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www.phpactiverecord.org
https://github.com/jpfuentes2/php-activerecord
will work?
Well, here, as usual, there is something to see:
https://github.com/search?utf8=✓&q=php+activerecor...
https://github.com/search?utf8=✓&q=php+ORM&type =Re...
PDO is a very good choice that will cover 99% of needs.
If you need a Data Mapper or something similar, i.e. more "convenient" work with data, you can use any framework. The same Doctrine works on top of PDO. Why Doctrine - because it develops, it is used in fairly serious frameworks. But here it depends more on the needs, Doctrine can also turn out to be a cannon, from which they shamble on sparrows. It is possible, but why?
UPD. What kind of flexibility do you mean?
I will support Maxim Timofeev
Take ActiveRecord - this is a simple abstraction that helps to work with the database
as with an object in php, it will most likely be enough for you and is very easy to learn
used in the Yii2 framework, it has a number of disadvantages over Doctrine, but you don’t know about them you will most likely recognize it in your scale, but the advantage is lightness
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