drivers: add generic upper-half driver for Field Oriented Control (FOC)

drivers/motor/Kconfig

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+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menuconfig MOTOR
+	bool "Motor control drivers"
+	default n
+
+if MOTOR
+
+source "drivers/motor/foc/Kconfig"
+
+endif # MOTOR

drivers/motor/Make.defs

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+############################################################################
+# drivers/motor/Make.defs
+#
+# 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.
+#
+############################################################################
+
+# Add FOC driver
+
+ifeq ($(CONFIG_MOTOR_FOC),y)
+include motor$(DELIM)foc$(DELIM)Make.defs
+endif
+
+# Include motor drivers in the build
+
+MOTOR_DEPPATH := --dep-path motor
+MOTOR_VPATH := :motor
+MOTOR_CFLAGS := ${shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)motr}
+
+DEPPATH += $(MOTOR_DEPPATH)
+VPATH += $(MOTOR_VPATH)
+CFLAGS += $(MOTOR_CFLAGS)

drivers/motor/foc/Kconfig

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+menuconfig MOTOR_FOC
+  bool "FOC (Field Oriented Controller) driver support"
+  default n
+  ---help---
+    Enables building of the "upper-half" FOC driver.
+
+if MOTOR_FOC
+
+config MOTOR_FOC_INST
+       int "FOC instances"
+       default 1
+
+config MOTOR_FOC_PHASES
+       int "FOC phases number"
+       default 3
+
+config MOTOR_FOC_SHUNTS
+       int "FOC number of shunts"
+       range 1 3
+       default 3
+       ---help---
+         Number of shunts supported (or other types of current sensors).
+         Any current recontruction must be done on the lower-half side.
+
+config MOTOR_FOC_TRACE
+       bool "FOC trace support"
+       default n
+       ---help---
+         Enables FOC driver trace interface.
+
+endif #MOTOR_FOC

drivers/motor/foc/Make.defs

@@ -0,0 +1,29 @@
+############################################################################
+# drivers/motor/foc/Make.defs
+#
+# 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.
+#
+############################################################################
+
+# Include FOC driver into the build
+
+CSRCS += foc_dev.c
+
+# Include FOC driver build support
+
+DEPPATH += --dep-path motor$(DELIM)foc
+VPATH += :motor$(DELIM)foc
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)motor$(DELIM)foc}