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 https://github.com/simplefoc/Arduino-FOC/pull/435
Fix for MagneticSensorI2C uses incorrect bit mask calculation #402 by @runger1101001 in https://github.com/simplefoc/Arduino-FOC/pull/412
Add motor characterisation by @mcells in https://github.com/simplefoc/Arduino-FOC/pull/436
ESP32 C6 fix & STM32 new HAL only driver by @runger1101001 in https://github.com/simplefoc/Arduino-FOC/pull/442
STM32 HAL-only PWM driver by @runger1101001 in https://github.com/simplefoc/Arduino-FOC/pull/430
Current calculation typo in comments by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/449
Update esp32ledcmcu.cpp to ensure ledctimer is initialised to a known state (ledctimer = false) by @rob-deutsch in #447
Merge master changes back to dev branch by @runger1101001 in https://github.com/simplefoc/Arduino-FOC/pull/452
Feat hybrid stepper to main + implement current sensing for it by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/457
Feat current sense check if TRGO set for STM32 by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/456
Fix Pin is not configured as analog channel error by @jeremiahrose in https://github.com/simplefoc/Arduino-FOC/pull/458
Add support for timer 8 by @jeroenzwan in https://github.com/simplefoc/Arduino-FOC/pull/468
use default dir only if sensor not connected by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/459
Feat h7 current sensing by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/460
Disable allow power down when creating MCPWM timer by @adamgerhant in https://github.com/simplefoc/Arduino-FOC/pull/474
Fix lowside sync lost by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/478
Feat lowside samd21 by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/479
esp32 ledc skips first channel index #471 by @runger1101001 in https://github.com/simplefoc/Arduino-FOC/pull/480
Dev to master v2.3.5 by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/481

New Contributors

@jeremiahrose made their first contribution in https://github.com/simplefoc/Arduino-FOC/pull/458
@jeroenzwan made their first contribution in https://github.com/simplefoc/Arduino-FOC/pull/468
@adamgerhant made their first contribution in https://github.com/simplefoc/Arduino-FOC/pull/474

Full Changelog: https://github.com/simplefoc/Arduino-FOC/compare/v2.3.4...v2.3.5

Scientific Software - Peer-reviewed - C++
Published by askuric 10 months ago

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 https://github.com/simplefoc/Arduino-FOC/pull/397
Merge teensy updates from master branch by @runger1101001 in https://github.com/simplefoc/Arduino-FOC/pull/399
move setting target to start of move() #404 by @runger1101001 in https://github.com/simplefoc/Arduino-FOC/pull/405
add MT6701 I2C sensor configuration by @runger1101001 in https://github.com/simplefoc/Arduino-FOC/pull/406
Added gain documentation to BG431BESC1.ino by @rob-deutsch in https://github.com/simplefoc/Arduino-FOC/pull/407
408 feature support for arduino esp32 v301 current sensing by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/414
390 support for the new esp32 ledc library api by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/410
408 feature support for arduino esp32 v301 by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/411
Fix for #415 sin/cos integer overflow on 16-bit CPUs by @dekutree64 in https://github.com/simplefoc/Arduino-FOC/pull/416
Hall sensor without interrupt by @Candas1 in https://github.com/simplefoc/Arduino-FOC/pull/424
Feat new cs align by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/422
Feat stepper current sensing by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/421
Dev to master for the release v2.3.4 by @askuric in https://github.com/simplefoc/Arduino-FOC/pull/425

New Contributors

@rob-deutsch made their first contribution in https://github.com/simplefoc/Arduino-FOC/pull/407

Full Changelog: https://github.com/simplefoc/Arduino-FOC/compare/v2.3.3...v2.3.4

Scientific Software - Peer-reviewed - C++
Published by askuric almost 2 years ago

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

New Contributors

@nmscode made their first contribution in https://github.com/simplefoc/Arduino-FOC/pull/347
@Schnilz made their first contribution in https://github.com/simplefoc/Arduino-FOC/pull/370
@ystradmann made their first contribution in https://github.com/simplefoc/Arduino-FOC/pull/389

Full Changelog: https://github.com/simplefoc/Arduino-FOC/compare/v2.3.2...v2.3.3

Scientific Software - Peer-reviewed - C++
Published by askuric about 2 years ago

SimpleFOC - 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

Scientific Software - Peer-reviewed - C++
Published by runger1101001 over 2 years ago

SimpleFOC - 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

Scientific Software - Peer-reviewed - C++
Published by runger1101001 over 2 years ago

SimpleFOC - 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

Scientific Software - Peer-reviewed - C++
Published by askuric about 3 years ago

SimpleFOC - 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

Scientific Software - Peer-reviewed - C++
Published by askuric over 3 years ago

SimpleFOC - 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

Scientific Software - Peer-reviewed - C++
Published by askuric about 4 years ago

SimpleFOC - 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

Scientific Software - Peer-reviewed - C++
Published by askuric over 4 years ago

SimpleFOC - 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 BG431BESC1 by @sDessens: PR #73
- Initial support for samd21 by @maxlem: PR #79
- Initial support for esp32 by @byDagor

Scientific Software - Peer-reviewed - C++
Published by askuric over 4 years ago

SimpleFOC - v2.1.1

SimpleFOClibrary v2.1.1

bugfixes commander monitoring get values
bugfix voltage_limit when provided phase_resistance @byDagor
bugfix hall_sensor examples @owennewo
full support of the SimpleFOCStudio @JorgeMaker
added examples for the PowerShield
added initial support for MagneticSensorPWM
- interrupts - nonblocking
- blocking mode pulseln
SAMD51 support by @runger1101001
initial support for Raspberry pi Pico 🎉 @runger1101001
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
- issue #46: commander end of line character - by @maxlem
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
community fix AS5600 register value
renamed Pullup::EXTERN and Pullup::INTERN to Pullup::USE_EXTERN and Pullup::USE_INTERN

Scientific Software - Peer-reviewed - C++
Published by askuric about 5 years ago

SimpleFOC - v2.1

SimpleFOClibrary v2.1

Initial current sensing support🎉
- Inline current sensors
- adaptive zero finding and shunt direction
Implemented real torque control
- using voltage
- using current magnitude (one current)
- using FOC currents ( d-q currents ) - real foc control
SVPWM full implementation d+q axis
Simplified sensor implementation📢
- For new sensor implementation only one function necessary getAngle()
Upgrade of the HallSensor implementation by @owennewo
Support for Arduino DUE - everything except the 6PWM mode
Support for ATMega328pb
bugfix for the Teensy boards ( setting 3pwm )
extended support for 2PWM stepper drivers - by @zjor
- pull request #52
included F macro for shrinking string memory usage - moved to programming memory
disable phase support for 3pwm driver
- not yet for 6pwm
rewritten initFOC()
- can be skipped and outputs much more info
- align sensor: direction + zero offset + pole pair check
- align current sense
sensor offset supported (motor.sensor_offset)
refactored motor commands interface
- much more flexible and easy to extend
- very easy to add new commands and function callbacks
- implemented motor+pid+lpf commands of-the-shelf
Added step/dir interface
- integrated as an optional communication channel
- Added support for samd21 boards by @runger1101001
- pull request #56

BEWARE 📢 slight API changes included - ControlType renamed into MotionControlType - ControlType::voltage does not exist any more now - MotionControlType::torque

Scientific Software - Peer-reviewed - C++
Published by askuric about 5 years ago