Adding examples/ethernet/basic, support mros2-esp32

platform/ethernet/CMakeLists.txt

@@ -0,0 +1,8 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+# "Trim" the build. Include the minimal set of components, main, and anything it depends on.
+idf_build_set_property(MINIMAL_BUILD ON)
+project(ethernet_basic)

platform/ethernet/components/ethernet_init/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRCS "ethernet_init.c"
+                       PRIV_REQUIRES esp_driver_gpio esp_eth
+                       INCLUDE_DIRS ".")

platform/ethernet/components/ethernet_init/ethernet_init.c

@@ -0,0 +1,346 @@
+/*
+ * NOTE:
+ *   This file is copied from esp-idf examples as the below, and modified for usage of mros2-esp32.
+ *   https://github.com/espressif/esp-idf/blob/master/examples/ethernet/basic/components/ethernet_init/ethernet_init.c
+ *   Therefore, mROS-base org inherits the Public Domain (or CC0) LICENCE for this file from the original file.
+ */
+/*
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Unlicense OR CC0-1.0
+ */
+#include "ethernet_init.h"
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_mac.h"
+#include "driver/gpio.h"
+#include "sdkconfig.h"
+#if CONFIG_EXAMPLE_USE_SPI_ETHERNET
+#include "driver/spi_master.h"
+#endif // CONFIG_EXAMPLE_USE_SPI_ETHERNET
+
+#if CONFIG_EXAMPLE_SPI_ETHERNETS_NUM
+#define SPI_ETHERNETS_NUM           CONFIG_EXAMPLE_SPI_ETHERNETS_NUM
+#else
+#define SPI_ETHERNETS_NUM           0
+#endif
+
+#if CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET
+#define INTERNAL_ETHERNETS_NUM      1
+#else
+#define INTERNAL_ETHERNETS_NUM      0
+#endif
+
+#define INIT_SPI_ETH_MODULE_CONFIG(eth_module_config, num)                                      \
+    do {                                                                                        \
+        eth_module_config[num].spi_cs_gpio = CONFIG_EXAMPLE_ETH_SPI_CS ##num## _GPIO;           \
+        eth_module_config[num].int_gpio = CONFIG_EXAMPLE_ETH_SPI_INT ##num## _GPIO;             \
+        eth_module_config[num].polling_ms = CONFIG_EXAMPLE_ETH_SPI_POLLING ##num## _MS;         \
+        eth_module_config[num].phy_reset_gpio = CONFIG_EXAMPLE_ETH_SPI_PHY_RST ##num## _GPIO;   \
+        eth_module_config[num].phy_addr = CONFIG_EXAMPLE_ETH_SPI_PHY_ADDR ##num;                \
+    } while(0)
+
+typedef struct {
+    uint8_t spi_cs_gpio;
+    int8_t int_gpio;
+    uint32_t polling_ms;
+    int8_t phy_reset_gpio;
+    uint8_t phy_addr;
+    uint8_t *mac_addr;
+}spi_eth_module_config_t;
+
+static const char *TAG = "example_eth_init";
+#if CONFIG_EXAMPLE_USE_SPI_ETHERNET
+static bool gpio_isr_svc_init_by_eth = false; // indicates that we initialized the GPIO ISR service
+#endif // CONFIG_EXAMPLE_USE_SPI_ETHERNET
+
+
+#if CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET
+/**
+ * @brief Internal ESP32 Ethernet initialization
+ *
+ * @param[out] mac_out optionally returns Ethernet MAC object
+ * @param[out] phy_out optionally returns Ethernet PHY object
+ * @return
+ *          - esp_eth_handle_t if init succeeded
+ *          - NULL if init failed
+ */
+static esp_eth_handle_t eth_init_internal(esp_eth_mac_t **mac_out, esp_eth_phy_t **phy_out)
+{
+    esp_eth_handle_t ret = NULL;
+
+    // Init common MAC and PHY configs to default
+    eth_mac_config_t mac_config = ETH_MAC_DEFAULT_CONFIG();
+    eth_phy_config_t phy_config = ETH_PHY_DEFAULT_CONFIG();
+
+    // Update PHY config based on board specific configuration
+    phy_config.phy_addr = CONFIG_EXAMPLE_ETH_PHY_ADDR;
+    phy_config.reset_gpio_num = CONFIG_EXAMPLE_ETH_PHY_RST_GPIO;
+    // Init vendor specific MAC config to default
+    eth_esp32_emac_config_t esp32_emac_config = ETH_ESP32_EMAC_DEFAULT_CONFIG();
+    // Update vendor specific MAC config based on board configuration
+    esp32_emac_config.smi_gpio.mdc_num = CONFIG_EXAMPLE_ETH_MDC_GPIO;
+    esp32_emac_config.smi_gpio.mdio_num = CONFIG_EXAMPLE_ETH_MDIO_GPIO;
+#if CONFIG_EXAMPLE_USE_SPI_ETHERNET
+    // The DMA is shared resource between EMAC and the SPI. Therefore, adjust
+    // EMAC DMA burst length when SPI Ethernet is used along with EMAC.
+    esp32_emac_config.dma_burst_len = ETH_DMA_BURST_LEN_4;
+#endif // CONFIG_EXAMPLE_USE_SPI_ETHERNET
+    // Create new ESP32 Ethernet MAC instance
+    esp_eth_mac_t *mac = esp_eth_mac_new_esp32(&esp32_emac_config, &mac_config);
+    // Create new PHY instance based on board configuration
+#if CONFIG_EXAMPLE_ETH_PHY_GENERIC
+    esp_eth_phy_t *phy = esp_eth_phy_new_generic(&phy_config);
+#elif CONFIG_EXAMPLE_ETH_PHY_IP101
+    esp_eth_phy_t *phy = esp_eth_phy_new_ip101(&phy_config);
+#elif CONFIG_EXAMPLE_ETH_PHY_RTL8201
+    esp_eth_phy_t *phy = esp_eth_phy_new_rtl8201(&phy_config);
+#elif CONFIG_EXAMPLE_ETH_PHY_LAN87XX
+    esp_eth_phy_t *phy = esp_eth_phy_new_lan87xx(&phy_config);
+#elif CONFIG_EXAMPLE_ETH_PHY_DP83848
+    esp_eth_phy_t *phy = esp_eth_phy_new_dp83848(&phy_config);
+#elif CONFIG_EXAMPLE_ETH_PHY_KSZ80XX
+    esp_eth_phy_t *phy = esp_eth_phy_new_ksz80xx(&phy_config);
+#endif
+    // Init Ethernet driver to default and install it
+    esp_eth_handle_t eth_handle = NULL;
+    esp_eth_config_t config = ETH_DEFAULT_CONFIG(mac, phy);
+    ESP_GOTO_ON_FALSE(esp_eth_driver_install(&config, &eth_handle) == ESP_OK, NULL,
+                        err, TAG, "Ethernet driver install failed");
+
+    if (mac_out != NULL) {
+        *mac_out = mac;
+    }
+    if (phy_out != NULL) {
+        *phy_out = phy;
+    }
+    return eth_handle;
+err:
+    if (eth_handle != NULL) {
+        esp_eth_driver_uninstall(eth_handle);
+    }
+    if (mac != NULL) {
+        mac->del(mac);
+    }
+    if (phy != NULL) {
+        phy->del(phy);
+    }
+    return ret;
+}
+#endif // CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET
+
+#if CONFIG_EXAMPLE_USE_SPI_ETHERNET
+/**
+ * @brief SPI bus initialization (to be used by Ethernet SPI modules)
+ *
+ * @return
+ *          - ESP_OK on success
+ */
+static esp_err_t spi_bus_init(void)
+{
+    esp_err_t ret = ESP_OK;
+
+#if (CONFIG_EXAMPLE_ETH_SPI_INT0_GPIO >= 0) || (CONFIG_EXAMPLE_ETH_SPI_INT1_GPIO > 0)
+    // Install GPIO ISR handler to be able to service SPI Eth modules interrupts
+    ret = gpio_install_isr_service(0);
+    if (ret == ESP_OK) {
+        gpio_isr_svc_init_by_eth = true;
+    } else if (ret == ESP_ERR_INVALID_STATE) {
+        ESP_LOGW(TAG, "GPIO ISR handler has been already installed");
+        ret = ESP_OK; // ISR handler has been already installed so no issues
+    } else {
+        ESP_LOGE(TAG, "GPIO ISR handler install failed");
+        goto err;
+    }
+#endif
+
+    // Init SPI bus
+    spi_bus_config_t buscfg = {
+        .miso_io_num = CONFIG_EXAMPLE_ETH_SPI_MISO_GPIO,
+        .mosi_io_num = CONFIG_EXAMPLE_ETH_SPI_MOSI_GPIO,
+        .sclk_io_num = CONFIG_EXAMPLE_ETH_SPI_SCLK_GPIO,
+        .quadwp_io_num = -1,
+        .quadhd_io_num = -1,
+    };
+    ESP_GOTO_ON_ERROR(spi_bus_initialize(CONFIG_EXAMPLE_ETH_SPI_HOST, &buscfg, SPI_DMA_CH_AUTO),
+                        err, TAG, "SPI host #%d init failed", CONFIG_EXAMPLE_ETH_SPI_HOST);
+
+err:
+    return ret;
+}
+
+/**
+ * @brief Ethernet SPI modules initialization
+ *
+ * @param[in] spi_eth_module_config specific SPI Ethernet module configuration
+ * @param[out] mac_out optionally returns Ethernet MAC object
+ * @param[out] phy_out optionally returns Ethernet PHY object
+ * @return
+ *          - esp_eth_handle_t if init succeeded
+ *          - NULL if init failed
+ */
+static esp_eth_handle_t eth_init_spi(spi_eth_module_config_t *spi_eth_module_config, esp_eth_mac_t **mac_out, esp_eth_phy_t **phy_out)
+{
+    esp_eth_handle_t ret = NULL;
+
+    // Init common MAC and PHY configs to default
+    eth_mac_config_t mac_config = ETH_MAC_DEFAULT_CONFIG();
+    eth_phy_config_t phy_config = ETH_PHY_DEFAULT_CONFIG();
+
+    // Update PHY config based on board specific configuration
+    phy_config.phy_addr = spi_eth_module_config->phy_addr;
+    phy_config.reset_gpio_num = spi_eth_module_config->phy_reset_gpio;
+
+    // Configure SPI interface for specific SPI module
+    spi_device_interface_config_t spi_devcfg = {
+        .mode = 0,
+        .clock_speed_hz = CONFIG_EXAMPLE_ETH_SPI_CLOCK_MHZ * 1000 * 1000,
+        .queue_size = 20,
+        .spics_io_num = spi_eth_module_config->spi_cs_gpio
+    };
+    // Init vendor specific MAC config to default, and create new SPI Ethernet MAC instance
+    // and new PHY instance based on board configuration
+#if CONFIG_EXAMPLE_USE_KSZ8851SNL
+    eth_ksz8851snl_config_t ksz8851snl_config = ETH_KSZ8851SNL_DEFAULT_CONFIG(CONFIG_EXAMPLE_ETH_SPI_HOST, &spi_devcfg);
+    ksz8851snl_config.int_gpio_num = spi_eth_module_config->int_gpio;
+    ksz8851snl_config.poll_period_ms = spi_eth_module_config->polling_ms;
+    esp_eth_mac_t *mac = esp_eth_mac_new_ksz8851snl(&ksz8851snl_config, &mac_config);
+    esp_eth_phy_t *phy = esp_eth_phy_new_ksz8851snl(&phy_config);
+#elif CONFIG_EXAMPLE_USE_DM9051
+    eth_dm9051_config_t dm9051_config = ETH_DM9051_DEFAULT_CONFIG(CONFIG_EXAMPLE_ETH_SPI_HOST, &spi_devcfg);
+    dm9051_config.int_gpio_num = spi_eth_module_config->int_gpio;
+    dm9051_config.poll_period_ms = spi_eth_module_config->polling_ms;
+    esp_eth_mac_t *mac = esp_eth_mac_new_dm9051(&dm9051_config, &mac_config);
+    esp_eth_phy_t *phy = esp_eth_phy_new_dm9051(&phy_config);
+#elif CONFIG_EXAMPLE_USE_W5500
+    eth_w5500_config_t w5500_config = ETH_W5500_DEFAULT_CONFIG(CONFIG_EXAMPLE_ETH_SPI_HOST, &spi_devcfg);
+    w5500_config.int_gpio_num = spi_eth_module_config->int_gpio;
+    w5500_config.poll_period_ms = spi_eth_module_config->polling_ms;
+    esp_eth_mac_t *mac = esp_eth_mac_new_w5500(&w5500_config, &mac_config);
+    esp_eth_phy_t *phy = esp_eth_phy_new_w5500(&phy_config);
+#endif //CONFIG_EXAMPLE_USE_W5500
+    // Init Ethernet driver to default and install it
+    esp_eth_handle_t eth_handle = NULL;
+    esp_eth_config_t eth_config_spi = ETH_DEFAULT_CONFIG(mac, phy);
+    ESP_GOTO_ON_FALSE(esp_eth_driver_install(&eth_config_spi, &eth_handle) == ESP_OK, NULL, err, TAG, "SPI Ethernet driver install failed");
+
+    // The SPI Ethernet module might not have a burned factory MAC address, we can set it manually.
+    if (spi_eth_module_config->mac_addr != NULL) {
+        ESP_GOTO_ON_FALSE(esp_eth_ioctl(eth_handle, ETH_CMD_S_MAC_ADDR, spi_eth_module_config->mac_addr) == ESP_OK,
+                                        NULL, err, TAG, "SPI Ethernet MAC address config failed");
+    }
+
+    if (mac_out != NULL) {
+        *mac_out = mac;
+    }
+    if (phy_out != NULL) {
+        *phy_out = phy;
+    }
+    return eth_handle;
+err:
+    if (eth_handle != NULL) {
+        esp_eth_driver_uninstall(eth_handle);
+    }
+    if (mac != NULL) {
+        mac->del(mac);
+    }
+    if (phy != NULL) {
+        phy->del(phy);
+    }
+    return ret;
+}
+#endif // CONFIG_EXAMPLE_USE_SPI_ETHERNET
+
+esp_err_t example_eth_init(esp_eth_handle_t *eth_handles_out[], uint8_t *eth_cnt_out)
+{
+    esp_err_t ret = ESP_OK;
+    esp_eth_handle_t *eth_handles = NULL;
+    uint8_t eth_cnt = 0;
+
+#if CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET || CONFIG_EXAMPLE_USE_SPI_ETHERNET
+    ESP_GOTO_ON_FALSE(eth_handles_out != NULL && eth_cnt_out != NULL, ESP_ERR_INVALID_ARG,
+                        err, TAG, "invalid arguments: initialized handles array or number of interfaces");
+    eth_handles = calloc(SPI_ETHERNETS_NUM + INTERNAL_ETHERNETS_NUM, sizeof(esp_eth_handle_t));
+    ESP_GOTO_ON_FALSE(eth_handles != NULL, ESP_ERR_NO_MEM, err, TAG, "no memory");
+
+#if CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET
+    eth_handles[eth_cnt] = eth_init_internal(NULL, NULL);
+    ESP_GOTO_ON_FALSE(eth_handles[eth_cnt], ESP_FAIL, err, TAG, "internal Ethernet init failed");
+    eth_cnt++;
+#endif //CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET
+
+#if CONFIG_EXAMPLE_USE_SPI_ETHERNET
+    ESP_GOTO_ON_ERROR(spi_bus_init(), err, TAG, "SPI bus init failed");
+    // Init specific SPI Ethernet module configuration from Kconfig (CS GPIO, Interrupt GPIO, etc.)
+    spi_eth_module_config_t spi_eth_module_config[CONFIG_EXAMPLE_SPI_ETHERNETS_NUM] = { 0 };
+    INIT_SPI_ETH_MODULE_CONFIG(spi_eth_module_config, 0);
+    // The SPI Ethernet module(s) might not have a burned factory MAC address, hence use manually configured address(es).
+    // In this example, Locally Administered MAC address derived from ESP32x base MAC address is used.
+    // Note that Locally Administered OUI range should be used only when testing on a LAN under your control!
+    uint8_t base_mac_addr[ETH_ADDR_LEN];
+    ESP_GOTO_ON_ERROR(esp_efuse_mac_get_default(base_mac_addr), err, TAG, "get EFUSE MAC failed");
+    uint8_t local_mac_1[ETH_ADDR_LEN];
+    esp_derive_local_mac(local_mac_1, base_mac_addr);
+    spi_eth_module_config[0].mac_addr = local_mac_1;
+#if CONFIG_EXAMPLE_SPI_ETHERNETS_NUM > 1
+    INIT_SPI_ETH_MODULE_CONFIG(spi_eth_module_config, 1);
+    uint8_t local_mac_2[ETH_ADDR_LEN];
+    base_mac_addr[ETH_ADDR_LEN - 1] += 1;
+    esp_derive_local_mac(local_mac_2, base_mac_addr);
+    spi_eth_module_config[1].mac_addr = local_mac_2;
+#endif
+#if CONFIG_EXAMPLE_SPI_ETHERNETS_NUM > 2
+#error Maximum number of supported SPI Ethernet devices is currently limited to 2 by this example.
+#endif
+    for (int i = 0; i < CONFIG_EXAMPLE_SPI_ETHERNETS_NUM; i++) {
+        eth_handles[eth_cnt] = eth_init_spi(&spi_eth_module_config[i], NULL, NULL);
+        ESP_GOTO_ON_FALSE(eth_handles[eth_cnt], ESP_FAIL, err, TAG, "SPI Ethernet init failed");
+        eth_cnt++;
+    }
+#endif // CONFIG_EXAMPLE_USE_SPI_ETHERNET
+#else
+    ESP_LOGD(TAG, "no Ethernet device selected to init");
+#endif // CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET || CONFIG_EXAMPLE_USE_SPI_ETHERNET
+    *eth_handles_out = eth_handles;
+    *eth_cnt_out = eth_cnt;
+
+    return ret;
+#if CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET || CONFIG_EXAMPLE_USE_SPI_ETHERNET
+err:
+    free(eth_handles);
+    return ret;
+#endif
+}
+
+esp_err_t example_eth_deinit(esp_eth_handle_t *eth_handles, uint8_t eth_cnt)
+{
+    ESP_RETURN_ON_FALSE(eth_handles != NULL, ESP_ERR_INVALID_ARG, TAG, "array of Ethernet handles cannot be NULL");
+    for (int i = 0; i < eth_cnt; i++) {
+        esp_eth_mac_t *mac = NULL;
+        esp_eth_phy_t *phy = NULL;
+        if (eth_handles[i] != NULL) {
+            esp_eth_get_mac_instance(eth_handles[i], &mac);
+            esp_eth_get_phy_instance(eth_handles[i], &phy);
+            ESP_RETURN_ON_ERROR(esp_eth_driver_uninstall(eth_handles[i]), TAG, "Ethernet %p uninstall failed", eth_handles[i]);
+        }
+        if (mac != NULL) {
+            mac->del(mac);
+        }
+        if (phy != NULL) {
+            phy->del(phy);
+        }
+    }
+#if CONFIG_EXAMPLE_USE_SPI_ETHERNET
+    spi_bus_free(CONFIG_EXAMPLE_ETH_SPI_HOST);
+#if (CONFIG_EXAMPLE_ETH_SPI_INT0_GPIO >= 0) || (CONFIG_EXAMPLE_ETH_SPI_INT1_GPIO > 0)
+    // We installed the GPIO ISR service so let's uninstall it too.
+    // BE CAREFUL HERE though since the service might be used by other functionality!
+    if (gpio_isr_svc_init_by_eth) {
+        ESP_LOGW(TAG, "uninstalling GPIO ISR service!");
+        gpio_uninstall_isr_service();
+    }
+#endif
+#endif //CONFIG_EXAMPLE_USE_SPI_ETHERNET
+    free(eth_handles);
+    return ESP_OK;
+}