Kconfig

menu "espFoC Settings"

    menu "Core"
        config NOOF_AXIS
            int "Number of motor outputs"
            range 1 4
            default 1
            help
                Number of FOC channel sets. Each set uses a full inverter,
                encoder and current-sensor stack up to the driver limits.

        config FOC_TASK_STACK_SIZE
            int "Regulator / runner task stack size (bytes)"
            default 3072

        config ESP_FOC_PWM_RATE_HZ
            int "PWM switching frequency [Hz] (MCPWM carrier)"
            range 1000 100000
            default 20000
            help
                Carrier frequency for espFoC MCPWM inverter drivers and for
                control-loop timing (dt = 1/PWM). Build-time PI autotuning uses
                the same value when ESP_FOC_USE_AUTOGEN_GAINS is enabled.

        config ESP_FOC_DC_LINK_NOMINAL_MV
            int "Nominal DC bus voltage [mV] (SVPWM / Ud Uq volt scaling)"
            range 1000 60000
            default 12000
            help
                Used by MCPWM inverter get_dc_link_voltage() when the constructor
                dc_link_voltage argument is <= 0. Ud/Uq and SVPWM math assume the
                same volt basis as this nominal rail; wrong values make small
                tuner voltage commands map to the wrong modulation depth (e.g.
                Q16_ONE=1 V treated as full bus made 0.1 V look like 10% PWM).

        config ESP_FOC_CUSTOM_MATH
            bool "Use espFoC Q16 fast math (LUT sin/cos, etc.)"
            default y
    endmenu

    menu "Scope (telemetry)"
        config ESP_FOC_SCOPE
            bool "Enable scope channel support"
            default n

        config ESP_FOC_SCOPE_NUM_CHANNELS
            int "Max scope channels"
            default 8

        config ESP_FOC_SCOPE_LEGACY_CSV
            bool "Use legacy SCOPE as CSV floats (sprintf)"
            depends on ESP_FOC_SCOPE
            default n
            help
                When n (default) the link sends SCOPE v1 binary (Q16 int32
                per channel, see host scope_sample.py). When y, the old
                comma-separated %f line is used for a matching host build.

        config ESP_FOC_SCOPE_BUFFER_SIZE
            int "Scope ring buffer (frames per half-buffer)"
            default 4096 if ESP_FOC_SCOPE_NUM_CHANNELS = 8
            default 1024
    endmenu

    menu "Optional hardware drivers"
        config ESP_FOC_ENABLE_PCNT_DRIVER
            bool "Build PCNT-based rotor sensor driver (encoder pulse counting)"
            default n
    endmenu

    menu "Control loop"
        config ESP_FOC_CURRENT_FILTER_CUTOFF_HZ
            int "Isensor biquad low-pass cutoff [Hz]"
            default 300
            help
                Cutoff of the 2nd-order Butterworth on raw ADC before gain scaling.
                Overridable at runtime when NVS calibration is used.

        config ESP_FOC_VELOCITY_FILTER_CUTOFF_HZ
            int "Encoder velocity biquad cutoff [Hz]"
            default 50

        config ESP_FOC_ISR_HOT_PATH
            bool "Run inner current loop in PWM timer ISR (full rate)"
            default y
            help
                y: Park / current PI / inverse Park / set_voltages at PWM rate
                (default 20 kHz). The user regulation task still runs at
                pwm_rate / ESP_FOC_LOW_SPEED_DOWNSAMPLING in legacy path terms.
                n: legacy 2.x task-sampled inner loop (lower bandwidth ceiling).

    endmenu

    menu "Diagnostics"
        config ESP_FOC_DEBUG_CORE_TIMING
            bool "GPIO pulse around the outer (slow) control loop (timing)"
            default n
            help
                Calls esp_foc_debug_pin_set/clear in the high-level loop. You must
                call esp_foc_debug_pin_init(gpio) once in application start; the
                GPIO is not set from this menu.
    endmenu

    menu "Tuner, bridges, NVS"
        config ESP_FOC_TUNER_ENABLE
            bool "Runtime PI tuner and protocol (esp_foc_tuner)"
            default n
            help
                Compiles the tuner; attach axes and handle requests from UART/USB.

        config ESP_FOC_TUNER_ALWAYS_OVERRIDE_VOLTAGE_MODE
            bool "Voltage mode + tuner override latched (bring-up)"
            depends on ESP_FOC_TUNER_ENABLE
            default n
            help
                Start with skip_torque_control enabled (open-loop Ud/Uq, no current PI).
                After a successful CMD_ALIGN_AXIS, tuner override turns on automatically;
                CMD_OVERRIDE_OFF is ignored so host motion writes stay enabled.

        choice ESP_FOC_TUNER_BRIDGE
            prompt "Tuner / scope link"
            depends on ESP_FOC_TUNER_ENABLE
            default ESP_FOC_BRIDGE_NONE
            help
                Physical bus for Tuner Studio or custom host tools.

            config ESP_FOC_BRIDGE_NONE
                bool "None (weak callbacks in application)"

            config ESP_FOC_BRIDGE_UART
                bool "UART"
                help
                    Works on all targets with a hardware UART.

            config ESP_FOC_BRIDGE_USBCDC
                bool "USB device CDC (TinyUSB)"
                depends on IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32P4
                help
                    Native USB on S2/S3/P4; add espressif/tinyusb component.
        endchoice

        if ESP_FOC_BRIDGE_UART
            config ESP_FOC_BRIDGE_UART_NUM
                int "UART port index"
                range 0 2
                default 1
            config ESP_FOC_BRIDGE_UART_BAUD
                int "UART baud"
                default 921600
            config ESP_FOC_BRIDGE_UART_TX_PIN
                int "UART TX"
                default 17
            config ESP_FOC_BRIDGE_UART_RX_PIN
                int "UART RX"
                default 18
        endif

        config ESP_FOC_CALIBRATION_NVS
            bool "Persist current-loop gains to NVS (requires NVS on chip)"
            depends on ESP_FOC_TUNER_ENABLE
            default y
    endmenu

    menu "Build-time PI autotuning"
        config ESP_FOC_USE_AUTOGEN_GAINS
            bool "Seed PI gains from scripts/motors/<profile>.json"
            default y
            help
                When n, Kp/Ki start at zero until the runtime tuner sets them.

        config ESP_FOC_PROFILE_VERSION
            int "NVS profile invalidation / schema key"
            depends on ESP_FOC_USE_AUTOGEN_GAINS
            default 1
            help
                Bump to ignore older NVS calibrations for a given motor name.

        config ESP_FOC_MOTOR_PROFILE
            string "JSON profile name under scripts/motors/"
            depends on ESP_FOC_USE_AUTOGEN_GAINS
            default "mf400525t"

        config ESP_FOC_AUTOGEN_DECIMATION
            int "Autotuner assumed current-loop decimation (vs PWM rate)"
            depends on ESP_FOC_USE_AUTOGEN_GAINS
            default 1 if ESP_FOC_ISR_HOT_PATH
            default 20
            help
                Current-loop fs = PWM / decimation. ISR_HOT_PATH = 1:1; legacy
                task loop matches ESP_FOC_LOW_SPEED_DOWNSAMPLING (20) by default.
    endmenu

endmenu