Test case code

#include <SimpleFOC.h>
#include <esp_task_wdt.h>

TwoWire I2Cone = TwoWire(0);
BLDCMotor motor = BLDCMotor(11);
BLDCDriver3PWM driver = BLDCDriver3PWM(32,33,25,22);
hw_timer_t *timer = NULL;


void ARDUINO_ISR_ATTR foc_loop() {
  // noInterrupts();
  motor.loopFOC();
  motor.move(10);
  // interrupts();
  esp_task_wdt_reset(); //reset WDT
}

void setup() {
  Serial.begin(115200);

  esp_task_wdt_config_t wdt_config = {
    .timeout_ms = 5 * 1000,                 // 5s converted to ms
    .idle_core_mask = (1 << portNUM_PROCESSORS) - 1,  // Bitmask of all cores, https://github.com/espressif/esp-idf/blob/v5.2.2/examples/system/task_watchdog/main/task_watchdog_example_main.c
    .trigger_panic = true                             // Enable panic to restart ESP32
  };

  Serial.println("De-init WDT");
  esp_task_wdt_deinit();
  Serial.println("Init WDT");
  esp_err_t ESP32_ERROR = esp_task_wdt_init(&wdt_config);
  Serial.println("Last Reset : " + String(esp_err_to_name(ESP32_ERROR)));
  esp_task_wdt_add(NULL);  //add current thread to WDT watch


  Serial.println("RT test with disabled interrupts");

  I2Cone.begin(19, 18, 400000);

  driver.voltage_power_supply = 12;
  driver.init();
  motor.linkDriver(&driver);

  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
  motor.controller = MotionControlType::velocity;

  motor.init();
  motor.initFOC();

   Serial.println("Delay");
  _delay(1000);

  Serial.println("RT timer attach");
  timer = timerBegin(1000000);
  timerAttachInterrupt(timer, &foc_loop);
  timerAlarm(timer, 100, true, 0);

  Serial.println("Go!");
}

void loop() {
  // motor.move(10);
  esp_task_wdt_reset(); //reset WDT
}