arch: refactor espFoC to be a motor control solution instead

of a library

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

README.md

@@ -3,22 +3,26 @@
 ![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:

app/CMakeLists.txt

@@ -0,0 +1,40 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+set(REMOTE_ZEPHYR_DIR ${CMAKE_CURRENT_BINARY_DIR}/ipm_esp32_appcpu-prefix/src/ipm_esp32_appcpu-build/zephyr)
+
+if("${BOARD}" STREQUAL "esp32s3_devkitm/esp32s3/procpu")
+set(BOARD_REMOTE "esp32s3_devkitm/esp32s3/appcpu")  
+else()
+  message(FATAL_ERROR "${BOARD} was not supported for this project yet!")
+endif()
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(espfoc)
+
+set(MOTOR_CONTROL_SRC ${APPLICATION_SOURCE_DIR}/../common)
+set(MOTOR_CONTROL_INC ${APPLICATION_SOURCE_DIR}/../common/include/espFoC)
+
+FILE(GLOB ipc ${MOTOR_CONTROL_SRC}/ipc/*.c)
+
+set_source_files_properties(${REMOTE_ZEPHYR_DIR}/esp32_appcpu_firmware.c PROPERTIES GENERATED TRUE)
+target_sources(app PRIVATE esp_foc_app_core/esp_foc_app.c 
+                           esp_foc_app_core/esp_foc_app_shell.c
+                           ${ipc}
+                           ${REMOTE_ZEPHYR_DIR}/esp32_appcpu_firmware.c)
+
+target_include_directories(app PRIVATE  ${MOTOR_CONTROL_INC})
+
+include(ExternalProject)
+
+ExternalProject_Add(
+	espfoc_remote
+	SOURCE_DIR ${APPLICATION_SOURCE_DIR}/espfoc_motor_core
+	INSTALL_COMMAND ""
+	CMAKE_CACHE_ARGS -DBOARD:STRING=${BOARD_REMOTE}
+	BUILD_BYPRODUCTS "${REMOTE_ZEPHYR_DIR}/${KERNEL_BIN_NAME}"
+	BUILD_ALWAYS True
+)
+
+add_dependencies(app espfoc_remote)

app/boards/esp32s3_devkitm.conf

@@ -0,0 +1 @@
+CONFIG_SOC_ESP32S3_PROCPU=y

app/boards/esp32s3_devkitm.overlay

@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2023 Felipe Neves <[email protected]>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		/*
+		 * shared memory reserved for the inter-processor communication
+		 */
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &ipm0;
+	};
+};
+
+&ipm0 {
+	status = "okay";
+};

app/espfoc_motor_core/CMakeLists.txt

@@ -0,0 +1,19 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(espfoc_remote)
+
+set(MOTOR_CONTROL_SRC ${APPLICATION_SOURCE_DIR}/../../common)
+set(MOTOR_CONTROL_INC ${APPLICATION_SOURCE_DIR}/../../common/include/espFoC)
+
+FILE(GLOB ipc ${MOTOR_CONTROL_SRC}/ipc/*.c)
+FILE(GLOB motor_control ${MOTOR_CONTROL_SRC}/motor_control/*.c)
+
+target_sources(app PRIVATE  esp_foc_motor.c
+                            esp_foc_hardware_if.c
+                            ${ipc}
+                            ${motor_control})
+
+target_include_directories(app PRIVATE  ${MOTOR_CONTROL_INC})

app/espfoc_motor_core/boards/esp32s3_devkitm_appcpu.overlay

@@ -0,0 +1,168 @@
+/*
+ * Copyright (c) 2023 Felipe Neves <[email protected]>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+ #include <zephyr/dt-bindings/i2c/i2c.h>
+ #include <zephyr/dt-bindings/pwm/pwm.h> 
+ #include <dt-bindings/pinctrl/esp32s3-pinctrl.h>
+
+/ {
+	chosen {
+		/*
+		 * shared memory reserved for the inter-processor communication
+		 */
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &ipm0;
+	};
+
+	aliases {
+		motor-pwm-0 = &ledc0;
+		motor-pwm-1 = &ledc1;
+		angle-0 = &i2c0;
+		angle-0 = &i2c1;
+	};
+
+	gpio_enable {
+		compatible = "gpio-keys";
+		inverter_enable_0: button {
+			label = "inverter_enable";
+			gpios = <&gpio0 9 GPIO_ACTIVE_HIGH>;
+		};
+
+		inverter_enable_1: button {
+			label = "inverter_enable";
+			gpios = <&gpio0 10 GPIO_ACTIVE_HIGH>;
+		};
+
+	};
+};
+
+&pinctrl {
+	ledc0_default: ledc0_default {
+		group1 {
+			pinmux = <LEDC_CH0_GPIO2>;
+			output-enable;
+		};
+		group2 {
+			pinmux = <LEDC_CH1_GPIO3>;
+			output-enable;
+		};
+		group3 {
+			pinmux = <LEDC_CH2_GPIO4>;
+			output-enable;
+		};
+
+	};
+
+	i2c0_default: i2c0_default {
+		group1 {
+			pinmux = <I2C0_SDA_GPIO17>,
+				 <I2C0_SCL_GPIO18>;
+			bias-pull-up;
+			drive-open-drain;
+			output-high;
+		};
+	};
+
+	ledc1_default: ledc1_default {
+		group1 {
+			pinmux = <LEDC_CH0_GPIO5>;
+			output-enable;
+		};
+		group2 {
+			pinmux = <LEDC_CH1_GPIO6>;
+			output-enable;
+		};
+		group3 {
+			pinmux = <LEDC_CH2_GPIO7>;
+			output-enable;
+		};
+
+	};
+
+	i2c1_default: i2c1_default {
+		group1 {
+			pinmux = <I2C1_SDA_GPIO19>,
+				 <I2C1_SCL_GPIO20>;
+			bias-pull-up;
+			drive-open-drain;
+			output-high;
+		};
+	};
+
+};
+
+&ipm0 {
+	status = "okay";
+};
+
+&ledc0 {
+	pinctrl-0 = <&ledc0_default>;
+	pinctrl-names = "default";
+	status = "okay";
+	#address-cells = <1>;
+	#size-cells = <0>;
+	channel0@0 {
+		reg = <0x0>;
+		timer = <0>;		
+	};
+
+	channel1@0 {
+		reg = <0x0>;
+		timer = <0>;		
+	};
+
+	channel2@0 {
+		reg = <0x0>;
+		timer = <0>;		
+	};
+};
+
+&i2c0 {
+	pinctrl-0 = <&i2c0_default>;
+	pinctrl-names = "default";
+	status = "okay";
+	angle_sensor_0: as5600@36 {
+		compatible = "ams,as5600";
+		status = "okay";
+		reg = <0x36>
+	};
+};
+
+&ledc1 {
+	pinctrl-0 = <&ledc1_default>;
+	pinctrl-names = "default";
+	status = "okay";
+	#address-cells = <1>;
+	#size-cells = <0>;
+	channel0@0 {
+		reg = <0x0>;
+		timer = <0>;		
+	};
+
+	channel1@0 {
+		reg = <0x0>;
+		timer = <0>;		
+	};
+
+	channel2@0 {
+		reg = <0x0>;
+		timer = <0>;		
+	};
+};
+
+&i2c1 {
+	pinctrl-0 = <&i2c1_default>;
+	pinctrl-names = "default";
+	status = "okay";
+	angle_sensor_0: as5600@36 {
+		compatible = "ams,as5600";
+		status = "okay";
+		reg = <0x36>
+	};
+};
+
+&timer3 {
+	status = "okay";
+};