arch: refactor espFoC to be a motor control solution instead

of a library Signed-off-by: Felipe Neves <[email protected]>
uLipe · Jul 7, 2024 · 93302ee · 93302ee
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diff --git a/README.md b/README.md
@@ -3,22 +3,29 @@
 ![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!);
+* Easy to wire motor using common drivers and I2C encoders out there!
 * Uses openAMP to offload motor control tasks to one of the core, and leave the other for communication;
 * support UART and CAN communication;
 
 ## Limitations:
 
-* Support for esp32 and esp32s3 only;
+* Support for esp32 and esp32s3(primary) only;
 * Requires and rotor position sensor, for example, incremental encoder.
 
 ## Getting started:

diff --git a/doc/images/arch.png b/doc/images/arch.png
diff --git a/examples/stubs/main.cpp b/examples/stubs/main.cpp
diff --git a/examples/stubs/motor_hardware_stub.c b/examples/stubs/motor_hardware_stub.c
diff --git a/examples/stubs/motor_hardware_stub.h b/examples/stubs/motor_hardware_stub.h
diff --git a/CMakeLists.txt → include/espFoC/esp_foc_ipc/esp_foc_ipc.h b/CMakeLists.txt → include/espFoC/esp_foc_ipc/esp_foc_ipc.h
diff --git a/include/espFoC/esp_foc.h → include/espFoC/motor_control/esp_foc.h b/include/espFoC/esp_foc.h → include/espFoC/motor_control/esp_foc.h
diff --git a/include/espFoC/esp_foc_motor_interface.h → ...C/motor_control/esp_foc_motor_interface.h b/include/espFoC/esp_foc_motor_interface.h → ...C/motor_control/esp_foc_motor_interface.h
diff --git a/include/espFoC/esp_foc_pid.h → include/espFoC/motor_control/esp_foc_pid.h b/include/espFoC/esp_foc_pid.h → include/espFoC/motor_control/esp_foc_pid.h
diff --git a/include/espFoC/esp_foc_svm.h → include/espFoC/motor_control/esp_foc_svm.h b/include/espFoC/esp_foc_svm.h → include/espFoC/motor_control/esp_foc_svm.h
diff --git a/main_app_app_core/CMakeLists.txt b/main_app_app_core/CMakeLists.txt
diff --git a/main_app_app_core/esp_foc_app.c b/main_app_app_core/esp_foc_app.c
diff --git a/main_app_app_core/esp_foc_app_shell.c b/main_app_app_core/esp_foc_app_shell.c
diff --git a/main_app_app_core/prj.conf b/main_app_app_core/prj.conf
diff --git a/main_app_motor_core/CMakeLists.txt b/main_app_motor_core/CMakeLists.txt
diff --git a/main_app_motor_core/esp_foc_hardware_if.c b/main_app_motor_core/esp_foc_hardware_if.c
diff --git a/main_app_motor_core/esp_foc_motor.c b/main_app_motor_core/esp_foc_motor.c
diff --git a/main_app_motor_core/prj.conf b/main_app_motor_core/prj.conf
diff --git a/src/ipc/esp_foc_ipc.c b/src/ipc/esp_foc_ipc.c
diff --git a/src/esp_foc.c → src/motor_control/esp_foc.c b/src/esp_foc.c → src/motor_control/esp_foc.c
diff --git a/src/esp_foc_consts.c → src/motor_control/esp_foc_consts.c b/src/esp_foc_consts.c → src/motor_control/esp_foc_consts.c
diff --git a/src/esp_foc_our_sin_cos.c → src/motor_control/esp_foc_our_sin_cos.c b/src/esp_foc_our_sin_cos.c → src/motor_control/esp_foc_our_sin_cos.c
diff --git a/src/esp_foc_pid.c → src/motor_control/esp_foc_pid.c b/src/esp_foc_pid.c → src/motor_control/esp_foc_pid.c
diff --git a/src/esp_foc_svm.c → src/motor_control/esp_foc_svm.c b/src/esp_foc_svm.c → src/motor_control/esp_foc_svm.c