updates for 2.2

Author: askuric

docs/simplefoc_library/code/current_sense/index.md

@@ -14,10 +14,10 @@ has_toc: False
 Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> has as a goal to support FOC implementation with (at least) three most standard types of current sensing:
 
 - [In-line current sensing](inline_current_sense)
-- [Low-side current sensing](low_side_current_sense) - *Not supported yet*
+- [Low-side current sensing](low_side_current_sense) - *initial support*
 - [High-side current sensing](high_side_current_sense) - *Not supported yet*
 
-up to this moment ( [check the releases <i class="fa fa-tag"></i>](https://github.com/simplefoc/Arduino-FOC/releases) ), Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> supports only in-line current sensing. 
+up to this moment ( [check the releases <i class="fa fa-tag"></i>](https://github.com/simplefoc/Arduino-FOC/releases) ), Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> supports only in-line current sensing and implements initial support for the low-side current sensing on ESP32 boards (one motor) and on the stm32 based B_G431B_ESC1 boards. 
 
 Each one of the current sensing classes will implement all the necessary functionalities for simple and robust implementation of FOC algorithm:
 - Hardware config
@@ -34,7 +34,7 @@ Each of the implemented classes can be used as stand-alone classes and they can
 In order for FOC algorithm to work the current sense classes are linked to a `BLDCMotor` class which uses the driver to read the FOC currents.   
 
 ## 🎯 Our implementation goals
-The current sense code will be written in a way to support as many different drivers out there as possible and in a way to be fully interchangeable. Due to the very hardware specific implementations of the ADC acquisition for different MCU architectures and due to very different driver/adc synchronisation requirements for different current sensing approaches this task is probably one of the most complex challenges for the <span class="simple">Simple<span class="foc">FOC</span>library</span> so far. Therefore the worrk will be done in iterations and each release will better and better support.  Please make sure to follow out github and [check the releases <i class="fa fa-tag"></i>](https://github.com/simplefoc/Arduino-FOC/releases).
+The current sense code will be written in a way to support as many different drivers out there as possible and in a way to be fully interchangeable. Due to the very hardware specific implementations of the ADC acquisition for different MCU architectures and due to very different driver/adc synchronisation requirements for different current sensing approaches this task is probably one of the most complex challenges for the <span class="simple">Simple<span class="foc">FOC</span>library</span> so far. Therefore the work will be done in iterations and each release will better and better support.  Please make sure to follow out github and [check the releases <i class="fa fa-tag"></i>](https://github.com/simplefoc/Arduino-FOC/releases).
 
 Also make sure to follow our [community forum](https://community.simplefoc.com), a lot of discussions is being held about current sensing and its applications!
 

docs/simplefoc_library/digging_deeper/libray_source/index.md

@@ -63,7 +63,7 @@ All the drivers that are supported in this library are placed in the drivers dir
 | | ├─── hardware_specific          # mcu specific hadrware_api.h implementations
 | | | ├─ atmega2560_mcu.cpp         # ATMega 2560 implementation
 | | | ├─ atmega328_mcu.cpp          # ATMega 328 (Arduino UNO) implementation
-| | | ├─ esp32_mcu.cpp              # esp32 implementation
+| | | ├─ esp_mcu.cpp              # esp32 implementation
 | | | ├─ stm32_mcu.cpp              # stm32 implementation
 | | | ├─ teensy_mcu.cpp             # teensy implementation
 | | | └─ generic_mcu./h             # generic implementation - if not nay of above (not complete)   

docs/simplefoc_library/hardware/drivers/BLDC_drivers.md

@@ -24,8 +24,9 @@ Here are some BLDC driver boards that are designed for gimbal motors and work wi
 Examples | Description | Specifications | Link | Price
 ---- | ---- | ---- | ---
 [<img src="https://simplefoc.com/assets/img/v1.jpg" style="height:100px">](https://simplefoc.com/simplefoc_shield_product)| Arduino<br> <span class="simple">Simple<span class="foc">FOC</span>Shield</span>v1| - L6234 chip <br> - 1 motor <br>- Arduino Shield <br> - Encoder+I2C Pullups | [More info](https://simplefoc.com/simplefoc_shield_product) | 15€
-[<img src="https://simplefoc.com/assets/img/v2.jpg" style="height:100px">](https://simplefoc.com/simplefoc_shield_product)| Arduino<br> <span class="simple">Simple<span class="foc">FOC</span>Shield</span>v2| - L6234 chip <br> - 1 motor <br>- Arduino Shield <br> - Encoder+I2C Pullups <br> - In-line current sensing <br> - On-board voltage regulator | [More info](https://simplefoc.com/simplefoc_shield_product_v2) | 20€
+[<img src="https://simplefoc.com/assets/img/v2.jpg" style="height:100px">](https://simplefoc.com/simplefoc_shield_product)| Arduino<br> <span class="simple">Simple<span class="foc">FOC</span>Shield</span>v2| - L6234 chip <br> - 1 motor <br>- Arduino Shield <br> - Encoder+I2C Pullups <br> - In-line current sensing <br> - On-board voltage regulator | [Simplefoc store](https://simplefoc.com/simplefoc_shield_product_v2) <br> [Aliexpress](https://fr.aliexpress.com/item/1005002496275228.html?spm=a2g0o.productlist.0.0.51b44925t9nr53&algo_pvid=42a7dd52-305b-4cb0-af17-60a892aaad3a&algo_exp_id=42a7dd52-305b-4cb0-af17-60a892aaad3a-0&pdp_ext_f=%7B%22sku_id%22%3A%2212000020877377792%22%7D#feedback) <br> [Ebay](https://www.ebay.com/itm/165027599242?hash=item266c69538a:g:bZIAAOSw8QJg9mvD)| ~20€
 [<img src="extras/Images/l6234.jpg" style="height:100px">](https://www.ebay.com/itm/L6234-Breakout-Board/153204519965?hash=item23abb3741d:g:LE4AAOSwe35bctgg) | Drotek L6234<br> breakout board | - L6234 chip <br> - 1 motor <br> - 25x25mm | [Drotek](https://store-drotek.com/212-brushless-gimbal-controller-l6234.html)<br> [Ebay](https://www.ebay.fr/itm/L6234-Breakout-Board-/153204519965) | 30€
+[<img src="extras/Images/dual_simplefoc.jpg" style="height:100px">](https://github.com/ToanTech/Deng-s-foc-controller) | Deng FOC controller<br> breakout board | - L6234 chip <br> - 2 motor <br> - 39x56mm | [Aliexpress](https://store-drotek.com/212-brushless-gimbal-controller-l6234.html)<br> [Ebay](https://www.ebay.com/itm/373690016017?hash=item5701a92111:g:YkYAAOSwF8ZhHgi3) | 35-50€
 
 Alternatively, you can find gimbal controller boards with integrated BLDC drivers and microcontroller chips.
 
@@ -51,7 +52,8 @@ Examples | Description | Specifications | Link | Price
 ---- | ---- | ---- | ---
 [<img src="extras/Images/drv8302.png" style="height:100px">](https://fr.aliexpress.com/item/4000126430773.html?spm=a2g0o.productlist.0.0.702a312aXmzuUK&algo_pvid=50131a88-ac88-4755-bb71-978c07ec461e&algo_expid=50131a88-ac88-4755-bb71-978c07ec461e-5&btsid=0b0a119a15957548552557385e6f5e&ws_ab_test=searchweb0_0,searchweb201602_,searchweb201603_)| DRV8302 driver | - DRV8302 chip <br> - 1 motor <br>- 45V/27A <br> - BEMF/current sensing  <br> - fault protection| [Aliexpress](https://fr.aliexpress.com/item/4000126430773.html?spm=a2g0o.productlist.0.0.702a312aXmzuUK&algo_pvid=50131a88-ac88-4755-bb71-978c07ec461e&algo_expid=50131a88-ac88-4755-bb71-978c07ec461e-5&btsid=0b0a119a15957548552557385e6f5e&ws_ab_test=searchweb0_0,searchweb201602_,searchweb201603_) | 30€
 [<img src="extras/Images/drv8301.png" style="height:100px">](https://fr.aliexpress.com/item/4000203180955.html?spm=a2g0o.productlist.0.0.39871962xgolNI&algo_pvid=a86f85ad-3d0b-46cd-a05a-cb7c89e92c9e&algo_expid=a86f85ad-3d0b-46cd-a05a-cb7c89e92c9e-4&btsid=0b0a01f815957554085321097e9fdf&ws_ab_test=searchweb0_0,searchweb201602_,searchweb201603_)| DRV8301 driver | - DRV8301 chip <br> - 1 motor <br>- 45V/27A <br> - BEMF/current sensing  <br> - fault protection <br> - SPI configuration| [Aliexpress](https://fr.aliexpress.com/item/4000203180955.html?spm=a2g0o.productlist.0.0.39871962xgolNI&algo_pvid=a86f85ad-3d0b-46cd-a05a-cb7c89e92c9e&algo_expid=a86f85ad-3d0b-46cd-a05a-cb7c89e92c9e-4&btsid=0b0a01f815957554085321097e9fdf&ws_ab_test=searchweb0_0,searchweb201602_,searchweb201603_) | 45€
-[<img src="extras/Images/B-G431B-ESC1_SPL.jpg" style="height:100px">](https://www.st.com/en/evaluation-tools/b-g431b-esc1.html)| B-G431B-ESC1 | - STM32G431CB chip <br> - On-board ST-LINK/V2-1 <br> - 1 motor <br>- 30V/40A <br> - current sensing  <br> - fault protection     | [STM webiste](https://www.st.com/en/evaluation-tools/b-g431b-esc1.html) <br> [Mouser](https://eu.mouser.com/ProductDetail/STMicroelectronics/B-G431B-ESC1/?qs=%2Fha2pyFaduj9HtQf9%2FgsBmvGqEl7EbEPOyTxg06xIidkuUIykXhpkA%3D%3D) | 16€
-[<img src="extras/Images/SHIELD_IFX007T.jpg" style="height:100px">](https://www.infineon.com/cms/en/product/evaluation-boards/bldc-shield_ifx007t/)| Infineon <br> BLDC-SHIELD_IFX007T shield | -  IFX007T half-bridges <br> - 1 motor <br>- 40V/30A <br> - BEMF/current sensing  <br> - fault protection | [Infineon](https://www.infineon.com/cms/en/product/evaluation-boards/bldc-shield_ifx007t/) | 40€
-[<img src="https://simplefoc.com/assets/img/dagor/Dagor_iso.png" style="height:120px">](https://github.com/byDagor/Dagor-Brushless-Controller)| [@byDagor](https://github.com/byDagor) <br> Dagor Brushless Controller | -  DRV8305 driver <br> - 1 motor <br>- 25V/40A <br> - Current sensing  <br> - Integrated sensor<br> - Esp32 based<br> - fault protection | [simplefoc shop](https://simplefoc.com/shop)<br> <i>comming soon</i> | 40€
+[<img src="extras/Images/B-G431B-ESC1_SPL.jpg" style="height:100px">](https://www.st.com/en/evaluation-tools/b-g431b-esc1.html)| B-G431B-ESC1 | - STM32G431CB chip <br> - On-board ST-LINK/V2-1 <br> - 1 motor <br>- 30V/40A <br> - low-side current sensing  <br> - fault protection     | [STM webiste](https://www.st.com/en/evaluation-tools/b-g431b-esc1.html) <br> [Mouser](https://eu.mouser.com/ProductDetail/STMicroelectronics/B-G431B-ESC1/?qs=%2Fha2pyFaduj9HtQf9%2FgsBmvGqEl7EbEPOyTxg06xIidkuUIykXhpkA%3D%3D) | 16€
+[<img src="extras/Images/SHIELD_IFX007T.jpg" style="height:100px">](https://www.infineon.com/cms/en/product/evaluation-boards/bldc-shield_ifx007t/)| Infineon <br> BLDC-SHIELD_IFX007T shield | -  IFX007T half-bridges <br> - 1 motor <br>- 40V/30A <br> - BEMF/low-side current sensing  <br> - fault protection | [Infineon](https://www.infineon.com/cms/en/product/evaluation-boards/bldc-shield_ifx007t/) | 40€
+[<img src="https://simplefoc.com/assets/img/dagor/Dagor_iso.png" style="height:120px">](https://github.com/byDagor/Dagor-Brushless-Controller)| [@byDagor](https://github.com/byDagor) <br> Dagor Brushless Controller | -  DRV8305 driver <br> - 1 motor <br>- 25V/40A <br> - Current sensing  <br> - Integrated sensor<br> - Esp32 based<br> - fault protection | [simplefoc shop](https://simplefoc.com/shop)<br> <i>alpha batch sold out</i> | 40€
 [<img src="extras/Images/powershield.jpg" style="height:120px">](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield)| Arduino<br> <span class="simple">Simple<span class="foc">FOC</span><span class="power">Power</span>Shield</span> | -  BTN8982 half-bridges <br> - 1 motor <br>- 40V/30A<br> - fault protection <br> <b>Release v1:</b> <br> - In-line current sensing  <br> - I2C/Hall/Encoder pullups*<br> - 2x Stackable*    |  [fabricate](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield)  | ~20€
+[<img src="extras/Images/high_perf_new.png" style="height:100px">](https://github.com/ChenDMLSY/FOC-SimpleFOC-MotorDriveDevelopmentBoard)| FOC-SimpleFOC-MotorDriveDevelopmentBoard | - IR2103 drivers <br> - 1 motor <br>- 36V/20A <br> - low-side current sensing| [Aliexpress](https://fr.aliexpress.com/item/1005002852603523.html?spm=a2g0o.productlist.0.0.76861dc3dEgETJ&algo_pvid=48101b3f-ba22-40b0-b6de-421d79a675b8&algo_exp_id=48101b3f-ba22-40b0-b6de-421d79a675b8-2&pdp_ext_f=%7B%22sku_id%22%3A%2212000022467783080%22%7D) [Ebay](https://www.ebay.com/itm/373689972247?hash=item5701a87617:g:i0IAAOSwrKlhHf~r) | 30€

docs/simplefoc_library/hardware/mcus/arduinos.md

@@ -23,6 +23,7 @@ This table shows the 8-bit Arduino supported features. Basically everything exce
 [<img src="extras/Images/arduino_uno.jpg" class="imgtable150">](https://store.arduino.cc/arduino-uno-rev3-smd) | Arduino UNO | ATMega328 <br>- 5V logic<br> - 6 PWMs<br>- 2 interrupts<br>- 16Mhz| [Ebay](https://www.ebay.com/itm/NEW-Arduino-UNO-R3-ATMEGA328P-CH340G-Microcontroller-Board-Bootloader-USB/323962801627?hash=item4b6db00ddb:g:ihUAAOSwLc1dNWCd)<br> [Arudino Store](https://store.arduino.cc/arduino-uno-rev3-smd) | 5€<br>25€ 
 [<img src="extras/Images/mega.png" class="imgtable150">](https://store.arduino.cc/arduino-mega-2560-rev3) | Arduino Mega |  ATMega2560 <br>- 5V logic<br> - 15 PWMs<br>- 6 interrupts<br>- 16Mhz | [Ebay](https://www.ebay.com/itm/MEGA-2560-R3-Development-Board-CH340G-ATMEGA-2560-Kit-USB-Cable-For-Arduino-New/253764643649?epid=25019988960&_trkparms=ispr%3D1&hash=item3b158d2b41:g:C44AAOSwomJapjfF&enc=AQAEAAACYIQvEcHUrT7nmUC3yY5qbPyaBN1nJEDYW8MyypsJPgXK3AqiNsU0sSphPu4g6Qid31UfuUmxbibd03S6nwGFOtPRQtA6b7fwyQa%2BlHjHz58lNHKPszpYYTTo0kkJEDqmhf4Wiz0dmrGPE5aFjKQswyzpK0%2FagGHK8e518kkvgI15vEk3BEXEnW%2BgpNypJKacwMKe1INf06jl%2BrC%2FW50ef2gL1FPUQyUq9fK4Rm4tPSr28E52usHYczBDbdMdghFUExt3Ge%2B0iSj4t%2BcsyM2NGC%2BjCDDA8FBe3W5K8wg80e2DQwtM1R8Bpxrt6qJdyWZWigo8m4dpWLS%2Brmys9YJWASnU6mnFZoy4SLPUBLFK560rONYnB7aPohtZNJ%2BjCJPDLOQISm6tmGZVF5fMNu6iLYwYG8WG7J3c7rGVeUiDnJdf%2Fz68BNLAvth%2FnSoI9w7Jau%2Fd19gx3WYQbxgipDAmxgrVhGYlPrEvTSqCLIno1u3W%2FTI7FhSpNW%2Bgzw94kG%2FFgR9ieLRyv9p0w%2BYY3rrJepqCtlCJNkKflPpj4WAcXxBHHaQLJOr2mr7E2wRdwTBstIdCtoMmIp%2BjTRJFApIoT7fnEEIcMZyfLvbQZtemIQKHxpuibWKjQZU99awWsbMBlE0SRWaxRhML5YGORIjmgbIUyFdy9fiWHDcRpoKQJPsV6N3HUkRg9yU9cZ0m5w4ywXpiv7vHA8JFZg7hy5INiPGWwcxTRabpanq%2FWCB%2Bb4AN6%2BFP4%2Bqes86XVNe0YemDM1cBQWiHHjGxAHbw8gWuCZvXoc7XsJE5lrmQTsB1%2F%2FG6&checksum=253764643649687cd36869924033b58b75e082ef568d)<br>[Arduino Store](https://store.arduino.cc/arduino-mega-2560-rev3) | 10€<br>35€ 
 [<img src="extras/Images/nano.png" class="imgtable150">](https://www.ebay.com/itm/Nano-V3-0-USB-ATmega328P-AU-16MHz-5V-CH340G-Micro-Controller-Board-For-Arduino/223471184608?hash=item3407ebaae0:g:-gMAAOSwdzBcpfIA) | Arduino NANO |  ATMega328<br> -5V logic<br> - 6 PWMs <br>- 2 interrupts<br> - 16Mhz  | [Ebay](https://www.ebay.com/itm/Nano-V3-0-USB-ATmega328P-AU-16MHz-5V-CH340G-Micro-Controller-Board-For-Arduino/223471184608?hash=item3407ebaae0:g:-gMAAOSwdzBcpfIA) | 3€
+[<img src="extras/Images/leonardo.jpg" class="imgtable150">](https://www.ebay.com/itm/273179578365?_trkparms=ispr%3D1&hash=item3f9ac58ffd:g:YfwAAOSwPHxa4ZlY&amdata=enc%3AAQAGAAACoPYe5NmHp%252B2JMhMi7yxGiTJkPrKr5t53CooMSQt2orsSlHY%252FYTip4QFVjNQrCEJt6hoLoNTcHEHwr8khbAFvff6C28MEXvk7mrnZA4pnppdXKQsL%252FE9Wh8pAUc3iWzm1VJuF%252FS5wNILaEU4f7M8nBd0QJTxlrqHLkH3pOz3U%252B3sQ8%252B0KzepjpsiVtDx8Mb3TzypIm%252FmlUEMVUVW2UTJUHVzzjFjTPCATEWPIB4zndeCTbYhRS%252B7liEL%252BVUmcgbVcIcyrRXDzBsVdgvAa91GftapFNDglXxkR%252Bp9iR1C68H9v5%252B2YcMo6jqYJFuxxUQNW19o3woxchbmhxAhx1iGBYe86d%252FyD%252FUKX8c0sdKPTDGbzEh1XInVUQTM1h%252B%252FiU8cevC1RlPYF7wk0TER7vrptfpP%252BN1QOo726q7kCLOP2raujcGnPDQ77VWTt5RVl1uaKgB4ir2fPSGmQp%252BPmtysS7YSj0MjXlEdh%252FLFkM%252FPNR6Ty1dIE1KKq0ky98Vzi5mbOsN7SmyzLPRCM5sb6ecB%252Ff4vhFnVCqdDzKcjssSAlZk5xA4bBKRPXL7KF3FB%252F1jDXsCTK%252B20YnLh4aL4d2MVYYzGlE7376p8OALxJPnP85C3dUCpqfXen%252BApo0qwcv2vaxJXLwAm5I9c92EDOqd7Uux%252BK2O8flq%252BqMnv747wbUi0M%252BSMiBu8oE41TsibPTuskN9iatKrvaSGClewOK7GWErvTdEA3XowqzP6yVd6ZnAqC%252BbH47zHhm6GengdbCxu5ls5YwinEgFtzI6YW4SdRpoaLHosmKFo291YEZlCoSwZ7PpMddXD%252FW8rBq647RjFSZGWhiU3AEC03N9H1mJGhbAkSkX4LH11VprxwYEkhVnIpDR7v0MGFgxdfr37i3eDxUw%253D%253D%7Campid%3APL_CLK%7Cclp%3A2334524) | Arduino Leonardo |  ATMega32u4<br> -5V logic<br> - 7 PWMs <br>- 5 interrupts<br> - 16Mhz  | [Arduino    Store](https://store-usa.arduino.cc/products/arduino-leonardo-with-headers)<br>[Ebay](https://www.ebay.com/itm/273179578365?_trkparms=ispr%3D1&hash=item3f9ac58ffd:g:YfwAAOSwPHxa4ZlY&amdata=enc%3AAQAGAAACoPYe5NmHp%252B2JMhMi7yxGiTJkPrKr5t53CooMSQt2orsSlHY%252FYTip4QFVjNQrCEJt6hoLoNTcHEHwr8khbAFvff6C28MEXvk7mrnZA4pnppdXKQsL%252FE9Wh8pAUc3iWzm1VJuF%252FS5wNILaEU4f7M8nBd0QJTxlrqHLkH3pOz3U%252B3sQ8%252B0KzepjpsiVtDx8Mb3TzypIm%252FmlUEMVUVW2UTJUHVzzjFjTPCATEWPIB4zndeCTbYhRS%252B7liEL%252BVUmcgbVcIcyrRXDzBsVdgvAa91GftapFNDglXxkR%252Bp9iR1C68H9v5%252B2YcMo6jqYJFuxxUQNW19o3woxchbmhxAhx1iGBYe86d%252FyD%252FUKX8c0sdKPTDGbzEh1XInVUQTM1h%252B%252FiU8cevC1RlPYF7wk0TER7vrptfpP%252BN1QOo726q7kCLOP2raujcGnPDQ77VWTt5RVl1uaKgB4ir2fPSGmQp%252BPmtysS7YSj0MjXlEdh%252FLFkM%252FPNR6Ty1dIE1KKq0ky98Vzi5mbOsN7SmyzLPRCM5sb6ecB%252Ff4vhFnVCqdDzKcjssSAlZk5xA4bBKRPXL7KF3FB%252F1jDXsCTK%252B20YnLh4aL4d2MVYYzGlE7376p8OALxJPnP85C3dUCpqfXen%252BApo0qwcv2vaxJXLwAm5I9c92EDOqd7Uux%252BK2O8flq%252BqMnv747wbUi0M%252BSMiBu8oE41TsibPTuskN9iatKrvaSGClewOK7GWErvTdEA3XowqzP6yVd6ZnAqC%252BbH47zHhm6GengdbCxu5ls5YwinEgFtzI6YW4SdRpoaLHosmKFo291YEZlCoSwZ7PpMddXD%252FW8rBq647RjFSZGWhiU3AEC03N9H1mJGhbAkSkX4LH11VprxwYEkhVnIpDR7v0MGFgxdfr37i3eDxUw%253D%253D%7Campid%3APL_CLK%7Cclp%3A2334524) | 10€-20€
 
 Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> has stared as an Arduino UNO library and it has been optimized to be used with these types of devices. But it is not restricted to the Arduino UNOs, you will be able to run it on Arduino MEGA and basically any board with ATMega328 chip or ATMega2560. Such as Arduino Nano, Arduino pro-mini and similar.