Next release

_config.yml

@@ -53,6 +53,7 @@ ga_tracking: UA-55976594-3
 
 plugins:
   - jekyll-seo-tag
+  - jekyll-toc
 
 compress_html:
   clippings: all
@@ -61,3 +62,8 @@ compress_html:
   startings: []
   blanklines: false
   profile: false
+
+toc:
+  ordered_list: false
+  list_class: toc-li
+  sublist_class: toc-li

_includes/js/custom.js

@@ -65,9 +65,12 @@ var classNames = [
     "BLDCMotor",
     "StepperMotor",
     "BLDCDriver3PWM",
+    "SimpleFOCDebug",
     "BLDCDriver6PWM",
     "StepperDriver4PWM",
     "StepperDriver2PWM",
+    "BLCDriverXPWM",
+    "StepperDriverXPWM",
     "Encoder",
     "MagneticSensor",
     "MagneticSensorSPI",
@@ -178,7 +181,8 @@ var funcNames = [
     "scalar",
     "motion",
     "target",
-    "motor"
+    "motor",
+    "SIMPLEFOC_DEBUG"
 
 ];
 var structNames = [
@@ -271,4 +275,20 @@ jtd.onReady(function(){
 
         e.innerHTML = str;
     });
-});
+});
+
+
+
+function show(id,cls){
+    Array.from(document.getElementsByClassName(cls)).forEach(
+    function(e){e.style.display = "none";});
+    console.log(Array.from(document.getElementsByClassName(cls+"-"+id)));
+    Array.from(document.getElementsByClassName(cls+"-"+id)).forEach(
+    function(e){e.style.display = "block";});
+    Array.from(document.getElementsByClassName("btn-"+cls)).forEach(
+    function(e){e.classList.remove("btn-primary");});
+    Array.from(document.getElementsByClassName("btn-"+id)).forEach(
+    function(e){e.classList.add("btn-primary");});
+    var elmnt = document.getElementById("btn-"+id);
+    if(elmnt) elmnt.classList.add("btn-primary");
+}

_layouts/default.html

@@ -127,10 +127,23 @@
               </nav>
             {% endif %}
           {% endunless %}
-          <div id="main-content" class="page-content" role="main"  tabindex="0">
-            {% if site.heading_anchors != false %}
+          <div id="main-content" class="page-content" role="main"  tabindex="0">  
+              {% if page.toc == true %}
+              <details open markdown="block" class="inpage_toc">
+                <summary class="text-delta">                 
+                  <span class="on_this_page_big">On this page</span>
+                  <span class="marker-closed hide">
+                    <i class="fa fa-chevron-down"></i>
+                  </span><span class="marker-open">
+                    <i class="fa fa-chevron-left"></i>
+                  </span>
+                </summary>
+                  {{ content | toc_only  }}
+              </details>
+            {% endif %}
+            {% if site.heading_anchors != false %}     
               {% include vendor/anchor_headings.html html=content beforeHeading="true" anchorBody="<svg viewBox=\"0 0 16 16\" aria-hidden=\"true\"><use xlink:href=\"#link\"></use></svg>" anchorClass="anchor-heading" %}
-            {% else %}
+            {% else %}     
               {{ content }}
             {% endif %}
           {% if page.has_children == true and page.has_toc != false %}

_sass/overrides.scss

@@ -433,4 +433,80 @@ a.remove_dec{
 .inline_block_top{
     display: inline-block;
     vertical-align: top;
+}
+
+.hide {
+    display: none;
+}
+
+
+
+// custom inpage toc
+.inpage_toc {
+    position:fixed;
+    right:20px;
+    background-color: rgb(252, 252, 252);
+    padding: 10px;
+    max-width: 300px;
+    z-index: 100;
+}  
+.inpage_toc a {
+    text-overflow: ellipsis;
+    white-space: normal !important;
+}
+
+.inpage_toc {
+    margin: 0.2em;
+    margin-left: 0.7em;
+    padding: 5px;
+    padding-left: 10px;
+    border-right: 5px solid;
+    border-radius: 3px;
+    color: #686969;
+    opacity: 0.95;
+}
+.inpage_toc summary{
+    cursor: pointer;
+    font-size: 1em !important;
+    // text-transform: none !important;
+    color: #686969;
+    margin: 10px;
+}
+.inpage_toc ul{
+    list-style-type: none; /* Remove bullets */
+}
+details[open] .marker-open {
+    display: inline;
+}
+details[open] .marker-closed {
+    display: none;
+}
+details .marker-open {
+    display: none;
+}
+details .marker-closed {
+    display: inline;
+}
+
+.inpage_toc .marker-closed{
+float: right;
+}
+.inpage_toc .marker-open{
+    float: right;
+}
+#toc li {
+    // margin: 0px;
+    font-size: 0.95em;
+}
+ /* Styles for larger screens (default open) */
+ @media (min-width: 768px) {
+    .inpage_toc{
+        display: block;
+    }
+}
+/* Styles for smaller screens (default closed) */
+@media (max-width: 767px) {
+    .inpage_toc{
+        display: none;
+    }    
 }

docs/boards/index.md

@@ -6,6 +6,7 @@ nav_order: 2
 permalink: /boards
 has_children: true
 has_toc: false
+toc: true
 ---
 
 # <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
@@ -33,7 +34,7 @@ In addition to the official boards, there are many other boards compatible with
 These boards are designed to be compatible with the Arduino UNO R3 headers, enabling an easy to start experience with the <span class="simple">Simple<span class="foc">FOC</span>library</span> and the Arduino IDE. The boards can be used with any board with the standard Arduino headers, such as the Arduino MEGA, STM32 Nucleo boards, Adafruit Metro, ESP32 D1 R3, Arudino UNO R4 and many others. This format enables usesr to easily exchange the microcontrollers and find the best solution for their application. The boards are fully open-source and the fabrication files are available in the respective repositories, as well as detailed guides on how to fabricate the boards yourself. The boards are additionally available in the [shop](https://www.simplefoc.com/shop) for those who prefer to buy them, as well as on other mainstream platforms like Aliexpress and Ebay (no relation to the <span class="simple">Simple<span class="foc">FOC</span>project</span>).
 
 
-## <span class="simple">Simple<span class="foc">FOC</span>Shield</span> <small>v3.2</small> - <small>[Find out more](arduino_simplefoc_shield_showcase)</small>
+### <span class="simple">Simple<span class="foc">FOC</span>Shield</span> <small>v3.2</small> - <small>[Find out more](arduino_simplefoc_shield_showcase)</small>
 
 ![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg?color=blue)
 ![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/arduino-simplefocshield)
@@ -48,6 +49,7 @@ The <span class="simple">Simple<span class="foc">FOC</span>Shield</span>, in com
 
 
 ### Features
+{: .no_toc }
 - **Plug & play**: In combination with Arduino *Simple**FOC**library* - [github](https://github.com/simplefoc/Arduino-FOC)
 - **Low-cost**: Price of 15-30€ - [Check the pricing](https://www.simplefoc.com/shop) 
 - **In-line current sensing**: Up to 5Amps bidirectional
@@ -72,7 +74,7 @@ The <span class="simple">Simple<span class="foc">FOC</span>Shield</span>, in com
 
 
 
-## <span class="simple">Simple<span class="foc">FOC</span> <b>Power</b>Shield</span> <small>v0.2</small> <small>⚠️<i>( development abandoned )</i></small>
+### <span class="simple">Simple<span class="foc">FOC</span> <b>Power</b>Shield</span> <small>v0.2</small> <small>⚠️<i>( development abandoned )</i></small>
 
 A powerful arduino shield for running BLDC motors using the FOC algorithm. This board is based on the [BTN8982](https://www.infineon.com/dgdl/Infineon-BTN8982TA-DS-v01_00-EN.pdf?fileId=db3a30433fa9412f013fbe32289b7c17) half bridges and can support currents up to 30 Amps continuos and 50Amps peak. Making it a board that can run virtually any BLDC motor.
 
@@ -91,6 +93,7 @@ This does not mean that the board itself is not functional or that it will not w
 </blockquote>
 
 ### Features
+{: .no_toc }
 - **Plug & play**: In combination with Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>
 - **Low-cost**: Fabrication price under €25/pcs - **⚠️ will not be sold by silplefoc.com**
 - **High-side current sensing**: - not yet supported by *Simple**FOC**library*
@@ -114,7 +117,7 @@ Read more about this board at [link](https://github.com/simplefoc/Arduino-Simple
 This is a set of miniature boards designed to be small, low-cost, and easy to use. They are intended for low power applications and are designed to be compatible with the <span class="simple">Simple<span class="foc">FOC</span>library</span>. The boards are created as minimal working examples and are intended to be used as a reference design for the community to build upon. The boards are fully open-source and the fabrication files are available in the respective repositories, as well as detailed guides on how to fabricate the boards yourself. The boards are additionally available in the [shop](https://www.simplefoc.com/shop) for those who prefer to buy them, as well as on other mainstream platforms like Aliexpress and Ebay (no relation to the <span class="simple">Simple<span class="foc">FOC</span>project</span>).
 
 <div class="width40 inline_block_top" markdown="1">
-## <span class="simple">Simple<span class="foc">FOC</span>Mini</span> <small>v1.1</small> - <small>[Find out more](simplefocmini)</small>
+### <span class="simple">Simple<span class="foc">FOC</span>Mini</span> <small>v1.1</small> - <small>[Find out more](simplefocmini)</small>
 
 ![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg?color=blue)
 ![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/simplefocmini)
@@ -128,7 +131,8 @@ Small package, low-cost BLDC driver board fully compatible with the <span class=
 
 
 
-## Features
+### Features
+{: .no_toc }
 - **Plug & play**: In combination with Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>
 - **DRV8313 based** - [datasheet](https://www.ti.com/lit/ds/symlink/drv8313.pdf?ts=1650461862269&ref_url=https%253A%252F%252Fwww.google.com%252F)
   - Power supply: 8-35V
@@ -149,7 +153,7 @@ Read more about this board at [link](https://github.com/simplefoc/SimpleFOCMini)
 
 </div><div class="width40 inline_block_top" style  markdown="1">
 
-## <span class="simple">Simple<span class="foc">FOC</span> <b>Step</b>Mini</span> <small>v1.0</small> - <small>[See on Github](https://github.com/simplefoc/SimpleFOC-StepMini)</small>
+### <span class="simple">Simple<span class="foc">FOC</span> <b>Step</b>Mini</span> <small>v1.0</small> - <small>[See on Github](https://github.com/simplefoc/SimpleFOC-StepMini)</small>
 
 ![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg?color=blue)
 ![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/simplefoc-stepmini)
@@ -160,7 +164,8 @@ Small package, low-cost Stepper driver board fully compatible with the <span cla
 <img src="https://raw.githubusercontent.com/simplefoc/SimpleFOC-StepMini/main/docs/top.png" class="img200"/>
 
 
-## Features
+### Features
+{: .no_toc }
 - **Plug & play**: In combination with Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>
 - **DRV8844 based** - [datasheet](https://www.ti.com/lit/ds/symlink/drv8844.pdf)
     - Power supply: 8-35V

docs/boards/simplefoc_mini/getting_started/code.md

@@ -7,8 +7,10 @@ nav_order: 2
 permalink: /mini_code
 grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Mini</span>
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
+toc: true
 ---
 
+
 # Writing the code
 Once you have all the [hardware connected](mini_connect_hardware): 
 - Microcontroller

docs/boards/simplefoc_mini/getting_started/connecting/mini_v1.md

@@ -8,9 +8,11 @@ parent: Connecting the hardware
 grand_parent: Starting with Mini
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Mini</span>
 grand_grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
+toc: true
 ---
 
 
+
 # Connecting the hardware to <span class="simple">Simple<span class="foc">FOC</span>Mini</span> v1
 
 Connecting the <span class="simple">Simple<span class="foc">FOC</span>Mini</span> to the microcontroller, BLDC motor and power-supply is very straight forward. 

docs/boards/simplefoc_mini/getting_started/connecting/mini_v11.md

@@ -8,6 +8,7 @@ parent: Connecting the hardware
 grand_parent: Starting with Mini
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Mini</span>
 grand_grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
+toc: true
 ---
 
 # Connecting the hardware to <span class="simple">Simple<span class="foc">FOC</span>Mini</span> v1.1

docs/boards/simplefoc_mini/index.md

@@ -7,6 +7,7 @@ nav_order: 2
 permalink: /simplefocmini
 has_children: true
 has_toc: false
+toc: true
 ---
 
 

docs/boards/simplefoc_mini/mini_fabrication.md

@@ -8,6 +8,7 @@ nav_order: 2
 permalink: /mini_fabrication
 has_children: true
 has_toc: false
+toc: true
 ---
 
 

docs/boards/simplefoc_shield/fabrication/shield_fabrication_v1.md

@@ -7,7 +7,9 @@ grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Shield</spa
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
 nav_order: 1
 permalink: /arduino_simplefoc_shield_fabrication_v1
+toc: true
 ---
+
 # Fabrication guide for <span class="simple">Simple<span class="foc">FOC</span>Shield</span> <small><i>v1.x</i></small> 
 Here is a quick guide how to fabricate the Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span> [version <i class="fa fa-tag"></i>V1.3.3](https://github.com/simplefoc/Arduino-SimpleFOCShield/releases) 
 

docs/boards/simplefoc_shield/fabrication/shield_fabrication_v2.md

@@ -7,7 +7,9 @@ grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Shield</spa
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
 nav_order: 2
 permalink: /arduino_simplefoc_shield_fabrication_v2
+toc: true
 ---
+
 # Fabrication guide for <span class="simple">Simple<span class="foc">FOC</span>Shield</span> <small><i>v2.x</i></small> 
 Here is a quick guide how to fabricate the Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span> [version <i class="fa fa-tag"></i>V2.0.4](https://github.com/simplefoc/Arduino-SimpleFOCShield/releases) 
 

docs/boards/simplefoc_shield/fabrication/shield_fabrication_v3.md

@@ -7,7 +7,9 @@ grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Shield</spa
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
 nav_order: 3
 permalink: /arduino_simplefoc_shield_fabrication_v3
+toc: true
 ---
+
 # Fabrication guide for <span class="simple">Simple<span class="foc">FOC</span>Shield</span> <small><i>v3.x</i></small> 
 Here is a quick guide how to fabricate the Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span> [version <i class="fa fa-tag"></i>V3.2](https://github.com/simplefoc/Arduino-SimpleFOCShield/releases) 
 

docs/boards/simplefoc_shield/getting_started/code.md

@@ -7,6 +7,7 @@ nav_order: 3
 permalink: /foc_shield_code
 grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
+toc: true
 ---
 
 # Writing the code

docs/boards/simplefoc_shield/getting_started/connections.md

@@ -7,6 +7,7 @@ nav_order: 2
 permalink: /foc_shield_connect_hardware
 grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
+toc: true
 ---
 
 # Connecting the hardware

docs/boards/simplefoc_shield/getting_started/soldering_pads/pads_v1.md

@@ -8,7 +8,9 @@ nav_order: 1
 permalink: /pads_soldering_v1
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
 grand_grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
+toc: true
 ---
+
 # Hardware configuration using soldering pads <br> <span class="simple">Simple<span class="foc">FOC</span>Shield</span> <small>v1</small>
 One of the very important features of the Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span> is the hardware configuration. 
 

docs/boards/simplefoc_shield/getting_started/soldering_pads/pads_v2.md

@@ -8,7 +8,9 @@ nav_order: 2
 permalink: /pads_soldering_v2
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
 grand_grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
+toc: true
 ---
+
 # Hardware configuration using soldering pads <br> <span class="simple">Simple<span class="foc">FOC</span>Shield</span> <small>v2</small>
 One of the very important features of the Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span> is the hardware configuration. 
 

docs/boards/simplefoc_shield/getting_started/soldering_pads/pads_v3.md

@@ -8,6 +8,7 @@ nav_order: 3
 permalink: /pads_soldering_v3
 grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
 grand_grand_grand_parent: <span class="simple">Simple<span class="foc">FOC</span> Boards</span>
+toc: true
 ---
 
 <style>

docs/boards/simplefoc_shield/index.md

@@ -7,6 +7,7 @@ nav_order: 1
 permalink: /arduino_simplefoc_shield_showcase
 has_children: true
 has_toc: false
+toc: true
 ---
 
 

docs/simplefoc_libraries/libraries/dc_motors_library.md

@@ -7,9 +7,11 @@ parent: libraries
 grand_parent: <span class="simple">Simple<span class="foc">FOC</span>utils</span>
 has_children: False
 has_toc: False
+toc: true
 ---
 
 
+
 # <span class="simple">Simple<span class="foc">DC</span> Motor</span> library
 
 ![Library Compile](https://github.com/simplefoc/Arduino-FOC-dcmotor/workflows/Library%20Compile/badge.svg)