chore(main): release 1.0.0 by embedded-releaser-app[bot] · Pull Request #99 · embedded-pro/e-foc

embedded-releaser-app · 2026-03-07T21:18:25Z

🤖 I have created a release beep boop

1.0.0 (2026-08-24)

⚠ BREAKING CHANGES

raw kp/ki/kd are no longer accepted anywhere in the FOC API; loops are tuned by closed-loop bandwidth in rad/s.

Features

Add can bus protocol (#92) (1530324)
Add dc motor (81fd4ab)
Add documentation for advanced control techniques (#226) (b8903cf)
Add error handling implementation (#137) (581b351)
Add foc state machine (#127) (b19b17c)
Add integration tests (#129) (7c8ed2c)
Add mechanical estimation (#100) (29f510d)
Add new targets (f6685f8)
Add nvm (#119) (e41fdf3)
Add position controller (#91) (4db7d57)
Bldc implementation (0ecbb85)
Board identity, named status LEDs, and power status (#238) (9c434c3)
Foc layering (#229) (d35be43)
Full refactor of foc (#33) (8292cd6)
Hil layer (#155) (7d3b655)
Implement CAN FOC service layer (#239) (c29f690)
Implement deferred stub commands in FocMotorCanBridge (#241) (9df8ff8)
Improve hardware integration for tiva (#168) (7af5b76)
Motor parameter identification (#71) (e832736)
Refactor classes in order to improve testability/readability (91dac15)

Bug Fixes

Fix hw configuration (#74) (e00421e)
Implement verified remediation findings from audit (#236) (4416c85)

This PR was generated with Release Please. See documentation.

gabrielfrasantos · 2026-03-07T21:20:32Z

✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ ACTION	actionlint	9		0	0	0.25s
✅ CPP	clang-format	293	9	0	0	11.05s
✅ DOCKERFILE	hadolint	1		0	0	0.17s
✅ JSON	jsonlint	18		0	0	0.16s
✅ JSON	prettier	18	9	0	0	3.75s
⚠️ MARKDOWN	markdownlint	47	0	20	0	2.98s
✅ MARKDOWN	markdown-table-formatter	47	2	0	0	0.47s
✅ REPOSITORY	betterleaks	yes		no	no	0.97s
✅ REPOSITORY	checkov	yes		no	no	30.64s
✅ REPOSITORY	git_diff	yes		no	no	0.09s
✅ REPOSITORY	grype	yes		no	no	75.81s
✅ REPOSITORY	ls-lint	yes		no	no	0.08s
✅ REPOSITORY	osv-scanner	yes		no	no	2.46s
✅ REPOSITORY	secretlint	yes		no	no	12.36s
✅ REPOSITORY	syft	yes		no	no	4.78s
✅ REPOSITORY	trivy	yes		no	no	12.02s
✅ REPOSITORY	trivy-sbom	yes		no	no	0.34s
✅ REPOSITORY	trufflehog	yes		no	no	5.18s
⚠️ SPELL	lychee	168		1	0	6.73s
✅ YAML	prettier	25	4	0	0	0.93s
✅ YAML	v8r	25		0	0	6.46s
✅ YAML	yamllint	25		0	0	1.02s

Detailed Issues

⚠️ SPELL / lychee - 1 error

📝 Summary
---------------------
🔍 Total..........157
🔗 Unique..........94
✅ Successful.....137
⏳ Timeouts.........0
🔀 Redirected......20
👻 Excluded........19
❓ Unknown..........0
🚫 Errors...........1
⛔ Unsupported......1

Errors in CHANGELOG.md
[404] https://github.com/embedded-pro/e-foc/compare/v0.0.1...v1.0.0 (at 3:4) | Rejected status code: 404 Not Found

Hint: Followed 20 redirects. You might want to consider replacing redirecting URLs with the resolved URLs. Use verbose mode (`-v`/`-vv`) to see redirection details.
Hint: You can configure accepted/rejected response codes with `-a` or `--accept`

⚠️ MARKDOWN / markdownlint - 20 errors

.claude/agents/reviewer.md:23 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
documentation/architecture/system.md:375:401 error MD013/line-length Line length [Expected: 400; Actual: 467]
documentation/architecture/system.md:377:401 error MD013/line-length Line length [Expected: 400; Actual: 467]
documentation/architecture/system.md:378:401 error MD013/line-length Line length [Expected: 400; Actual: 467]
documentation/architecture/system.md:379:401 error MD013/line-length Line length [Expected: 400; Actual: 467]
documentation/booklet/README.md:56 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
documentation/design/foc-position.md:156:171 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-position.md:164:45 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-position.md:164:72 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-position.md:164:108 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-position.md:164:172 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:184:88 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:184:227 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:237:138 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:238:138 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:239:138 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:240:138 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:241:138 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:242:138 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
documentation/design/foc-transforms.md:243:138 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]

Notices

⚠️ Your configuration references items that have been removed from MegaLinter and are ignored: REPOSITORY_GITLEAKS, REPOSITORY_KICS. See Removed linters to find their replacements.

See detailed reports in MegaLinter artifacts

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github-actions · 2026-03-07T21:33:31Z

🏎️ Cycle Analysis Results

Worst case (position) | EK-TM4C1294XL

CPU Utilization Budget

Loop Rate	Available Cycles	Min Usage	Max Usage	Status
1 kHz	120000	1640 (1.4%)	2031 (1.7%)	🟢 OK
10 kHz	12000	1640 (13.7%)	2031 (16.9%)	🟢 OK
20 kHz	6000	1640 (27.3%)	2031 (33.9%)	🟢 OK

Click to expand full details

Cycle Estimation Report

Target: EK-TM4C1294XL | Build: RelWithDebInfo | Clock: 120 MHz
Path: ADC ISR → FOC Position (worst case: inner + outer loop + all estimators) → PWM Output

Executive Summary

Metric	Value
Estimated Cycles (min)	1640
Estimated Cycles (max)	2031
Total Instructions	1115
Total Code Size	3828 bytes
FPU Operations	298
Path Stages	9

CPU Utilization Budget

Loop Rate	Available Cycles	Min Usage	Max Usage	Status
1 kHz	120000	1640 (1.4%)	2031 (1.7%)	🟢 OK
10 kHz	12000	1640 (13.7%)	2031 (16.9%)	🟢 OK
20 kHz	6000	1640 (27.3%)	2031 (33.9%)	🟢 OK

Path Breakdown

  ISR Entry (exception overhead)       █░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    12–29   cycles (  1.4%)
                                       │
  ADC ISR + Callback Dispatch          ██░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    93–150  cycles (  7.4%)
                                       │
  Encoder Read                         █░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    61–80   cycles (  3.9%)
                                       │
  FOC Inner Loop (Calculate)           █░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░     5–8    cycles (  0.4%)
                                       │
  FOC Outer Loop (LowPriorityHandler)  ██████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░   248–344  cycles ( 16.9%)
                                       │
  Online Mechanical Estimator (RLS)    ████████████████░░░░░░░░░░░░░░░░░░░░░░░░   726–838  cycles ( 41.3%)
                                       │
  Online Electrical Estimator (RLS)    ████████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░   383–421  cycles ( 20.7%)
                                       │
  PWM Output                           ██░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░   100–132  cycles (  6.5%)
                                       │
  ISR Exit (exception return)          █░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    12–29   cycles (  1.4%)

Stage	Min Cycles	Max Cycles	Instructions	Code Size	FPU Ops	Functions
ISR Entry (exception overhead) (hw overhead)	12	29	0	0 B	0	0
ADC ISR + Callback Dispatch	93	150	72	196 B	0	6
Encoder Read	61	80	37	120 B	10	3
FOC Inner Loop (Calculate)	5	8	5	12 B	0	1
FOC Outer Loop (LowPriorityHandler)	248	344	173	612 B	49	3
Online Mechanical Estimator (RLS)	726	838	511	1772 B	147	7
Online Electrical Estimator (RLS)	383	421	246	912 B	92	4
PWM Output	100	132	71	204 B	0	2
ISR Exit (exception return) (hw overhead)	12	29	0	0 B	0	0
TOTAL	1640	2031	1115	3828 B	298

Per-Function Detail — FOC Inner Loop (Calculate)

Function	Calls	Min Cycles	Max Cycles	FPU	Load/Store	Branch	ALU
`foc::FocPositionImpl::Calculate(foc::PhaseCurrents const&, i...`	1x	5	8	0	0	1	4

Instruction Mix

  FPU          █████████████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░  298 ( 26.7%)
  Load/Store   █████████████████████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░  471 ( 42.2%)
  Branch       ████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░   92 (  8.3%)
  ALU          ███████████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░  250 ( 22.4%)
  Mul/Div      ░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    4 (  0.4%)

Optimization Quality Indicators

⚠️ Moderate FPU utilization (27%) — some overhead from non-FPU ops
❌ High load/store ratio (42%) — register spilling or poor data locality
✅ FMA instructions detected — fused multiply-add in use
⚠️ vsqrt/vdiv detected — 14 cycles each; consider LUT approximations

github-actions · 2026-04-12T13:33:48Z

SIL Integration Test Results

1 files ±0 1 suites ±0 0s ⏱️ ±0s
104 tests ±0 104 ✅ ±0 0 💤 ±0 0 ❌ ±0
107 runs ±0 107 ✅ ±0 0 💤 ±0 0 ❌ ±0

Results for commit fafdeec. ± Comparison against base commit 564e740.

♻️ This comment has been updated with latest results.

sonarqubecloud · 2026-05-10T10:29:41Z

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

github-actions · 2026-05-24T12:41:53Z

📦 Memory budget (multi-mode)

Unified binary

📦 Memory budget

EK-TM4C1294XL (M4, RelWithDebInfo) — flash 145.81 KiB · static RAM 27.65 KiB · stack 0 B · heap 0 B

Region	Used	Free	Total	%
`FLASH`	145.80 KiB	878.20 KiB	1.00 MiB	14.2%
`RAM`	27.66 KiB	228.34 KiB	256.00 KiB	10.8%

Top symbols

Show top symbols

#	Symbol	Section	Size	Source
1	`main::hardware`	`.bss`	16.77 KiB	`—`
2	`main::logic`	`.bss`	5.83 KiB	`—`
3	`foc::detail::sineLUT`	`.data`	2.00 KiB	`—`
4	`state_machine::ControlModeStateMachine::RegisterCliCommands()`	`.text`	1.77 KiB	`/__w/e-foc/e-foc/core/state_machine/ControlModeStateMachine.cpp`
5	`foc::TorqueCascade::Calculate(foc::PhaseCurrents const&, infra::Quantity<infra::UnitBase<infra::List<infra::Unit<10u, 1> >, infra::StaticRationalBase<1ull, 0ull> >, float>&)`	`.text`	1.70 KiB	`/__w/e-foc/e-foc/infra/embedded-infra-lib/infra/util/../../infra/util/Unit.hpp`
6	`__kernel_rem_pio2f`	`.text`	1.65 KiB	`—`
7	`foc::CascadeWithSpeedLoop::CalculateInnerLoop(foc::PhaseCurrents const&, infra::Quantity<infra::UnitBase<infra::List<infra::Unit<10u, 1> >, infra::StaticRationalBase<1ull, 0ull> >, float> const&)`	`.text`	1.62 KiB	`/__w/e-foc/e-foc/infra/embedded-infra-lib/infra/util/../../infra/util/Unit.hpp`
8	`controllers::Lqr<float, 3u, 1u, 300u>::TryCreate(math::Matrix<float, 3u, 3u> const&, math::Matrix<float, 3u, 1u> const&, math::Matrix<float, 3u, 3u> const&, math::Matrix<float, 1u, 1u> const&)`	`.text`	1.59 KiB	`/__w/e-foc/e-foc/infra/numerical-toolbox/numerical/math/../../numerical/controllers/implementations/Lqr.hpp`
9	`foc::PositionControllerSelector::Select(foc::PositionAlgorithm)`	`.text`	1.52 KiB	`/__w/e-foc/e-foc/core/foc/position_loop/PositionControllerSelector.cpp`
10	`void infra::detail::InvokerFunctions<void (services::NvmStatus), 8u>::StaticInvoke<application::Logic::Logic(application::PlatformFactory&)::{lambda(services::NvmStatus)#1}>(infra::detail::InvokerFunctions<void (services::NvmStatus), 8u> const&, services::NvmStatus)`	`.text`	1.45 KiB	`/__w/e-foc/e-foc/infra/embedded-infra-lib/hal/interfaces/../../infra/util/Function.hpp`

sonarqubecloud · 2026-06-05T10:22:07Z

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

sonarqubecloud · 2026-06-21T16:43:16Z

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

github-actions · 2026-08-17T11:34:48Z

🏎️ Cycle Estimation

Target: EK-TM4C1294XL | Build: RelWithDebInfo | Clock: 120 MHz
Path: ADC ISR -> FOC inner loop (Clarke/Park/current loop/SVM) -> PWM output

Executive Summary

Metric	Value
Estimated Cycles (min — max)	1743 — 2138
Total Instructions	1151
Code Size	4088 bytes
Path Stages	6

CPU Utilization Budget

Loop Rate	Available Cycles	Min Usage	Max Usage	Status
20 kHz	6000	1743 (29.0%)	2138 (35.6%)	🟢 OK

Path Breakdown

Stage	Cycles	%
ISR Entry (exception overhead)	12–29	1%
ADC ISR + Callback Dispatch	93–150	7%
Encoder Read	61–80	4%
FOC Inner Loop (Calculate)	1465–1718	80%
PWM Output	100–132	6%
ISR Exit (exception return)	12–29	1%
Total	1743–2138

📦 Full report, annotated disassembly and JSON metrics available in workflow artifacts.

github-actions · 2026-08-17T11:34:52Z

🏎️ Cycle Estimation

Target: EK-TM4C1294XL | Build: RelWithDebInfo | Clock: 120 MHz
Path: Low-priority interrupt -> position loop -> speed loop -> online estimators

Executive Summary

Metric	Value
Estimated Cycles (min — max)	1585 — 1978
Total Instructions	1088
Code Size	3756 bytes
Path Stages	5

CPU Utilization Budget

Loop Rate	Available Cycles	Min Usage	Max Usage	Status
1 kHz	120000	1585 (1.3%)	1978 (1.6%)	🟢 OK

Path Breakdown

Stage	Cycles	%
LPI Entry (exception overhead)	12–29	1%
FOC Outer Loop (LowPriorityHandler)	781–1023	52%
Online Mechanical Estimator (RLS)	578–667	34%
Online Electrical Estimator (RLS)	202–230	12%
LPI Exit (exception return)	12–29	1%
Total	1585–1978

📦 Full report, annotated disassembly and JSON metrics available in workflow artifacts.

sonarqubecloud · 2026-08-24T17:11:18Z

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

embedded-releaser-app Bot added the autorelease: pending label Mar 7, 2026

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chore(main): release 1.0.0

fafdeec

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embedded-releaser-app Bot commented Mar 7, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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🤖 I have created a release beep boop

1.0.0 (2026-08-24)

⚠ BREAKING CHANGES

Features

Bug Fixes

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gabrielfrasantos commented Mar 7, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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✅⚠️MegaLinter analysis: Success with warnings

Detailed Issues

Notices

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🏎️ Cycle Analysis Results

Worst case (position) | EK-TM4C1294XL

Cycle Estimation Report

Executive Summary

CPU Utilization Budget

Path Breakdown

Per-Function Detail — FOC Inner Loop (Calculate)

Instruction Mix

Optimization Quality Indicators

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SIL Integration Test Results

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sonarqubecloud Bot commented May 10, 2026

Quality Gate passed

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📦 Memory budget (multi-mode)

Unified binary

📦 Memory budget

Top symbols

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sonarqubecloud Bot commented Jun 5, 2026

Quality Gate passed

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sonarqubecloud Bot commented Jun 21, 2026

Quality Gate passed

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🏎️ Cycle Estimation

Executive Summary

CPU Utilization Budget

Path Breakdown

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🏎️ Cycle Estimation

Executive Summary

CPU Utilization Budget

Path Breakdown

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sonarqubecloud Bot commented Aug 24, 2026

Quality Gate passed

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Reviewers

Assignees

Labels

Projects

Milestone

Development

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1 participant

embedded-releaser-app Bot commented Mar 7, 2026 •

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github-actions Bot commented Aug 17, 2026 •

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github-actions Bot commented Aug 17, 2026 •

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