update

.github/workflows/ccpp.yml

@@ -4,11 +4,62 @@ jobs:
   build:
     name: Test compiling 
     runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          - arduino:avr:uno                          # arudino uno
+          - arduino:sam:arduino_due_x                # arduino due
+          - arduino:samd:nano_33_iot                 # samd21
+          - adafruit:samd:adafruit_metro_m4          # samd51
+          - esp32:esp32:esp32doit-devkit-v1          # esm32
+          - STM32:stm32:GenF1:pnum=BLUEPILL_F103C8   # stm32 bluepill
+          - STM32:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
+          - arduino:mbed_rp2040:pico                 # rpi pico
+
+        include:
+          - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
+            sketch-names: '**.ino'
+            required-libraries: PciManager
+            sketches-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol, nano33IoT_velocity_control, smartstepper_control,esp32_current_control_low_side, stm32_spi_alt_example, esp32_spi_alt_example, B_G431B_ESC1_position_control
+
+          - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
+            sketch-names: single_full_control_example.ino
+
+          - arduino-boards-fqbn: arduino:samd:nano_33_iot  # samd21 
+            sketch-names: nano33IoT_velocity_control.ino, smartstepper_control.ino
+
+          - arduino-boards-fqbn: arduino:mbed_rp2040:pico # raspberry pi pico - one example
+            sketch-names: open_loop_position_example.ino
+
+          - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4 # samd51 - one full example
+            platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
+            sketch-names: single_full_control_example.ino
+
+          - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
+            platform-url: https://dl.espressif.com/dl/package_esp32_index.json
+            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino
+
+          - arduino-boards-fqbn: STM32:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples
+            platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
+            sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, stm32_spi_alt_example.ino
+
+          - arduino-boards-fqbn: STM32:stm32:Nucleo_64:pnum=NUCLEO_F411RE # one full example
+            platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
+            sketch-names: single_full_control_example.ino, stm32_spi_alt_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@v1.0.0
+      uses: ArminJo/arduino-test-compile@master
       with:
-        libraries:  PciManager 
-        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol, nano33IoT_velocity_control
+          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 }}

README.md

@@ -16,24 +16,32 @@ Therefore this is an attempt to:
    - ***NEW*** 📢: *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
-##### <b> Release notes be:</b> <i>Simple<b>FOC</b>library</i> v2.1.1
-> - bugfixes commander
-> - bugfix `voltage_limit` when provided `phase_resistance`
-> - bugfix `hall_sensor` examples 
-> - added examples fot the PowerShield
-> - added initial support for `MagneticSensorPWM`
-> - SAMD51 support 
-> - **initial support for Raspberry pi Pico**
-> - added examples to find the raw max and min of the analog and pwm sensor
-> - extension of the `Commander` interface
->   - added pwm centering option `WC`
->   - added pwm modulation cmd `WT`
-> - improved esp32 implementation to avoid the need for mcpwm.h changes by @tschundler 
-> - issue #62: motor.shaft_angle setting in the motor.initFOC() 
-> - issue #76: esp32 division by zero  
-> - issue #46: commander end of line character - by @maxlem
-> - [community fix](https://community.simplefoc.com/t/as5600-dead-spot-around-0/208) AS5600 register value
-> - renamed `Pullup::EXTERN` and `Pullup::INTERN` to `Pullup::USE_EXTERN` and `Pullup::USE_INTERN`
+
+<blockquote class="info">
+   <p class="heading">NEW RELEASE 📢: <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2 - <a href="https://github.com/simplefoc/Arduino-FOC/releases/tag/v2.2">see release</a></p>
+   <ul>
+   <li>Sensor floating point error bugfix (initial solution) #83, #37</li>
+   <li>Sensor class restructuring - <b>slight API change</b> - <a href="https://docs.simplefoc.com/sensors">docs</a></li>
+   <li>Restructured the generic code and simplified adding new mcus: <b>IMPORTANT: an additional compiler flag needed for PlatformIO</b> see <a href="https://github.com/simplefoc/Arduino-FOC/issues/99">issue</a> and <a href="https://docs.simplefoc.com/library_platformio">PlatformIO docs</a></li>
+   <li>Removed initial jump #110, #111</li>
+   <li>Double to float transformation of the code - performance increase by <a href="https://github.com/sDessens">@sDessens</a> (#100), <a href="https://github.com/KaSroka">@KaSroka</a> (#100)  </li>
+   <li> <a href="https://docs.simplefoc.com/docs_chinese"><b>Docs webiste translated to Chinese!</b></a> 🎉: Awesome work 😃 by <a href="https://github.com/MINQING1101">@MINQING1101</a>, <a href="https://github.com/Deng-ge-open-source">@Deng-ge-open-source</a> and <a href="https://github.com/mingggggggg">@mingggggggg</a></li>
+   <li>New MCU support - <a href="https://docs.simplefoc.com/microcontrollers">docs</a>
+      <ul>
+         <li>Support for arduino leonardo #108 </li>
+         <li>Initial support for portenta h7 board in collaboration with <img src="https://docs.simplefoc.com/extras/Images/arduino.png" height="15px"><a href="https://www.arduino.cc/">Arduino</a></li>
+         <li>Initial support for esp8266</li>
+      </ul>
+   </li>
+   <li>Low side current sensing initial support - <a href="https://docs.simplefoc.com/current_sense">docs</a>
+      <ul>
+         <li>Initial support for stm32 B_G431B_ESC1 by <a href="https://github.com/sDessens">@sDessens</a>: PR #73</li>
+         <li>Initial support for samd21 by <a href="https://github.com/maxlem">@maxlem</a>: PR #79</li>
+         <li>Initial support for esp32 by <a href="https://github.com/maxlem">@byDagor</a></li>
+      </ul> 
+   </li>
+   </ul>
+</blockquote>
 
 ## Arduino *SimpleFOClibrary* v2.1
 

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

@@ -0,0 +1,112 @@
+/** 
+ * B-G431B-ESC1 position motion control example with encoder
+ *
+ */
+#include <SimpleFOC.h>
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver6PWM driver = BLDCDriver6PWM(PHASE_UH, PHASE_UL, PHASE_VH, PHASE_VL, PHASE_WH, PHASE_WL);
+LowsideCurrentSense currentSense = LowsideCurrentSense(0.003, -64.0/7.0, OP1_OUT, OP2_OUT, OP3_OUT);
+
+
+// encoder instance
+Encoder encoder = Encoder(HALL2, HALL3, 2048, HALL1);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+void doIndex(){encoder.handleIndex();}
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB); 
+
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // current sensing
+  currentSense.init();
+  // no need for aligning
+  currentSense.skip_align = true;
+  motor.linkCurrentSense(&currentSense);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration 
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 4;
+
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+// angle set point variable
+float target_angle = 0;
+
+void loop() {
+  // main FOC algorithm function
+
+  // Motion control function
+  motor.move(target_angle);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h

@@ -0,0 +1 @@
+-DHAL_OPAMP_MODULE_ENABLED

examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -1,9 +1,9 @@
 /**
- * 
+ *
  * STM32 Bluepill position motion control example with encoder
- * 
+ *
  * The same example can be ran with any STM32 board - just make sure that put right pin numbers.
- * 
+ *
  */
 #include <SimpleFOC.h>
 
@@ -32,10 +32,10 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 
 void setup() {
-  
+
   // initialize encoder sensor hardware
   encoder.init();
-  encoder.enableInterrupts(doA, doB, doI); 
+  encoder.enableInterrupts(doA, doB, doI);
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
@@ -54,32 +54,32 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::velocity;
 
-  // contoller configuration 
+  // contoller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.P = 0.2f;
   motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
   motor.PID_velocity.output_ramp = 1000;
- 
+
   // velocity low pass filtering time constant
-  motor.LPF_velocity.Tf = 0.01;
+  motor.LPF_velocity.Tf = 0.01f;
 
   // angle P controller
   motor.P_angle.P = 20;
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
 
-  // use monitoring with serial 
+  // use monitoring with serial
   Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
-  
+
   // initialize motor
   motor.init();
   // align encoder and start FOC
@@ -89,15 +89,15 @@ void setup() {
   command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
-  Serial.println(F(("Set the target angle using serial terminal:"));
+  Serial.println(F("Set the target angle using serial terminal:"));
   _delay(1000);
 }
 
 void loop() {
   // main FOC algorithm function
   // the faster you run this function the better
   // Arduino UNO loop  ~1kHz
-  // Bluepill loop ~10kHz 
+  // Bluepill loop ~10kHz
   motor.loopFOC();
 
   // Motion control function
@@ -109,7 +109,7 @@ void loop() {
   // function intended to be used with serial plotter to monitor motor variables
   // significantly slowing the execution down!!!!
   // motor.monitor();
-  
+
   // user communication
   command.run();
 }