21 
+            sketch-names: nano33IoT_velocity_control.ino, smartstepper_control.ino
+
+          - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4 # samd51 - one full example
+            platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
+            sketch-names: single_full_control_example.ino
+
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
+    steps:
+    - name: Checkout
+      uses: actions/checkout@master
+    - name: Compile all examples
+      uses: ArminJo/arduino-test-compile@master
+      with:
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          required-libraries: ${{ matrix.required-libraries }}
+          platform-url: ${{ matrix.platform-url }}
+          sketch-names: ${{ matrix.sketch-names }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}