v2.3.5

SimpleFOClibrary v2.3.5

Main features

• ESP32 bugfix
  • after the low-level API changes in the Arduino-ESP32 core #447
  • Pin is not configured #458
  • C6 MCPWM bugfix #440
• New fuctionality
  • HybridStepperMotor added to the main library #457 - see in docs
  • Motor characterisation (phase resistance and inductance) #436 - see in docs
• SAMD21 support for low-side current sensing #479
• RP2350 support #435 #468
• STM32
  • New driver code #442
  • Low-side current sensing support for H7 family #/460
• Docs
  • Hybrid stepper motor example see in docs
  • Sensorless FOC example see in docs
  • A short guide to synchronous loop - see in docs

See the complete list of bugfixes and new features of v2.3.5 fixes and PRs

What's Changed

• Add RP2350 support by @runger1101001 in #435
• Fix for MagneticSensorI2C uses incorrect bit mask calculation #402 by @runger1101001 in #412
• Add motor characterisation by @mcells in #436
• ESP32 C6 fix & STM32 new HAL only driver by @runger1101001 in #442
• STM32 HAL-only PWM driver by @runger1101001 in #430
• Current calculation typo in comments by @askuric in #449
• Update esp32_ledc_mcu.cpp to ensure ledc_timer is initialised to a known state (ledc_timer = false) by @rob-deutsch in #447
• Merge master changes back to dev branch by @runger1101001 in #452
• Feat hybrid stepper to main + implement current sensing for it by @askuric in #457
• Feat current sense check if TRGO set for STM32 by @askuric in #456
• Fix Pin is not configured as analog channel error by @jeremiahrose in #458
• Add support for timer 8 by @jeroenzwan in #468
• use default dir only if sensor not connected by @askuric in #459
• Feat h7 current sensing by @askuric in #460
• Disable allow power down when creating MCPWM timer by @adamgerhant in #474
• Fix lowside sync lost by @askuric in #478
• Feat lowside samd21 by @askuric in #479
• esp32 ledc skips first channel index #471 by @runger1101001 in #480
• Dev to master v2.3.5 by @askuric in #481

New Contributors

• @jeremiahrose made their first contribution in #458
• @jeroenzwan made their first contribution in #468
• @adamgerhant made their first contribution in #474

Full Changelog: v2.3.4...v2.3.5

v2.3.4

SimpleFOClibrary v2.3.4

Some of the most important features

• ESP32 MCUs extended support #414
  • Transition to the arduino-esp32 version v3.x (ESP-IDF v5.x) #387
  • New support for MCPWM driver
  • New support for LEDC drivers - center-aligned PWM and 6PWM available
  • Rewritten and simplified the fast ADC driver code (adcRead) - for low-side and inline current sensing.
• Stepper motors current sensing support #421
  • Support for current sensing (low-side and inline) - see in docs
  • Support for true FOC control - foc_current torque control - see in docs
• New current sense alignment procedure #422 - see in docs
  • Support for steppers
  • Much more robust and reliable
  • More verbose and informative
• Support for HallSensors without interrupts #424 - see in docs
• Docs
  • A short guide to the units in the library - see in docs
• See the complete list of bugfixes and new features of v2.3.4 fixes and PRs

What's Changed

• fix RP2040 compile problems with earlehillpower by @runger1101001 in #397
• Merge teensy updates from master branch by @runger1101001 in #399
• move setting target to start of move() #404 by @runger1101001 in #405
• add MT6701 I2C sensor configuration by @runger1101001 in #406
• Added gain documentation to B_G431B_ESC1.ino by @rob-deutsch in #407
• 408 feature support for arduino esp32 v301 current sensing by @askuric in #414
• 390 support for the new esp32 ledc library api by @askuric in #410
• 408 feature support for arduino esp32 v301 by @askuric in #411
• Fix for #415 sin/cos integer overflow on 16-bit CPUs by @dekutree64 in #416
• Hall sensor without interrupt by @Candas1 in #424
• Feat new cs align by @askuric in #422
• Feat stepper current sensing by @askuric in #421
• Dev to master for the release v2.3.4 by @askuric in #425

New Contributors

• @rob-deutsch made their first contribution in #407

Full Changelog: v2.3.3...v2.3.4

v2.3.3

SimpleFOClibrary v2.3.3

Some of the most important features:

• STM32 MCUs
  • support for center aligned pwm (even across multiple timers and motors/drivers) #374, #388
  • support for DMA based low-side current sensing: #383,#378
  • support for F7 architecture #388,#394
• Teensy4 MCUs
  • support for low-side current sensing #392
  • support for center aligned 6pwm and 3pwm (optional) #392
• KV rating calculation fix #347
• Much more performant Park/Clarke calculation #340
• And much more - see the complete list of bugfixes and new features of v2.3.3 fixes and PRs

What's Changed

• Stm32 adc no interrupt by @Candas1 in #341
• Foc refactoring by @Candas1 in #340
• Kv rating fix by @nmscode in #347
• Make timeout configurable in MagneticSensorPWM #348 by @runger1101001 in #354
• Fix some constants, update library files for next release by @runger1101001 in #358
• Prevent double constants by @Candas1 in #359
• Add library.json to set libArchive #357 by @runger1101001 in #360
• Add currentsense.enable/disable by @runger1101001 in #365
• expose result of PP check by @runger1101001 in #368
• RP2040: respect pin nrs on boards which remap them by @runger1101001 in #369
• Fix bug in ATMega sine computation by @runger1101001 in #373
• initFOC: remove unnecessary delay by @Schnilz in #370
• [BUGFIX] Injected channel by @askuric in #371
• Feat stm32 synctimers by @askuric in #374
• Update stm32_mcu.cpp by @Candas1 in #378
• Use interrupt if no repetition counter by @Candas1 in #383
• Analogread by @Candas1 in #385
• Add missing implementation for MagneticSensorI2C::AS5600 by @ystradmann in #389
• Set STM32 timer prescaler based on timer clock frequency by @Copper280z in #388
• Feat teensy4 lowside by @askuric in #392
• Move Ualpha and Ubeta to FOCMotor by @Candas1 in #326
• Add lowside current sensing for STM32F7 microcontrollers by @Copper280z in #394
• new CI by @askuric in #396

New Contributors

• @nmscode made their first contribution in #347
• @Schnilz made their first contribution in #370
• @ystradmann made their first contribution in #389

Full Changelog: v2.3.2...v2.3.3

v2.3.2

SimpleFOClibrary v2.3.2

• Improved space vector modulation code thanks to @Candas1
• Bugfix for stepper motor initialization
• Bugfix for current sensing when only 2 phase currents available - please re-check your current sense PID tuning
• Bugfix for teensy3.2 - #321
• Added teensy3/4 compile to the github CI using platformio
• Fix compile issues with recent versions of ESP32 framework
• Add ADC calibration on STM32 MCUs thanks to @Candas1
• Bugfix for crash when using ADC2 on ESP32s - thanks to @mcells
• Bugfix for renesas PWM on UNO R4 WiFi - thanks to @facchinm
• And more bugfixes - see the complete list of 2.3.2 fixes and PRs

v2.3.1

SimpleFOClibrary v2.3.1

• Support for Arduino UNO R4 Minima (Renesas R7FA4M1 MCU - note UNO R4 WiFi is not yet supported)
• Support setting PWM polarity on ESP32 (thanks to @mcells)
• Expose I2C errors in MagneticSensorI2C (thanks to @padok)
• Improved default trig functions (sine, cosine) - faster, smaller
• Overridable trig functions - plug in your own optimized versions
• Bugfix: microseconds overflow in velocity mode #287
• Bugfix: KV initialization (5fc3128)
• And more bugfixes - see the complete list of 2.3.1 fixes here
• Change: simplify initFOC() API (d57d32d. 5231e5e, 10c5b87)
• Change: check for linked driver in currentsense and exit gracefully (5ef4d9d)
• Compatibility with newest versions of Arduino framework for STM32, Renesas, ESP32, Atmel SAM, Atmel AVR, nRF52 and RP2040

v2.3.0

SimpleFOClibrary v2.3.0

• Arduino Mega 6pwm more timers supported
• Arduino boards - frequency change support either 32kHz or 4kHz
• Arduino Uno - synched timers in 3pwm and 6pwm mode #71
• Teensy 3.x initial support for 6pwm
• Teensy 4.x initial support for 6pwm
• Example for v3.1 SimpleFOCShield
• RP2040 compatibility for earlehillpower core #234 #236
• More flexible monitoring API
  • start, end and separator characters
  • decimal places (settable through commander)
• Added machine readable verbose mode in Commander #233
• SimpleFOCWebController - Web based user interface for SimpleFOC by @geekuillaume - webcontroller.simplefoc.com
• bugfix - MagneticSensorPWM multiple occasions - #258
• bugfix - current sense align - added offset exchange when exchanging pins
• bugfix - trapezoid 150 fixed
• bugfix - 4pwm on ESP8266 #224
• Additional InlineCurrentSense and LowsideCurrentSense constructor using milliVolts per Amp #253
• STM32L4xx current sense support by @Triple6 (discord) #257
• phase disable in 6pwm mode
  • stm32 - software and hardware 6pwm
  • atmega328
  • atmega2560
• Lag compensation using motor inductance #246
  • current control through voltage torque mode enhancement
  • extended BLDCMotor and StepperMotor constructors to receive the inductance paramerer
  • can also be set using motor.phase_inductance or through Commander

v2.2.3

SimpleFOClibrary v2.2.3

• stm32 low-side current sensing
  • g4 supported
  • thoroughly tested f1/f4/g4 - #187
  • bg431b: added support for VBAT and TEMPERATURE readings #222
• bugfixing
  • leonardo
  • mega2560 #190
  • inline current sense without driver #188
  • bg431b support current sense fix #210
  • StepperDriver4PWM wrong init #182
  • open loop back-emf voltage issue #219
  • SAMD51 compile issue #217
  • ESP32-S3 compile issue #198
  • ESP32 compile issue #208, #207
  • magnetic sensor direction finding more robust #173, #164
  • StepDirListener improved timing #169, #209
  • HallSensor velocity calculation fix #192
• API changes
  • setPhaseVoltage is now public function
  • getVelocity can now be called as many times as necessary - see in docs
    • it recalculates the velocity if the time between calls is longer then min_elapsed_time - default 0.1ms
  • HallSensor velocity calculation outlier removal using max expected velocity velocity_max - see in docs
  • BG431 board can be used only with LowsideCurrentSense class! - see in docs
  • initFOC fails if current sense not initialised - see in docs
    • driver and current sense have to be well initialised for initFOC to start - see in docs
    • cs.init() and driver.init() return 1 if well initialised and 0 if failed

v2.2.2

SimpleFOClibrary v2.2.2

• GenericCurrentSense bugfix and testing
• bugfix leonardo #170
• bugfix - no index search after specifying natural direction
• Low level API restructuring #153
  • Driver API
  • Current sense API
• New debugging interface - see in docs #158
  • Static class SimpleFOCDebug
• CurrentSense API change - added method linkDriver() - see in docs
• Low-side current sensing - see in docs
  • ESP32 generic support for multiple motors
  • Added low-side current sensing support for stm32 - only one motor #6
    • f1 family
    • f4 family
    • g4 family
• New appraoch for current estimation for torque control using voltage - see in docs
  • Support for motor KV rating - back emf estimation
  • Using motor phase resistance
• KV rating and phase resistance used for open-loop current limiting as well - see in docs

v2.2.1

SimpleFOClibrary v2.2.1

• Sensor class init bugfix #121
• Voltage/current limit handling bugs #118
• Added the new motion control interface to the commander see docs
  • New target setting - possible to set the position, velocity and torque target at once
  • Separated the motion control interface from full motor callback - only motion control and torque control type, enable disable and target setting
• New MCU support see docs
  • NRF52 series mcus support by @Polyphe
  • esp32 arduino package transfer to v2.0.1+ - helpful PR#149 by samguns
  • Initial support for esp32s2 and esp32s3 - separation of the esp32 mcpwm and led implementation
• Generic sensor class - to implement a new sensor only implement one function see docs
• Motor class initialisation status tracking by @runger1101001

v2.2

SimpleFOClibrary v2.2

• Sensor floating point error bugfix (initial solution) #83, #37
• Sensor class restructuring - slight API change - docs
• Restructured the generic code and simplified adding new mcus: IMPORTANT: an additional compiler flag needed for PlatformIO see issue and PlatformIO docs
• Removed initial jump #110, #111
• Double to float transformation of the code - performance increase by @sDessens (#100), @KaSroka (#100)
• Docs webiste translated to Chinese! 🎉: Awesome work 😃 by @MINQING1101, @Deng-ge-open-source and @mingggggggg
• New MCU support
  • Support for arduino leonardo #108 - docs
  • Initial support for portenta h7 board in collaboration with Arduino - docs
  • Initial support for esp8266 - docs
• Low side current sensing initial support - docs
  • Initial support for stm32 B_G431B_ESC1 by @sDessens: PR #73
  • Initial support for samd21 by @maxlem: PR #79
  • Initial support for esp32 by @byDagor