Merge pull request #60 from simplefoc/dev

Release PR for 1.0.9 release

Author: runger1101001

.github/workflows/ccpp.yml

@@ -13,64 +13,116 @@ jobs:
     name: Test compile
     runs-on: ubuntu-latest
     strategy:
-      matrix:
-        arduino-boards-fqbn:
-          - arduino:avr:nano                         # arudino nano
-          - arduino:sam:arduino_due_x                # arduino due
-          - arduino:samd:nano_33_iot                 # samd21
-          - adafruit:samd:adafruit_metro_m4          # samd51
-          - esp32:esp32:esp32                        # esp32
-          - esp32:esp32:esp32s2                      # esp32s2
-          - STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8   # stm32 bluepill
-          - STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
-          - arduino:mbed_rp2040:pico                 # rpi pico          
-        include:
-          - arduino-boards-fqbn: arduino:avr:nano
-            sketches-exclude: calibrated mt6816_spi smoothing simplefocnano_torque_voltage
-            required-libraries: Simple FOC
-          - arduino-boards-fqbn: arduino:sam:arduino_due_x
-            required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
-          - arduino-boards-fqbn: arduino:samd:nano_33_iot
-            required-libraries: Simple FOC 
-            sketches-exclude: calibrated smoothing
-          - arduino-boards-fqbn: arduino:mbed_rp2040:pico
-            required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
-          - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4
-            platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
-            required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
-          # - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1
-          #   platform-url: https://dl.espressif.com/dl/package_esp32_index.json
-          #   required-libraries: Simple FOC
-          #   sketch-names: '**.ino'
-          - arduino-boards-fqbn: esp32:esp32:esp32 # esp32 
-            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
-            required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega linearhall
-          - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
-            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
-            required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
-          - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8
-            platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
-            required-libraries: Simple FOC
-            sketches-exclude: calibrated mt6816_spi smoothing simplefocnano_torque_voltage simplefocnano_atmega
-          - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE
-            platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
-            required-libraries: Simple FOC
-            sketches-exclude: smoothing simplefocnano_torque_voltage simplefocnano_atmega
-      # Do not cancel all jobs / architectures if one job fails
       fail-fast: false
+      matrix:
+        board:
+          - fqbn: arduino:avr:nano                         # arudino nano
+            platforms: |
+              - name: arduino:avr
+            sketch-paths: |
+              - examples/drivers/simplefocnano/simplefocnano_atmega
+              - examples/encoders/linearhall
+            report-name-suffix: arduino_avr_nano
+          - fqbn: arduino:sam:arduino_due_x                # arduino due
+            platforms: |
+              - name: arduino:sam
+            sketch-paths: |
+              - examples/drivers/drv8316
+              - examples/encoders/calibrated_sensor/calibration_save
+              - examples/encoders/linearhall
+              - examples/encoders/mt6816
+            report-name-suffix: arduino_sam_due
+          - fqbn: arduino:samd:nano_33_iot                 # samd21
+            platforms: |
+              - name: arduino:samd
+            sketch-paths: |
+              - examples/drivers/drv8316
+              - examples/encoders/calibrated_sensor/calibration_save
+              - examples/encoders/linearhall
+              - examples/encoders/mt6816
+            report-name-suffix: arduino_samd_nano_33_iot
+          - fqbn: adafruit:samd:adafruit_metro_m4          # samd51
+            platforms: |
+              - name: adafruit:samd
+                source-url: "https://adafruit.github.io/arduino-board-index/package_adafruit_index.json"
+            sketch-paths: |
+              - examples/drivers/drv8316
+              - examples/encoders/calibrated_sensor/calibration_save
+              - examples/encoders/linearhall
+              - examples/encoders/mt6816
+            report-name-suffix: adafruit_samd_metro_m4
+          - fqbn: esp32:esp32:esp32                        # esp32
+            platforms: |
+              - name: esp32:esp32
+                source-url: "https://espressif.github.io/arduino-esp32/package_esp32_index.json"
+            sketch-paths: |
+              - examples/drivers/drv8316
+              - examples/encoders/calibrated_sensor/calibration_save
+              - examples/encoders/mt6816
+            report-name-suffix: esp32_esp32
+          - fqbn: esp32:esp32:esp32s2                      # esp32s2
+            platforms: |
+              - name: esp32:esp32
+                source-url: "https://espressif.github.io/arduino-esp32/package_esp32_index.json"
+            sketch-paths: |
+              - examples/drivers/drv8316
+              - examples/encoders/calibrated_sensor/calibration_save
+              - examples/encoders/linearhall
+              - examples/encoders/mt6816
+            report-name-suffix: esp32_esp32s2
+          - fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8   # stm32 bluepill
+            platforms: |
+              - name: STMicroelectronics:stm32
+                source-url: "https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json"
+            sketch-paths: |
+              - examples/drivers/drv8316
+              - examples/encoders/calibrated_sensor/calibration_save
+              - examples/encoders/linearhall
+            report-name-suffix: stm32_genf1_bluepill_f103c8
+          - fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
+            platforms: |
+              - name: STMicroelectronics:stm32
+                source-url: "https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json"
+            sketch-paths: |
+              - examples/drivers/drv8316
+              - examples/encoders/calibrated_sensor
+              - examples/encoders/linearhall
+              - examples/encoders/mt6816
+            report-name-suffix: stm32_nucleo_f411re
+          - fqbn: rp2040:rp2040:rpipico                 # rpi pico
+            platforms: |
+              - name: rp2040:rp2040
+                source-url: "https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json"
+            sketch-paths: |
+              - examples/drivers/drv8316
+              - examples/encoders/calibrated_sensor/calibration_save
+              - examples/encoders/linearhall
+              - examples/encoders/mt6816
+            report-name-suffix: arduino_mbed_rp2040_pico
     steps:
     - name: Checkout
       uses: actions/checkout@master
     - name: Compile all examples
-      uses: ArminJo/arduino-test-compile@master
+      uses: arduino/compile-sketches@v1
+      with:
+        fqbn: ${{ matrix.board.fqbn }}
+        platforms: ${{ matrix.board.platforms }}
+        libraries: |
+          - name: "Arduino-FOC"
+            source-url: "https://github.com/simplefoc/Arduino-FOC.git"
+            version: dev
+          - name: "Arduino-FOC-Drivers"
+            source-path: .
+        sketch-paths:  ${{ matrix.board.sketch-paths || 'examples' }}
+        enable-deltas-report: true
+        sketches-report-path: sketches-reports
+    - name: Upload sketches reports
+      uses: actions/upload-artifact@v4
       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: ${{ matrix.sketches-exclude }}
+        name: sketches-report-${{ matrix.board.report-name-suffix }}
+        path: sketches-reports
+  report:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Report size deltas
+      uses: arduino/report-size-deltas@v1

.github/workflows/report-size-deltas.yml

@@ -0,0 +1,11 @@
+name: Report Size Deltas
+on:
+  schedule:
+    - cron: "*/5 * * * *"
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: arduino/report-size-deltas@v1
+        with:
+          sketches-reports-source: ^sketches-report-.+

README.md

@@ -10,13 +10,19 @@ The intent is to keep the core of SimpleFOC clean, and thus easy to maintain, un
 
 ## New Release
 
-v1.0.8 - Released July 2024, for Simple FOC 2.3.4 or later
+v1.0.9 - Released July 2025, for Simple FOC 2.3.5 or later
 
 
-What's changed since 1.0.7?
-- MA735 driver thanks to [@techyrobot](https://github.com/techy-robot)
-- ESP32HWEncoder driver thanks to [@mcells](https://github.com/mcells)
-- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.8+)
+What's changed since 1.0.8?
+- FluxObserverSensor for sensorless FOC thanks to [@Candas1](https://github.com/Candas1)
+- AS5600 fast mode support
+- Improvements to SmoothingSensor and LinearHall thanks to [@dekutree64](https://github.com/dekutree64)
+- Improvements to CalibratedSensor and HybridStepper thanks to [@askuric](https://github.com/askuric)
+- AS5600 driver bugfix thanks to [@zbas](https://github.com/zbas)
+- Calibrated sensor improvements thanks to [@Schnilz](https://github.com/Schnilz)
+- ESP32HWEncoder bugfix thanks to [@AndBindStyle](https://github.com/AndBondStyle)
+- STM32HWEncoder fix thanks to [@AntonEvmenenko](https://github.com/AntonEvmenenko)
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.9)
 
 
 ## What is included
@@ -116,6 +122,11 @@ Find out more information about the Arduino SimpleFOC project on the [docs websi
 
 ## Release History
 
+What's changed since 1.0.7?
+- MA735 driver thanks to [@techyrobot](https://github.com/techy-robot)
+- ESP32HWEncoder driver thanks to [@mcells](https://github.com/mcells)
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.8)
+
 What's changed since 1.0.6?
 - Improvements to LinearHall driver, thanks to dekutree
 - Fix for ESP32 compiler warning, thanks to Yannik Stradmann
@@ -126,14 +137,14 @@ What's changed since 1.0.6?
 - Refactored settings storage code
 - Refactored I2CCommander
 - New utility class for simple trapezoidal motion profiles
-- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.7+)
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.7)
 
 What's changed since 1.0.5?
 - Added STSPIN32G4 driver
 - Added STM32G4 CORDIC code, for greatly accellerated trig functions on supported MCUs
 - Added STM32FlashSettingsStorage driver, supporting STM32G4 MCUs
 - Improvements in the MT6835 sensor driver
-- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=is%3Aissue+milestone%3A1.0.6+)
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=is%3Aissue+milestone%3A1.0.6)
 
 What's changed since 1.0.4?
 - Added smoothing sensor by [@dekutree64](https://github.com/dekutree64)
@@ -143,7 +154,7 @@ What's changed since 1.0.4?
 - New Settings driver: SAMDNVMSettingsStorage
 - SimpleFOCRegisters abstraction, mapping SimpleFOC parameters to virtual "Registers"
 - Updated I2CCommander to use the new registers abstraction
-- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=is%3Aissue+milestone%3A1.0.5+)
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=is%3Aissue+milestone%3A1.0.5)
 
 What's changed since 1.0.3?
 - New Comms/Input: STM32SpeedDirCommander

examples/encoders/calibrated/calibrated.ino renamed to examples/encoders/calibrated_sensor/calibrated/calibrated.ino

@@ -1,10 +1,5 @@
 /**
- * Torque control example using voltage control loop.
- * 
- * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
- * you a way to control motor torque by setting the voltage to the motor instead hte current. 
- * 
- * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ * The example demonstrates the usage of the calibrated sensor object.
  */
 #include <SimpleFOC.h>
 #include <SimpleFOCDrivers.h>
@@ -16,6 +11,8 @@ MagneticSensorSPI sensor = MagneticSensorSPI(AS5048_SPI, PB6);
 BLDCMotor motor = BLDCMotor(11);
 BLDCDriver3PWM driver = BLDCDriver3PWM(PB4,PC7,PB10,PA9);
 // instantiate the calibrated sensor object
+// argument 1 - sensor object
+// argument 2 - number of samples in the LUT (default 200)
 CalibratedSensor sensor_calibrated = CalibratedSensor(sensor);
 
 // voltage set point variable
@@ -58,6 +55,7 @@ void setup() {
   // set voltage to run calibration
   sensor_calibrated.voltage_calibration = 6;
   // Running calibration
+  // it will ouptut the LUT and the zero electrical angle to the serial monitor !!!!
   sensor_calibrated.calibrate(motor); 
 
   //Serial.println("Calibrating Sensor Done.");

examples/encoders/calibrated_sensor/calibration_save/calibration_save.ino

@@ -0,0 +1,97 @@
+/**
+ * The example demonstrates the calibration of the magnetic sensor with the calibration procedure and saving the calibration data. 
+ * So that the calibration procedure does not have to be run every time the motor is powered up.
+ * 
+ * 1. Run this Sketch as is and wait for the calibration data to be generated and printed over Serial.
+ * 2. Then copy the output from Serial to calibrationLut, zero_electric_angle and sensor_direction
+ * 3. Change values_provided to true and run the Sketch again to see the motor skipping the calibration.
+ */
+
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "encoders/calibrated/CalibratedSensor.h"
+
+// fill this array with the calibration values outputed by the calibration procedure
+float calibrationLut[50] = {0};
+float zero_electric_angle = 0;
+Direction sensor_direction = Direction::UNKNOWN;
+
+const bool values_provided = false;
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 14);
+// Stepper motor & driver instance
+StepperMotor motor = StepperMotor(50);
+StepperDriver4PWM driver = StepperDriver4PWM(10, 9, 5, 6,8);
+// instantiate the calibrated sensor object
+// instantiate the calibrated sensor object
+// argument 1 - sensor object
+// argument 2 - number of samples in the LUT (default 200)
+// argument 3 - pointer to the LUT array (defualt nullptr)
+CalibratedSensor sensor_calibrated = CalibratedSensor(
+    sensor, sizeof(calibrationLut) / sizeof(calibrationLut[0]));
+
+// voltage set point variable
+float target_voltage = 2;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() {
+
+  sensor.init();
+  // Link motor to sensor
+  motor.linkSensor(&sensor);
+  // power supply voltage
+  driver.voltage_power_supply = 20;
+  driver.init();
+  motor.linkDriver(&driver);
+  // aligning voltage 
+  motor.voltage_sensor_align = 8;
+  motor.voltage_limit = 20;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_variables =  _MON_VEL; 
+  motor.monitor_downsample = 10; // default 10
+
+  // initialize motor
+  motor.init();
+
+  if(values_provided) {
+    motor.zero_electric_angle = zero_electric_angle;
+    motor.sensor_direction = sensor_direction;
+  } else {
+    // Running calibration
+    sensor_calibrated.calibrate(motor);
+  }
+
+  // Linking sensor to motor object
+  motor.linkSensor(&sensor_calibrated);
+
+  // calibrated init FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+  
+  Serial.println(F("Motor ready."));
+
+  Serial.println(F("Set the target voltage using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+
+  motor.loopFOC();
+  motor.move(target_voltage);
+  command.run();
+  motor.monitor();
+ 
+}

examples/encoders/smoothing/smoothing.ino

@@ -1,6 +1,9 @@
 /**
  *
- * Hall sensor velocity motion control example, modified to demonstrate usage of SmoothingSensor
+ * Hall sensor velocity motion control example, modified to demonstrate usage of SmoothingSensor. 
+ * The only changes are the declaration of the SmoothingSensor, passing it to motor.linkSensor 
+ * instead of the HallSensor instance, and the added Commander code to switch between the two.
+ *
  * Steps:
  * 1) Configure the motor and sensor
  * 2) Run the code
@@ -63,8 +66,6 @@ void setup() {
   sensor.enableInterrupts(doA, doB); //, doC);
   // software interrupts
   PciManager.registerListener(&listenerIndex);
-  // set SmoothingSensor phase correction for hall sensors
-  smooth.phase_correction = -_PI_6;
   // link the SmoothingSensor to the motor
   motor.linkSensor(&smooth);