v2.4.0

SimpleFOClibrary v2.4.0

Main features

• STM32
  • Added support for ADC reads in addition to Lowside current sense #506
  • Added support for multiple motors low-side CS (one per ADC) with ADC current sensing #503
  • BG341 low-side current sense sync was lost in v2.3.5 - fixed #482
• ESP32
  • Many ESP32 safety optimisations by @uLipe: #490,#491,#492,#493,#495
  • Better ADC-Timer alignement for more stable current sensing See this commit
  • Now compiles for all v3.x arduino-esp32 versions (v2.3.5 was compatible with v3.2.x)
  • adcRead small refactor - no more magic numbers
• Others
  • Teensy4 support for phase state setting #498 by @Ragiton
  • Added support for Arduino Nano Matter board by @silabs-szabog : #485
• Major New features
  • Add current and voltage feed forward terms to motor classes by @Copper280z in #454
  • Velocity Calculation rework by @Copper280z in #45
  • Motion control - docs
    • Added custom motion control mode - see in docs and in examples
    • Added angle_nocascade control mode for position control without velocity cascade - see in docs - #384
    • Now all the closed and open loop modes can be used with any torque control modes (voltage and current)
      • Ex. velocity_openloop with foc_current torque control
  • Torque control - docs
    • Added estimated_current torque control mode for model-based current estimation without current sensing - see in docs
    • Now we can easily switch between voltage and estimated current control
• Docs updates - see docs
  • Write the code page updated - see docs
  • Better step-by-step setup guides - see docs
  • New motion control documentation - see docs
  • New torque/FOC control documentation - see docs
  • Theory corner updated and extended - see docs
  • Library source updated and extended - see docs
  • Practical guides updated and extended - see docs
    • Motor parameter measurement guide - see docs
    • PID tuning guides - see docs
• Examples
  • align_current_sense.ino example added to the examples/utils/current_sense_test allowing to verify the alignment between the driver and the current sense phases

See the milestones: v2.3.6 (unreleased) and v2.4.0

What's Changed

• Add current and voltage feed forward terms to motor classes by @Copper280z in #454
• Velocity Calculation rework by @Copper280z in #453
• Feat bg341 sync lost fix by @askuric in #482
• Add Silabs drivers and examples by @silabs-szabog in #485
• ESP32: improve PWM driver fast funcrtions by @uLipe in #492
• Move the mcpwm on_full callback entry point to the IRAM. by @uLipe in #490
• ESP32: move adc runtime reading functions to IRAM. by @uLipe in #491
• ESP32C3 fix ledc_channel_config(847): sleep_mode argument invalid by @bisak in #489
• ESP32: replaced the mod base circular increment by @uLipe in #493
• g431-esc: use internal ADC channels, also fix some typos by @Moddingear in #487
• fix minor magnetic_sensor_i2c warning by @Moddingear in #496
• driver: adc_esp32: protect the adc reading against core migration. by @uLipe in #495
• Update teensy4_mcu.cpp _writeDutyCycle6PWM to handle phase_state to allow disabling the motor by @Ragiton in #498
• Fix the issue of abnormal modification of motion_downsample by @CodeMan-P in #438
• initial support for low-side current sensing with multiple motors for stm32 by @askuric in #503
• Add a MotionControlMode::angle_nocascade which uses a single PID for angle control by @runger1101001 in #384
• Autotunng + a big reactor without API chnage by @askuric in #504
• Current PI Autotuning by @Candas1 in #426
• Feat custom motion control by @askuric in #514
• Feat allow spi clock speed change by @askuric in #515

New Contributors

• @silabs-szabog made their first contribution in #485
• @uLipe made their first contribution in #492
• @bisak made their first contribution in #489
• @Moddingear made their first contribution in #487
• @Ragiton made their first contribution in #498
• @CodeMan-P made their first contribution in #438

Full Changelog: v2.3.5...v2.4.0