diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml
index b4830d82..5ee6e772 100644
--- a/.github/workflows/ccpp.yml
+++ b/.github/workflows/ccpp.yml
@@ -10,6 +10,8 @@ jobs:
         arduino-boards-fqbn:
           - arduino:avr:uno                          # arudino uno
           - arduino:sam:arduino_due_x                # arduino due
+          - arduino:avr:mega                         # arduino mega2650
+          - arduino:avr:leonardo                     # arduino leonardo
           - arduino:samd:nano_33_iot                 # samd21
           - adafruit:samd:adafruit_metro_m4          # samd51
           - esp32:esp32:esp32doit-devkit-v1          # esp32
@@ -29,6 +31,12 @@ jobs:
           - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
             sketch-names: single_full_control_example.ino
             
+          - arduino-boards-fqbn: arduino:avr:leonardo # arduino leonardo - one full example
+            sketch-names: open_loop_position_example.ino
+            
+          - arduino-boards-fqbn: arduino:avr:mega # arduino mega2660 - one full example
+            sketch-names: single_full_control_example.ino
+            
           - arduino-boards-fqbn: arduino:samd:nano_33_iot  # samd21 
             sketch-names: nano33IoT_velocity_control.ino, smartstepper_control.ino
             
@@ -54,6 +62,9 @@ jobs:
           - arduino-boards-fqbn: STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1      # B-G431-ESC1
             platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
             sketch-names: B_G431B_ESC1.ino
+            build-properties: 
+              B_G431B_ESC1:
+                -DHAL_OPAMP_MODULE_ENABLED
 
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX  # stm32f405 - odrive
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
@@ -63,7 +74,6 @@ jobs:
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
             sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, sdouble_full_control_example.ino
             
-        
 
       # Do not cancel all jobs / architectures if one job fails
       fail-fast: false
@@ -78,3 +88,4 @@ jobs:
           platform-url: ${{ matrix.platform-url }}
           sketch-names: ${{ matrix.sketch-names }}
           sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}
diff --git a/CITATION.cff b/CITATION.cff
new file mode 100644
index 00000000..ec37686e
--- /dev/null
+++ b/CITATION.cff
@@ -0,0 +1,48 @@
+cff-version: 1.0.0
+message: "If you use this software, please cite it as below."
+authors:
+- family-names: "Skuric"
+  given-names: "Antun"
+  orcid: "https://orcid.org/0000-0002-3323-4482"
+- family-names: "Bank"
+  given-names: "Hasan Sinan"
+  orcid: "https://orcid.org/0000-0002-0626-2664"  
+- family-names: "Unger"
+  given-names: "Richard"  
+- family-names: "Williams"
+  given-names: "Owen"  
+- family-names: "González-Reyes"
+  given-names: "David"
+  orcid: "https://orcid.org/0000-0002-1535-3007"
+title: "SimpleFOC: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors"
+version: 2.2.2
+doi: 10.21105/joss.04232
+date-released: 2022-06-26
+url: "https://github.com/simplefoc/Arduino-FOC"
+
+preferred-citation:
+  type: article
+  authors:
+  - family-names: "Skuric"
+    given-names: "Antun"
+    orcid: "https://orcid.org/0000-0002-3323-4482"
+  - family-names: "Bank"
+    given-names: "Hasan Sinan"
+    orcid: "https://orcid.org/0000-0002-0626-2664"  
+  - family-names: "Unger"
+    given-names: "Richard"  
+  - family-names: "Williams"
+    given-names: "Owen"  
+  - family-names: "González-Reyes"
+    given-names: "David"
+    orcid: "https://orcid.org/0000-0002-1535-3007"
+  doi: "10.21105/joss.04232"
+  journal: "Journal of Open Source Software"
+  url: "https://doi.org/10.21105/joss.04232"
+  month: 6
+  start: 4232 # First page number
+  end: 4232 # Last page number
+  title: "SimpleFOC: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors"
+  volume: 7
+  issue: 74
+  year: 2022
diff --git a/README.md b/README.md
index 25c728a5..e49ef384 100644
--- a/README.md
+++ b/README.md
@@ -18,7 +18,12 @@ Therefore this is an attempt to:
    - *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
-
+<h3>NEWS 📢: SimpleFOClibrary has been published in the Journal of Open Source Software</h3>
+<p>
+  <b>SimpleFOC</b>: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors.<br>
+  A. Skuric, HS. Bank, R. Unger, O. Williams, D. González-Reyes<br>
+Journal of Open Source Software, 7(74), 4232, https://doi.org/10.21105/joss.04232
+</p>
 
 <blockquote class="info">
    <p class="heading">NEW RELEASE 📢: <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2.2 <a href="https://github.com/simplefoc/Arduino-FOC/releases/tag/v2.2.2">see release</a></p>
@@ -215,6 +220,34 @@ Here are some of the *Simple**FOC**library* and *Simple**FOC**Shield* applicatio
 </p>
 
 
+## Citing the *SimpleFOC* 
+
+We are very happy that *Simple**FOC**library* has been used as a component of several research project and has made its way to several scientific papers.  We are hoping that this trend is going to continue as the project matures and becomes more robust! 
+A short resume paper about *Simple**FOC*** has been published in the Journal of Open Source Software: 
+<p>
+  <b><i>SimpleFOC</i></b>: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors.<br>
+  A. Skuric, HS. Bank, R. Unger, O. Williams, D. González-Reyes<br>
+Journal of Open Source Software, 7(74), 4232, https://doi.org/10.21105/joss.04232
+</p>
+
+If you are interested in citing  *Simple**FOC**library* or some other component of *Simple**FOC**project* in your research, we suggest you to cite our paper:
+
+```bib
+@article{simplefoc2022,
+  doi = {10.21105/joss.04232},
+  url = {https://doi.org/10.21105/joss.04232},
+  year = {2022},
+  publisher = {The Open Journal},
+  volume = {7},
+  number = {74},
+  pages = {4232},
+  author = {Antun Skuric and Hasan Sinan Bank and Richard Unger and Owen Williams and David González-Reyes},
+  title = {SimpleFOC: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors},
+  journal = {Journal of Open Source Software}
+}
+
+```
+
 
 ## Arduino FOC repo structure
 Branch  | Description | Status
diff --git a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino
index a57fe634..98e09425 100644
--- a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino
+++ b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino
@@ -77,7 +77,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget, "target voltage");
+  command.add('T', doTarget, "target velocity");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target velocity using serial terminal:"));
@@ -103,4 +103,4 @@ void loop() {
 
   // user communication
   command.run();
-}
\ No newline at end of file
+}
diff --git a/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino b/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino
index ef2e504c..c4777baa 100644
--- a/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino
+++ b/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino
@@ -11,7 +11,7 @@
 // HallSensor(int hallA, int hallB , int cpr, int index)
 //  - hallA, hallB, hallC    - HallSensor A, B and C pins
 //  - pp                     - pole pairs
-HallSensor sensor = HallSensor(2, 3, 4, 11);
+HallSensor sensor = HallSensor(2, 3, 4, 14);
 
 // Interrupt routine intialisation
 // channel A and B callbacks
@@ -44,4 +44,5 @@ void loop() {
   Serial.print(sensor.getAngle());
   Serial.print("\t");
   Serial.println(sensor.getVelocity());
+  delay(100);
 }
diff --git a/src/BLDCMotor.h b/src/BLDCMotor.h
index 65bacb8d..4c87be67 100644
--- a/src/BLDCMotor.h
+++ b/src/BLDCMotor.h
@@ -70,10 +70,7 @@ class BLDCMotor: public FOCMotor
     float Ua, Ub, Uc;//!< Current phase voltages Ua,Ub and Uc set to motor
     float	Ualpha, Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
 
-
-  private:
-    // FOC methods 
-    /**
+  /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm
     * 
@@ -82,6 +79,10 @@ class BLDCMotor: public FOCMotor
     * @param angle_el current electrical angle of the motor
     */
     void setPhaseVoltage(float Uq, float Ud, float angle_el);
+
+  private:
+    // FOC methods 
+
     /** Sensor alignment to electrical 0 angle of the motor */
     int alignSensor();
     /** Current sense and motor phase alignment */
diff --git a/src/common/base_classes/Sensor.cpp b/src/common/base_classes/Sensor.cpp
index 23a51d9b..f3b19053 100644
--- a/src/common/base_classes/Sensor.cpp
+++ b/src/common/base_classes/Sensor.cpp
@@ -2,7 +2,7 @@
 #include "../foc_utils.h"
 #include "../time_utils.h"
 
-// TODO add an init method to make the startup smoother by initializing internal variables to current values rather than 0
+
 
 void Sensor::update() {
     float val = getSensorAngle();
@@ -18,17 +18,17 @@ void Sensor::update() {
 float Sensor::getVelocity() {
     // calculate sample time
     float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6;
-    // quick fix for strange cases (micros overflow)
-    if(Ts <= 0) Ts = 1e-3f;
-    // velocity calculation
-    float vel = ( (float)(full_rotations - vel_full_rotations)*_2PI + (angle_prev - vel_angle_prev) ) / Ts;    
-    // save variables for future pass
+    if (Ts<minDeltaT) return velocity; // don't update velocity if deltaT is too small
+
+    velocity = ( (float)(full_rotations - vel_full_rotations)*_2PI + (angle_prev - vel_angle_prev) ) / Ts;
     vel_angle_prev = angle_prev;
     vel_full_rotations = full_rotations;
     vel_angle_prev_ts = angle_prev_ts;
-    return vel;
+    return velocity;
 }
 
+
+
 void Sensor::init() {
     // initialize all the internal variables of Sensor to ensure a "smooth" startup (without a 'jump' from zero)
     getSensorAngle(); // call once
diff --git a/src/common/base_classes/Sensor.h b/src/common/base_classes/Sensor.h
index eb9608e8..0f228a39 100644
--- a/src/common/base_classes/Sensor.h
+++ b/src/common/base_classes/Sensor.h
@@ -101,6 +101,12 @@ class Sensor{
          * 1 - ecoder with index (with index not found yet)
          */
         virtual int needsSearch();
+
+        /**
+         * Minimum time between updates to velocity. If time elapsed is lower than this, the velocity is not updated.
+         */
+        float minDeltaT = 0.000100; // default is 100 microseconds, or 10kHz
+
     protected:
         /** 
          * Get current shaft angle from the sensor hardware, and 
@@ -120,9 +126,10 @@ class Sensor{
         virtual void init();
 
         // velocity calculation variables
-        float angle_prev=0; // result of last call to getSensorAngle(), used for full rotations and velocity
+        float velocity=0.0f;
+        float angle_prev=0.0f; // result of last call to getSensorAngle(), used for full rotations and velocity
         long angle_prev_ts=0; // timestamp of last call to getAngle, used for velocity
-        float vel_angle_prev=0; // angle at last call to getVelocity, used for velocity
+        float vel_angle_prev=0.0f; // angle at last call to getVelocity, used for velocity
         long vel_angle_prev_ts=0; // last velocity calculation timestamp
         int32_t full_rotations=0; // full rotation tracking
         int32_t vel_full_rotations=0; // previous full rotation value for velocity calculation
diff --git a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp
index 51300194..27e11958 100644
--- a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp
+++ b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp
@@ -33,7 +33,7 @@ uint32_t _timerToRegularTRGO(HardwareTimer* timer){
     return ADC_EXTERNALTRIGCONV_T3_TRGO;
 #ifdef TIM8 // if defined timer 8
   else if(timer->getHandle()->Instance == TIM8) 
-    return ADC_EXTERNALTRIGINJECCONV_T8_TRGO;
+    return ADC_EXTERNALTRIGCONV_T8_TRGO;
 #endif
   else
     return _TRGO_NOT_AVAILABLE;
diff --git a/src/drivers/hardware_specific/atmega2560_mcu.cpp b/src/drivers/hardware_specific/atmega2560_mcu.cpp
index cf71a949..8ee1a727 100644
--- a/src/drivers/hardware_specific/atmega2560_mcu.cpp
+++ b/src/drivers/hardware_specific/atmega2560_mcu.cpp
@@ -86,7 +86,7 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2A);
   _pinHighFrequency(pin2B);
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin2A, pin2A, pin2B },
+    .pins = { pin1A, pin1B, pin2A, pin2B },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -146,8 +146,8 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
   ret_flag += _configureComplementaryPair(pinC_h, pinC_l);
   if (ret_flag!=0) return SIMPLEFOC_DRIVER_INIT_FAILED;
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pinA_h,, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l },
-    .pwm_frequency = pwm_frequency
+    .pins = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l },
+    .pwm_frequency = pwm_frequency,
     .dead_zone = dead_zone
   };
   return params;
diff --git a/src/drivers/hardware_specific/atmega328_mcu.cpp b/src/drivers/hardware_specific/atmega328_mcu.cpp
index 33e4d497..49318c52 100644
--- a/src/drivers/hardware_specific/atmega328_mcu.cpp
+++ b/src/drivers/hardware_specific/atmega328_mcu.cpp
@@ -81,7 +81,7 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2A);
   _pinHighFrequency(pin2B);
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin2A, pin2A, pin2B },
+    .pins = { pin1A, pin1B, pin2A, pin2B },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -170,4 +170,4 @@ void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, void* params){
   _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0);
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/drivers/hardware_specific/atmega32u4_mcu.cpp b/src/drivers/hardware_specific/atmega32u4_mcu.cpp
index 22b6c656..9001fd90 100644
--- a/src/drivers/hardware_specific/atmega32u4_mcu.cpp
+++ b/src/drivers/hardware_specific/atmega32u4_mcu.cpp
@@ -89,7 +89,7 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2A);
   _pinHighFrequency(pin2B);
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin2A, pin2A, pin2B },
+    .pins = { pin1A, pin1B, pin2A, pin2B },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -158,8 +158,8 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
   ret_flag += _configureComplementaryPair(pinC_h, pinC_l);
   if (ret_flag!=0) return SIMPLEFOC_DRIVER_INIT_FAILED;
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pinA_h,, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l },
-    .pwm_frequency = pwm_frequency
+    .pins = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l },
+    .pwm_frequency = pwm_frequency,
     .dead_zone = dead_zone
   };
   return params;
diff --git a/src/drivers/hardware_specific/esp8266_mcu.cpp b/src/drivers/hardware_specific/esp8266_mcu.cpp
index df8ae380..5bdfd5d2 100644
--- a/src/drivers/hardware_specific/esp8266_mcu.cpp
+++ b/src/drivers/hardware_specific/esp8266_mcu.cpp
@@ -54,7 +54,7 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
   _setHighFrequency(pwm_frequency, pinC);
   _setHighFrequency(pwm_frequency, pinD);
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin2A, pin2A, pin2B },
+    .pins = { pin1A, pin1B, pin2A, pin2B },
     .pwm_frequency = pwm_frequency
   };
   return params;