arch: refactor the espFoC on top of the Zephyr RTOS

.github/workflows/espfoc_flow.yaml

@@ -2,7 +2,7 @@ name: Build
 on: push
 jobs:
   build:
-    name: Test compiling 
+    name: Test compiling
     runs-on: ubuntu-latest
     steps:
     - name: Checkout
@@ -45,40 +45,3 @@ jobs:
         path: idf
         submodules: recursive
         ref: master
-
-    - name: Build Samples
-      run: | 
-        ./idf/install.sh
-        . ./idf/export.sh 
-        pushd examples/simple_velocity
-        idf.py set-target esp32
-        idf.py build
-        popd
-        pushd examples/simple_motor_tester
-        idf.py set-target esp32
-        idf.py build
-        popd
-        pushd examples/simple_servo
-        idf.py set-target esp32
-        idf.py build
-        popd
-        pushd examples/speed_control
-        idf.py set-target esp32
-        idf.py build
-        popd
-        pushd examples/simple_velocity
-        idf.py set-target esp32s3
-        idf.py build
-        popd
-        pushd examples/simple_motor_tester
-        idf.py set-target esp32s3
-        idf.py build
-        popd
-        pushd examples/simple_servo
-        idf.py set-target esp32s3
-        idf.py build
-        popd
-        pushd examples/speed_control
-        idf.py set-target esp32s3
-        idf.py build
-        popd

LICENSE

@@ -1,7 +1,7 @@
 The MIT License (MIT)
 =====================
 
-Copyright © `2021` `Felipe Neves`
+Copyright © `2023` `Felipe Neves`
 
 Permission is hereby granted, free of charge, to any person
 obtaining a copy of this software and associated documentation

README.md

@@ -1,45 +1,54 @@
-# espFoC: Vector FoC controller for PMSM motors for ESP-IDF
+# espFoC: Vector FoC controller for PMSM motors for ESP32 SoCs
 
 ![Build](https://github.com/uLipe/espFoC/workflows/Build/badge.svg)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
-espFoC is a simple implementation of voltage mode, vector controller intended to be used with permanent-magnet synchronous motors (PMSM), and general brushless motors. This component was developed to be used with the ESP-IDF 
-espressif framework.
+espFoC is a simple implementation of voltage mode, vector controller intended to be used with permanent-magnet synchronous motors (PMSM), and general brushless motors for ESP32S3 Espressif SoC, other SoC from espressif might be supported but the primary requirement is to be a dual
+core variant. espFoC started as a library for motor control, but it suffered a goal change, and now it is intended to create a programmable
+BLDC (FoC based) motor control-IC, the dual core capabillity splits the controller into application side and motor control core side
+the former is intended for user to write it own application or exchange packets with external controller via CAN-Bus, the later is
+100% focused on perform motor control algorithm achieving better control bandwidth. Up two axis are supported in this new variant, refer the
+simplified architecture below:
+![espFoC Simplified Architecture](/doc/images/arch.png)
 
 ## Features:
+
 * Voltage mode control, control a PMSM like a DC motor!;
 * Position and Speed closed-loop control;
 * Single-precision Floating point implementation;
-* Sample inverter driver based on esp32 LEDC PWM (easy to wire!);
-* Sample rotor position driver based on as5600 encoder (very popular!);
-* FoC engine runs sychronized at inverter PWM rate;
-* Scope function for debugging using Better Serial Plot
+* Easy to wire motor using common drivers and I2C encoders out there!
+* Uses ESP32 AMP solution for Zephyr RTOS to split execution;
+* App CPU runs the motor control firmware;
+* Pro CPU runs communication and exposes a thread for user application;
+* Interaction between the firmwares are doing by a custom IPC protocol;
+* Planned support for UART and CAN communication;
 
 ## Limitations:
-* Support for esp32 and esp32s3 only;
-* Requires and rotor position sensor, for example, incremental encoder.
+
+* Support only for espressif SoC that are dual-core and have FPU;
+* Once sensored support, requires an I2C magnetic encoder sensor.
 
 ## Getting started:
-* Just clone this project on most convenient folder;
-* Inside of your IDF project CMakeLists.txt set or add the path of this component to EXTRA_COMPONENT_DIRS for example: `set(EXTRA_COMPONENT_DIRS "path/to/this/component/")`
-* For batteries included getting started, refer the examples folder.
-* Inside of any of examples just build: `$ idf.py build flash`
-
+
+* Just clone this project on most convenient folder then:
+
+```
+ $ west build  -palways -besp32s3_devkitm/esp32s3/procpu --sysbuild /path/to/espFoC/app
+```
+
+* To flash:
+```
+ $ west flash
+```
+
 ## Typical wiring:
+
 * espFoC is intended to run on ESP32 board plus a motor driver;
 * The current driver supports 3-PWM output suited to: L6230, DRV83xx and others;
-* The suggested wiring for quick get started is shown below: 
+* The suggested wiring for quick get started is shown below:
 ![Wiring](/doc/images/wiring.png)
 
-
-## Debug with Better Serial Plot:
-* Install Better Serial Plot from here: https://hackaday.io/project/181686-better-serial-plotter 
-* In menuconfing enable the option: `CONFIG_ESP_FOC_SCOPE`
-* Download the firmware for your target board;
-* Open the Better Serial Port and select the port and baud rate of your board;
-* The data should arrive automatically.
-
 ## Support:
+
 If you find some trouble, open an issue, and if you are enjoying the project
-give it a star or submir a PR. Also, you can try reaching me at:
-[email protected]
+give it a star or submir a PR. Also, you can try reaching me at:

app/CMakeLists.txt

@@ -0,0 +1,21 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+set(REMOTE_ZEPHYR_DIR ${CMAKE_CURRENT_BINARY_DIR}/../espfoc_motor_remote/zephyr)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(espfoc_app)
+
+set(MOTOR_CONTROL_SRC ${APPLICATION_SOURCE_DIR}/../common)
+set(MOTOR_CONTROL_INC ${APPLICATION_SOURCE_DIR}/../common/include)
+
+FILE(GLOB ipc ${MOTOR_CONTROL_SRC}/ipc/*.c)
+target_sources(app PRIVATE espfoc_app/esp_foc_app_shell.c
+                           espfoc_app/esp_foc_main.c
+                           espfoc_app/esp_foc_user.c
+                           espfoc_app/esp_foc_motor_control_firmware_pilot.c
+                           ${ipc})
+
+target_include_directories(app PRIVATE  ${MOTOR_CONTROL_INC})
+

app/Kconfig.sysbuild

@@ -0,0 +1,7 @@
+source "share/sysbuild/Kconfig"
+
+config ESP_FOC_REMOTE_BOARD
+	string
+	default "esp32_devkitc_wrover/esp32/appcpu" if $(BOARD) = "esp32_devkitc_wroom"
+	default "esp32_devkitc_wroom/esp32/appcpu" if $(BOARD) = "esp32_devkitc_wroom"
+	default "esp32s3_devkitm/esp32s3/appcpu" if $(BOARD) = "esp32s3_devkitm"

app/boards/esp32s3_devkitm_procpu.overlay

@@ -0,0 +1,97 @@
+/*
+ * Copyright (c) 2023 Felipe Neves <[email protected]>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+ #include <zephyr/dt-bindings/pwm/pwm.h>
+
+/ {
+	chosen {
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		/*
+		 * shared memory reserved for the inter-processor communication
+		 */
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &ipm0;
+	};
+};
+
+&pinctrl {
+	ledc0_default: ledc0_default {
+		group1 {
+			pinmux = <LEDC_CH0_GPIO0>,
+					<LEDC_CH1_GPIO1>,
+					<LEDC_CH2_GPIO2>;
+			output-enable;
+		};
+	};
+};
+
+&ipm0 {
+	status = "okay";
+};
+
+&timer0 {
+	status = "okay";
+};
+
+&timer1 {
+	status = "okay";
+};
+
+&timer2 {
+	status = "okay";
+};
+
+&timer3 {
+	status = "okay";
+};
+
+&i2c0 {
+	clock-frequency = <I2C_BITRATE_FAST>;
+	pinctrl-0 = <&i2c0_default>;
+	pinctrl-names = "default";
+	status = "okay";
+
+	angle_sensor0: as5600@36 {
+		compatible = "ams,as5600";
+		status = "okay";
+		reg = <0x36>;
+	};
+};
+
+&i2c1 {
+	clock-frequency = <I2C_BITRATE_FAST>;
+	pinctrl-0 = <&i2c1_default>;
+	pinctrl-names = "default";
+	status = "okay";
+
+	angle_sensor1: as5600@36 {
+		compatible = "ams,as5600";
+		status = "okay";
+		reg = <0x36>;
+	};
+};
+
+&ledc0 {
+	pinctrl-0 = <&ledc0_default>;
+	pinctrl-names = "default";
+	status = "okay";
+
+	#address-cells = <1>;
+	#size-cells = <0>;
+	channel0@0 {
+		reg = <0x0>;
+		timer = <0>;
+	};
+	channel1@1 {
+		reg = <0x1>;
+		timer = <0>;
+	};
+	channel2@2 {
+		reg = <0x2>;
+		timer = <1>;
+	};
+};