update docs for 2.3.1 release

Richard Unger · Richard Unger · commit 2701ebb3f4d0 · 2023-09-21T20:01:13.000+02:00
diff --git a/docs/simplefoc_library/code/current_sense/index.md b/docs/simplefoc_library/code/current_sense/index.md
@@ -62,6 +62,9 @@ teensy | ✔️ | ❌ |  ❌
 Raspberry Pi Pico | ✔️ | ❌ |  ❌
 Portenta H7 | ✔️ | ❌ |  ❌
 nRF52 | ✔️ | ❌ |  ❌
+Renesas (UNO R4)  | ❌ | ❌ |  ❌ 
+
+Note: current sensing on Renesas MCUs will be added in a future release.
 
 ## Digging deeper
 
diff --git a/docs/simplefoc_library/code/current_sense/inline.md b/docs/simplefoc_library/code/current_sense/inline.md
@@ -32,6 +32,7 @@ SAMD51 | ✔️
 Teensy | ✔️ 
 Raspberry Pi Pico | ✔️ 
 Portenta H7 | ✔️ 
+Renesas (UNO R4) | ❌ (TBD)
 
 ## Hardware configuration
 To instantiate the inline current sensor using the <span class="simple">Simple<span class="foc">FOC</span>library</span> just create an instance of the class `InlineCurrentSense`. 
diff --git a/docs/simplefoc_library/code/current_sense/low_side.md b/docs/simplefoc_library/code/current_sense/low_side.md
@@ -39,6 +39,7 @@ SAMD51 | ❌
 Teensy |  ❌
 Raspberry Pi Pico | ❌
 Portenta H7 |  ❌
+Renesas (UNO R4) | ❌ (TBD)
 
 
 ### Important hardware considerations 
@@ -182,7 +183,7 @@ motor.linkCurrentSense(&current_sense);
 
 ### Where to place the `current_sense` configuration in your FOC code?
 
-It is very important that the the current sensing `init` function is called after the `BLDCMotor` and `BLDCDriver` init functions are called. Which will make sure that the driver is enabled when current sense calibration is taking place. Also, it is important that the current sense `init` function is called before starting the foc algorithm with the `initFOC` function.
+It is very important that the the current sensing `init` function is called after the `BLDCDriver` init function is called. This will make sure that the driver is enabled when current sense calibration is taking place. Also, it is important that the current sense `init` function is called before initializing the motor and starting the foc algorithm with the `initFOC` function.
 
 So the suggested code structure would be:
 
@@ -207,6 +208,7 @@ void setup(){
 }
 ```
 Function `initFOC()` will make sure that the `BLDCDriver` and `LowsideCurrentSense` classes are both well aligned, it is very important that the phase `A` of the current sense is exactly the phase `A` of the driver, phase `B` of the current sense exactly pahse `B` of the driver and the same for the phase `C`. To verify this, the `initFOC` will be calling the current sense's function `current_sense.driverAlign(...)`.
+
 ### Alignment with the motor phases `driverAlign(...)`
 
 The current sense and the driver alignment inside `initFOC` is done by calling the function:
diff --git a/docs/simplefoc_library/code/drivers/index.md b/docs/simplefoc_library/code/drivers/index.md
@@ -42,5 +42,6 @@ samd21/51 | ✔️ | ✔️ | ✔️ | ✔️ | ✔️
 teensy | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ 
 Raspberry Pi Pico | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ 
 Portenta H7 | ✔️ | ✔️ | ✔️ | ❌ | ✔️ 
+Renesas (UNO R4 Minima) | ✔️ | ✔️ | ✔️ | ✔️ | ✔️
 
 <sup>*</sup> For ESP32, the support for 6 PWM depends on the model of ESP32. The models that have a MCPWM peripheral support 6 PWM, the ones that do not only support the other PWM modes.
diff --git a/docs/simplefoc_library/work_roadmap.md b/docs/simplefoc_library/work_roadmap.md
@@ -49,18 +49,20 @@ For more info about the features of library releases visit the [github releases
 ## MCU support
 - [ ] ESP8266 - initial 
 - [ ] Portenta H7 - initial 
+- [ ] Renesas support - initial
 - [x] Arduino leonardo 
 - [x] Raspberry pi Pico - [PR #78](https://github.com/simplefoc/Arduino-FOC/pull/78)
 - [x] SAM - Arduino DUE
 - [x] SAMD21/51
 - [x] Teensy support
 - [x] ESP32 support
 - [x] STM32 Nucleo support
-- [x] STM32 BLuepill support
+- [x] STM32 Bluepill support
+- [x] nRF52 support
 - [x] Hardware specific code separation : easier porting in between devices `hardware_utils.cpp/.h`
 
 ## Driver support
-- [ ] Driver support: Disable the pahses in 6PWM mode
+- [x] Driver support: Disable the phases in 6PWM mode
 - [x] Driver support: Implement support for MOSFET control low and high pairs
 - [x] Driver support: DRV8302 borads
 
diff --git a/index.md b/index.md
@@ -29,36 +29,21 @@ Therefore this is an attempt to:
    - *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
 
 <blockquote class="info" markdown="1">
-   <p class="heading">NEW RELEASE 📢: <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.0 <a href="https://github.com/simplefoc/Arduino-FOC/releases/tag/v2.3.0">see release</a></p>
- - 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](https://github.com/simplefoc/Arduino-FOC/issues/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](https://github.com/simplefoc/Arduino-FOC/pull/234) [#236](https://github.com/simplefoc/Arduino-FOC/pull/236)
- - More flexible monitoring API 
-   - start, end and separator characters
-   - decimal places (settable through commander)
- - Added machine readable verbose mode in `Commander` [#233](https://github.com/simplefoc/Arduino-FOC/pull/233)
- - *Simple**FOC**WebController* - Web based user interface for SimpleFOC by [@geekuillaume](https://github.com/geekuillaume) - [webcontroller.simplefoc.com](https://webcontroller.simplefoc.com)
- - bugfix - `MagneticSensorPWM` multiple occasions - [#258](https://github.com/simplefoc/Arduino-FOC/pull/258)
- - bugfix - current sense align - added offset exchange when exchanging pins
- - bugfix - trapezoid 150 fixed
- - bugfix - 4pwm on ESP8266 [#224](https://github.com/simplefoc/Arduino-FOC/pull/224)
- - Additional `InlineCurrentSense` and `LowsideCurrentSense` constructor using milliVolts per Amp [#253](https://github.com/simplefoc/Arduino-FOC/pull/253)
- - STM32L4xx current sense support by [@Triple6](https://github.com/Triple6) (discord) [#257](https://github.com/simplefoc/Arduino-FOC/pull/257)
- - phase disable in 6pwm mode 
-   - stm32 - software and hardware 6pwm
-   - atmega328 
-   - atmega2560
- - Lag compensation using motor inductance [#246](https://github.com/simplefoc/Arduino-FOC/issues/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`
+   <p class="heading">NEW RELEASE 📢: <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.1 <a href="https://github.com/simplefoc/Arduino-FOC/releases/tag/v2.3.1">see release</a></p>
+ - 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](https://github.com/mcells))
+ - Expose I2C errors in MagneticSensorI2C (thanks to [@padok](https://github.com/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](https://github.com/simplefoc/Arduino-FOC/issues/287)
+ - Bugfix: KV initialization ([5fc3128](https://github.com/simplefoc/Arduino-FOC/commit/5fc3128d282b65c141ca486327c6235089999627))
+ - And more bugfixes - see the [complete list of 2.3.1 fixes here](https://github.com/simplefoc/Arduino-FOC/issues?q=is%3Aissue+milestone%3A2.3.1_Release)
+ - Change: simplify initFOC() API ([d57d32d](https://github.com/simplefoc/Arduino-FOC/commit/d57d32dd8715dbed4e476469bc3de0c052f1d531). [5231e5e](https://github.com/simplefoc/Arduino-FOC/commit/5231e5e1d044b0cc33ede67664b6ef2f9d0a8cdf), [10c5b87](https://github.com/simplefoc/Arduino-FOC/commit/10c5b872672cab72df16ddd738bbf09bcce95d28))
+ - Change: check for linked driver in currentsense and exit gracefully ([5ef4d9d](https://github.com/simplefoc/Arduino-FOC/commit/5ef4d9d5a92e03da0dd5af7f624243ab30f1b688))
+ - Compatibility with newest versions of Arduino framework for STM32, Renesas, ESP32, Atmel SAM, Atmel AVR, nRF52 and RP2040
 </blockquote>
 
-## Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> <i><small>v2.3.0</small></i>
+## Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> <i><small>v2.3.1</small></i>
 <iframe class="youtube"  src="https://www.youtube.com/embed/Y5kLeqTc6Zk" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
 This video demonstrates the Simple FOC library basic usage, electronic connections and shows its capabilities.
 
@@ -79,7 +64,7 @@ This video demonstrates the Simple FOC library basic usage, electronic connectio
 - **Cross-platform**:
    - Seamless code transfer from one microcontroller family to another 
    - Supports multiple [MCU architectures](microcontrollers):
-      - Arduino: UNO, MEGA, DUE, Leonardo ....
+      - Arduino: UNO, MEGA, DUE, Leonardo, Nano, UNO R4, MKR ....
       - STM32
       - ESP32
       - Teensy
