fix: add bounds check before memcpy in esp_foc_tuner.c

.github/workflows/espfoc_flow.yaml

@@ -50,31 +50,13 @@ jobs:
       run: |
         ./idf/install.sh
         . ./idf/export.sh
-        pushd examples/axis_sensored
-        idf.py set-target esp32s3
-        idf.py build
-        idf.py set-target esp32p4
-        idf.py build
-        popd
-        pushd examples/tuner_demo
-        idf.py set-target esp32
-        idf.py build
-        popd
-        pushd examples/tuner_studio_target
-        # Default sdkconfig drives USB-CDC; valid on S3/P4. We exercise
-        # all three paths so a CDC-only or UART-only regression on any
-        # target is caught — and so the ESP32-P4 one-shot ADC current
-        # sensor branch also sees compiler eyes on every PR.
-        # The ESP32-specific overrides live in sdkconfig.defaults.esp32
-        # (auto-loaded by IDF on set-target esp32).
+        pushd examples/axis_tuning
         idf.py set-target esp32s3
         idf.py build
         rm -rf build sdkconfig
-        idf.py set-target esp32p4
+        idf.py set-target esp32c6
         idf.py build
         rm -rf build sdkconfig
-        idf.py set-target esp32
-        idf.py build
         popd
         pushd examples/test_drivers/test_current_sense
         idf.py set-target esp32s3
@@ -94,7 +76,7 @@ jobs:
         popd
 
   python_tests:
-    name: TunerStudio host tests
+    name: espFoC Tool host tests
     runs-on: ubuntu-latest
     steps:
     - name: Checkout
@@ -110,18 +92,20 @@ jobs:
         sudo apt-get update
         sudo apt-get install -y libegl1 libxkbcommon0 libdbus-1-3
         python -m pip install --upgrade pip
-        pip install -r tools/espfoc_studio/requirements.txt
+        pip install -r tools/espfoc_tool/requirements.txt
 
     - name: Run host test suite
       env:
         QT_QPA_PLATFORM: offscreen
         PYTHONPATH: ${{ github.workspace }}/tools
+        ESPFOC_TOOL_NO_GL: "1"
       run: |
-        python -m pytest tools/espfoc_studio/tests/ -v --tb=short
+        python -m pytest tools/espfoc_tool/tests/ -v --tb=short
 
   unit_tests:
     name: Unit tests (build and run on QEMU)
     runs-on: ubuntu-latest
+    timeout-minutes: 20
     steps:
     - name: Checkout
       uses: actions/checkout@v4
@@ -164,6 +148,7 @@ jobs:
         idf.py -D TEST_COMPONENTS=espFoC build
 
     - name: Run unit tests on QEMU
+      timeout-minutes: 15
       env:
         IDF_PATH: ${{ github.workspace }}/idf
       run: |
@@ -172,6 +157,13 @@ jobs:
         cd examples/unit_test_runner
         python run_unit_tests_qemu.py
 
+    - name: Build unit test runner (esp32c6 compile check)
+      run: |
+        . ./idf/export.sh
+        cd examples/unit_test_runner
+        idf.py set-target esp32c6
+        idf.py -D TEST_COMPONENTS=espFoC build
+
     # Optional: run on real device on self-hosted runner (ESPPORT set).
     - name: Run unit tests on device
       env:

CMakeLists.txt

@@ -1,19 +1,14 @@
 set(srcs    "source/motor_control/esp_foc_core.c"
-            "source/motor_control/control_strategy/esp_foc_control_current_mode_sensored.c"
-            "source/motor_control/esp_foc_angle_predictor.c"
+            "source/motor_control/esp_foc_axis_bench.c"
+            "source/motor_control/esp_foc_estimator_q16.c"
             "source/motor_control/esp_foc_biquad_q16.c"
-            "source/motor_control/esp_foc_calibration.c"
-            "source/motor_control/esp_foc_design_mpz.c"
-            "source/motor_control/esp_foc_link.c"
-            "source/motor_control/esp_foc_axis_tuning.c"
-            "source/motor_control/esp_foc_injection.c"
-            "source/motor_control/esp_foc_scope.c"
+            "source/calibration/esp_foc_calibration_format.c"
+            "source/calibration/esp_foc_calibration_nvs.c"
+            "source/calibration/esp_foc_calibration_axis.c"
+            "source/gui_link/esp_foc_link.c"
+            "source/gui_link/esp_foc_scope.c"
             "source/motor_control/esp_foc_iq31.c"
             "source/motor_control/esp_foc_q16.c"
-            "source/motor_control/observers/esp_foc_pll_observer.c"
-            "source/motor_control/observers/esp_foc_pmsm_model_observer.c"
-            "source/motor_control/observers/esp_foc_kf_observer.c"
-            "source/motor_control/observers/esp_foc_simu_observer.c"
             )
 
 set(includes "include" "source/motor_control")
@@ -22,73 +17,87 @@ if(ESP_PLATFORM)
 
 idf_build_get_property(target IDF_TARGET)
 
-set(requires esp_driver_uart esp_driver_pcnt esp_driver_gpio esp_driver_mcpwm esp_adc driver freertos esp_system esp_timer nvs_flash)
-# 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.
+set(requires driver freertos esp_system esp_timer nvs_flash esp_hw_support efuse)
+
+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(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 "esp32s2" OR target STREQUAL "esp32s3" OR target STREQUAL "esp32p4")
     list(APPEND requires espressif__esp_tinyusb)
 endif()
-list(APPEND includes "source/drivers")
-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/current_sensor_adc.c"
-                    "source/drivers/current_sensor_adc_one_shot.c"
-                    "source/osal/os_interface_idf.c")
 
 if(CONFIG_ESP_FOC_TUNER_ENABLE)
-    list(APPEND srcs "source/motor_control/esp_foc_tuner.c")
+    list(APPEND srcs "source/gui_link/esp_foc_tuner.c"
+                     "source/gui_link/esp_foc_link_session.c")
 endif()
 if(CONFIG_ESP_FOC_BRIDGE_UART)
-    list(APPEND srcs "source/drivers/esp_foc_bridge_uart.c")
+    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/esp_foc_bridge_usbcdc.c")
+    if(target STREQUAL "esp32s2" OR target STREQUAL "esp32s3" OR target STREQUAL "esp32p4")
+        list(APPEND srcs "source/drivers/gui_link/esp_foc_bridge_usbcdc.c")
+    else()
+        list(APPEND srcs "source/drivers/gui_link/esp_foc_bridge_usb_serial_jtag.c")
+        list(APPEND requires esp_driver_usb_serial_jtag)
+    endif()
 endif()
 
 idf_component_register(SRCS "${srcs}"
                        INCLUDE_DIRS "${includes}"
                        PRIV_REQUIRES "${requires}"
                        LDFRAGMENTS linker.lf)
 
-# --- Build-time PI autotuning -------------------------------------------
-# Generates esp_foc_autotuned_gains.h into the build dir (never the source
-# tree) so it stays out of git automatically. The component code consumes
-# the header behind CONFIG_ESP_FOC_USE_AUTOGEN_GAINS.
-if(CONFIG_ESP_FOC_USE_AUTOGEN_GAINS)
-    idf_build_get_property(python PYTHON)
-    set(autogen_dir "${CMAKE_CURRENT_BINARY_DIR}/gen")
-    set(autogen_header "${autogen_dir}/esp_foc_autotuned_gains.h")
-    set(autogen_report "${autogen_dir}/esp_foc_autotuned_report.txt")
-    string(REPLACE "\"" "" motor_profile "${CONFIG_ESP_FOC_MOTOR_PROFILE}")
-    set(motor_profile_path
-        "${CMAKE_CURRENT_SOURCE_DIR}/scripts/motors/${motor_profile}.json")
-    if(NOT EXISTS "${motor_profile_path}")
-        message(FATAL_ERROR
-            "espFoC autotuner: motor profile not found: ${motor_profile_path}\n"
-            "Add a JSON under scripts/motors/ or change CONFIG_ESP_FOC_MOTOR_PROFILE.")
-    endif()
-    add_custom_command(
-        OUTPUT ${autogen_header}
-        COMMAND ${CMAKE_COMMAND} -E make_directory ${autogen_dir}
-        COMMAND ${python} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/gen_pi_gains.py
-                --motor       ${motor_profile_path}
-                --output      ${autogen_header}
-                --report      ${autogen_report}
-                --pwm-rate-hz ${CONFIG_ESP_FOC_AUTOGEN_PWM_RATE_HZ}
-                --decimation  ${CONFIG_ESP_FOC_AUTOGEN_DECIMATION}
-        DEPENDS ${motor_profile_path}
-                ${CMAKE_CURRENT_SOURCE_DIR}/scripts/gen_pi_gains.py
-        COMMENT "espFoC: autotuning PI gains for profile '${motor_profile}'"
-        VERBATIM)
-    add_custom_target(esp_foc_autogen_gains DEPENDS ${autogen_header})
-    add_dependencies(${COMPONENT_LIB} esp_foc_autogen_gains)
-    target_include_directories(${COMPONENT_LIB} PRIVATE ${autogen_dir})
-    target_compile_definitions(${COMPONENT_LIB} PRIVATE ESP_FOC_AUTOGEN_GAINS_AVAILABLE=1)
-endif()
-
 endif()