Improvements to LinearHall by dekutree64 · Pull Request #96 · simplefoc/Arduino-FOC-drivers

dekutree64 · 2026-06-17T00:47:54Z

Added calibration for difference in the total range of each sensor from XieMaster's version, optimized to a single multiply.
Added option for 60° and 120° sensor spacing.
Added wait for first valid sensor readings in init, for some custom ADC setups.
Changed private to protected and moved getSensorAngle there, better matching other sensor classes.
Moved documentation from the header to a readme file.

Tested by o_lampe and myself.

* Added calibration for difference in the total range of each sensor from XieMaster's version, optimized to a single multiply. * Added option for 60° and 120° sensor spacing. * Added wait for first valid sensor readings in init, for some custom ADC setups. * Changed private to protected and moved getSensorAngle there, better matching other sensor classes. * Moved documentation from the header to a readme file.

github-actions · 2026-06-17T02:07:04Z

Memory usage change @ 6a4290f

Board	flash	%	RAM for global variables	%
`adafruit:samd:adafruit_metro_m4`	🔺 0 - +408	0.0 - +0.08	N/A	N/A
`rp2040:rp2040:rpipico`	🔺 0 - +408	0.0 - +0.02	🔺 0 - +8	0.0 - 0.0
`arduino:sam:arduino_due_x`	🔺 0 - +408	0.0 - +0.08	N/A	N/A
`arduino:samd:nano_33_iot`	🔺 0 - +408	0.0 - +0.16	🔺 0 - +8	0.0 - +0.02
`esp32:esp32:esp32`	🔺 +24 - +24	0.0 - 0.0	0 - 0	0.0 - 0.0
`esp32:esp32:esp32s2`	🔺 +24 - +444	0.0 - +0.03	🔺 0 - +8	0.0 - 0.0
`STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8`	🔺 0 - +416	0.0 - +0.63	🔺 0 - +8	0.0 - +0.04
`STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE`	🔺 0 - +400	0.0 - +0.08	🔺 0 - +8	0.0 - +0.01

Click for full report table

Board	`examples/drivers/drv8316/drv8316_3pwm` flash	`examples/drivers/drv8316/drv8316_3pwm` RAM for global variables	%	`examples/drivers/drv8316/drv8316_6pwm` flash	`examples/drivers/drv8316/drv8316_6pwm` RAM for global variables	%	`examples/encoders/calibrated_sensor/calibration_save` flash	`examples/encoders/calibrated_sensor/calibration_save` RAM for global variables	%	`examples/encoders/linearhall` flash	%	`examples/encoders/linearhall` RAM for global variables	%	`examples/encoders/mt6816/mt6816_spi` flash	%	`examples/encoders/mt6816/mt6816_spi` RAM for global variables	%	`examples/encoders/calibrated_sensor/calibrated` flash	%	`examples/encoders/calibrated_sensor/calibrated` RAM for global variables	%
`adafruit:samd:adafruit_metro_m4`	0	N/A	N/A	0	N/A	N/A	0	N/A	N/A	408	0.08	N/A	N/A	0	0.0	N/A	N/A
`rp2040:rp2040:rpipico`	0	0	0.0	0	0	0.0	0	0	0.0	408	0.02	8	0.0	0	0.0	0	0.0
`arduino:sam:arduino_due_x`	0	N/A	N/A	0	N/A	N/A	0	N/A	N/A	408	0.08	N/A	N/A	0	0.0	N/A	N/A
`arduino:samd:nano_33_iot`	0	0	0.0	0	0	0.0	0	0	0.0	408	0.16	8	0.02	0	0.0	0	0.0
`esp32:esp32:esp32`	24	0	0.0	24	0	0.0	24	0	0.0					24	0.0	0	0.0
`esp32:esp32:esp32s2`	24	0	0.0	24	0	0.0	24	0	0.0	444	0.03	8	0.0	24	0.0	0	0.0
`STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8`	0	0	0.0	0	0	0.0	0	0	0.0	416	0.63	8	0.04
`STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE`	0	0	0.0	0	0	0.0	0	0	0.0	400	0.08	8	0.01	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,examples/drivers/drv8316/drv8316_3pwm<br>flash,%,examples/drivers/drv8316/drv8316_3pwm<br>RAM for global variables,%,examples/drivers/drv8316/drv8316_6pwm<br>flash,%,examples/drivers/drv8316/drv8316_6pwm<br>RAM for global variables,%,examples/encoders/calibrated_sensor/calibration_save<br>flash,%,examples/encoders/calibrated_sensor/calibration_save<br>RAM for global variables,%,examples/encoders/linearhall<br>flash,%,examples/encoders/linearhall<br>RAM for global variables,%,examples/encoders/mt6816/mt6816_spi<br>flash,%,examples/encoders/mt6816/mt6816_spi<br>RAM for global variables,%,examples/encoders/calibrated_sensor/calibrated<br>flash,%,examples/encoders/calibrated_sensor/calibrated<br>RAM for global variables,%
adafruit:samd:adafruit_metro_m4,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,408,0.08,N/A,N/A,0,0.0,N/A,N/A
rp2040:rp2040:rpipico,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,408,0.02,8,0.0,0,0.0,0,0.0
arduino:sam:arduino_due_x,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,408,0.08,N/A,N/A,0,0.0,N/A,N/A
arduino:samd:nano_33_iot,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,408,0.16,8,0.02,0,0.0,0,0.0
esp32:esp32:esp32,24,0.0,0,0.0,24,0.0,0,0.0,24,0.0,0,0.0,,,,,24,0.0,0,0.0
esp32:esp32:esp32s2,24,0.0,0,0.0,24,0.0,0,0.0,24,0.0,0,0.0,444,0.03,8,0.0,24,0.0,0,0.0
STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,416,0.63,8,0.04,,,,
STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,400,0.08,8,0.01,0,0.0,0,0.0,0,0.0,0,0.0

One more tidbit of insurance for custom ADC setups to not get a bad first reading, e.g. if you have a DMA buffer full of data, change the sampling sequence, and then call this function immediately before the buffer has been overwritten with samples in the new order.

github-actions · 2026-06-18T11:09:35Z

Memory usage change @ eb8796f

Board	flash	%	RAM for global variables	%
`adafruit:samd:adafruit_metro_m4`	🔺 0 - +408	0.0 - +0.08	N/A	N/A
`rp2040:rp2040:rpipico`	🔺 0 - +416	0.0 - +0.02	🔺 0 - +8	0.0 - 0.0
`arduino:sam:arduino_due_x`	🔺 0 - +416	0.0 - +0.08	N/A	N/A
`arduino:samd:nano_33_iot`	🔺 0 - +416	0.0 - +0.16	🔺 0 - +8	0.0 - +0.02
`esp32:esp32:esp32`	🔺 +24 - +24	0.0 - 0.0	0 - 0	0.0 - 0.0
`esp32:esp32:esp32s2`	🔺 +24 - +444	0.0 - +0.03	🔺 0 - +8	0.0 - 0.0
`STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8`	🔺 0 - +424	0.0 - +0.65	🔺 0 - +8	0.0 - +0.04
`STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE`	🔺 0 - +408	0.0 - +0.08	🔺 0 - +8	0.0 - +0.01

Click for full report table

Board	`examples/drivers/drv8316/drv8316_3pwm` flash	`examples/drivers/drv8316/drv8316_3pwm` RAM for global variables	%	`examples/drivers/drv8316/drv8316_6pwm` flash	`examples/drivers/drv8316/drv8316_6pwm` RAM for global variables	%	`examples/encoders/calibrated_sensor/calibration_save` flash	`examples/encoders/calibrated_sensor/calibration_save` RAM for global variables	%	`examples/encoders/linearhall` flash	%	`examples/encoders/linearhall` RAM for global variables	%	`examples/encoders/mt6816/mt6816_spi` flash	%	`examples/encoders/mt6816/mt6816_spi` RAM for global variables	%	`examples/encoders/calibrated_sensor/calibrated` flash	%	`examples/encoders/calibrated_sensor/calibrated` RAM for global variables	%
`adafruit:samd:adafruit_metro_m4`	0	N/A	N/A	0	N/A	N/A	0	N/A	N/A	408	0.08	N/A	N/A	0	0.0	N/A	N/A
`rp2040:rp2040:rpipico`	0	0	0.0	0	0	0.0	0	0	0.0	416	0.02	8	0.0	0	0.0	0	0.0
`arduino:sam:arduino_due_x`	0	N/A	N/A	0	N/A	N/A	0	N/A	N/A	416	0.08	N/A	N/A	0	0.0	N/A	N/A
`arduino:samd:nano_33_iot`	0	0	0.0	0	0	0.0	0	0	0.0	416	0.16	8	0.02	0	0.0	0	0.0
`esp32:esp32:esp32`	24	0	0.0	24	0	0.0	24	0	0.0					24	0.0	0	0.0
`esp32:esp32:esp32s2`	24	0	0.0	24	0	0.0	24	0	0.0	444	0.03	8	0.0	24	0.0	0	0.0
`STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8`	0	0	0.0	0	0	0.0	0	0	0.0	424	0.65	8	0.04
`STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE`	0	0	0.0	0	0	0.0	0	0	0.0	408	0.08	8	0.01	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,examples/drivers/drv8316/drv8316_3pwm<br>flash,%,examples/drivers/drv8316/drv8316_3pwm<br>RAM for global variables,%,examples/drivers/drv8316/drv8316_6pwm<br>flash,%,examples/drivers/drv8316/drv8316_6pwm<br>RAM for global variables,%,examples/encoders/calibrated_sensor/calibration_save<br>flash,%,examples/encoders/calibrated_sensor/calibration_save<br>RAM for global variables,%,examples/encoders/linearhall<br>flash,%,examples/encoders/linearhall<br>RAM for global variables,%,examples/encoders/mt6816/mt6816_spi<br>flash,%,examples/encoders/mt6816/mt6816_spi<br>RAM for global variables,%,examples/encoders/calibrated_sensor/calibrated<br>flash,%,examples/encoders/calibrated_sensor/calibrated<br>RAM for global variables,%
adafruit:samd:adafruit_metro_m4,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,408,0.08,N/A,N/A,0,0.0,N/A,N/A
rp2040:rp2040:rpipico,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,416,0.02,8,0.0,0,0.0,0,0.0
arduino:sam:arduino_due_x,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,416,0.08,N/A,N/A,0,0.0,N/A,N/A
arduino:samd:nano_33_iot,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,416,0.16,8,0.02,0,0.0,0,0.0
esp32:esp32:esp32,24,0.0,0,0.0,24,0.0,0,0.0,24,0.0,0,0.0,,,,,24,0.0,0,0.0
esp32:esp32:esp32s2,24,0.0,0,0.0,24,0.0,0,0.0,24,0.0,0,0.0,444,0.03,8,0.0,24,0.0,0,0.0
STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,424,0.65,8,0.04,,,,
STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,408,0.08,8,0.01,0,0.0,0,0.0,0,0.0,0,0.0

runger1101001 merged commit 05d51da into simplefoc:dev Jul 3, 2026
10 of 11 checks passed

runger1101001 added this to the 1.1.0 milestone Jul 3, 2026

runger1101001 self-assigned this Jul 3, 2026

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Improvements to LinearHall#96

Improvements to LinearHall#96
runger1101001 merged 2 commits into
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dekutree64:dev

dekutree64 commented Jun 17, 2026 •

edited

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dekutree64 commented Jun 17, 2026 •

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