Release notes from Arduino-FOC

v2.4.0

2026-02-19T12:21:33Z

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

v2.3.5

2025-07-28T10:12:04Z

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 #435
Fix for MagneticSensorI2C uses incorrect bit mask calculation #402 by @runger1101001 in #412
Add motor characterisation by @mcells in #436
ESP32 C6 fix & STM32 new HAL only driver by @runger1101001 in #442
STM32 HAL-only PWM driver by @runger1101001 in #430
Current calculation typo in comments by @askuric in #449
Update esp32_ledc_mcu.cpp to ensure ledc_timer is initialised to a known state (ledc_timer = false) by @rob-deutsch in #447
Merge master changes back to dev branch by @runger1101001 in #452
Feat hybrid stepper to main + implement current sensing for it by @askuric in #457
Feat current sense check if TRGO set for STM32 by @askuric in #456
Fix Pin is not configured as analog channel error by @jeremiahrose in #458
Add support for timer 8 by @jeroenzwan in #468
use default dir only if sensor not connected by @askuric in #459
Feat h7 current sensing by @askuric in #460
Disable allow power down when creating MCPWM timer by @adamgerhant in #474
Fix lowside sync lost by @askuric in #478
Feat lowside samd21 by @askuric in #479
esp32 ledc skips first channel index #471 by @runger1101001 in #480
Dev to master v2.3.5 by @askuric in #481

New Contributors

@jeremiahrose made their first contribution in #458
@jeroenzwan made their first contribution in #468
@adamgerhant made their first contribution in #474

Full Changelog: v2.3.4...v2.3.5

v2.3.4

2024-07-21T13:21:49Z

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 #397
Merge teensy updates from master branch by @runger1101001 in #399
move setting target to start of move() #404 by @runger1101001 in #405
add MT6701 I2C sensor configuration by @runger1101001 in #406
Added gain documentation to B_G431B_ESC1.ino by @rob-deutsch in #407
408 feature support for arduino esp32 v301 current sensing by @askuric in #414
390 support for the new esp32 ledc library api by @askuric in #410
408 feature support for arduino esp32 v301 by @askuric in #411
Fix for #415 sin/cos integer overflow on 16-bit CPUs by @dekutree64 in #416
Hall sensor without interrupt by @Candas1 in #424
Feat new cs align by @askuric in #422
Feat stepper current sensing by @askuric in #421
Dev to master for the release v2.3.4 by @askuric in #425

New Contributors

@rob-deutsch made their first contribution in #407

Full Changelog: v2.3.3...v2.3.4

v2.3.3

2024-04-22T07:15:48Z

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

New Contributors

@nmscode made their first contribution in #347
@Schnilz made their first contribution in #370
@ystradmann made their first contribution in #389

Full Changelog: v2.3.2...v2.3.3

v2.3.2

2023-12-01T22:27:05Z

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

v2.3.1

2023-09-23T08:54:47Z

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

v2.3.0

2023-03-18T12:18:32Z

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

v2.2.3

2022-10-15T09:29:11Z

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

v2.2.2

2022-05-02T05:06:30Z

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

v2.2.1

2022-02-03T17:08:22Z

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