diff --git a/README.md b/README.md
index 424f3cd7..47d7540f 100644
--- a/README.md
+++ b/README.md
@@ -24,34 +24,16 @@ 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)
 
-> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.0
-> - Arduino Mega 6pwm more timers supported 
-> - Arduino boards - frequency change support either 32kHz or 4kHz
-> - Arduino Uno - synched timers in 3pwm and 6pwm mode [#71](https://github.com/simplefoc/Arduino-FOC/issues/71)
-> - Teensy 3.x initial support for 6pwm
-> - Teensy 4.x initial support for 6pwm
-> - Example for v3.1 SimpleFOCShield 
-> - RP2040 compatibility for earlehillpower core [#234](https://github.com/simplefoc/Arduino-FOC/pull/234) [#236](https://github.com/simplefoc/Arduino-FOC/pull/236)
-> - More flexible monitoring API 
->   - start, end and separator characters
->   - decimal places (settable through commander)
-> - Added machine readable verbose mode in `Commander` [#233](https://github.com/simplefoc/Arduino-FOC/pull/233)
-> - *Simple**FOC**WebController* - Web based user interface for SimpleFOC by [@geekuillaume](https://github.com/geekuillaume) - [webcontroller.simplefoc.com](webcontroller.simplefoc.com)
-> - bugfix - `MagneticSensorPWM` multiple occasions - [#258](https://github.com/simplefoc/Arduino-FOC/pull/258)
-> - bugfix - current sense align - added offset exchange when exchanging pins
-> - bugfix - trapezoid 150 fixed
-> - bugfix - 4pwm on ESP8266 [#224](https://github.com/simplefoc/Arduino-FOC/pull/224)
-> - Additional `InlineCurrentSense` and `LowsideCurrentSense` constructor using milliVolts per Amp [#253](https://github.com/simplefoc/Arduino-FOC/pull/253)
-> - STM32L4xx current sense support by [@Triple6](https://github.com/Triple6) (discord) [#257](https://github.com/simplefoc/Arduino-FOC/pull/257)
-> - phase disable in 6pwm mode 
->   - stm32 - software and hardware 6pwm
->   - atmega328 
->   - atmega2560
-> - Lag compensation using motor inductance [#246](https://github.com/simplefoc/Arduino-FOC/issues/246)
->   - current control through voltage torque mode enhancement
->   - extended `BLDCMotor` and `StepperMotor` constructors to receive the inductance paramerer
->   - can also be set using `motor.phase_inductance` or through `Commander`
-## Arduino *SimpleFOClibrary* v2.3
+> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.1
+> - Support for Arduino UNO R4 Minima and UNO R4 WiFi (Renesas R7FA4M1 MCUs)
+> - Support setting PWM polarity on ESP32 (thanks to [@mcells](https://github.com/mcells))
+> - Expose I2C errors in MagneticSensorI2C (thanks to [@padok](https://github.com/padok))
+> - Improved default trig functions (sine, cosine) - faster, smaller
+> - Overridable trig functions - plug in your own optimized versions
+> - bugfix: microseconds overflow in velocity mode
+> - bugfix: KV initialization
+
+## Arduino *SimpleFOClibrary* v2.3.1
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">
@@ -78,7 +60,7 @@ This video demonstrates the *Simple**FOC**library* basic usage, electronic conne
 - **Cross-platform**:
    - Seamless code transfer from one microcontroller family to another 
    - Supports multiple [MCU architectures](https://docs.simplefoc.com/microcontrollers):
-      - Arduino: UNO, MEGA, DUE, Leonardo ....
+      - Arduino: UNO R4, UNO, MEGA, DUE, Leonardo, Nano, Nano33 ....
       - STM32
       - ESP32
       - Teensy
diff --git a/src/common/foc_utils.cpp b/src/common/foc_utils.cpp
index c6a77ae6..4cb09863 100644
--- a/src/common/foc_utils.cpp
+++ b/src/common/foc_utils.cpp
@@ -9,7 +9,7 @@ __attribute__((weak)) float _sin(float a){
   // 16 bit precision on sine value, 8 bit fractional value for interpolation, 6bit LUT size
   // resulting precision compared to stdlib sine is 0.00006480 (RMS difference in range -PI,PI for 3217 steps)
   static uint16_t sine_array[65] = {0,804,1608,2411,3212,4011,4808,5602,6393,7180,7962,8740,9512,10279,11039,11793,12540,13279,14010,14733,15447,16151,16846,17531,18205,18868,19520,20160,20788,21403,22006,22595,23170,23732,24279,24812,25330,25833,26320,26791,27246,27684,28106,28511,28899,29269,29622,29957,30274,30572,30853,31114,31357,31581,31786,31972,32138,32286,32413,32522,32610,32679,32729,32758,32768};
-  unsigned int i = (unsigned int)(a * (64*4*256 /_2PI));
+  unsigned int i = (unsigned int)(a * (64*4*256.0 /_2PI));
   int t1, t2, frac = i & 0xff;
   i = (i >> 8) & 0xff;
   if (i < 64) {