Feature/foc in the loop#41
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Enables full FOC stack testing on QEMU and axis_tuning on C6 by replacing inverter, shunt ADC, and encoder with a PMSM plant and chip-specific tick backends.
Float RK4 with sinf/cosf at PWM rate is too costly on ESP32-C6; keep float only in init/config and run Park/Clarke, integration, and saturation in Q16.
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