From 4146a7b1982e6663843fca29c8fa56a25bf0d857 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Mon, 6 Dec 2021 23:19:50 +0100
Subject: [PATCH 01/20] I2CCommander supports new FOCMotorStatus

---
 src/comms/i2c/I2CCommander.cpp        | 44 ++++++++++++++++-----------
 src/comms/i2c/I2CCommander.h          |  2 --
 src/comms/i2c/I2CCommanderRegisters.h | 17 -----------
 3 files changed, 27 insertions(+), 36 deletions(-)

diff --git a/src/comms/i2c/I2CCommander.cpp b/src/comms/i2c/I2CCommander.cpp
index 59b332b..22162df 100644
--- a/src/comms/i2c/I2CCommander.cpp
+++ b/src/comms/i2c/I2CCommander.cpp
@@ -23,21 +23,6 @@ void I2CCommander::addMotor(FOCMotor* motor){
 
 
 
-I2CCommander_Motor_Status I2CCommander::getMotorStatus(uint8_t motorNum){
-    if (motorNum<numMotors){
-        if (motors[motorNum]->zero_electric_angle==NOT_SET) // TODO detect open-loop uninitialized state!
-            return I2CCommander_Motor_Status::MOT_UNINITIALIZED;
-        if (motors[motorNum]->enabled==0)
-            return I2CCommander_Motor_Status::MOT_DISABLED;
-        if (motors[motorNum]->shaft_velocity >= I2CCOMMANDER_MIN_VELOCITY_FOR_MOTOR_MOVING)
-            return I2CCommander_Motor_Status::MOT_MOVING;
-        return I2CCommander_Motor_Status::MOT_IDLE;
-    }
-    return I2CCommander_Motor_Status::MOT_UNKNOWN;
-};
-
-
-
 
 bool I2CCommander::readBytes(void* valueToSet, uint8_t numBytes){
     if (_wire->available()>=numBytes){
@@ -85,7 +70,17 @@ void I2CCommander::onRequest(){
 
 
 
+/*
+Reads values from I2C bus and updates the motor's values.
+
+Currently this isn't really thread-safe, but works ok in practice on 32-bit MCUs.
 
+Do not use on 8-bit architectures where the 32 bit writes may not be atomic!
+
+Plan to make this safe: the writes should be buffered, and not actually executed 
+until in the main loop by calling commander->run();
+the run() method disables interrupts while the updates happen.
+*/
 bool I2CCommander::receiveRegister(uint8_t motorNum, uint8_t registerNum, int numBytes) {
     int val;
     float floatval;
@@ -230,7 +225,23 @@ bool I2CCommander::receiveRegister(uint8_t motorNum, uint8_t registerNum, int nu
 
 
 
+/*
+    Reads values from motor/sensor and writes them to I2C bus. Intended to be run
+    from the Wire.onRequest interrupt.
+
+    Assumes atomic 32 bit reads. On 8-bit arduino this assumption does not hold and this
+    code is not safe on those platforms. You might read "half-written" floats.
+    
+    A solution might be to maintain a complete set of shadow registers  in the commander
+    class, and update them in the run() method (which runs with interrupts off). Not sure
+    of the performance impact of all those 32 bit read/writes though. In any case, since
+    I use only 32 bit MCUs I'll leave it as an excercise to the one who needs it. ;-)
 
+    On 32 bit platforms the implication is that reads will occur atomically, so data will
+    be intact, but they can occur at any time during motor updates, so different values might
+    not be in a fully consistent state (i.e. phase A current might be from the current iteration
+    but phase B current from the previous iteration).
+*/
 bool I2CCommander::sendRegister(uint8_t motorNum, uint8_t registerNum) {
         // read the current register
     switch(registerNum) {
@@ -239,8 +250,7 @@ bool I2CCommander::sendRegister(uint8_t motorNum, uint8_t registerNum) {
             _wire->write((uint8_t)lastcommandregister);
             _wire->write((uint8_t)lastcommanderror+1);
             for (int i=0;(i<numMotors && i<28); i++) { // at most 28 motors, so we can fit in one packet
-                uint8_t status = (uint8_t)getMotorStatus(i);
-                _wire->write(status);
+                _wire->write(motors[motorNum]->motor_status);
             }
             break;
         case REG_MOTOR_ADDRESS:
diff --git a/src/comms/i2c/I2CCommander.h b/src/comms/i2c/I2CCommander.h
index 57c0e43..2cb467a 100644
--- a/src/comms/i2c/I2CCommander.h
+++ b/src/comms/i2c/I2CCommander.h
@@ -26,8 +26,6 @@ class I2CCommander {
         void onReceive(int numBytes);
         void onRequest();
 
-        I2CCommander_Motor_Status getMotorStatus(uint8_t motorNum);
-
     protected:
         void writeFloat(float value);
         bool readBytes(void* valueToSet, uint8_t numBytes);
diff --git a/src/comms/i2c/I2CCommanderRegisters.h b/src/comms/i2c/I2CCommanderRegisters.h
index 0977e89..24e9c0b 100644
--- a/src/comms/i2c/I2CCommanderRegisters.h
+++ b/src/comms/i2c/I2CCommanderRegisters.h
@@ -62,23 +62,6 @@ typedef enum : uint8_t  {
 
 
 
-// TODO stati are work in progress. For example, it would be good to differentiate between not moving because stalled, 
-//  and not moving because target set-point has been reached. It would be good to be able to track initialization state
-// and error state.
-typedef enum : uint8_t {
-    MOT_UNINITIALIZED = 0x00,   // Motor is not initialized
-    MOT_INITIALIZING = 0x01,    // TODO - this status is not used at the moment, can't detect it
-    
-    MOT_DISABLED = 0x02,        // motor is disabled
-    MOT_IDLE = 0x03,            // motor is enabled, but not moving (current_velocity==target==0 in velocity mode, 
-                                //       or position==target in position mode)
-    MOT_MOVING = 0x04,          // motor is moving
-
-    MOT_ERROR = 0x05,           // TODO - motor is disabled because an error has occurred
-    MOT_INIT_FAILED = 0x0F,     // motor initialization failed
-    MOT_UNKNOWN = 0xFF          // incorrect motor number
-} I2CCommander_Motor_Status;
-
 
 
 #endif
\ No newline at end of file

From aa8b5e348cf847a4215ade4e0120ba9c8d62c1f0 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Mon, 6 Dec 2021 23:23:48 +0100
Subject: [PATCH 02/20] added a warning to the I2Ccommander readme file

---
 src/comms/i2c/I2CCommanderRegisters.h | 1 -
 src/comms/i2c/README.md               | 4 ++++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/comms/i2c/I2CCommanderRegisters.h b/src/comms/i2c/I2CCommanderRegisters.h
index 24e9c0b..cee8b9b 100644
--- a/src/comms/i2c/I2CCommanderRegisters.h
+++ b/src/comms/i2c/I2CCommanderRegisters.h
@@ -1,4 +1,3 @@
-
 #ifndef __I2CCOMMANDERREGISTERS_H__
 #define __I2CCOMMANDERREGISTERS_H__
 
diff --git a/src/comms/i2c/README.md b/src/comms/i2c/README.md
index 98cf1eb..eac9e34 100644
--- a/src/comms/i2c/README.md
+++ b/src/comms/i2c/README.md
@@ -9,6 +9,10 @@ This code takes the point of view that the motor driver (the "muscle") is the I2
 
 This is new code, and has not been extensively tested. Your milage may vary. That said, basic use cases have been tested, and we would certainly appreciate feedback and help with testing it out.
 
+In particular, there are concurrency issues with reading/writing the SimpleFOC motor values from I2C while the motor is running. These should be solved soon in an upcoming version.
+
+**Do not run on 8-bit MCUs!** The code currently assumes atomic 32 bit reads, so running on Arduino UNO or Nano is unfortunately a no-go.
+
 ## Using
 
 As would be expected for I2C, each target device needs a unique I2C address on its bus, and setting up and discovering these addresses is out-of-scope for I2CCommander. Setting up and configuring the TwoWire objects (which pins, speed, etc...) is also out of scope and finished, initialized TwoWire objects must be passed to I2CCommander. If you don't specify a different reference, the standard *Wire* object is assumed.

From aef01bf7dcbdbb584436ebd4b3b8226ed845a4c8 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Tue, 7 Dec 2021 00:53:08 +0100
Subject: [PATCH 03/20] fix issue #6, stm32hwencoder is off by 1

---
 src/encoders/stm32hwencoder/STM32HWEncoder.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/encoders/stm32hwencoder/STM32HWEncoder.cpp b/src/encoders/stm32hwencoder/STM32HWEncoder.cpp
index 6ee03ca..f00eee8 100644
--- a/src/encoders/stm32hwencoder/STM32HWEncoder.cpp
+++ b/src/encoders/stm32hwencoder/STM32HWEncoder.cpp
@@ -124,7 +124,7 @@ void STM32HWEncoder::init() {
     HAL_GPIO_Init(digitalPinToPort(_pinB), &gpio);
 
     // set up timer for encoder
-    encoder_handle.Init.Period = ticks_per_overflow;
+    encoder_handle.Init.Period = ticks_per_overflow - 1;
     encoder_handle.Init.Prescaler = 0;
     encoder_handle.Init.ClockDivision = 0;
     encoder_handle.Init.CounterMode = TIM_COUNTERMODE_UP;

From 1b4fe431e96b951afbb9adbe7a1390cf2770e9d3 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Wed, 8 Dec 2021 00:25:29 +0100
Subject: [PATCH 04/20] working on SSI sensors (not ready!)

---
 src/encoders/aeat8800q24/AEAT8800Q24.cpp      | 102 +++++++++++++++
 src/encoders/aeat8800q24/AEAT8800Q24.h        | 121 ++++++++++++++++++
 .../aeat8800q24/MagneticSensorAEAT8800Q24.cpp |  24 ++++
 .../aeat8800q24/MagneticSensorAEAT8800Q24.h   |  18 +++
 src/encoders/aeat8800q24/README.md            |  75 +++++++++++
 src/encoders/ma730/MA730.h                    |   1 +
 src/encoders/ma730/MagneticSensorMA730SSI.cpp |  37 ++++++
 src/encoders/ma730/MagneticSensorMA730SSI.h   |  24 ++++
 8 files changed, 402 insertions(+)
 create mode 100644 src/encoders/aeat8800q24/AEAT8800Q24.cpp
 create mode 100644 src/encoders/aeat8800q24/AEAT8800Q24.h
 create mode 100644 src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.cpp
 create mode 100644 src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.h
 create mode 100644 src/encoders/aeat8800q24/README.md
 create mode 100644 src/encoders/ma730/MagneticSensorMA730SSI.cpp
 create mode 100644 src/encoders/ma730/MagneticSensorMA730SSI.h

diff --git a/src/encoders/aeat8800q24/AEAT8800Q24.cpp b/src/encoders/aeat8800q24/AEAT8800Q24.cpp
new file mode 100644
index 0000000..5c9c235
--- /dev/null
+++ b/src/encoders/aeat8800q24/AEAT8800Q24.cpp
@@ -0,0 +1,102 @@
+
+#include "AEAT8800Q24.h"
+
+
+AEAT8800Q24::AEAT8800Q24(int nCS, int pinNSL, SPISettings spiSettings, SPISettings ssiSettings) : nCS(nCS), pinNSL(pinNSL), spiSettings(spiSettings), ssiSettings(ssiSettings) {
+};
+AEAT8800Q24::~AEAT8800Q24(){
+};
+
+void AEAT8800Q24::init(SPIClass* _spi){
+    spi = _spi;
+    spi->beginTransaction(ssiSettings);
+};
+
+
+float AEAT8800Q24::getCurrentAngle() {
+    return ((float)readRawAngle())/(float)AEAT8800Q24_CPR * 2.0f * (float)PI;
+}; // angle in radians, return current value
+
+
+// reads angle via ssi
+uint16_t AEAT8800Q24::readRawAngle() {
+    // digitalWrite(pinNSL, LOW); //TODO maybe we don't need it...
+    // // 300ns delay
+    // delayMicroseconds(1);
+    uint16_t value = spi->transfer16(0x0000);
+    uint8_t status = spi->transfer(0x00);
+    //digitalWrite(pinNSL, HIGH);
+    // // 200ns delay before next read...
+    // delayMicroseconds(1);
+    lastStatus.reg = status;
+    return value;
+};
+
+AEAT8800Q24_Status_t AEAT8800Q24::getLastStatus() {
+    return lastStatus;
+}
+
+uint16_t AEAT8800Q24::getZero(){
+    uint8_t value = readRegister(AEAT8800Q24_REG_ZERO_MSB);
+    return (value<<8)|readRegister(AEAT8800Q24_REG_ZERO_LSB);
+};
+void AEAT8800Q24::setZero(uint16_t value){
+    writeRegister(AEAT8800Q24_REG_ZERO_MSB, (value>>8)&0xFF);
+    writeRegister(AEAT8800Q24_REG_ZERO_LSB, value&0xFF);
+};
+
+AEAT8800Q24_CONF0_t AEAT8800Q24::getConf0(){
+    AEAT8800Q24_CONF0_t result;
+    result.reg = readRegister(AEAT8800Q24_REG_CONF0);
+    return result;
+};
+void AEAT8800Q24::setConf0(AEAT8800Q24_CONF0_t value){
+    writeRegister(AEAT8800Q24_REG_CONF0, value.reg);
+};
+
+AEAT8800Q24_CONF1_t AEAT8800Q24::getConf1(){
+    AEAT8800Q24_CONF1_t result;
+    result.reg = readRegister(AEAT8800Q24_REG_CONF1);
+    return result;
+};
+void AEAT8800Q24::setConf1(AEAT8800Q24_CONF1_t value){
+    writeRegister(AEAT8800Q24_REG_CONF1, value.reg);
+};
+
+AEAT8800Q24_CONF2_t AEAT8800Q24::getConf2(){
+    AEAT8800Q24_CONF2_t result;
+    result.reg = readRegister(AEAT8800Q24_REG_CONF2);
+    return result;
+};
+void AEAT8800Q24::setConf2(AEAT8800Q24_CONF2_t value){
+    writeRegister(AEAT8800Q24_REG_CONF2, value.reg);
+};
+
+
+
+
+uint16_t AEAT8800Q24::transfer16SPI(uint16_t outValue) {
+    // delay 1us between switching the CS line to SPI
+    delayMicroseconds(1);
+    if (nCS >= 0)
+        digitalWrite(nCS, LOW);    
+    spi->endTransaction();
+    spi->beginTransaction(spiSettings);
+    uint16_t value = spi->transfer16(outValue);
+    spi->endTransaction();
+    if (nCS >= 0)
+        digitalWrite(nCS, HIGH);
+    // delay 1us between switching the CS line to SSI
+    delayMicroseconds(1);
+    spi->beginTransaction(ssiSettings);
+    return value;
+};
+uint8_t AEAT8800Q24::readRegister(uint8_t reg) {
+    uint16_t cmd = 0x8000 | ((reg&0x001F)<<8);
+    uint16_t value = transfer16SPI(cmd);
+    return value&0x00FF;
+};
+void AEAT8800Q24::writeRegister(uint8_t reg, uint8_t value) {
+    uint16_t cmd = 0x4000 | ((reg&0x1F)<<8) | value;
+    uint16_t result = transfer16SPI(cmd);
+};
\ No newline at end of file
diff --git a/src/encoders/aeat8800q24/AEAT8800Q24.h b/src/encoders/aeat8800q24/AEAT8800Q24.h
new file mode 100644
index 0000000..add23c3
--- /dev/null
+++ b/src/encoders/aeat8800q24/AEAT8800Q24.h
@@ -0,0 +1,121 @@
+#ifndef __AEAT8800Q24_H__
+#define __AEAT8800Q24_H__
+
+
+#include "Arduino.h"
+#include "SPI.h"
+
+#define AEAT8800Q24_CPR 65536
+
+#define AEAT8800Q24_REG_CUST0 0x00
+#define AEAT8800Q24_REG_CUST1 0x01
+#define AEAT8800Q24_REG_ZERO_LSB 0x02
+#define AEAT8800Q24_REG_ZERO_MSB 0x03
+#define AEAT8800Q24_REG_CONF0 0x04
+#define AEAT8800Q24_REG_CONF1 0x05
+#define AEAT8800Q24_REG_CONF2 0x06
+#define AEAT8800Q24_REG_CONF_OTP 0x13
+#define AEAT8800Q24_REG_CAL_OTP 0x1B
+#define AEAT8800Q24_REG_CUST_OTP 0x11
+#define AEAT8800Q24_REG_CAL 0x17
+
+#define AEAT8800Q24_CONF_OTP_ON 0xA3
+#define AEAT8800Q24_CAL_OTP_ON 0xA5
+#define AEAT8800Q24_CUST_OTP_ON 0xA1
+#define AEAT8800Q24_CAL_ON 0x02
+#define AEAT8800Q24_CAL_OFF 0x00
+
+
+typedef union {
+	struct {
+		uint8_t uvw_pwm_mode:1;
+		uint8_t pwm:2;
+		uint8_t iwidth:2;
+		uint8_t uvw:3;
+	};
+	uint8_t reg;
+} AEAT8800Q24_CONF0_t;
+
+
+typedef union {
+	struct {
+		uint8_t cpr1:4;
+		uint8_t hys:4;
+	};
+	uint8_t reg;
+} AEAT8800Q24_CONF1_t;
+
+
+typedef union {
+	struct {
+		uint8_t dir:1;
+		uint8_t zero_latency:1;
+		uint8_t abs_res:2;
+		uint8_t cpr2:4;
+	};
+	uint8_t reg;
+} AEAT8800Q24_CONF2_t;
+
+
+
+typedef union {
+	struct {
+		uint8_t mhi:1;
+		uint8_t mlo:1;
+		uint8_t ready:1;
+		uint8_t parity:1;
+		uint8_t :4;
+	};
+	uint8_t reg;
+} AEAT8800Q24_Status_t;
+
+
+#if defined(ESP32)
+#define AEAT8800Q24_BITORDER MSBFIRST
+#else
+#define AEAT8800Q24_BITORDER BitOrder::MSBFIRST
+#endif
+
+static SPISettings AEAT8800Q24SPISettings(1000000, AEAT8800Q24_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
+static SPISettings AEAT8800Q24SSISettings(4000000, AEAT8800Q24_BITORDER, SPI_MODE2); // @suppress("Invalid arguments")
+
+
+class AEAT8800Q24 {
+public:
+	AEAT8800Q24(int nCS, int pinNSL = MOSI, SPISettings spiSettings = AEAT8800Q24SPISettings, SPISettings ssiSettings = AEAT8800Q24SSISettings);
+	virtual ~AEAT8800Q24();
+
+	virtual void init(SPIClass* _spi = &SPI);
+
+	float getCurrentAngle(); // angle in radians, return current value
+
+	uint16_t readRawAngle(); // 14bit angle value
+	AEAT8800Q24_Status_t getLastStatus(); // get status associated with last angle read
+
+    uint16_t getZero();
+    void setZero(uint16_t);
+
+    AEAT8800Q24_CONF0_t getConf0();
+    void setConf0(AEAT8800Q24_CONF0_t);
+
+    AEAT8800Q24_CONF1_t getConf1();
+    void setConf1(AEAT8800Q24_CONF1_t);
+
+    AEAT8800Q24_CONF2_t getConf2();
+    void setConf2(AEAT8800Q24_CONF2_t);
+
+private:
+	int nCS = -1;
+    int pinNSL = -1;
+	SPISettings spiSettings;
+	SPISettings ssiSettings;
+	SPIClass* spi;
+	AEAT8800Q24_Status_t lastStatus;
+
+    uint16_t transfer16SPI(uint16_t outValue);
+    uint8_t readRegister(uint8_t reg);
+    void writeRegister(uint8_t reg, uint8_t value);
+};
+
+
+#endif
\ No newline at end of file
diff --git a/src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.cpp b/src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.cpp
new file mode 100644
index 0000000..f1ad32c
--- /dev/null
+++ b/src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.cpp
@@ -0,0 +1,24 @@
+#include "./MagneticSensorAEAT8800Q24.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+MagneticSensorAEAT8800Q24::MagneticSensorAEAT8800Q24(int nCS, int pinNSL, SPISettings spiSettings, SPISettings ssiSettings) : AEAT8800Q24(nCS, pinNSL, spiSettings, ssiSettings) {
+};
+
+
+MagneticSensorAEAT8800Q24::~MagneticSensorAEAT8800Q24(){ 
+};
+
+
+void MagneticSensorAEAT8800Q24::init(SPIClass* _spi) {
+    this->AEAT8800Q24::init(_spi);
+    this->Sensor::init();
+};
+
+
+float MagneticSensorAEAT8800Q24::getSensorAngle() {
+    float angle_data = readRawAngle();
+    angle_data = ( angle_data / (float)AEAT8800Q24_CPR) * _2PI;
+    // return the shaft angle
+    return angle_data;
+};
diff --git a/src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.h b/src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.h
new file mode 100644
index 0000000..01d6e04
--- /dev/null
+++ b/src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.h
@@ -0,0 +1,18 @@
+#ifndef __MAGNETICSENSORAEAT8800Q24_H__
+#define __MAGNETICSENSORAEAT8800Q24_H__
+
+
+#include "common/base_classes/Sensor.h"
+#include "./AEAT8800Q24.h"
+
+class MagneticSensorAEAT8800Q24 : public Sensor, public AEAT8800Q24 {
+public:
+	MagneticSensorAEAT8800Q24(int nCS, int pinNSL = MOSI, SPISettings spiSettings = AEAT8800Q24SPISettings, SPISettings ssiSettings = AEAT8800Q24SSISettings);
+	virtual ~MagneticSensorAEAT8800Q24();
+
+    virtual float getSensorAngle() override;
+
+	virtual void init(SPIClass* _spi = &SPI);
+};
+
+#endif
\ No newline at end of file
diff --git a/src/encoders/aeat8800q24/README.md b/src/encoders/aeat8800q24/README.md
new file mode 100644
index 0000000..0afa47d
--- /dev/null
+++ b/src/encoders/aeat8800q24/README.md
@@ -0,0 +1,75 @@
+# AEAT-8800-Q24 SimpleFOC driver
+
+SPI/SSI driver for the absolute position magnetic rotary encoder. This encoder is not supported by the
+normal SimpleFOC drivers due to its mixed SPI/SSI mode.
+
+- access to the configuration registers of the AEAT-8800-Q24, enabling you to set parameters
+- angles are read via SSI, with 16 bit (!) precision
+- currently only 16 bit resolution is supported, don't lower the resolution
+
+
+## Hardware setup
+
+Connect as per normal for your SPI bus. No special hardware setup is needed to use this driver. nCS pin is
+required.
+
+Note that due to the way SSI and SPI share pins, you can normally only run one of these sensors per SPI bus.
+
+## Software setup
+
+Its actually easier to use than the standard SPI sensor class, because it is less generic:
+
+```c++
+#include "Arduino.h"
+#include "Wire.h"
+#include "SPI.h"
+#include "SimpleFOC.h"
+#include "SimpleFOCDrivers.h"
+#include "encoders/aeat8800q24/MagneticSensorAEAT8800Q24.h"
+
+#define SENSOR1_CS 5 // some digital pin that you're using as the nCS pin
+MagneticSensorAEAT8800Q24 sensor1(SENSOR1_CS);
+
+
+void setup() {
+    sensor1.init();
+}
+```
+
+Set some options:
+
+```c++
+MagneticSensorAEAT8800Q24 sensor1(SENSOR1_CS, MOSI_pin, mySPISettings, mySSISettings);
+```
+
+Use another SPI bus:
+
+```c++
+void setup() {
+    sensor1.init(SPI2);
+}
+```
+
+Here's how you can use it:
+
+```c++
+    // get the angle, in radians, including full rotations
+    float a1 = sensor1.getAngle();
+
+    // get the velocity, in rad/s - note: you have to call getAngle() on a regular basis for it to work
+    float v1 = sensor1.getVelocity();
+
+    // get the angle, in radians, no full rotations
+    float a2 = sensor1.getCurrentAngle();
+
+    // get the raw 16 bit value
+    uint16_t raw = sensor1.readRawAngle();
+
+    // check status
+    float angle = sensor1.getSensorAngle();
+    AEAT8800Q24_Status_t status = sensor1.getLastStatus();
+    if (status.mlo)
+        Serial.println("Sensor magnet low error");
+    if (status.mhi)
+        Serial.println("Sensor magnet high error");
+```
diff --git a/src/encoders/ma730/MA730.h b/src/encoders/ma730/MA730.h
index e32c37d..55a22e5 100644
--- a/src/encoders/ma730/MA730.h
+++ b/src/encoders/ma730/MA730.h
@@ -32,6 +32,7 @@ enum FieldStrength {
 #endif
 
 static SPISettings MA730SPISettings(8000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
+static SPISettings MA730SSISettings(8000000, MA730_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
 
 
 class MA730 {
diff --git a/src/encoders/ma730/MagneticSensorMA730SSI.cpp b/src/encoders/ma730/MagneticSensorMA730SSI.cpp
new file mode 100644
index 0000000..9aff577
--- /dev/null
+++ b/src/encoders/ma730/MagneticSensorMA730SSI.cpp
@@ -0,0 +1,37 @@
+#include "./MagneticSensorMA730SSI.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+MagneticSensorMA730SSI::MagneticSensorMA730SSI(SPISettings settings) : settings(settings) {
+
+}
+
+
+MagneticSensorMA730SSI::~MagneticSensorMA730SSI(){ 
+
+}
+
+
+void MagneticSensorMA730SSI::init(SPIClass* _spi) {
+    this->spi=_spi;
+    this->Sensor::init();
+}
+
+// check 40us delay between each read?
+float MagneticSensorMA730SSI::getSensorAngle() {
+    float angle_data = readRawAngle();
+    angle_data = ( angle_data / (float)MA730_CPR) * _2PI;
+    // return the shaft angle
+    return angle_data;
+}
+
+
+
+uint16_t MagneticSensorMA730SSI::readRawAngle() {
+    spi->beginTransaction(settings);
+    uint16_t value = spi->transfer16(0x0000);
+    uint8_t parity = spi->transfer(0x00);
+    // TODO: check parity
+    spi->endTransaction();
+    return value>>2;
+}; // 14bit angle value
diff --git a/src/encoders/ma730/MagneticSensorMA730SSI.h b/src/encoders/ma730/MagneticSensorMA730SSI.h
new file mode 100644
index 0000000..32d76dd
--- /dev/null
+++ b/src/encoders/ma730/MagneticSensorMA730SSI.h
@@ -0,0 +1,24 @@
+#ifndef __MAGNETIC_SENSOR_MA730SSI_H__
+#define __MAGNETIC_SENSOR_MA730SSI_H__
+
+
+#include "common/base_classes/Sensor.h"
+#include "./MA730.h"
+
+class MagneticSensorMA730SSI : public Sensor {
+public:
+	MagneticSensorMA730SSI(SPISettings settings = MA730SSISettings);
+	virtual ~MagneticSensorMA730SSI();
+
+    virtual float getSensorAngle() override;
+
+	virtual void init(SPIClass* _spi = &SPI);
+
+    uint16_t readRawAngle();
+private:
+	SPIClass* spi;
+	SPISettings settings;
+};
+
+
+#endif
\ No newline at end of file

From a8606c0d6b2096ca1ffccb1c1c2f3545c34d51ba Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Sat, 18 Dec 2021 21:22:00 +0100
Subject: [PATCH 05/20] try to integrate github workflows

---
 .github/workflows/ccpp.yml | 59 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 59 insertions(+)
 create mode 100644 .github/workflows/ccpp.yml

diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml
new file mode 100644
index 0000000..9993b33
--- /dev/null
+++ b/.github/workflows/ccpp.yml
@@ -0,0 +1,59 @@
+name: Library Compile
+on: push
+jobs:
+  build:
+    name: Test compile
+    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
+            sketch-names: '**.ino'
+            required-libraries: PciManager, Simple FOC
+          - arduino-boards-fqbn: arduino:sam:arduino_due_x
+            required-libraries: Simple FOC
+            sketch-names: '**.ino'            
+          - arduino-boards-fqbn: arduino:samd:nano_33_iot
+            required-libraries: Simple FOC
+            sketch-names: '**.ino'            
+          - arduino-boards-fqbn: arduino:mbed_rp2040:pico
+            required-libraries: Simple FOC
+            sketch-names: '**.ino'            
+          - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4
+            platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
+            required-libraries: Simple FOC
+            sketch-names: '**.ino'          
+          - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1
+            platform-url: https://dl.espressif.com/dl/package_esp32_index.json
+            required-libraries: Simple FOC
+            sketch-names: '**.ino'
+          - arduino-boards-fqbn: STM32:stm32:GenF1:pnum=BLUEPILL_F103C8
+            platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
+            required-libraries: Simple FOC
+            sketch-names: '**.ino'            
+          - arduino-boards-fqbn: STM32:stm32:Nucleo_64:pnum=NUCLEO_F411RE
+            platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
+            required-libraries: Simple FOC
+            sketch-names: '**.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@master
+      with:
+          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 }}

From c8456c88b0ed34effc4c9b8694b67991fdc427a8 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Sun, 19 Dec 2021 21:02:24 +0100
Subject: [PATCH 06/20] fixing workflow compile problems

---
 README.md                      | 2 ++
 src/encoders/as5047/AS5047.h   | 4 ----
 src/encoders/as5048a/AS5048A.h | 4 ----
 src/encoders/ma730/MA730.h     | 4 ----
 4 files changed, 2 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index fb40dbf..41cf066 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # SimpleFOC Driver and Support Library
 
+![Library Compile](https://github.com/simplefoc/Arduino-FOC-drivers/workflows/Library%20Compile/badge.svg)
+
 This library contains an assortment of drivers and supporting code for SimpleFOC.
 
 The intent is to keep the core of SimpleFOC clean, and thus easy to maintain, understand and port to different platforms. In addition to this core, there are various drivers and supporting code which has grown around SimpleFOC, and which we would like to make available to the community.
diff --git a/src/encoders/as5047/AS5047.h b/src/encoders/as5047/AS5047.h
index 4046c73..59b33a3 100644
--- a/src/encoders/as5047/AS5047.h
+++ b/src/encoders/as5047/AS5047.h
@@ -94,11 +94,7 @@ struct AS5047Error {
 #define AS5047_RESULT_MASK 0x3FFF
 
 
-#if defined(ESP32)
 #define AS5047_BITORDER MSBFIRST
-#else
-#define AS5047_BITORDER BitOrder::MSBFIRST
-#endif
 
 static SPISettings AS5047SPISettings(8000000, AS5047_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
 
diff --git a/src/encoders/as5048a/AS5048A.h b/src/encoders/as5048a/AS5048A.h
index afbc18a..00a4fe6 100644
--- a/src/encoders/as5048a/AS5048A.h
+++ b/src/encoders/as5048a/AS5048A.h
@@ -47,11 +47,7 @@ struct AS5048Error {
 #define AS5048A_RESULT_MASK 0x3FFF
 
 
-#if defined(ESP32)
 #define AS5048_BITORDER MSBFIRST
-#else
-#define AS5048_BITORDER BitOrder::MSBFIRST
-#endif
 
 
 static SPISettings AS5048SPISettings(8000000, AS5048_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
diff --git a/src/encoders/ma730/MA730.h b/src/encoders/ma730/MA730.h
index e32c37d..853fac1 100644
--- a/src/encoders/ma730/MA730.h
+++ b/src/encoders/ma730/MA730.h
@@ -25,11 +25,7 @@ enum FieldStrength {
 #define MA730_REG_RD 0x09
 #define MA730_REG_MGH_MGL 0x1B
 
-#if defined(ESP32)
 #define MA730_BITORDER MSBFIRST
-#else
-#define MA730_BITORDER BitOrder::MSBFIRST
-#endif
 
 static SPISettings MA730SPISettings(8000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
 

From 2d2b4ff9e2fec9a3a6f6e002e4cc0b0b90bae63a Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Sun, 19 Dec 2021 21:56:02 +0100
Subject: [PATCH 07/20] fixing workflow compile problems

---
 examples/drivers/drv8316/drv8316_3pwm.ino | 3 +--
 examples/drivers/drv8316/drv8316_6pwm.ino | 3 +--
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/examples/drivers/drv8316/drv8316_3pwm.ino b/examples/drivers/drv8316/drv8316_3pwm.ino
index be9dfe1..f91f227 100644
--- a/examples/drivers/drv8316/drv8316_3pwm.ino
+++ b/examples/drivers/drv8316/drv8316_3pwm.ino
@@ -4,14 +4,13 @@
 #include "Arduino.h"
 #include <Wire.h>
 #include <SimpleFOC.h>
-#include <Math.h>
 #include "drivers/drv8316/drv8316.h"
 
 
 
 
 BLDCMotor motor = BLDCMotor(11);
-DRV8316Driver3PWM driver = DRV8316Driver3PWM(A3,A4,2,7,false);          	  // MKR1010 3-PWM
+DRV8316Driver3PWM driver = DRV8316Driver3PWM(2,3,4,7,false); // use the right pins for your setup!
 #define ENABLE_A 0
 #define ENABLE_B 1
 #define ENABLE_C 6
diff --git a/examples/drivers/drv8316/drv8316_6pwm.ino b/examples/drivers/drv8316/drv8316_6pwm.ino
index bce3900..ecb608a 100644
--- a/examples/drivers/drv8316/drv8316_6pwm.ino
+++ b/examples/drivers/drv8316/drv8316_6pwm.ino
@@ -4,14 +4,13 @@
 #include "Arduino.h"
 #include <Wire.h>
 #include <SimpleFOC.h>
-#include <Math.h>
 #include "drivers/drv8316/drv8316.h"
 
 
 
 
 BLDCMotor motor = BLDCMotor(11);
-DRV8316Driver6PWM driver = DRV8316Driver6PWM(A3,0,A4,1,2,6,7,false);          // MKR1010 6-PWM
+DRV8316Driver6PWM driver = DRV8316Driver6PWM(0,1,2,3,4,6,7,false); // use the right pins for your setup!
 
 
 

From af9c6180a78004227357cdb98df4c5925902ea0d Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Sun, 19 Dec 2021 22:13:49 +0100
Subject: [PATCH 08/20] fixing workflow compile problems

---
 .github/workflows/ccpp.yml                | 2 +-
 examples/drivers/drv8316/drv8316_3pwm.ino | 1 +
 examples/drivers/drv8316/drv8316_6pwm.ino | 1 +
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml
index 9993b33..e9559ec 100644
--- a/.github/workflows/ccpp.yml
+++ b/.github/workflows/ccpp.yml
@@ -18,7 +18,7 @@ jobs:
         include:
           - arduino-boards-fqbn: arduino:avr:uno
             sketch-names: '**.ino'
-            required-libraries: PciManager, Simple FOC
+            required-libraries: Simple FOC
           - arduino-boards-fqbn: arduino:sam:arduino_due_x
             required-libraries: Simple FOC
             sketch-names: '**.ino'            
diff --git a/examples/drivers/drv8316/drv8316_3pwm.ino b/examples/drivers/drv8316/drv8316_3pwm.ino
index f91f227..be89c74 100644
--- a/examples/drivers/drv8316/drv8316_3pwm.ino
+++ b/examples/drivers/drv8316/drv8316_3pwm.ino
@@ -4,6 +4,7 @@
 #include "Arduino.h"
 #include <Wire.h>
 #include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
 #include "drivers/drv8316/drv8316.h"
 
 
diff --git a/examples/drivers/drv8316/drv8316_6pwm.ino b/examples/drivers/drv8316/drv8316_6pwm.ino
index ecb608a..2eb0dd3 100644
--- a/examples/drivers/drv8316/drv8316_6pwm.ino
+++ b/examples/drivers/drv8316/drv8316_6pwm.ino
@@ -4,6 +4,7 @@
 #include "Arduino.h"
 #include <Wire.h>
 #include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
 #include "drivers/drv8316/drv8316.h"
 
 

From 28e78979223560322ecdfbeff60afc848ede6976 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Sun, 19 Dec 2021 22:24:54 +0100
Subject: [PATCH 09/20] fixing workflow compile problems

---
 examples/drivers/drv8316/{ => 3pwm}/drv8316_3pwm.ino | 0
 examples/drivers/drv8316/{ => 6pwm}/drv8316_6pwm.ino | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename examples/drivers/drv8316/{ => 3pwm}/drv8316_3pwm.ino (100%)
 rename examples/drivers/drv8316/{ => 6pwm}/drv8316_6pwm.ino (100%)

diff --git a/examples/drivers/drv8316/drv8316_3pwm.ino b/examples/drivers/drv8316/3pwm/drv8316_3pwm.ino
similarity index 100%
rename from examples/drivers/drv8316/drv8316_3pwm.ino
rename to examples/drivers/drv8316/3pwm/drv8316_3pwm.ino
diff --git a/examples/drivers/drv8316/drv8316_6pwm.ino b/examples/drivers/drv8316/6pwm/drv8316_6pwm.ino
similarity index 100%
rename from examples/drivers/drv8316/drv8316_6pwm.ino
rename to examples/drivers/drv8316/6pwm/drv8316_6pwm.ino

From 8cd9886e44fb441b05fbe14bd496f1c296802a44 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Sat, 25 Dec 2021 01:12:54 +0100
Subject: [PATCH 10/20] ma730 SSI mode is working

---
 src/encoders/ma730/MA730.h                    |  3 ++-
 src/encoders/ma730/MagneticSensorMA730SSI.cpp | 15 ++++++---------
 src/encoders/ma730/MagneticSensorMA730SSI.h   |  3 ++-
 3 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/src/encoders/ma730/MA730.h b/src/encoders/ma730/MA730.h
index 785934e..8a2249a 100644
--- a/src/encoders/ma730/MA730.h
+++ b/src/encoders/ma730/MA730.h
@@ -28,7 +28,7 @@ enum FieldStrength {
 #define MA730_BITORDER MSBFIRST
 
 static SPISettings MA730SPISettings(8000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
-static SPISettings MA730SSISettings(8000000, MA730_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
+static SPISettings MA730SSISettings(4000000, MA730_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
 
 
 class MA730 {
@@ -41,6 +41,7 @@ class MA730 {
 	float getCurrentAngle(); // angle in radians, return current value
 
 	uint16_t readRawAngle(); // 14bit angle value
+    uint16_t readRawAngleSSI(); // 14bit angle value
 
     uint16_t getZero();
     uint8_t getBiasCurrentTrimming();
diff --git a/src/encoders/ma730/MagneticSensorMA730SSI.cpp b/src/encoders/ma730/MagneticSensorMA730SSI.cpp
index 9aff577..1640c69 100644
--- a/src/encoders/ma730/MagneticSensorMA730SSI.cpp
+++ b/src/encoders/ma730/MagneticSensorMA730SSI.cpp
@@ -7,11 +7,10 @@ MagneticSensorMA730SSI::MagneticSensorMA730SSI(SPISettings settings) : settings(
 }
 
 
-MagneticSensorMA730SSI::~MagneticSensorMA730SSI(){ 
+MagneticSensorMA730SSI::~MagneticSensorMA730SSI() {
 
 }
 
-
 void MagneticSensorMA730SSI::init(SPIClass* _spi) {
     this->spi=_spi;
     this->Sensor::init();
@@ -19,19 +18,17 @@ void MagneticSensorMA730SSI::init(SPIClass* _spi) {
 
 // check 40us delay between each read?
 float MagneticSensorMA730SSI::getSensorAngle() {
-    float angle_data = readRawAngle();
-    angle_data = ( angle_data / (float)MA730_CPR) * _2PI;
+    float angle_data = readRawAngleSSI();
+    angle_data = ( angle_data / (float)MA730_CPR ) * _2PI;
     // return the shaft angle
     return angle_data;
 }
 
 
-
-uint16_t MagneticSensorMA730SSI::readRawAngle() {
+uint16_t MagneticSensorMA730SSI::readRawAngleSSI() {
     spi->beginTransaction(settings);
     uint16_t value = spi->transfer16(0x0000);
-    uint8_t parity = spi->transfer(0x00);
-    // TODO: check parity
+    //uint16_t parity = spi->transfer(0x00);
     spi->endTransaction();
-    return value>>2;
+    return (value>>1)&0x3FFF;
 }; // 14bit angle value
diff --git a/src/encoders/ma730/MagneticSensorMA730SSI.h b/src/encoders/ma730/MagneticSensorMA730SSI.h
index 32d76dd..f45071f 100644
--- a/src/encoders/ma730/MagneticSensorMA730SSI.h
+++ b/src/encoders/ma730/MagneticSensorMA730SSI.h
@@ -14,7 +14,8 @@ class MagneticSensorMA730SSI : public Sensor {
 
 	virtual void init(SPIClass* _spi = &SPI);
 
-    uint16_t readRawAngle();
+    uint16_t readRawAngleSSI();
+	
 private:
 	SPIClass* spi;
 	SPISettings settings;

From 20d191a830bfaaf12330b818ba12ffc2220d1fcf Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Mon, 3 Jan 2022 00:53:40 +0100
Subject: [PATCH 11/20] fix compile problems on different platforms

---
 src/comms/i2c/I2CCommander.cpp                 | 9 +++++----
 src/drivers/drv8316/drv8316.h                  | 4 ++--
 src/encoders/stm32hwencoder/STM32HWEncoder.cpp | 4 ++++
 3 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/comms/i2c/I2CCommander.cpp b/src/comms/i2c/I2CCommander.cpp
index 22162df..6ef5068 100644
--- a/src/comms/i2c/I2CCommander.cpp
+++ b/src/comms/i2c/I2CCommander.cpp
@@ -83,7 +83,6 @@ the run() method disables interrupts while the updates happen.
 */
 bool I2CCommander::receiveRegister(uint8_t motorNum, uint8_t registerNum, int numBytes) {
     int val;
-    float floatval;
     switch (registerNum) {
         case REG_MOTOR_ADDRESS:
             val = _wire->read(); // reading one more byte is definately ok, since numBytes>1
@@ -387,7 +386,8 @@ bool I2CCommander::sendRegister(uint8_t motorNum, uint8_t registerNum) {
             writeFloat(motors[motorNum]->current_limit);
             break;
         case REG_MOTION_DOWNSAMPLE:
-            _wire->write((uint32_t)motors[motorNum]->motion_downsample);
+            _wire->write((int)motors[motorNum]->motion_downsample); // TODO int will have different sizes on different platforms
+                                                                    //      but using uint32 doesn't compile clean on all, e.g. RP2040
             break;            
 
         case REG_ZERO_ELECTRIC_ANGLE:
@@ -403,11 +403,12 @@ bool I2CCommander::sendRegister(uint8_t motorNum, uint8_t registerNum) {
             writeFloat(motors[motorNum]->phase_resistance);
             break;
         case REG_POLE_PAIRS:
-            _wire->write((uint32_t)motors[motorNum]->pole_pairs);
+            _wire->write((int)motors[motorNum]->pole_pairs);
             break;
 
         case REG_SYS_TIME:
-            _wire->write(millis()); 
+            // TODO how big is millis()? Same on all platforms?
+            _wire->write((int)millis());
             break;
         case REG_NUM_MOTORS:   
             _wire->write(numMotors);
diff --git a/src/drivers/drv8316/drv8316.h b/src/drivers/drv8316/drv8316.h
index 7f09cd0..dfec32e 100644
--- a/src/drivers/drv8316/drv8316.h
+++ b/src/drivers/drv8316/drv8316.h
@@ -21,8 +21,8 @@ enum DRV8316_PWMMode {
 
 
 enum DRV8316_SDOMode {
-	OpenDrain = 0b0,
-	PushPull = 0b1
+	SDOMode_OpenDrain = 0b0,
+	SDOMode_PushPull = 0b1
 };
 
 
diff --git a/src/encoders/stm32hwencoder/STM32HWEncoder.cpp b/src/encoders/stm32hwencoder/STM32HWEncoder.cpp
index f00eee8..f911e00 100644
--- a/src/encoders/stm32hwencoder/STM32HWEncoder.cpp
+++ b/src/encoders/stm32hwencoder/STM32HWEncoder.cpp
@@ -112,7 +112,9 @@ void STM32HWEncoder::init() {
     gpio.Mode = GPIO_MODE_AF_PP;
     gpio.Pull = GPIO_NOPULL;
     gpio.Speed = GPIO_SPEED_FREQ_MEDIUM;
+    #ifndef STM32F1xx_HAL_GPIO_H
     gpio.Alternate = pinmap_function(pinA, PinMap_PWM);
+    #endif
     HAL_GPIO_Init(digitalPinToPort(_pinA), &gpio);
 
     // lets assume pinB is on the same timer as pinA... otherwise it can't work but the API currently doesn't allow us to fail gracefully
@@ -120,7 +122,9 @@ void STM32HWEncoder::init() {
     gpio.Mode = GPIO_MODE_AF_PP;
     gpio.Pull = GPIO_NOPULL;
     gpio.Speed = GPIO_SPEED_FREQ_MEDIUM;
+    #ifndef STM32F1xx_HAL_GPIO_H
     gpio.Alternate = pinmap_function(digitalPinToPinName(_pinB), PinMap_PWM);
+    #endif
     HAL_GPIO_Init(digitalPinToPort(_pinB), &gpio);
 
     // set up timer for encoder

From 0598eed18e0dd8f09ef1a9a374735f52dc12b949 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Mon, 3 Jan 2022 00:54:18 +0100
Subject: [PATCH 12/20] change the way we read the ma730 angle

---
 src/encoders/ma730/MA730.cpp | 4 ++--
 src/encoders/ma730/MA730.h   | 5 +++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/encoders/ma730/MA730.cpp b/src/encoders/ma730/MA730.cpp
index 17979d7..885e335 100644
--- a/src/encoders/ma730/MA730.cpp
+++ b/src/encoders/ma730/MA730.cpp
@@ -16,12 +16,12 @@ void MA730::init(SPIClass* _spi) {
 };
 
 float MA730::getCurrentAngle() {
-    return ((float)readRawAngle())/(float)MA730_CPR * 2.0f * (float)PI;
+    return (readRawAngle() * _2PI)/MA730_CPR;
 }; // angle in radians, return current value
 
 uint16_t MA730::readRawAngle() {
     uint16_t angle = transfer16(0x0000);
-    return angle>>2;
+    return angle;
 }; // 14bit angle value
 
 uint16_t MA730::getZero() {
diff --git a/src/encoders/ma730/MA730.h b/src/encoders/ma730/MA730.h
index 8a2249a..00c6e48 100644
--- a/src/encoders/ma730/MA730.h
+++ b/src/encoders/ma730/MA730.h
@@ -13,7 +13,8 @@ enum FieldStrength {
 };
 
 
-#define MA730_CPR 16384
+#define _2PI 6.28318530718f
+#define MA730_CPR 65536.0f
 
 #define MA730_REG_ZERO_POSITION_LSB 0x00
 #define MA730_REG_ZERO_POSITION_MSB 0x01
@@ -27,7 +28,7 @@ enum FieldStrength {
 
 #define MA730_BITORDER MSBFIRST
 
-static SPISettings MA730SPISettings(8000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
+static SPISettings MA730SPISettings(1000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
 static SPISettings MA730SSISettings(4000000, MA730_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
 
 

From bd67bb9a7b17717f3eeaef75b323b6a4d815069b Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Wed, 5 Jan 2022 01:36:32 +0100
Subject: [PATCH 13/20] added AS5145 SSI sensor

---
 README.md                                    |  2 +
 src/encoders/as5145/MagneticSensorAS5145.cpp | 34 +++++++++++++
 src/encoders/as5145/MagneticSensorAS5145.h   | 35 ++++++++++++++
 src/encoders/as5145/README.md                | 50 ++++++++++++++++++++
 4 files changed, 121 insertions(+)
 create mode 100644 src/encoders/as5145/MagneticSensorAS5145.cpp
 create mode 100644 src/encoders/as5145/MagneticSensorAS5145.h
 create mode 100644 src/encoders/as5145/README.md

diff --git a/README.md b/README.md
index 41cf066..4348bd0 100644
--- a/README.md
+++ b/README.md
@@ -19,6 +19,8 @@ What's here? See the sections below. Each driver or function should come with it
  - [AS5048A SPI driver](src/encoders/as5048a/) - SPI driver for the AMS AS5048A absolute position magnetic rotary encoder IC.
  - [AS5047 SPI driver](src/encoders/as5047/) - SPI driver for the AMS AS5047P and AS5047D absolute position magnetic rotary encoder ICs.
  - [MA730 SPI driver](src/encoders/ma730/) - SPI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
+ - [MA730 SSI driver](src/encoders/ma730/) - SSI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
+ - [AS5145 SSI driver](src/encoders/as5145/) - SSI driver for the AMS AS5145 and AS5045 absolute position magnetic rotary encoder ICs.
  - [STM32 Hardware Encoder](src/encoders/stm32hwencoder/) - Hardware timer based encoder driver for ABI type quadrature encoders.
 
 ### Communications
diff --git a/src/encoders/as5145/MagneticSensorAS5145.cpp b/src/encoders/as5145/MagneticSensorAS5145.cpp
new file mode 100644
index 0000000..6d60000
--- /dev/null
+++ b/src/encoders/as5145/MagneticSensorAS5145.cpp
@@ -0,0 +1,34 @@
+#include "./MagneticSensorAS5145.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+MagneticSensorAS5145::MagneticSensorAS5145(SPISettings settings) : settings(settings) {
+
+}
+
+
+MagneticSensorAS5145::~MagneticSensorAS5145() {
+
+}
+
+void MagneticSensorAS5145::init(SPIClass* _spi) {
+    this->spi=_spi;
+    this->Sensor::init();
+}
+
+// check 40us delay between each read?
+float MagneticSensorAS5145::getSensorAngle() {
+    float angle_data = readRawAngleSSI();
+    angle_data = ( (float)angle_data / AS5145_CPR ) * _2PI;
+    // return the shaft angle
+    return angle_data;
+}
+
+
+uint16_t MagneticSensorAS5145::readRawAngleSSI() {
+    spi->beginTransaction(settings);
+    uint16_t value = spi->transfer16(0x0000);
+    //uint16_t parity = spi->transfer(0x00);
+    spi->endTransaction();
+    return (value>>3)&0x1FFF; // TODO this isn't what I expected from the datasheet... maybe there's a leading 0 bit?
+}; // 12bit angle value
diff --git a/src/encoders/as5145/MagneticSensorAS5145.h b/src/encoders/as5145/MagneticSensorAS5145.h
new file mode 100644
index 0000000..b857cf4
--- /dev/null
+++ b/src/encoders/as5145/MagneticSensorAS5145.h
@@ -0,0 +1,35 @@
+
+#ifndef __MAGNETIC_SENSOR_AS5145_H__
+#define __MAGNETIC_SENSOR_AS5145_H__
+
+#include "SPI.h"
+#include "common/base_classes/Sensor.h"
+
+
+#define AS5145_BITORDER MSBFIRST
+#define AS5145_CPR 4096.0f
+#define _2PI 6.28318530718f
+
+
+static SPISettings AS5145SSISettings(1000000, AS5145_BITORDER, SPI_MODE2); // @suppress("Invalid arguments")
+
+
+class MagneticSensorAS5145 : public Sensor {
+public:
+	MagneticSensorAS5145(SPISettings settings = AS5145SSISettings);
+	virtual ~MagneticSensorAS5145();
+
+    virtual float getSensorAngle() override;
+
+	virtual void init(SPIClass* _spi = &SPI);
+
+    uint16_t readRawAngleSSI();
+	
+private:
+	SPIClass* spi;
+	SPISettings settings;
+};
+
+
+
+#endif
\ No newline at end of file
diff --git a/src/encoders/as5145/README.md b/src/encoders/as5145/README.md
new file mode 100644
index 0000000..f0474b9
--- /dev/null
+++ b/src/encoders/as5145/README.md
@@ -0,0 +1,50 @@
+# AS5145 SimpleFOC driver
+
+SSI protocol driver for the AMS AS5145 magnetic encoder. Any of the A, B or H variants should work. AS5045 encoders should also be supported.
+
+Only angle reading is supported, might get to the status bits at a later time.
+The SSI protocol is "emulated" using the SPI peripheral.
+
+Tested with AS5145A on STM32G491 so far.
+
+## Hardware setup
+
+Wire the sensor's data (DO) line to the MISO (CIPO) pin, nCS, SCK as normal. Leave the MOSI pin unconnected.
+
+## Software setup
+
+```
+#include <Arduino.h>
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "encoders/as5145/MagneticSensorAS5145.h"
+
+MagneticSensorAS5145 sensor;
+SPIClass spi_ssi(PB15, PB14, PB13, PB12);
+
+long ts;
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) ;
+  delay(2000);
+
+  Serial.println("Initializing sensor...");
+
+  spi_ssi.begin();
+  sensor.init(&spi_ssi);
+
+  Serial.println("Sensor initialized.");
+
+  ts = millis();
+}
+
+void loop() {
+  sensor.update();
+  if (millis() - ts > 1000) {
+    Serial.println(sensor.getAngle(), 3);
+    ts = millis();
+  }
+  delay(1);
+}
+```
\ No newline at end of file

From d74656bf2915c91bdae3a48ab191ee948f6c31a2 Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Wed, 5 Jan 2022 01:38:29 +0100
Subject: [PATCH 14/20] fix to use new CPR value

---
 src/encoders/ma730/MagneticSensorMA730SSI.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/encoders/ma730/MagneticSensorMA730SSI.cpp b/src/encoders/ma730/MagneticSensorMA730SSI.cpp
index 1640c69..bf87b2b 100644
--- a/src/encoders/ma730/MagneticSensorMA730SSI.cpp
+++ b/src/encoders/ma730/MagneticSensorMA730SSI.cpp
@@ -30,5 +30,5 @@ uint16_t MagneticSensorMA730SSI::readRawAngleSSI() {
     uint16_t value = spi->transfer16(0x0000);
     //uint16_t parity = spi->transfer(0x00);
     spi->endTransaction();
-    return (value>>1)&0x3FFF;
+    return (value<<1); //>>1)&0x3FFF;
 }; // 14bit angle value

From 066cd03089d6312b9ba46a2e3324d35ff7d1af9e Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Sat, 8 Jan 2022 18:17:24 +0100
Subject: [PATCH 15/20] added TLE5012B driver

---
 README.md                                     |   1 +
 .../tle5012b/MagneticSensorTLE5012B.cpp       |  18 ++
 .../tle5012b/MagneticSensorTLE5012B.h         |  25 +++
 src/encoders/tle5012b/README.md               |  91 ++++++++++
 src/encoders/tle5012b/STM32TLE5012B.cpp       | 157 ++++++++++++++++++
 src/encoders/tle5012b/STM32TLE5012B.h         |  45 +++++
 6 files changed, 337 insertions(+)
 create mode 100644 src/encoders/tle5012b/MagneticSensorTLE5012B.cpp
 create mode 100644 src/encoders/tle5012b/MagneticSensorTLE5012B.h
 create mode 100644 src/encoders/tle5012b/README.md
 create mode 100644 src/encoders/tle5012b/STM32TLE5012B.cpp
 create mode 100644 src/encoders/tle5012b/STM32TLE5012B.h

diff --git a/README.md b/README.md
index 4348bd0..788ef20 100644
--- a/README.md
+++ b/README.md
@@ -21,6 +21,7 @@ What's here? See the sections below. Each driver or function should come with it
  - [MA730 SPI driver](src/encoders/ma730/) - SPI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
  - [MA730 SSI driver](src/encoders/ma730/) - SSI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
  - [AS5145 SSI driver](src/encoders/as5145/) - SSI driver for the AMS AS5145 and AS5045 absolute position magnetic rotary encoder ICs.
+ - [TLE5012B SPI driver](src/encoders/tle5012b/) - SPI (half duplex) driver for TLE5012B absolute position magnetic rotary encoder IC.
  - [STM32 Hardware Encoder](src/encoders/stm32hwencoder/) - Hardware timer based encoder driver for ABI type quadrature encoders.
 
 ### Communications
diff --git a/src/encoders/tle5012b/MagneticSensorTLE5012B.cpp b/src/encoders/tle5012b/MagneticSensorTLE5012B.cpp
new file mode 100644
index 0000000..5947209
--- /dev/null
+++ b/src/encoders/tle5012b/MagneticSensorTLE5012B.cpp
@@ -0,0 +1,18 @@
+
+#include "./MagneticSensorTLE5012B.h"
+
+#if defined(_STM32_DEF_)
+
+MagneticSensorTLE5012B::MagneticSensorTLE5012B(int data, int sck, int nCS) : TLE5012B(data, sck, nCS) { };
+MagneticSensorTLE5012B::~MagneticSensorTLE5012B(){ };
+
+void MagneticSensorTLE5012B::init() {
+    this->TLE5012B::init();
+    this->Sensor::init();
+};
+
+float MagneticSensorTLE5012B::getSensorAngle() {
+    return getCurrentAngle();
+};
+
+#endif
diff --git a/src/encoders/tle5012b/MagneticSensorTLE5012B.h b/src/encoders/tle5012b/MagneticSensorTLE5012B.h
new file mode 100644
index 0000000..712c896
--- /dev/null
+++ b/src/encoders/tle5012b/MagneticSensorTLE5012B.h
@@ -0,0 +1,25 @@
+
+#ifndef __MAGNETIC_SENSOR_TLE5012B_H__
+#define __MAGNETIC_SENSOR_TLE5012B_H__
+
+#include "./STM32TLE5012B.h"
+
+#if defined(_STM32_DEF_)
+
+#include "common/base_classes/Sensor.h"
+
+
+
+
+class MagneticSensorTLE5012B : public Sensor, public TLE5012B {
+    public:
+        MagneticSensorTLE5012B(int data, int sck, int nCS);
+        ~MagneticSensorTLE5012B();
+        virtual void init() override;
+        virtual float getSensorAngle() override;
+};
+
+
+
+#endif
+#endif
diff --git a/src/encoders/tle5012b/README.md b/src/encoders/tle5012b/README.md
new file mode 100644
index 0000000..3ce22c2
--- /dev/null
+++ b/src/encoders/tle5012b/README.md
@@ -0,0 +1,91 @@
+# SimpleFOC Driver for TLE5012B encoder for STM32 MCUs
+
+This driver code is compatible with STM32 MCUs. Based loosely on code from [here](https://github.com/xerootg/btt-s42b-simplefoc), with many thanks to @xerootg
+
+## Hardware setup
+
+Connect the data pin of the sensor to the MOSI (COPI) line of the MCU. The SCLK and nCS lines are connected as normal.
+
+## Software setup
+
+Sample code:
+
+```
+#include <Arduino.h>
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "encoders/tle5012b/MagneticSensorTLE5012B.h"
+
+MagneticSensorTLE5012B sensor(PB15,PB13,PB12);
+
+long ts;
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) ;
+  delay(2000);
+
+  Serial.println("Initializing sensor...");
+
+  sensor.init();
+
+  Serial.println("Sensor initialized.");
+
+  ts = millis();
+}
+
+void loop() {
+  sensor.update();
+  if (millis() - ts > 1000) {
+    Serial.println(sensor.getAngle(), 3);
+    ts = millis();
+  }
+  delay(1);
+}
+```
+
+## Other MCUs
+
+Infineon provides a driver library compatible with Atmel AVR (Arduino UNO, Nano, etc...) and Infineon XMC MCUs. If you have one of those MCUs, you can use this library in conjunction with the GenericSensor class in SimpleFOC.
+
+```
+#include <SimpleFOC.h>
+#include <TLE5012-ino.hpp>
+
+Tle5012Ino Tle5012Sensor = Tle5012Ino();
+errorTypes checkError = NO_ERROR;
+
+float readMySensor(){
+ // read my sensor
+ // return the angle value in radians in between 0 and 2PI
+ 
+    Tle5012Sensor.getAngleValue(d);
+    d = (d + 180);
+    if ( d + 40.9 > 360 ) {
+        d = (d + 40.9) - 360;
+    }
+    else
+        d = d + 40.9;
+
+    d = d * 0.0174533;
+    return d;
+}
+void initMySensor(){
+  // do the init
+   checkError = Tle5012Sensor.begin();
+}
+
+// empty constructor 
+GenericSensor sensor = GenericSensor(readMySensor, initMySensor);
+
+void setup(){
+...
+  //init sensor and use it further with foc...
+  sensor.init();
+...
+}
+```
+
+Other MCUs are currently not supported. The problem is that the sensor uses SPI in half-duplex mode, which is not supported by Arduino framework. So for each MCU type a custom driver has to be written to get the half-duplex SPI communication to work. There are currently no plans to support other MCUs on our side, but we will gladly accept pull requests :-)
+
+If you can find other libraries for other MCUs, you can use the GenericSensor approach to integrate them.
\ No newline at end of file
diff --git a/src/encoders/tle5012b/STM32TLE5012B.cpp b/src/encoders/tle5012b/STM32TLE5012B.cpp
new file mode 100644
index 0000000..8514283
--- /dev/null
+++ b/src/encoders/tle5012b/STM32TLE5012B.cpp
@@ -0,0 +1,157 @@
+
+#include "STM32TLE5012B.h"
+
+#if defined(_STM32_DEF_)
+
+
+#include "utility/spi_com.h"
+extern "C" uint32_t spi_getClkFreqInst(SPI_TypeDef *spi_inst);
+
+
+
+TLE5012B::TLE5012B(int data, int sck, int nCS, uint32_t freq) {
+    _data = data;
+    _sck = sck;
+    _nCS = nCS;
+    _freq = freq;
+};
+
+TLE5012B::~TLE5012B() {
+
+};
+
+
+void TLE5012B::init() {
+    pinMode(_nCS, OUTPUT);
+    digitalWrite(_nCS, HIGH);
+
+    // initialize pins
+    GPIO_InitTypeDef gpio;
+    gpio.Pin = digitalPinToBitMask(_data);
+    gpio.Mode = GPIO_MODE_AF_PP;
+    gpio.Speed = GPIO_SPEED_FREQ_HIGH;
+    HAL_GPIO_Init(digitalPinToPort(_data), &gpio);
+    gpio.Pin = digitalPinToBitMask(_sck);
+    gpio.Mode = GPIO_MODE_AF_PP;
+    gpio.Speed = GPIO_SPEED_FREQ_HIGH;
+    HAL_GPIO_Init(digitalPinToPort(_sck), &gpio);
+
+    SPI_TypeDef *spi_data = (SPI_TypeDef*)pinmap_peripheral(digitalPinToPinName(_data), PinMap_SPI_MOSI);
+    SPI_TypeDef *spi_sclk = (SPI_TypeDef*)pinmap_peripheral(digitalPinToPinName(_sck), PinMap_SPI_SCLK);
+    SPI_TypeDef *spi_inst = (SPI_TypeDef*)pinmap_merge_peripheral(spi_data, spi_sclk);
+
+    pinmap_pinout(digitalPinToPinName(_data), PinMap_SPI_MOSI);
+    pinmap_pinout(digitalPinToPinName(_sck), PinMap_SPI_SCLK);
+
+    #if defined SPI1_BASE
+    if (spi_inst == SPI1) {
+        __HAL_RCC_SPI1_CLK_ENABLE();
+        __HAL_RCC_SPI1_FORCE_RESET();
+        __HAL_RCC_SPI1_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI2_BASE
+    if (spi_inst == SPI2) {
+        __HAL_RCC_SPI2_CLK_ENABLE();
+        __HAL_RCC_SPI2_FORCE_RESET();
+        __HAL_RCC_SPI2_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI3_BASE
+    if (spi_inst == SPI3) {
+        __HAL_RCC_SPI3_CLK_ENABLE();
+        __HAL_RCC_SPI3_FORCE_RESET();
+        __HAL_RCC_SPI3_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI4_BASE
+    if (spi_inst == SPI4) {
+        __HAL_RCC_SPI4_CLK_ENABLE();
+        __HAL_RCC_SPI4_FORCE_RESET();
+        __HAL_RCC_SPI4_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI5_BASE
+    if (spi_inst == SPI5) {
+        __HAL_RCC_SPI5_CLK_ENABLE();
+        __HAL_RCC_SPI5_FORCE_RESET();
+        __HAL_RCC_SPI5_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI6_BASE
+    if (spi_inst == SPI6) {
+        __HAL_RCC_SPI6_CLK_ENABLE();
+        __HAL_RCC_SPI6_FORCE_RESET();
+        __HAL_RCC_SPI6_RELEASE_RESET();
+    }
+    #endif
+
+    _spi.Instance = spi_inst;
+    _spi.Init.Direction = SPI_DIRECTION_1LINE;
+    _spi.Init.Mode = SPI_MODE_MASTER;
+    _spi.Init.DataSize = SPI_DATASIZE_8BIT;
+    _spi.Init.CLKPolarity = SPI_POLARITY_LOW;
+    _spi.Init.CLKPhase = SPI_PHASE_2EDGE;
+    _spi.Init.NSS = SPI_NSS_SOFT;
+    _spi.Init.FirstBit = SPI_FIRSTBIT_MSB;
+    _spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+    _spi.Init.CRCPolynomial = 7;
+    _spi.Init.TIMode = SPI_TIMODE_DISABLE;
+    _spi.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
+
+    uint32_t spi_freq = spi_getClkFreqInst(spi_inst);
+    if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV2_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV4_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV8_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV16_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV32_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV64_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV128_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
+    } else {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
+    }
+
+    if (HAL_SPI_Init(&_spi) != HAL_OK) {
+        // setup error
+        Serial.println("TLE5012B setup error");
+    }
+};
+
+uint16_t TLE5012B::readRawAngle() {
+    uint8_t data[4];
+    readBytes(TLE5012B_ANGLE_REG, data, 2);
+    return (((uint16_t)data[0] << 8) | data[1]) & 0x7FFF;
+}; 
+
+
+float TLE5012B::getCurrentAngle() {
+    return ((float)readRawAngle())/TLE5012B_CPR * _2PI;
+}; // angle in radians, return current value
+
+
+void TLE5012B::readBytes(uint16_t reg, uint8_t *data, uint8_t len) {
+    digitalWrite(_nCS, LOW);
+
+    reg |= TLE5012B_READ_REGISTER + (len>>1);
+    uint8_t txbuffer[2] = { (uint8_t)(reg >> 8), (uint8_t)(reg & 0x00FF) };    
+    HAL_SPI_Transmit(&_spi, txbuffer, 2, 100); // TODO check return value for error, timeout
+    //delayMicroseconds(1);
+    HAL_SPI_Receive(&_spi, data, len + 2, 100);
+
+    digitalWrite(_nCS, HIGH);
+};
+
+
+#endif
diff --git a/src/encoders/tle5012b/STM32TLE5012B.h b/src/encoders/tle5012b/STM32TLE5012B.h
new file mode 100644
index 0000000..6ae6c65
--- /dev/null
+++ b/src/encoders/tle5012b/STM32TLE5012B.h
@@ -0,0 +1,45 @@
+#ifndef __TLE5012B_H__
+#define __TLE5012B_H__
+
+#include "Arduino.h"
+
+#if defined(_STM32_DEF_)
+
+
+#define _2PI 6.28318530718f
+#define TLE5012B_CPR 32768.0f
+
+#define TLE5012B_READ_REGISTER 0x8000
+
+enum TLE5012B_Register : uint16_t {
+    TLE5012B_ANGLE_REG = 0x0020,
+    TLE5012B_SPEED_REG = 0x0030
+};
+
+
+
+class TLE5012B {
+    public:
+        TLE5012B(int data, int sck, int nCS, uint32_t freq = 1000000);
+        ~TLE5012B();
+        virtual void init();
+
+	    uint16_t readRawAngle();
+	    float getCurrentAngle(); // angle in radians, return current value
+    private:
+
+        void readBytes(uint16_t reg, uint8_t *data, uint8_t len);
+
+        int _data;
+        int _sck;
+        int _nCS;
+        uint32_t _freq;
+        SPI_HandleTypeDef _spi;
+};
+
+
+
+
+#endif
+
+#endif
\ No newline at end of file

From 20eeae1ab52ec42b1888944952a413b778119c1b Mon Sep 17 00:00:00 2001
From: Richard Unger <runger@aon.at>
Date: Fri, 28 Jan 2022 01:25:19 +0100
Subject: [PATCH 16/20] not all boards support the NSS PULSE

---
 src/encoders/tle5012b/STM32TLE5012B.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/encoders/tle5012b/STM32TLE5012B.cpp b/src/encoders/tle5012b/STM32TLE5012B.cpp
index 8514283..7fd89c7 100644
--- a/src/encoders/tle5012b/STM32TLE5012B.cpp
+++ b/src/encoders/tle5012b/STM32TLE5012B.cpp
@@ -102,7 +102,9 @@ void TLE5012B::init() {
     _spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
     _spi.Init.CRCPolynomial = 7;
     _spi.Init.TIMode = SPI_TIMODE_DISABLE;
+    #if defined(SPI_NSS_PULSE_DISABLE)
     _spi.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
+    #endif
 
     uint32_t spi_freq = spi_getClkFreqInst(spi_inst);
     if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV2_MHZ)) {

From f5f65a25dc300db9e9f264391d5937661e2d454b Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Thu, 3 Feb 2022 20:07:36 +0100
Subject: [PATCH 17/20] update library properties

---
 keywords.txt       | 9 ++++++++-
 library.properties | 2 +-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/keywords.txt b/keywords.txt
index 1c7c07f..e99910a 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -1,2 +1,9 @@
 SimpleFOC   KEYWORD1
-DRV8316 KEYWORD1
+DRV8316     KEYWORD1
+AS5048A     KEYWORD1
+AS5047      KEYWORD1
+AS5145      KEYWORD1
+MA730       KEYWORD1
+TLE5012B    KEYWORD1
+I2CCommander    KEYWORD1
+
diff --git a/library.properties b/library.properties
index 3b86d64..be32b51 100644
--- a/library.properties
+++ b/library.properties
@@ -7,5 +7,5 @@ paragraph=SimpleFOC runs BLDC and Stepper motors using the FOC algorithm. This l
 category=Device Control
 url=https://docs.simplefoc.com
 architectures=*
-includes=DRV8316.h
+includes=SimpleFOCDrivers.h
 depends=Simple FOC
\ No newline at end of file

From a4cfda89b492d6d8cd98e4a1e52bb62700362d3f Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Thu, 3 Feb 2022 20:33:26 +0100
Subject: [PATCH 18/20] fix AVR compile error

---
 src/encoders/aeat8800q24/AEAT8800Q24.h | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/encoders/aeat8800q24/AEAT8800Q24.h b/src/encoders/aeat8800q24/AEAT8800Q24.h
index add23c3..4acfe6d 100644
--- a/src/encoders/aeat8800q24/AEAT8800Q24.h
+++ b/src/encoders/aeat8800q24/AEAT8800Q24.h
@@ -70,14 +70,12 @@ typedef union {
 } AEAT8800Q24_Status_t;
 
 
-#if defined(ESP32)
-#define AEAT8800Q24_BITORDER MSBFIRST
-#else
-#define AEAT8800Q24_BITORDER BitOrder::MSBFIRST
+#ifndef MSBFIRST
+#define MSBFIRST BitOrder::MSBFIRST
 #endif
 
-static SPISettings AEAT8800Q24SPISettings(1000000, AEAT8800Q24_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
-static SPISettings AEAT8800Q24SSISettings(4000000, AEAT8800Q24_BITORDER, SPI_MODE2); // @suppress("Invalid arguments")
+static SPISettings AEAT8800Q24SPISettings(1000000, MSBFIRST, SPI_MODE3); // @suppress("Invalid arguments")
+static SPISettings AEAT8800Q24SSISettings(4000000, MSBFIRST, SPI_MODE2); // @suppress("Invalid arguments")
 
 
 class AEAT8800Q24 {

From 08a85e52635931a3a362c02deba3fc731d99cad6 Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Thu, 3 Feb 2022 22:46:23 +0100
Subject: [PATCH 19/20] fixing compile errors on esp32

---
 .github/workflows/ccpp.yml                 | 3 ++-
 README.md                                  | 2 ++
 src/encoders/as5145/MagneticSensorAS5145.h | 4 ++++
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml
index e9559ec..d7a42aa 100644
--- a/.github/workflows/ccpp.yml
+++ b/.github/workflows/ccpp.yml
@@ -11,7 +11,8 @@ jobs:
           - 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
+          - esp32:esp32:esp32                        # esp32
+          - esp32:esp32:esp32s2                      # esp32s2
           - STM32:stm32:GenF1:pnum=BLUEPILL_F103C8   # stm32 bluepill
           - STM32:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
           - arduino:mbed_rp2040:pico                 # rpi pico          
diff --git a/README.md b/README.md
index 788ef20..e5d9a97 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,8 @@
 # SimpleFOC Driver and Support Library
 
 ![Library Compile](https://github.com/simplefoc/Arduino-FOC-drivers/workflows/Library%20Compile/badge.svg)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
 
 This library contains an assortment of drivers and supporting code for SimpleFOC.
 
diff --git a/src/encoders/as5145/MagneticSensorAS5145.h b/src/encoders/as5145/MagneticSensorAS5145.h
index b857cf4..ee1f34a 100644
--- a/src/encoders/as5145/MagneticSensorAS5145.h
+++ b/src/encoders/as5145/MagneticSensorAS5145.h
@@ -2,9 +2,13 @@
 #ifndef __MAGNETIC_SENSOR_AS5145_H__
 #define __MAGNETIC_SENSOR_AS5145_H__
 
+#include "Arduino.h"
 #include "SPI.h"
 #include "common/base_classes/Sensor.h"
 
+#ifndef MSBFIRST
+#define MSBFIRST BitOrder::MSBFIRST
+#endif
 
 #define AS5145_BITORDER MSBFIRST
 #define AS5145_CPR 4096.0f

From 14f416e7f04f70d4e9cede0ff40e2cda8ba1ba27 Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Thu, 3 Feb 2022 22:56:27 +0100
Subject: [PATCH 20/20] update board URLs for ESP32 builds

---
 .github/workflows/ccpp.yml | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml
index d7a42aa..dbec5fb 100644
--- a/.github/workflows/ccpp.yml
+++ b/.github/workflows/ccpp.yml
@@ -32,9 +32,17 @@ jobs:
           - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4
             platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
             required-libraries: Simple FOC
-            sketch-names: '**.ino'          
-          - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1
-            platform-url: https://dl.espressif.com/dl/package_esp32_index.json
+            sketch-names: '**.ino'
+          # - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1
+          #   platform-url: https://dl.espressif.com/dl/package_esp32_index.json
+          #   required-libraries: Simple FOC
+          #   sketch-names: '**.ino'
+          - arduino-boards-fqbn: esp32:esp32:esp32 # esp32 
+            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
+            required-libraries: Simple FOC
+            sketch-names: '**.ino'
+          - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
+            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
             required-libraries: Simple FOC
             sketch-names: '**.ino'
           - arduino-boards-fqbn: STM32:stm32:GenF1:pnum=BLUEPILL_F103C8