sim: add the simulated lower-half FOC device

arch/sim/Kconfig

@@ -618,4 +618,11 @@ config SIM_UART3_NAME
 	default "/dev/ttySIM3"
 	depends on SIM_UART_NUMBER >= 4
 
+config SIM_MOTOR_FOC
+	bool "Simulated FOC device"
+	default n
+	depends on MOTOR_FOC
+	---help---
+		Build a simulated lower-half FOC device
+
 endif # ARCH_SIM

arch/sim/src/Makefile

@@ -174,6 +174,10 @@ ifeq ($(CONFIG_ARCH_ROMGETC),y)
   CSRCS += up_romgetc.c
 endif
 
+ifeq ($(CONFIG_SIM_MOTOR_FOC),y)
+CSRCS += up_foc.c
+endif
+
 ifeq ($(CONFIG_SIM_NETDEV_TAP),y)
   CSRCS += up_netdriver.c
   HOSTCFLAGS += -DNETDEV_BUFSIZE=$(CONFIG_NET_ETH_PKTSIZE)

arch/sim/src/sim/up_idle.c

@@ -128,6 +128,12 @@ void up_idle(void)
 
   up_timer_update();
 #endif
+
+#ifdef CONFIG_SIM_MOTOR_FOC
+  /* Update simulated FOC device */
+
+  sim_foc_update();
+#endif
 }
 #endif /* !CONFIG_SMP */
 

arch/sim/src/sim/up_internal.h

@@ -440,5 +440,13 @@ int sim_i2cbus_uninitialize(struct i2c_master_s *dev);
 void up_stack_color(void *stackbase, size_t nbytes);
 #endif
 
+/* up_foc.c *****************************************************************/
+
+#ifdef CONFIG_MOTOR_FOC
+struct foc_dev_s;
+FAR struct foc_dev_s *sim_foc_initialize(int inst);
+void sim_foc_update(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __ARCH_SIM_SRC_UP_INTERNAL_H */