simplefoc · dekutree64 · Jul 28, 2025 · Oct 21, 2025 · Oct 21, 2025 · Oct 21, 2025
diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2021 Richard Unger
+Copyright (c) 2025 Richard Unger
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/README.md b/README.md
@@ -10,20 +10,15 @@ The intent is to keep the core of SimpleFOC clean, and thus easy to maintain, un
 
 ## New Release
 
-v1.0.9 - Released July 2025, for Simple FOC 2.3.5 or later
+v1.1.0 - Released xxx 2026, for Simple FOC 2.3.x or later
 
 
-What's changed since 1.0.8?
-- FluxObserverSensor for sensorless FOC thanks to [@Candas1](https://github.com/Candas1)
-- AS5600 fast mode support
-- Improvements to SmoothingSensor and LinearHall thanks to [@dekutree64](https://github.com/dekutree64)
-- Improvements to CalibratedSensor and HybridStepper thanks to [@askuric](https://github.com/askuric)
-- AS5600 driver bugfix thanks to [@zbas](https://github.com/zbas)
-- Calibrated sensor improvements thanks to [@Schnilz](https://github.com/Schnilz)
-- ESP32HWEncoder bugfix thanks to [@AndBindStyle](https://github.com/AndBondStyle)
-- STM32HWEncoder fix thanks to [@AntonEvmenenko](https://github.com/AntonEvmenenko)
-- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.9)
-
+What's changed since 1.0.9?
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.1.0)
+- new SPI driver for MT6826S magnetic sensors
+- new SPI driver for KTH78xx magnetic sensors
+- new SPI driver for the DRV8376 integrated BLDC driver from TI
+- new SPI driver for the DRV8320 / DRV8323 thanks to [@Moddingear](https://github.com/Moddingear)
 
 ## What is included
 
@@ -35,7 +30,10 @@ Software to control gate driver ICs or integrated driver ICs which have advanced
 
  - [TMC6200 driver](src/drivers/tmc6200/) - SPI driver for Trinamics TMC6200 motor driver IC.
  - [DRV8316 driver](src/drivers/drv8316/) - SPI driver for TI's DRV8316 motor driver IC.
+ - [DRV8376 driver](src/drivers/drv8376/) - SPI driver for TI's DRV8376 motor driver IC.
+ - [DRV8320/DRV8323 driver](src/drivers/drv832x/) - SPI driver for TI's DRV832x motor driver ICs.
  - [STSPIN32G4 driver](src/drivers/stspin32g4/) - I2C and BLDCDriver for the STSPIN32G4 integrated gate driver MCU.
+ - [SimpleFOCNano driver](src/drivers/simplefocnano/) - BLDCDriver subclass preconfigured for SimpleFOCNano
 
 ### Encoders
 
@@ -55,12 +53,20 @@ Drivers for various position sensor ICs. In many cases these hardware-specific d
  - [ESP32 Hardware Encoder](src/encoders/esp32hwencoder/) - ESP32 Hardware timer based encoder driver for ABI type quadrature encoders.
  - [SC60228 SPI driver](src/encoders/sc60228/) - SPI driver for SemiMent SC60288 magnetic encoder IC.
  - [MA330 SPI driver](src/encoders/ma330/) - SPI driver for the MPS MagAlpha MA330 absolute position magnetic rotary encoder IC.
- - [MT6816 SPI driver](src/encoders/mt6816/) - SPI driver for the MagnTek MT6816 absolute position magnetic rotary encoder IC.
  - [MT6701 SSI driver](src/encoders/mt6701/) - SSI driver for the MagnTek MT6701 absolute position magnetic rotary encoder IC.
+ - [MT6816 SPI driver](src/encoders/mt6816/) - SPI driver for the MagnTek MT6816 absolute position magnetic rotary encoder IC.
+ - [MT6826S SPI driver](src/encoders/mt6826s/) - SPI driver for the MagnTek MT6826S absolute position magnetic rotary encoder IC.
  - [MT6835 SPI driver](src/encoders/mt6835/) - SPI driver for the MagnTek MT6835 21 bit magnetic rotary encoder IC.
  - [STM32 PWM sensor driver](src/encoders/stm32pwmsensor/) - STM32 native timer-based driver for PWM angle sensors.
+ - [KTH78xx SPI driver](src/encoders/kth78xx/) - SPI driver for the Conntek KTH78xx series absolute position magnetic rotary encoder ICs.
+
+### Special Encoders
+
  - [CalibratedSensor](src/encoders/calibrated/) - A sensor which can calibrate for eccentricity on the magnet placement.
  - [SmoothingSensor](src/encoders/smoothing/) - A SimpleFOC Sensor wrapper implementation which adds angle extrapolation.
+ - [LinearHall](src/encoders/linearhall/) - A HallSensor with linear interpolation between ticks
+ - [FluxObserver](src/encoders/MXLEMMING_observer/) - A "sensorless sensor" implementing flux observer (requires current sensing)
+ - 
 
 ### Communications
 
@@ -85,7 +91,7 @@ Load and store SimpleFOC motor settings, based on register abstraction. Storing
 
 Drive different kinds of motors, or use alternate algorithms to SimpleFOC's default BLDCMotor and StepperMotor classes.
 
- - [HybridStepperMotor](motors/HybridStepperMotor/) - Drive stepper motors with 3 phases.
+ - [HybridStepperMotor](https://github.com/simplefoc/Arduino-FOC/blob/master/src/HybridStepperMotor.h) - HybridStepper has moved to the main repostory.
 
 
 ### Utilities

diff --git a/examples/comms/can/can_custom_regs/can_custom_regs.ino b/examples/comms/can/can_custom_regs/can_custom_regs.ino
@@ -0,0 +1,73 @@
+#include "Arduino.h"   
+#include "SimpleFOC.h"
+#include "SimpleFOCDrivers.h"
+#include "SimpleCANio.h"
+#include "comms/can/CANCommander.h"
+
+// can pins
+#define CAN_RX NC // define the RX pin
+#define CAN_TX NC // define the TX pin
+#define CAN_SHDN NC // define the Shhutdown pin (inverse of enable) if needed
+#define CAN_ENABLE NC // define the ENABLE pin if needed
+#define CAN_ID 1
+
+// 3pwm pins
+#define PHA PA6
+#define PHB PA7
+#define PHC PA8
+
+BLDCMotor motor = BLDCMotor(7); // 7 pole pairs
+BLDCDriver3PWM driver = BLDCDriver3PWM(PHA, PHB, PHC);
+
+//CANio can(PIN_CAN0_RX, PIN_CAN0_TX); // Create CAN object
+CANio can(CAN_RX, CAN_TX, NC, CAN_ENABLE); // Create CAN object
+
+CANCommander commander(can, CAN_ID);
+void setup()
+{   
+    Serial.begin(115200);
+    SimpleFOCDebug::enable(&Serial);
+
+    commander.init();
+    commander.addMotor(&motor);
+
+    // add custom register to control built-in LED
+    pinMode(LED_BUILTIN, OUTPUT);
+    commander.addCustomRegister(
+        0xF0, // register id (should be > 0xE0) 
+        1, // size in bytes
+        [](RegisterIO& comms, FOCMotor* motor) -> bool {
+            // Read handler for custom register 0xF0
+            uint8_t customValue = digitalRead(LED_BUILTIN);
+            comms << customValue;
+            return true;
+        },
+        [](RegisterIO& comms, FOCMotor* motor) -> bool {
+            // Write handler for custom register 0xF0
+            uint8_t receivedValue;
+            comms >> receivedValue;
+            digitalWrite(LED_BUILTIN, receivedValue ? HIGH : LOW);
+            return true;
+        }
+    );
+
+    delay(5000);
+
+    motor.linkDriver(&driver);
+    driver.voltage_power_supply = 12;
+    driver.init();
+
+    motor.init();
+    motor.initFOC();
+
+    Serial.println("Setup complete!");
+    delay(10);
+}
+
+void loop()
+{
+    motor.loopFOC();
+    motor.move();
+
+    commander.run();
+}
diff --git a/examples/comms/can/can_example/can_example.ino b/examples/comms/can/can_example/can_example.ino
@@ -0,0 +1,52 @@
+#include "Arduino.h"   
+#include "SimpleFOC.h"
+#include "SimpleFOCDrivers.h"
+#include "SimpleCANio.h"
+#include "comms/can/CANCommander.h"
+
+// can pins
+#define CAN_RX NC // define the RX pin
+#define CAN_TX NC // define the TX pin
+#define CAN_SHDN NC // define the Shhutdown pin (inverse of enable) if needed
+#define CAN_ENABLE NC // define the ENABLE pin if needed
+#define CAN_ID 1
+
+// 3pwm pins
+#define PHA PA6
+#define PHB PA7
+#define PHC PA8
+
+BLDCMotor motor = BLDCMotor(7); // 7 pole pairs
+BLDCDriver3PWM driver = BLDCDriver3PWM(PHA, PHB, PHC);
+
+//CANio can(PIN_CAN0_RX, PIN_CAN0_TX); // Create CAN object
+CANio can(CAN_RX, CAN_TX, NC, CAN_ENABLE); // Create CAN object
+
+CANCommander commander(can, CAN_ID);
+void setup()
+{   
+    Serial.begin(115200);
+    SimpleFOCDebug::enable(&Serial);
+
+    commander.init();
+    commander.addMotor(&motor);
+    delay(5000);
+
+    motor.linkDriver(&driver);
+    driver.voltage_power_supply = 12;
+    driver.init();
+
+    motor.init();
+    motor.initFOC();
+
+    Serial.println("Setup complete!");
+    delay(10);
+}
+
+void loop()
+{
+    motor.loopFOC();
+    motor.move();
+
+    commander.run();
+}
diff --git a/examples/encoders/calibrated_sensor/calibrated/calibrated.ino b/examples/encoders/calibrated_sensor/calibrated/calibrated.ino
@@ -13,6 +13,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(PB4,PC7,PB10,PA9);
 // instantiate the calibrated sensor object
 // argument 1 - sensor object
 // argument 2 - number of samples in the LUT (default 200)
+// argument 3 - pointer to LUT array (if null, LUT will be filled only during calibration)
 CalibratedSensor sensor_calibrated = CalibratedSensor(sensor);
 
 // voltage set point variable
@@ -57,6 +58,8 @@ void setup() {
   // Running calibration
   // it will ouptut the LUT and the zero electrical angle to the serial monitor !!!!
   sensor_calibrated.calibrate(motor); 
+  // print the LUT to serial monitor
+  sensor_calibrated.printLUT(motor, Serial);
 
   //Serial.println("Calibrating Sensor Done.");
   // Linking sensor to motor object

diff --git a/examples/encoders/calibrated_sensor/calibration_save/calibration_save.ino b/examples/encoders/calibrated_sensor/calibration_save/calibration_save.ino
@@ -4,19 +4,18 @@
  * 
  * 1. Run this Sketch as is and wait for the calibration data to be generated and printed over Serial.
  * 2. Then copy the output from Serial to calibrationLut, zero_electric_angle and sensor_direction
- * 3. Change values_provided to true and run the Sketch again to see the motor skipping the calibration.
+ * 3. Run the same example again and the code will use the provided calibration data and skip the calibration procedure.
  */
 
 #include <SimpleFOC.h>
 #include <SimpleFOCDrivers.h>
 #include "encoders/calibrated/CalibratedSensor.h"
 
-// fill this array with the calibration values outputed by the calibration procedure
-float calibrationLut[50] = {0};
+// Replace these with the calibration data obtained from the first run
+uint16_t calibrationLut[50] = {0};
 float zero_electric_angle = 0;
 Direction sensor_direction = Direction::UNKNOWN;
 
-const bool values_provided = false;
 
 // magnetic sensor instance - SPI
 MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 14);
@@ -29,7 +28,10 @@ StepperDriver4PWM driver = StepperDriver4PWM(10, 9, 5, 6,8);
 // argument 2 - number of samples in the LUT (default 200)
 // argument 3 - pointer to the LUT array (defualt nullptr)
 CalibratedSensor sensor_calibrated = CalibratedSensor(
-    sensor, sizeof(calibrationLut) / sizeof(calibrationLut[0]));
+  sensor, 
+  sizeof(calibrationLut)/sizeof(calibrationLut[0]), // number of samples 
+  sensor_direction==Direction::UNKNOWN ? nullptr : calibrationLut // pointer to LUT array
+);
 
 // voltage set point variable
 float target_voltage = 2;
@@ -64,12 +66,17 @@ void setup() {
   // initialize motor
   motor.init();
 
-  if(values_provided) {
+  if(sensor_direction != Direction::UNKNOWN){
+    Serial.println(F("Using saved calibration data."));
+    // provide the saved zero angle and direction
     motor.zero_electric_angle = zero_electric_angle;
     motor.sensor_direction = sensor_direction;
   } else {
     // Running calibration
+    Serial.println(F("Running calibration..."));
     sensor_calibrated.calibrate(motor);
+    // print the LUT to serial monitor
+    sensor_calibrated.printLUT(motor, Serial);
   }
 
   // Linking sensor to motor object

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=SimpleFOCDrivers
-version=1.0.9
+version=1.1.0
 author=Simplefoc <info@simplefoc.com>
 maintainer=Simplefoc <info@simplefoc.com>
 sentence=A library of supporting drivers for SimpleFOC. Motor drivers chips, encoder chips, current sensing and supporting code.

diff --git a/src/comms/README.md b/src/comms/README.md
@@ -29,6 +29,9 @@ Implementations are available for either ASCII based protocol (TextIO) or binary
 
 [SimpleFOCRegisters.h](./SimpleFOCRegisters.h) contains a list of registers known to SimpleFOC. These registers can be read and/or written and code is provided to serialize/deserialize them.
 
+**📋 Complete register reference**: See [REGISTERS.md](./REGISTERS.md) for the full table with access types, data types, and sizes.
+
 The SimpleFOC packet based IO (PacketCommander, Telemetry), I2CCommander and SettingsStorage as well as our Python API [PySimpleFOC](https://github.com/simplefoc/pysimplefoc) are all based on this register abstraction, and therefore share the same register names/ids.
 
-If implementing your own communications protocol, we encourage you to base it on the Register abstraction if appropriate. This will provide you with ready to use code to access/write the register values, and will make your solution easier to use due to the shared common conventions.
+If implementing your own communications protocol, we encourage you to base it on the Register abstraction if appropriate. This will provide you with ready to use code to access/write the register values, and will make your solution easier to use due to the shared common conventions.
+