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feature: new API and prepare for espFoC 2.0.0#26

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feature/newAPI
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feature: new API and prepare for espFoC 2.0.0#26
uLipe wants to merge 9 commits intomainfrom
feature/newAPI

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@uLipe uLipe commented Feb 4, 2026 •
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This will be a major update where the new API of espFoC is introduced:

  • motor controller is now standalone and defer a periodic callback to plug with user code, not more esp_foc_set_target_xxx
  • The nested servo controller was removed from the motor controller, and now is independent from the motor controller subsystems, allowing to be managed individually / allowing user to implement their own servo control;
  • Fixes in the PLL observer and open loop startup for sensorless mode.
  • Updates on the adc_oneshot driver that can now borrow one channel for analog encoder sensor;
  • Increase the PWM rate to 50KHz (experimental).
  • rust support is removed since its API has been broken, so I will update here first and reintroduce it in the 2.1.0

uLipe added 7 commits February 2, 2026 16:14
@uLipe
api: introduces new callback based API
920f9c6 
Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
@uLipe
sensorless: fix observer integration time
e97060a 
That was causing drift of the phase estimed.

Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
@uLipe
scope: add extra channels for logging
04209ff 
Now it is possible to see the SVPWM output and Vq/d command.

Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
@uLipe
sensors: as5600: add a bus check reading
ec55357 
At initialization for quick checking if its working in the log.

Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
@uLipe
drivers: adc_oneshot: add the capabillity to borrow adc channel
447ebb3 
To be used for reading an analog encoder, also provide a rotor
sensor driver on top of it.

Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
@uLipe
controls: update the PWM rate and the PLL bandwidth.
c59ab50 
Making more smooth after the transition

Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
@uLipe
servo: introduce the new esp_foc servo API
6bdf27e 
As a replacement of the old nested control decoupling the
servo capabillities from the motor controller.

No implementation yet.

Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
@uLipe uLipe self-assigned this Feb 4, 2026
@uLipe uLipe changed the title feature: newAPI and prepare for espFoC 2.0.0 feature: new API and prepare for espFoC 2.0.0 Feb 4, 2026
uLipe added 2 commits February 4, 2026 14:02
@uLipe
driver: 6pwm: make enable pin to be invertible
4120b73 
By changing the gpio number signal for the enable, passing
the desired gpio in negative value makes the enable logic to invert

Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
@uLipe
core: sensorless: add open loop startup strategy
3aef79a 
Based on a 1st order current regulator with
ouput clamp.

Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
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