arch/sim: Move the dummy foc driver to drivers/motor/foc

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>

arch/sim/Kconfig

@@ -470,11 +470,4 @@ 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

@@ -149,10 +149,6 @@ 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
 ifneq ($(CONFIG_WINDOWS_CYGWIN),y)

arch/sim/src/sim/up_idle.c

@@ -26,6 +26,7 @@
 #include <debug.h>
 #include <nuttx/arch.h>
 #include <nuttx/power/pm.h>
+#include <nuttx/motor/foc/foc_dummy.h>
 
 #include "up_internal.h"
 
@@ -112,9 +113,9 @@ void up_idle(void)
   up_timer_update();
 #endif
 
-#ifdef CONFIG_SIM_MOTOR_FOC
+#ifdef CONFIG_MOTOR_FOC_DUMMY
   /* Update simulated FOC device */
 
-  sim_foc_update();
+  foc_dummy_update();
 #endif
 }

arch/sim/src/sim/up_internal.h

@@ -91,7 +91,6 @@
  ****************************************************************************/
 
 struct tcb_s;
-struct foc_dev_s;
 struct ioexpander_dev_s;
 struct i2c_master_s;
 
@@ -363,12 +362,5 @@ int sim_spi_uninitialize(struct spi_dev_s *dev);
 void up_stack_color(void *stackbase, size_t nbytes);
 #endif
 
-/* up_foc.c *****************************************************************/
-
-#ifdef CONFIG_MOTOR_FOC
-struct foc_dev_s *sim_foc_initialize(int inst);
-void sim_foc_update(void);
-#endif
-
 #endif /* __ASSEMBLY__ */
 #endif /* __ARCH_SIM_SRC_UP_INTERNAL_H */

boards/sim/sim/sim/configs/foc/defconfig

@@ -64,6 +64,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBM=y
 CONFIG_MOTOR=y
 CONFIG_MOTOR_FOC=y
+CONFIG_MOTOR_FOC_DUMMY=y
 CONFIG_MOTOR_FOC_INST=4
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -84,7 +85,6 @@ CONFIG_SCHED_ONEXIT=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SIM_M32=y
-CONFIG_SIM_MOTOR_FOC=y
 CONFIG_START_MONTH=6
 CONFIG_START_YEAR=2008
 CONFIG_SYSLOG_CONSOLE=y

boards/sim/sim/sim/src/Makefile

@@ -63,7 +63,7 @@ ifeq ($(CONFIG_ARCH_BUTTONS),y)
   CSRCS += sim_buttons.c
 endif
 
-ifeq ($(CONFIG_SIM_MOTOR_FOC),y)
+ifeq ($(CONFIG_MOTOR_FOC_DUMMY),y)
 CSRCS += sim_foc.c
 endif
 

boards/sim/sim/sim/src/sim.h

@@ -120,7 +120,7 @@ int sim_gpio_initialize(void);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_SIM_MOTOR_FOC
+#ifdef CONFIG_MOTOR_FOC_DUMMY
 int sim_foc_setup(void);
 #endif
 

boards/sim/sim/sim/src/sim_bringup.c

@@ -425,7 +425,7 @@ int sim_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_SIM_MOTOR_FOC
+#ifdef CONFIG_MOTOR_FOC_DUMMY
   /* Setup FOC device */
 
   ret = sim_foc_setup();

boards/sim/sim/sim/src/sim_foc.c

@@ -31,9 +31,7 @@
 
 #include <arch/board/board.h>
 
-#include <nuttx/motor/foc/foc_lower.h>
-
-#include "up_internal.h"
+#include <nuttx/motor/foc/foc_dummy.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -76,7 +74,7 @@ int sim_foc_setup(void)
         {
           /* Initialize arch specific FOC lower-half */
 
-          foc[i] = sim_foc_initialize(i);
+          foc[i] = foc_dummy_initialize(i);
           if (foc[i] == NULL)
             {
               ret = -errno;

drivers/motor/foc/Kconfig

@@ -28,4 +28,10 @@ config MOTOR_FOC_TRACE
 	---help---
 		Enables FOC driver trace interface.
 
+config MOTOR_FOC_DUMMY
+	bool "Simulated FOC device"
+	default n
+	---help---
+		Build a simulated lower-half FOC device
+
 endif #MOTOR_FOC

drivers/motor/foc/Make.defs

@@ -22,6 +22,10 @@
 
 CSRCS += foc_dev.c
 
+ifeq ($(CONFIG_MOTOR_FOC_DUMMY),y)
+CSRCS += foc_dummy.c
+endif
+
 # Include FOC driver build support
 
 DEPPATH += --dep-path motor$(DELIM)foc

include/nuttx/motor/foc/foc_dummy.h

@@ -0,0 +1,52 @@
+/****************************************************************************
+ * include/nuttx/motor/foc/foc_dummy.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_MOTOR_FOC_FOC_DUMMY_H
+#define __INCLUDE_NUTTX_MOTOR_FOC_FOC_DUMMY_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/motor/foc/foc.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+#ifdef CONFIG_MOTOR_FOC_DUMMY
+FAR struct foc_dev_s *foc_dummy_initialize(int inst);
+void foc_dummy_update(void);
+#endif
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_MOTOR_FOC_FOC_DUMMY_H */