refactor: unify the espfoc inverter driver to make pwm and adc codes integrated.#44
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uLipe wants to merge 11 commits into
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refactor: unify the espfoc inverter driver to make pwm and adc codes integrated.#44uLipe wants to merge 11 commits into
uLipe wants to merge 11 commits into
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Drop ESPF capture, stream bridges, host GUI, and related Kconfig/CI/docs so bring-up relies on the console shell and external tools such as MCU Viewer.
Replace separate inverter, isensor, and rotor_sensor vtables with one inverter handle (PWM + shunt) and encoder factories by driver type.
Add esp_foc_inverter_mcpwm factories, internal isensor_adc, and MCPWM comparator-triggered sampling; rename rotor drivers to esp_foc_encoder. Drop ESP32-S2 ADC support from the build.
Axis init takes inverter plus encoder only; current sense flows through the inverter vtable. FITL exposes two handles and drops scope hooks.
Refresh mocks and FITL integration tests, migrate examples to esp_foc_inverter_mcpwm factories, and document the breaking API change.
Each supported target gets a self-contained source/drivers/inverter/<soc>/ folder (PWM, ADC, DMA, ETM, bundle); encoders live under encoder/<type>/. CMake selects the inverter tree at build time; the public factory header moves to include/espFoC/drivers/.
Drop CONFIG_ESP_FOC_TUNER_ENABLE axis magic, stale sdkconfig scope/tuner options, and rename esp_foc_calibration_axis_tuner_store to store_live for the shell persist command.
Migrate test apps to unified inverter/encoder includes, extend CI builds to esp32/esp32c6/esp32s3/esp32p4, and compile-check unit tests on all supported HW targets.
Use vTaskDelay(1) instead of esp_foc_sleep_ms/usleep so GPTimer ISRs keep firing under QEMU, and stop any prior GPTimer before re-arming.
Derived-driver _new() entry points belong under source/drivers/include so include/espFoC stays limited to the esp_foc_inverter_t interface.
Keeps derived-driver factories colocated with the inverter driver tree.
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