Merge remote-tracking branch 'simplefoc/dev' into dev

Author: runger1101001

.github/workflows/arduino_mbed.yml

@@ -0,0 +1,51 @@
+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) }}

README.md

@@ -7,13 +7,14 @@
 [![RP2040 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml)
 [![SAMD build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml)
 [![Teensy build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml) 
+[![MBED build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino_mbed.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino_mbed.yml)
 
 ![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/arduino-foc)
 ![GitHub Release Date](https://img.shields.io/github/release-date/simplefoc/arduino-foc?color=blue)
 ![GitHub commits since tagged version](https://img.shields.io/github/commits-since/simplefoc/arduino-foc/latest/dev)
 ![GitHub commit activity (branch)](https://img.shields.io/github/commit-activity/m/simplefoc/arduino-foc/dev)
 
-[![arduino-library-badge](https://ardubadge.simplefoc.com?lib=Simple%20FOC)](https://www.ardu-badge.com/badge/Simple%20FOC.svg)
+[![arduino-library-badge](https://www.ardu-badge.com/badge/Simple%20FOC.svg)](https://www.ardu-badge.com/badge/Simple%20FOC.svg)
 [![PlatformIO Registry](https://badges.registry.platformio.org/packages/askuric/library/Simple%20FOC.svg)](https://registry.platformio.org/libraries/askuric/Simple%20FOC)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 [![status](https://joss.theoj.org/papers/4382445f249e064e9f0a7f6c1bb06b1d/status.svg)](https://joss.theoj.org/papers/4382445f249e064e9f0a7f6c1bb06b1d)
@@ -29,12 +30,29 @@ Therefore this is an attempt to:
    - For official driver boards see [<span class="simple">Simple<span class="foc">FOC</span>Boards</span>](https://docs.simplefoc.com/boards)
    - Many many more boards developed by the community members, see [<span class="simple">Simple<span class="foc">FOC</span>Community</span>](https://community.simplefoc.com/)
 
-> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.5
-> - Motor characterization code thanks to @mcells
-> - Bugfix for ESP32 C6 thanks to @kondor1622
+> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.5 
+>
+> - ESP32 bugfix 
+>   - after the low-level API changes in the Arduino-ESP32 core [PR447](https://github.com/simplefoc/Arduino-FOC/pull/447)
+>   - Pin is not configured [PR458](https://github.com/simplefoc/Arduino-FOC/pull/458)
+>   - C6 MCPWM bugfix [PR440](https://github.com/simplefoc/Arduino-FOC/pull/440)
+> - New fuctionality
+>   - HybridStepperMotor added to the main library [PR457](https://github.com/simplefoc/Arduino-FOC/pull/457) - [see in docs](https://docs.simplefoc.com/steppermotor)
+>   - Motor characterisation (phase resistance and inductance) [PR436](https://github.com/simplefoc/Arduino-FOC/pull/436) - [see in docs](https://docs.simplefoc.com/bldcmotor#how-can-i-measure-the-phase-resistance-and-inductance)
+> - SAMD21 support for low-side current sensing [PR479](https://github.com/simplefoc/Arduino-FOC/pull/479)
+> - RP2350 support [PR435](https://github.com/simplefoc/Arduino-FOC/pull/435) [PR468](https://github.com/simplefoc/Arduino-FOC/pull/468)
+> - STM32
+>   - New driver code [PR442](https://github.com/simplefoc/Arduino-FOC/pull/442)
+>   - Low-side current sensing support for H7 family [PR460](https://github.com/simplefoc/Arduino-FOC/pull/460)
+> - Docs
+>   - Hybrid stepper motor example [see in docs](https://docs.simplefoc.com/stepper_control_shield)
+>   - Sensorless FOC example [see in docs](https://docs.simplefoc.com/sensorless_foc_nucleo_example)
+>   - A short guide to synchronous loop - [see in docs](https://docs.simplefoc.com/real_time_loop)
 > - See the complete list of bugfixes and new features of v2.3.5 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/12) 
 
 
+
+
 ## Arduino *SimpleFOClibrary* v2.3.5
 
 <p align="">

src/BLDCMotor.cpp

@@ -93,10 +93,13 @@ int BLDCMotor::init() {
   P_angle.limit = velocity_limit;
 
   // if using open loop control, set a CW as the default direction if not already set
-  if ((controller==MotionControlType::angle_openloop
-     ||controller==MotionControlType::velocity_openloop)
-     && (sensor_direction == Direction::UNKNOWN)) {
-      sensor_direction = Direction::CW;
+  // only if no sensor is used
+  if(!sensor){
+    if ((controller==MotionControlType::angle_openloop
+      ||controller==MotionControlType::velocity_openloop)
+      && (sensor_direction == Direction::UNKNOWN)) {
+        sensor_direction = Direction::CW;
+    }
   }
 
   _delay(500);