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‎.github/workflows/arduino.yml

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name: AVR
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on: [push, pull_request]
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jobs:
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lint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: arduino/arduino-lint-action@v1
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with:
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library-manager: update
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project-type: library
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build:
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name: Test compiling
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runs-on: ubuntu-latest
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strategy:
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matrix:
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arduino-boards-fqbn:
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- arduino:avr:uno # arudino uno
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- arduino:sam:arduino_due_x # arduino due
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- arduino:avr:mega # arduino mega2650
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- arduino:avr:leonardo # arduino leonardo
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include:
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- arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
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sketch-names: '**.ino'
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required-libraries: PciManager
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sketches-exclude: teensy4_current_control_low_side, full_control_serial, angle_control, 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, odrive_example_spi, odrive_example_encoder, single_full_control_example, double_full_control_example, stm32_current_control_low_side, open_loop_velocity_6pwm
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- arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
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sketch-names: single_full_control_example.ino
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- arduino-boards-fqbn: arduino:avr:leonardo # arduino leonardo - one full example
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sketch-names: open_loop_position_example.ino
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- arduino-boards-fqbn: arduino:avr:mega # arduino mega2660 - one full example
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sketch-names: single_full_control_example.ino
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# Do not cancel all jobs / architectures if one job fails
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fail-fast: false
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Compile all examples
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uses: ArminJo/arduino-test-compile@master
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with:
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arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
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required-libraries: ${{ matrix.required-libraries }}
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platform-url: ${{ matrix.platform-url }}
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sketch-names: ${{ matrix.sketch-names }}
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sketches-exclude: ${{ matrix.sketches-exclude }}
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build-properties: ${{ toJson(matrix.build-properties) }}

‎.github/workflows/esp32.yml

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name: ESP32
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on: [push, pull_request]
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jobs:
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lint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: arduino/arduino-lint-action@v1
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with:
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library-manager: update
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project-type: library
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build:
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name: Test compiling
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runs-on: ubuntu-latest
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strategy:
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matrix:
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arduino-boards-fqbn:
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- esp32:esp32:esp32doit-devkit-v1 # esp32
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- esp32:esp32:esp32s2 # esp32s2
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- esp32:esp32:esp32s3 # esp32s3
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include:
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- arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
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platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
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sketch-names: bldc_driver_3pwm_standalone.ino,stepper_driver_2pwm_standalone.ino,stepper_driver_4pwm_standalone.ino
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- arduino-boards-fqbn: esp32:esp32:esp32s3 # esp32s3
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platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
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sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino
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- arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32
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platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
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sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino
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# Do not cancel all jobs / architectures if one job fails
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fail-fast: false
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Compile all examples
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uses: ArminJo/arduino-test-compile@master
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with:
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arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
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required-libraries: ${{ matrix.required-libraries }}
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platform-url: ${{ matrix.platform-url }}
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sketch-names: ${{ matrix.sketch-names }}
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sketches-exclude: ${{ matrix.sketches-exclude }}
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build-properties: ${{ toJson(matrix.build-properties) }}

‎.github/workflows/rpi.yml

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name: RP2040
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on: [push, pull_request]
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jobs:
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lint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: arduino/arduino-lint-action@v1
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with:
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library-manager: update
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project-type: library
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build:
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name: Test compiling
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runs-on: ubuntu-latest
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strategy:
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matrix:
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arduino-boards-fqbn:
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- arduino:mbed_rp2040:pico # rpi pico
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include:
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- arduino-boards-fqbn: arduino:mbed_rp2040:pico # raspberry pi pico - one example
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sketch-names: open_loop_position_example.ino
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# Do not cancel all jobs / architectures if one job fails
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fail-fast: false
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Compile all examples
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uses: ArminJo/arduino-test-compile@master
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with:
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arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
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required-libraries: ${{ matrix.required-libraries }}
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platform-url: ${{ matrix.platform-url }}
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sketch-names: ${{ matrix.sketch-names }}
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sketches-exclude: ${{ matrix.sketches-exclude }}
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build-properties: ${{ toJson(matrix.build-properties) }}

‎.github/workflows/samd.yml

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name: SAMD
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on: [push, pull_request]
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jobs:
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lint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: arduino/arduino-lint-action@v1
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with:
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library-manager: update
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project-type: library
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build:
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name: Test compiling
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runs-on: ubuntu-latest
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strategy:
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matrix:
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arduino-boards-fqbn:
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- arduino:samd:nano_33_iot # samd21
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- adafruit:samd:adafruit_metro_m4 # samd51
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include:
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- arduino-boards-fqbn: arduino:samd:nano_33_iot # samd21
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sketch-names: nano33IoT_velocity_control.ino, smartstepper_control.ino
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- arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4 # samd51 - one full example
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platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
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sketch-names: single_full_control_example.ino
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# Do not cancel all jobs / architectures if one job fails
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fail-fast: false
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Compile all examples
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uses: ArminJo/arduino-test-compile@master
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with:
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arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
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required-libraries: ${{ matrix.required-libraries }}
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platform-url: ${{ matrix.platform-url }}
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sketch-names: ${{ matrix.sketch-names }}
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sketches-exclude: ${{ matrix.sketches-exclude }}
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build-properties: ${{ toJson(matrix.build-properties) }}

‎.github/workflows/stm32.yml

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name: STM32
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on: [push, pull_request]
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jobs:
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lint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: arduino/arduino-lint-action@v1
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with:
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library-manager: update
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project-type: library
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build:
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name: Test compiling
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runs-on: ubuntu-latest
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strategy:
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matrix:
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arduino-boards-fqbn:
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- STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8 # stm32 bluepill
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- STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
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- STMicroelectronics:stm32:Nucleo_144:pnum=NUCLEO_F746ZG # stm32 nucleo f746zg
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- STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX # stm32f405 - odrive
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- STMicroelectronics:stm32:GenL4:pnum=GENERIC_L475RGTX # stm32l475
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- STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1 # B-G431-ESC1
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include:
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- arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples
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platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
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sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, stm32_spi_alt_example.ino
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- arduino-boards-fqbn: STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1 # B-G431-ESC1
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platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
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sketch-names: B_G431B_ESC1.ino
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build-properties:
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B_G431B_ESC1:
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-DHAL_OPAMP_MODULE_ENABLED
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- arduino-boards-fqbn: STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX # stm32f405 - odrive
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platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
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sketch-names: odrive_example_encoder.ino, odrive_example_spi.ino, stm32_current_control_low_side.ino
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- arduino-boards-fqbn: STMicroelectronics:stm32:GenL4:pnum=GENERIC_L475RGTX # stm32l475
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platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
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sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.ino
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- arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # nucleo one full example
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platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
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sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.ino
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- arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_144:pnum=NUCLEO_F746ZG # nucleo f7 one full example
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platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
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sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.ino
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# Do not cancel all jobs / architectures if one job fails
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fail-fast: false
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Compile all examples
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uses: ArminJo/arduino-test-compile@master
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with:
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arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
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required-libraries: ${{ matrix.required-libraries }}
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platform-url: ${{ matrix.platform-url }}
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sketch-names: ${{ matrix.sketch-names }}
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sketches-exclude: ${{ matrix.sketches-exclude }}
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build-properties: ${{ toJson(matrix.build-properties) }}

‎.github/workflows/teensy.yml

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name: Teensy
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on: [push]
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: actions/cache@v3
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with:
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path: |
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~/.cache/pip
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~/.platformio/.cache
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key: ${{ runner.os }}-pio
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- uses: actions/setup-python@v4
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with:
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python-version: '3.9'
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- name: Install PlatformIO Core
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run: pip install --upgrade platformio
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- name: PIO Run Teensy 4
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run: pio ci --lib="." --board=teensy41 --board=teensy40
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino
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- name: PIO Run Teensy 4
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run: pio ci --lib="." --board=teensy41 --board=teensy40
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino
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- name: PIO Run Teensy 4
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run: pio ci --lib="." --board=teensy41 --board=teensy40
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino
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- name: PIO Run Teensy 3
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run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino
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- name: PIO Run Teensy 3
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run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

‎README.md

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# SimpleFOClibrary - **Simple** Field Oriented Control (FOC) **library** <br>
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### A Cross-Platform FOC implementation for BLDC and Stepper motors<br> based on the Arduino IDE and PlatformIO
33

4-
![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg)
4+
[![AVR build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino.yml)
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[![STM32 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/stm32.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/stm32.yml)
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[![ESP32 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/esp32.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/esp32.yml)
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[![RP2040 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml)
8+
[![SAMD build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml)
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[![Teensy build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml)
10+
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![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/arduino-foc)
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![GitHub Release Date](https://img.shields.io/github/release-date/simplefoc/arduino-foc?color=blue)
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![GitHub commits since tagged version](https://img.shields.io/github/commits-since/simplefoc/arduino-foc/latest/dev)
@@ -18,26 +24,25 @@ Additionally, most of the efforts at this moment are still channeled towards the
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Therefore this is an attempt to:
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- 🎯 Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase)
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- <i>Support as many <b>motor + sensor + driver + mcu</b> combinations out there</i>
21-
- 🎯 Develop a modular FOC supporting BLDC driver boards:
22-
- ***NEW*** 📢: *Minimalistic* BLDC driver (<3Amps) : [<span class="simple">Simple<b>FOC</b>Mini</span> ](https://github.com/simplefoc/SimpleFOCMini).
23-
- *Low-power* gimbal driver (<5Amps) : [*Arduino Simple**FOC**Shield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
24-
- *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
25-
- See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
26-
27-
> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.1
28-
> - Support for Arduino UNO R4 Minima (Renesas R7FA4M1 MCU - note UNO R4 WiFi is not yet supported)
29-
> - Support setting PWM polarity on ESP32 (thanks to [@mcells](https://github.com/mcells))
30-
> - Expose I2C errors in MagneticSensorI2C (thanks to [@padok](https://github.com/padok))
31-
> - Improved default trig functions (sine, cosine) - faster, smaller
32-
> - Overridable trig functions - plug in your own optimized versions
33-
> - Bugfix: microseconds overflow in velocity mode [#287](https://github.com/simplefoc/Arduino-FOC/issues/287)
34-
> - Bugfix: KV initialization ([5fc3128](https://github.com/simplefoc/Arduino-FOC/commit/5fc3128d282b65c141ca486327c6235089999627))
35-
> - 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)
36-
> - 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))
37-
> - Change: check for linked driver in currentsense and exit gracefully ([5ef4d9d](https://github.com/simplefoc/Arduino-FOC/commit/5ef4d9d5a92e03da0dd5af7f624243ab30f1b688))
38-
> - Compatibility with newest versions of Arduino framework for STM32, Renesas, ESP32, Atmel SAM, Atmel AVR, nRF52 and RP2040
39-
40-
## Arduino *SimpleFOClibrary* v2.3.1
27+
- 🎯 Develop modular and easy to use FOC supporting BLDC driver boards
28+
- For official driver boards see [<span class="simple">Simple<span class="foc">FOC</span>Boards</span>](https://docs.simplefoc.com/boards)
29+
- Many many more boards developed by the community members, see [<span class="simple">Simple<span class="foc">FOC</span>Community</span>](https://community.simplefoc.com/)
30+
31+
> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.3
32+
> - Teensy4
33+
> - support for low-side current sensing [#392](https://github.com/simplefoc/Arduino-FOC/pull/392)
34+
> - support for center aligned 6pwm and 3pwm (optional) [#392](https://github.com/simplefoc/Arduino-FOC/pull/392)
35+
> - stm32
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> - support for center aligned pwm (even across multiple timers and motors/drivers) [#374](https://github.com/simplefoc/Arduino-FOC/pull/374), [#388](https://github.com/simplefoc/Arduino-FOC/pull/388)
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> - support for DMA based low-side current sensing: [#383](https://github.com/simplefoc/Arduino-FOC/pull/383),[#378](https://github.com/simplefoc/Arduino-FOC/pull/378)
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> - support for f7 architecture [#388](https://github.com/simplefoc/Arduino-FOC/pull/388),[#394](https://github.com/simplefoc/Arduino-FOC/pull/394)
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> - KV rating calculation fix [#347](https://github.com/simplefoc/Arduino-FOC/pull/347)
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> - Much more performant Space Vector PWM calculation [#340](https://github.com/simplefoc/Arduino-FOC/pull/340)
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> - And much more:
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> - See the complete list of bugfixes and new features of v2.3.3 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/10?closed=1)
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## Arduino *SimpleFOClibrary* v2.3.3
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<p align="">
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<a href="https://youtu.be/Y5kLeqTc6Zk">

‎examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

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void loop() {
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// main FOC algorithm function
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motor.loopFOC();
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// Motion control function
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motor.move();

‎examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino

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// Motor instance
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BLDCMotor motor = BLDCMotor(11);
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BLDCDriver6PWM driver = BLDCDriver6PWM(INH_A,INH_A, INH_B,INH_B, INH_C,INL_C, EN_GATE);
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BLDCDriver6PWM driver = BLDCDriver6PWM(INH_A,INL_A, INH_B,INL_B, INH_C,INL_C, EN_GATE);
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// encoder instance
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Encoder encoder = Encoder(2, 3, 8192);

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