FEAT added shield 1.3.2 and a bit of teasers for new features

Author: askuric

docs/simplefoc_library/index.md

@@ -15,21 +15,31 @@ has_toc: False
 ![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)
 ![arduino-library-badge](https://www.ardu-badge.com/badge/Simple%20FOC.svg?)
 
-This Arduino library implements Field Oriented Control (FOC) algorithm for BLDC motors. FOC algorithm produces incomparably smooth operation and high degree of torque, velocity and position control.
+This Arduino library implements Field Oriented Control (FOC) algorithm for BLDC and Stepper motors. FOC algorithm produces incomparably smooth operation and high degree of torque, velocity and position control.
 The library is intended both for: 
-- Beginners searching for a simple and *user-friendly* way to learn how to control BLDC motors 
+- Beginners searching for a simple and *user-friendly* way to learn how to control BLDC and Stepper motors 
 - Advanced users ready to dig deeper into the FOC algorithm and optimize the code for their particular application/hardware.
 
+
 ## Features
-- **Arduino compatible**: Arduino library code version 
+- **Arduino compatible**: 
+   - Arduino library code
   - Arduino Library Manager integration
 - **Open-Source**: Full code and documentation available on github
 - **Easy to setup and configure**: 
-  - Easy hardware configuration ([sensors](sensors), [BLDC motors](motor_initialization))
+  - Easy hardware configuration
   - Easy [tuning the control loops](motion_control)
 - **Modular**:
-  - Supports as many [sensors ,  BLDC motors  and  driver boards](supported_hardware) as possible
-- **Plug & play**: Especially in combination with the Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
+  - Supports multiple motors:
+     - BLDC motors
+     - Stepper motors
+  - Support as many [sensors and  driver boards](supported_hardware) as possible
+  - Supports multiple [MCU architectures](microcontrollers):
+     - Arduino: UNO, MEGA, any board with ATMega328 chips
+     - STM32 boards: [Nucleo](https://www.st.com/en/evaluation-tools/stm32-nucleo-boards.html), [Bluepill](https://stm32-base.org/boards/STM32F103C8T6-Blue-Pill.html) ...
+     - ESP32
+     - Teensy boards
+- **Plug & play**: Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span> 
 
 <blockquote class="info">📢 Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> will support any BLDC motor driver which can be driven with 3 PWM signals.</blockquote>
 <blockquote class="warning">📢

docs/simplefoc_library/work_roadmap.md

@@ -13,6 +13,7 @@ For more info about the features of library releases visit the [github releases
 ## Motion Control and FOC algorithm
 - [ ] Motor control: Support for current control
 - [ ] Motor control: FOC using IMU - camera gimbal and similar applications
+- [x] **Motor control: Support for stepper motors**
 - [x] Motor control: Support for Hall sensor commutation 
 - [x] Motor control: Support for fully open-loop operation (no sensor)
 - [x] Add support for acceleration ramping
@@ -23,17 +24,19 @@ For more info about the features of library releases visit the [github releases
 - [x] Implement Space Vector Modulation method : PWM SVM
 
 ## MCU support
-- [x] Device specific code separation: Easier porting in between devices
+- [x] Hardware specific code separation : easier porting in between devices `hardware_utils.cpp/.h`
+- [x] Teensy support
 - [x] ESP32 support
-- [x] Device specific: STM32 Nucleo support
-- [x] Device specific: STM32 BLuepill support
+- [x] STM32 Nucleo support
+- [x] STM32 BLuepill support
 
 ## Driver support
 - [ ] Driver support: Implement support for MOSFET control low and high pairs
 - [x] Driver support: DRV8302 borads
 
 ## Sensor support
 - [ ] IMU as position sensor
+- [ ] Back-EMF support
 - [ ] Make support for magnetic encoder  SSI
 - [ ] Make support for magnetic encoder  PWM
 - [x] Make support for magnetic encoder  Analog

docs/simplefoc_shield/getting_started/code.md

@@ -2,7 +2,7 @@
 layout: default
 title: Writing the code
 parent: Getting Started
-description: "Arduino Simple Field Oriented Control (FOC) library ."
+description: "Writing the Arduino program for your SimpleFOCShield."
 nav_order: 3
 permalink: /foc_shield_code
 grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
@@ -97,6 +97,3 @@ motion_control >
                        - hall_sensors
 ```
 For more information about the possible <span class="simple">Simple<span class="foc">FOC</span>Shield</span> projects visit [example projects](examples)
-
-<blockquote class="info"> <p class="heading">Thank you for your patience </p> The full documentation will be available soon! <br>
-At the moment this is just a brief overview of how to start. </blockquote>

docs/simplefoc_shield/getting_started/connections.md

@@ -2,7 +2,7 @@
 layout: default
 title: Connecting the hardware
 parent: Getting Started
-description: "Arduino Simple Field Oriented Control (FOC) library ."
+description: "Connecting SimpleFOCShield with your hardware."
 nav_order: 2
 permalink: /foc_shield_connect_hardware
 grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>

docs/simplefoc_shield/getting_started/hardware_config.md

@@ -2,7 +2,7 @@
 layout: default
 title: Soldering pads
 parent: Getting Started
-description: "Arduino Simple Field Oriented Control (FOC) library ."
+description: "Configuring your SimpleFOCShield by soldering the pads."
 nav_order: 1
 permalink: /pads_soldering
 grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
@@ -18,13 +18,27 @@ Each board has a set of solder pads on the bottom side which are used for config
 - Enable / Disable pull-up resistors for encoder A,B and Index channel
 - Configure BLDC driver pinout (PWM pins A,B,C and enable pin)
 
-## Enabling pull-up resistors
+<blockquote class="info"> <p class="heading">BEWARE 📢: Conductive ink </p>
+All the Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span> boards will be initially tested and they will be shipped with initial configuration. The testing configuration will be done with use of conductive ink instead of soldering connections. Therefore once you have the board, if you wish to change configuration all you need to do is remove the ink with some wet paper wipe.
+</blockquote>
+
+## Enabling encoder/hall sensor pull-up resistors
 
 <img src="extras/Images/shield_bot_v131_pullup_enable.png" class="width30">
 
 Each board has integrated set of three 3.3KOhm pull-up resistors for encoder channels A,B and Index (or Hall sensor U, V, W). The picture above shows how solder the pads in order to enable the Pull-up resistors.
 Not all encoders need the pull-up resistors, or better said, in general, most of them don't need them.  For those of us who are looking for price optimization :slight_smile: , a lot of cheap Ebay/Aliexpress encoders will need them such as [600P ebay encoder <i class="fa fa-external-link"></i>](https://www.ebay.com/itm/360-600P-R-Photoelectric-Incremental-Rotary-Encoder-5V-24V-AB-Two-Phases-Shaft/254214673272?hash=item3b30601378:g:AZsAAOSwu~lcxosc) and similar.
 
+## Enabling I2C pull-up resistors
+
+<img src="extras/Images/shield_bot_v132_i2c_pullup_enable.png" class="width30">
+
+From the shield [<i class="fa fa-tag"></i>version 1.3.2](https://github.com/simplefoc/Arduino-SimpleFOCShield/releases) the boards come with with 4.7KOhm pull-up resistors for I2C communication pins. The picture above shows how solder the pads in order to enable the Pull-up resistors.
+Not all I2C devices (especially Magnetic sensors) need the pull-up resistors, or better said, in general, most of them don't need them, especially with Arduino UNO. But it is very common to have problems interfacing these sensors with STM32 boards such as Nucleo-64. There you will need to enable the pullups or provide them yourself externally.  
+<blockquote class="warning"><p class="heading">BEWARE: Stacking</p>
+If you are stacking the shields make and you wish to use the I2C pull-ups, make sure you enable them on one board at a time!
+</blockquote>
+
 ## Customizing pinout
 
 Pinout customization of the <span class="simple">Simple<span class="foc">FOC</span>Shield</span>  enables the board to be very flexible with using different sensors and additional arduino modules. But more importantly it enables the board to be stackable. 
@@ -41,7 +55,7 @@ Encoder A | 3, A2, A3
 Encoder B | 2, A1 
 Encoder I | 4, A0
 
-<small>*From <span class="simple">Simple<span class="foc">FOC</span>Shield</span> version <i>v1.3.1</i></small>
+<small>*From <span class="simple">Simple<span class="foc">FOC</span>Shield</span> <a href="https://github.com/simplefoc/Arduino-SimpleFOCShield/releases">version <i>v1.3.1</i></a></small>
 
 Now, there is a lot of possible pin configurations and not all of them are possible depending on the microcontroller and sensor you are using. 
 For example, Arduino UNO only has 2 external interrupt pins, and they are pin  `2` and `3`. Therefore when using the board with Arduino UNO and Encoder we will try to use pin `3` for encoder channel A and not for pwm A. 

docs/simplefoc_shield/getting_started/index.md

@@ -1,7 +1,7 @@
 ---
 layout: default
 title: Getting Started
-description: "Arduino Simple Field Oriented Control (FOC) library ."
+description: "Getting started with Arduino SimpleFOCShield"
 parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
 nav_order: 1
 permalink: /arduino_simplefoc_shield_getting_started

docs/simplefoc_shield/index.md

@@ -1,33 +1,34 @@
 ---
 layout: default
 title: Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
-description: "Arduino Simple Field Oriented Control (FOC) library ."
+description: "Arduino SimpleFOCShield board showcase."
 nav_order: 2
 permalink: /arduino_simplefoc_shield_showcase
 has_children: true
 has_toc: false
 ---
 
 
-# Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>  <small><i>v1.3.1</i></small>
+# Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>  <small><i>v1.3.2</i></small>
 
 This is an open-source low-cost Brushless DC (BLDC) motor driver board intended primarily for low-power FOC applications up to 5Amps. The board is fully compatible with the Arduino UNO and all the boards with the standard Arduino headers.
 The <span class="simple">Simple<span class="foc">FOC</span>Shield</span>, in combination with  the <span class="simple">Simple<span class="foc">FOC</span>library</span> provides *user-friendly* way to control BLDC motors both in hardware and software.    
 
 ## YouTube demonstration video
 <iframe class="youtube" src="https://www.youtube.com/embed/G5pbo0C6ujE" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
 
-## Features
+### Features
 - **Plug & play**: In combination with Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> 
 - **Low-cost**: Price of €15 - [Check the pricing](https://www.simplefoc.com/simplefoc_shield_product) 
 - **Max power 120W** - max current 5A, power-supply 12-24V
-   - Designed for Gimbal motors with the internal resistance >10 Ω. 
+   - Designed for Gimbal motors with the internal resistance >10 Ωs. 
 - **Stackable**: running 2 motors in the same time
-- **Encoder interface**: Integrated 3kΩ pullups (configurable)
+- **Encoder/Hall sensor interface**: Integrated 3.3kΩ pullups (configurable)
+- **I2C interface**: Integrated 4.7kΩ pullups (configurable)
 - **Configurable pinout**: Hardware configuration - soldering connections
 - **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
-- **Open Source**: Fully available fabrication files - [how to make it yourself](arduino_simplefoc_shield_fabrication)
-  
+- **Open Source**: Fully available fabrication files - [how to make it yourself](arduino_simplefoc_shield_fabrication), 
+
 <blockquote class="warning"> 
 <p class="heading">BEWARE</p>
 This BLDC driver board is primarily designed for gimbal motors with the internal resistance of R >10 Ω. Please make sure that your motor fits in this category before deciding to use the <span class="simple">Simple<span class="foc">FOC</span>Shield</span>.