arch: refactor espFoC on top of the Zephyr RTOS

This refactor also changes the espFoC to be a motor
control application for esp32 SoCs instead of a
library.

Signed-off-by: Felipe Neves <[email protected]>

README.md

@@ -3,27 +3,43 @@
 ![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 Zephyr RTOS for example and is aimed to transform
-your esp32 chip into a dual axis PMSM motor controller chip
+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!);
-* Uses openAMP to offload motor control tasks to one of the core, and leave the other for communication;
-* support UART and CAN communication;
+* 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;
+* 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:
 
@@ -35,5 +51,4 @@ your esp32 chip into a dual axis PMSM motor controller chip
 ## 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 +1,20 @@
+# 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
+                           ${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 +1,37 @@
+/*
+ * Copyright (c) 2023 Felipe Neves <[email protected]>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		/*
+		 * shared memory reserved for the inter-processor communication
+		 */
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &ipm0;
+	};
+};
+
+&ipm0 {
+	status = "okay";
+};
+
+&timer0 {
+	status = "okay";
+};
+
+&timer1 {
+	status = "okay";
+};
+
+&timer2 {
+	status = "okay";
+};
+
+&timer3 {
+	status = "okay";
+};

app/espfoc_app/esp_foc_app_shell.c

@@ -0,0 +1,147 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include <stdlib.h>
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/shell/shell.h>
+#include <espFoC/ipc/esp_foc_ipc.h>
+
+static int cmd_set_position(const struct shell *shell, size_t argc, char **argv)
+{
+    struct motor_command command;
+
+	if (argc != 2) {
+		return -EINVAL;
+	}
+
+	command.position_mdeg = (int32_t)(strtof(argv[1], NULL) * 1000.0f);
+	command.command_mask = MOTOR_CMD_POSITION_MASK;
+
+	return esp_foc_ipc_send_command(&command);
+}
+
+static int cmd_set_speed(const struct shell *shell, size_t argc, char **argv)
+{
+	struct motor_command command;
+
+	if (argc != 2) {
+		return -EINVAL;
+	}
+
+	command.speed_mdps = (int32_t)(strtof(argv[1], NULL) * 1000.0f);
+	command.command_mask = MOTOR_CMD_SPEED_MASK;
+
+	return esp_foc_ipc_send_command(&command);
+}
+
+static int cmd_enable(const struct shell *shell, size_t argc, char **argv)
+{
+	struct motor_command command;
+
+	if (argc != 1) {
+		return -EINVAL;
+	}
+
+	command.command_mask = MOTOR_CMD_SHUTDOWN_MASK | MOTOR_CMD_GLOBAL_ENABLE;
+	command.power_state = 1;
+
+	return esp_foc_ipc_send_command(&command);
+}
+
+static int cmd_disable(const struct shell *shell, size_t argc, char **argv)
+{
+	struct motor_command command;
+
+	if (argc != 1) {
+		return -EINVAL;
+	}
+
+	command.command_mask = MOTOR_CMD_SHUTDOWN_MASK | MOTOR_CMD_GLOBAL_DISABLE;
+	command.power_state = 0;
+
+	return esp_foc_ipc_send_command(&command);
+}
+
+static int cmd_set_gains_pid_vel(const struct shell *shell, size_t argc, char **argv)
+{
+    struct motor_command command;
+
+	if (argc != 4) {
+		return -EINVAL;
+	}
+
+	command.command_mask = MOTOR_CMD_SPD_PID_MASK;
+	command.pid_gains[0] = (int32_t)(strtof(argv[1], NULL) * 1e+6f);
+	command.pid_gains[1] = (int32_t)(strtof(argv[2], NULL) * 1e+6f);
+	command.pid_gains[2] = (int32_t)(strtof(argv[3], NULL) * 1e+6f);
+
+	return esp_foc_ipc_send_command(&command);
+
+}
+
+static int cmd_set_gains_pid_pos(const struct shell *shell, size_t argc, char **argv)
+{
+    struct motor_command command;
+
+	if (argc != 4) {
+		return -EINVAL;
+	}
+
+	command.command_mask = MOTOR_CMD_POS_PID_MASK;
+	command.pid_gains[0] = (int32_t)(strtof(argv[1], NULL) * 1e+6f);
+	command.pid_gains[1] = (int32_t)(strtof(argv[2], NULL) * 1e+6f);
+	command.pid_gains[2] = (int32_t)(strtof(argv[3], NULL) * 1e+6f);
+
+	return esp_foc_ipc_send_command(&command);
+}
+
+static int cmd_set_maintenance_pwm(const struct shell *shell, size_t argc, char **argv)
+{
+    struct motor_command command;
+
+	if (argc != 4) {
+		return -EINVAL;
+	}
+
+	command.command_mask = (MOTOR_CMD_MAITENANCE_MODE | MOTOR_CMD_MAITENANCE_PWMS);
+	command.pwms[0] = (int32_t)(strtof(argv[1], NULL) * 1e+6f);
+	command.pwms[1] = (int32_t)(strtof(argv[2], NULL) * 1e+6f);
+	command.pwms[2] = (int32_t)(strtof(argv[3], NULL) * 1e+6f);
+
+	return esp_foc_ipc_send_command(&command);
+}
+
+SHELL_STATIC_SUBCMD_SET_CREATE(
+	esp_foc,
+	SHELL_CMD(set_position, NULL, "sets position in degrees", cmd_set_position),
+	SHELL_CMD(set_speed, NULL, "sets speed in degrees per second", cmd_set_speed),
+	SHELL_CMD(enable, NULL, "enable motor driver", cmd_enable),
+	SHELL_CMD(disable, NULL, "disable motor driver", cmd_disable),
+	SHELL_CMD(set_gains_pid_vel, NULL, "set pids velocity", cmd_set_gains_pid_vel),
+	SHELL_CMD(set_gains_pid_pos, NULL, "set pids speed", cmd_set_gains_pid_pos),
+	SHELL_CMD(set_maintenance_pwm, NULL, "set pwms maitenance mode", cmd_set_maintenance_pwm),
+	SHELL_SUBCMD_SET_END
+	);
+
+SHELL_CMD_REGISTER(esp_foc, &esp_foc, "espFoC Basic shell commands", NULL);

app/espfoc_app/esp_foc_main.c

@@ -0,0 +1,101 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <zephyr/kernel.h>
+#include <espFoC/motor_control/esp_foc.h>
+#include <espFoC/ipc/esp_foc_ipc.h>
+#include <zephyr/drivers/counter.h>
+
+static const struct device *timer_dev = DEVICE_DT_GET( DT_NODELABEL(timer3));
+static struct counter_alarm_cfg alarm_cfg;
+static struct motor_state motor_fw_state;
+K_SEM_DEFINE(sync,0,1);
+
+static void esp_foc_motor_on_state (const struct motor_state *state);
+ESP_FOC_DEFINE_IPC_CALLBACK(state_callback, NULL, esp_foc_motor_on_state);
+
+static void esp_foc_motor_on_state (const struct motor_state *state)
+{
+    memcpy(&motor_fw_state, state, sizeof(motor_fw_state));
+    k_sem_give(&sync);
+}
+
+static void espfoc_pilot_motor_firmware(struct k_work *w)
+{
+    counter_set_channel_alarm(timer_dev, 0, &alarm_cfg);
+    struct motor_command command;
+	command.command_mask = MOTOR_CMD_SET_FEEDBACK;
+	command.encoder_reading = 1.0f;
+    command.motor_number = 0;
+	//esp_foc_ipc_send_command(&command);
+
+}
+K_WORK_DEFINE(motor_cfw_work, espfoc_pilot_motor_firmware);
+
+static void espfoc_timer_isr(const struct device *counter_dev,
+                            uint8_t chan_id, uint32_t ticks,
+                            void *user_data)
+{
+    k_work_submit(&motor_cfw_work);
+}
+
+int esp_foc_early_init(void)
+{
+    esp_foc_ipc_init();
+    esp_foc_ipc_register_callback(&state_callback);
+    k_msleep(50);
+
+    return 0;
+}
+SYS_INIT(esp_foc_early_init, POST_KERNEL, CONFIG_APPLICATION_INIT_PRIORITY);
+
+int main (void)
+{
+    /**TODO use the main application to implement espfoc commander
+     * Through UART, SPI, I2C and CAN, last one is the priority
+     */
+    printk("espFoC is running in the %s\n", CONFIG_BOARD);
+
+    counter_start(timer_dev);
+    alarm_cfg.flags = 0;
+    alarm_cfg.ticks = counter_us_to_ticks(timer_dev, ESP_FOC_INNER_CONTROL_US_PERIOD);
+    alarm_cfg.callback = espfoc_timer_isr;
+    alarm_cfg.user_data = &alarm_cfg;
+    counter_set_channel_alarm(timer_dev, 0, &alarm_cfg);
+
+    while(1) {
+        k_sem_take(&sync, K_FOREVER);
+        printk("espFoc Motor firmware uptime: %u [ms] \n", motor_fw_state.motor_system_uptime);
+        printk("espFoc Motor firmware timestep: %u [us] \n", motor_fw_state.timestamp_us);
+        printk("espFoC Motor system status: %d \n", motor_fw_state.system_enabled);
+    }
+}
+
+__weak void esp_foc_user_entry(void)
+{
+    printk("Weak user entry of the espFoC \n");
+}
+K_THREAD_DEFINE(foc_tid, 4096, esp_foc_user_entry, NULL, NULL, NULL, 1, 0, 0);