Feature/foc in the loop

CMakeLists.txt

@@ -17,50 +17,65 @@ if(ESP_PLATFORM)
 
 idf_build_get_property(target IDF_TARGET)
 
-set(requires esp_driver_uart esp_driver_pcnt esp_driver_gpio esp_driver_mcpwm driver freertos esp_system esp_timer nvs_flash esp_hw_support efuse)
-# esp_tinyusb is fetched conditionally for USB-capable targets via
-# idf_component.yml; declare the priv require eagerly here so the bridge
-# source file finds tinyusb.h on those targets even when the user has not
-# enabled CONFIG_ESP_FOC_BRIDGE_USBCDC at component-graph resolution time.
-if(target STREQUAL "esp32s2" OR target STREQUAL "esp32s3" OR target STREQUAL "esp32p4")
-    list(APPEND requires espressif__esp_tinyusb)
-endif()
-list(APPEND includes "source/drivers" "source/drivers/cali")
-list(APPEND srcs    "source/drivers/inverter_3pwm_mcpwm.c"
-                    "source/drivers/inverter_6pwm_mcpwm.c"
-                    "source/drivers/rotor_sensor_as5600.c"
-                    "source/drivers/rotor_sensor_as5048.c"
-                    "source/drivers/rotor_sensor_pcnt.c"
-                    "source/drivers/rotor_sensor_simu.c"
-                    "source/drivers/current_sensor_adc.c"
-                    "source/drivers/esp_foc_adc_cali_lut.c"
-                    "source/drivers/cali/esp_foc_adc_cali_curve.c"
-                    "source/drivers/cali/esp_foc_adc_range_extend.c"
-                    "source/osal/os_interface_idf.c")
+set(requires driver freertos esp_system esp_timer nvs_flash esp_hw_support efuse)
 
-if(target STREQUAL "esp32")
-    list(APPEND srcs "source/drivers/cali/esp_foc_adc_cali_line_esp32.c")
-elseif(target STREQUAL "esp32s2")
-    list(APPEND srcs "source/drivers/cali/esp_foc_adc_cali_line_esp32s2.c")
-elseif(target STREQUAL "esp32c2")
-    list(APPEND srcs "source/drivers/cali/esp_foc_adc_cali_line_esp32c2.c")
-elseif(EXISTS "${CMAKE_CURRENT_LIST_DIR}/source/drivers/cali/coeff/esp_foc_curve_coeff_${target}.c")
-    list(APPEND srcs "source/drivers/cali/coeff/esp_foc_curve_coeff_${target}.c")
-endif()
+if(CONFIG_ESP_FOC_FITL)
+    list(APPEND srcs "source/motor_control/foc_in_the_loop/esp_foc_itl_plant.c"
+                     "source/motor_control/foc_in_the_loop/esp_foc_in_the_loop.c")
+    list(APPEND includes "source/motor_control/foc_in_the_loop"
+                         "source/drivers/foc_in_the_loop")
+    list(APPEND srcs "source/osal/os_interface_idf.c")
+
+    if(CONFIG_FOC_ITL_TICK_MCPWM)
+        list(APPEND srcs "source/drivers/foc_in_the_loop/esp_foc_itl_tick_mcpwm.c")
+        list(APPEND requires esp_driver_mcpwm)
+    elseif(CONFIG_FOC_ITL_TICK_GPTIMER)
+        list(APPEND srcs "source/drivers/foc_in_the_loop/esp_foc_itl_tick_gptimer.c")
+        list(APPEND requires esp_driver_gptimer)
+    endif()
+else()
+    list(APPEND requires esp_driver_uart esp_driver_pcnt esp_driver_gpio esp_driver_mcpwm)
+    list(APPEND includes "source/drivers" "source/drivers/cali")
+    list(APPEND srcs    "source/drivers/inverter_3pwm_mcpwm.c"
+                        "source/drivers/inverter_6pwm_mcpwm.c"
+                        "source/drivers/rotor_sensor_as5600.c"
+                        "source/drivers/rotor_sensor_as5048.c"
+                        "source/drivers/rotor_sensor_pcnt.c"
+                        "source/drivers/rotor_sensor_simu.c"
+                        "source/drivers/current_sensor_adc.c"
+                        "source/drivers/esp_foc_adc_cali_lut.c"
+                        "source/drivers/cali/esp_foc_adc_cali_curve.c"
+                        "source/drivers/cali/esp_foc_adc_range_extend.c"
+                        "source/osal/os_interface_idf.c")
 
-if(CONFIG_SOC_ETM_SUPPORTED)
-    list(APPEND srcs "source/drivers/isensor_adc_etm.c")
+    if(target STREQUAL "esp32")
+        list(APPEND srcs "source/drivers/cali/esp_foc_adc_cali_line_esp32.c")
+    elseif(target STREQUAL "esp32s2")
+        list(APPEND srcs "source/drivers/cali/esp_foc_adc_cali_line_esp32s2.c")
+    elseif(target STREQUAL "esp32c2")
+        list(APPEND srcs "source/drivers/cali/esp_foc_adc_cali_line_esp32c2.c")
+    elseif(EXISTS "${CMAKE_CURRENT_LIST_DIR}/source/drivers/cali/coeff/esp_foc_curve_coeff_${target}.c")
+        list(APPEND srcs "source/drivers/cali/coeff/esp_foc_curve_coeff_${target}.c")
+    endif()
+
+    if(CONFIG_SOC_ETM_SUPPORTED)
+        list(APPEND srcs "source/drivers/isensor_adc_etm.c")
+    endif()
+
+    if(target STREQUAL "esp32")
+        list(APPEND srcs "source/drivers/isensor_adc_dma_esp32.c")
+        list(APPEND requires esp_driver_i2s)
+    elseif(target STREQUAL "esp32s2")
+        list(APPEND srcs "source/drivers/isensor_adc_dma_esp32s2.c")
+        list(APPEND requires esp_driver_spi)
+    else()
+        list(APPEND srcs "source/drivers/isensor_adc_dma_gdma.c")
+        list(APPEND requires esp_mm)
+    endif()
 endif()
 
-if(target STREQUAL "esp32")
-    list(APPEND srcs "source/drivers/isensor_adc_dma_esp32.c")
-    list(APPEND requires esp_driver_i2s)
-elseif(target STREQUAL "esp32s2")
-    list(APPEND srcs "source/drivers/isensor_adc_dma_esp32s2.c")
-    list(APPEND requires esp_driver_spi)
-else()
-    list(APPEND srcs "source/drivers/isensor_adc_dma_gdma.c")
-    list(APPEND requires esp_mm)
+if(target STREQUAL "esp32s2" OR target STREQUAL "esp32s3" OR target STREQUAL "esp32p4")
+    list(APPEND requires espressif__esp_tinyusb)
 endif()
 
 if(CONFIG_ESP_FOC_TUNER_ENABLE)
@@ -69,6 +84,7 @@ if(CONFIG_ESP_FOC_TUNER_ENABLE)
 endif()
 if(CONFIG_ESP_FOC_BRIDGE_UART)
     list(APPEND srcs "source/drivers/gui_link/esp_foc_bridge_uart.c")
+    list(APPEND requires esp_driver_uart)
 endif()
 if(CONFIG_ESP_FOC_BRIDGE_USBCDC)
     list(APPEND srcs "source/drivers/gui_link/esp_foc_bridge_usbcdc.c")

Kconfig

@@ -186,4 +186,77 @@ menu "espFoC Settings"
             default y
     endmenu
 
+    menu "FOC-in-the-loop (simulated plant)"
+        config ESP_FOC_FITL
+            bool "FOC-in-the-loop: simulated motor plant (exclusive with HW drivers)"
+            default n
+            help
+                When enabled, espFoC builds the in-the-loop plant factory instead
+                of MCPWM inverter, ADC shunt, and hardware rotor drivers.
+
+        if ESP_FOC_FITL
+
+            config FOC_ITL_PWM_10KHZ
+                bool "Use 10 kHz PWM tick (default 20 kHz)"
+                default n
+
+            config FOC_ITL_USE_RK2
+                bool "Plant integrator: RK2 instead of RK4"
+                default n
+
+            config FOC_ITL_MOTOR_DELTA
+                bool "Motor windings: delta (D1 star-equivalent conversion)"
+                default n
+
+            choice FOC_ITL_TICK_SOURCE
+                prompt "PWM tick backend"
+                default FOC_ITL_TICK_MCPWM if SOC_MCPWM_SUPPORTED
+                default FOC_ITL_TICK_GPTIMER
+
+                config FOC_ITL_TICK_MCPWM
+                    bool "MCPWM timer (device)"
+                    depends on SOC_MCPWM_SUPPORTED
+
+                config FOC_ITL_TICK_GPTIMER
+                    bool "GPTimer (QEMU / generic)"
+            endchoice
+
+            config FOC_ITL_DEFAULT_R_MILLIOHM
+                int "Default phase R [milli-ohm]"
+                range 1 1000000
+                default 1000
+
+            config FOC_ITL_DEFAULT_L_UH
+                int "Default phase L [micro-henry]"
+                range 1 1000000
+                default 2000
+
+            config FOC_ITL_DEFAULT_J_X1E7
+                int "Default inertia J * 1e7 [kg·m²]"
+                range 1 1000000
+                default 500
+
+            config FOC_ITL_DEFAULT_B_X1E7
+                int "Default viscous B * 1e7 [N·m·s/rad]"
+                range 0 1000000
+                default 100
+
+            config FOC_ITL_DEFAULT_KT_X1E7
+                int "Default torque constant Kt * 1e7 [N·m/A]"
+                range 1 1000000
+                default 1000
+
+            config FOC_ITL_DEFAULT_POLE_PAIRS
+                int "Default pole pairs"
+                range 1 64
+                default 13
+
+            config FOC_ITL_DEFAULT_I_MAX_MA
+                int "Default phase current limit [mA]"
+                range 100 100000
+                default 10000
+
+        endif
+    endmenu
+
 endmenu

examples/axis_tuning/main/main.c

@@ -11,20 +11,23 @@
 
 #include "esp_log.h"
 #include "esp_err.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
 
 #include "espFoC/esp_foc.h"
 #include "espFoC/gui_link/esp_foc_tuner.h"
+#include "espFoC/utils/esp_foc_q16.h"
+
+#if defined(CONFIG_ESP_FOC_FITL) && CONFIG_ESP_FOC_FITL
+#include "espFoC/esp_foc_in_the_loop.h"
+#else
 #include "espFoC/inverter_6pwm_mcpwm.h"
 #if defined(CONFIG_AXIS_TUNING_ROTOR_AS5600)
 #include "espFoC/rotor_sensor_as5600.h"
 #elif defined(CONFIG_AXIS_TUNING_ROTOR_SIMU)
 #include "espFoC/rotor_sensor_simu.h"
 #endif
 #include "espFoC/current_sensor_adc.h"
-#include "espFoC/utils/esp_foc_q16.h"
 #include "soc/soc_caps.h"
+#endif
 
 static const char *TAG = "axis_tuning";
 
@@ -83,6 +86,7 @@ static void pump_scope_idle(void)
 }
 #endif
 
+#if !defined(CONFIG_ESP_FOC_FITL) || !CONFIG_ESP_FOC_FITL
 static int pwm_enable_gpio(void)
 {
     if (CONFIG_AXIS_TUNING_PWM_EN_PIN < 0) {
@@ -95,11 +99,27 @@ static int pwm_enable_gpio(void)
 #endif
     return CONFIG_AXIS_TUNING_PWM_EN_PIN;
 }
+#endif
 
 void app_main(void)
 {
     ESP_LOGI(TAG, "boot — axis_tuning");
 
+#if defined(CONFIG_ESP_FOC_FITL) && CONFIG_ESP_FOC_FITL
+    esp_foc_in_the_loop_config_t fitl_cfg = {
+        .pole_pairs = CONFIG_AXIS_TUNING_POLE_PAIRS,
+        .vdc_q16 = q16_from_float((float)CONFIG_AXIS_TUNING_DC_LINK_V),
+        .pwm_hz = 0,
+    };
+    esp_foc_in_the_loop_handles_t fitl = {0};
+    if (esp_foc_in_the_loop_create(&fitl_cfg, &fitl) != ESP_FOC_OK) {
+        ESP_LOGE(TAG, "FITL init failed");
+        return;
+    }
+    s_inverter = fitl.inverter;
+    s_rotor = fitl.rotor;
+    s_shunts = fitl.isensor;
+#else
     s_inverter = inverter_6pwm_mpcwm_new(
         CONFIG_AXIS_TUNING_PWM_U_HI,
         CONFIG_AXIS_TUNING_PWM_U_LO,
@@ -156,6 +176,7 @@ void app_main(void)
         ESP_LOGE(TAG, "current sensor init failed");
         return;
     }
+#endif
 
     esp_foc_motor_control_settings_t settings = {
         .motor_pole_pairs  = CONFIG_AXIS_TUNING_POLE_PAIRS,
@@ -170,7 +191,7 @@ void app_main(void)
         return;
     }
 
-#if defined(CONFIG_AXIS_TUNING_ROTOR_SIMU)
+#if defined(CONFIG_AXIS_TUNING_ROTOR_SIMU) && (!defined(CONFIG_ESP_FOC_FITL) || !CONFIG_ESP_FOC_FITL)
     rotor_sensor_simu_wire_ud_uq(s_rotor, &s_axis.u_d.raw, &s_axis.u_q.raw);
 #endif
 
@@ -190,6 +211,6 @@ void app_main(void)
             pump_scope_idle();
         }
 #endif
-        vTaskDelay(pdMS_TO_TICKS(200));
+        esp_foc_sleep_ms(200);
     }
 }

examples/axis_tuning/sdkconfig.defaults

@@ -13,5 +13,8 @@ CONFIG_ESP_FOC_SCOPE_BUFFER_SIZE=512
 CONFIG_ESP_FOC_CALIBRATION_NVS=y
 CONFIG_ESP_FOC_PWM_RATE_HZ=20000
 
+CONFIG_ESP_FOC_FITL=y
+CONFIG_FOC_ITL_TICK_MCPWM=y
+
 CONFIG_COMPILER_OPTIMIZATION_PERF=y
 CONFIG_ADC_CONTINUOUS_ISR_IRAM_SAFE=y

examples/test_drivers/test_encoder/main/test_encoder.c

@@ -16,8 +16,6 @@
 
 #include "esp_log.h"
 #include "esp_err.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
 
 #include "espFoC/esp_foc.h"
 #include "espFoC/gui_link/esp_foc_tuner.h"
@@ -113,10 +111,9 @@ static void pump_scope_idle(void)
 static void encoder_task(void *arg)
 {
     (void)arg;
-    const TickType_t period = pdMS_TO_TICKS(1);
     while (1) {
         encoder_axis_poll(&s_axis);
-        vTaskDelay(period);
+        esp_foc_sleep_ms(1);
     }
 }
 
@@ -170,6 +167,6 @@ void app_main(void)
 #if defined(CONFIG_ESP_FOC_SCOPE)
         pump_scope_idle();
 #endif
-        vTaskDelay(pdMS_TO_TICKS(200));
+        esp_foc_sleep_ms(200);
     }
 }

examples/test_drivers/test_isensor_characterize/main/main.c

@@ -19,8 +19,6 @@
 
 #include "esp_log.h"
 #include "esp_err.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
 
 #include "espFoC/esp_foc.h"
 #include "espFoC/gui_link/esp_foc_tuner.h"
@@ -81,12 +79,11 @@ static void pump_scope_idle(void)
 static void bench_task(void *arg)
 {
     (void)arg;
-    const TickType_t period = pdMS_TO_TICKS(1);
     while (1) {
         if (s_axis.state == ESP_FOC_AXIS_STATE_BENCH) {
             esp_foc_bench_step(&s_axis);
         }
-        vTaskDelay(period);
+        esp_foc_sleep_ms(1);
     }
 }
 
@@ -168,6 +165,6 @@ void app_main(void)
             pump_scope_idle();
         }
 #endif
-        vTaskDelay(pdMS_TO_TICKS(200));
+        esp_foc_sleep_ms(200);
     }
 }

examples/unit_test_runner/run_unit_tests_qemu.py

@@ -116,7 +116,7 @@ def main() -> int:
         child.sendline(TEST_FILTER)
 
         try:
-            child.expect(RESULT_RE, timeout=600)
+            child.expect(RESULT_RE, timeout=120)
         except pexpect.TIMEOUT:
             print("Timeout waiting for Unity summary (tests still running or hung).")
             return 1

examples/unit_test_runner/sdkconfig.defaults

@@ -6,3 +6,7 @@ CONFIG_ESP_FOC_TUNER_ENABLE=y
 
 # Enable NVS calibration overlay for unit tests
 CONFIG_ESP_FOC_CALIBRATION_NVS=y
+
+# FOC-in-the-loop plant + GPTimer tick for QEMU CI
+CONFIG_ESP_FOC_FITL=y
+CONFIG_FOC_ITL_TICK_GPTIMER=y