hwconfig for ESP32S3 SAFMC

radityankn · Dec 3, 2024 · 87405d9 · 87405d9
1 parent eaf20db
commit 87405d9
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Showing 6 changed files with 46 additions and 35 deletions.
diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
@@ -17,6 +17,7 @@
 #include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
 
 #include "HAL_ESP32_Class.h"
+#include "AnalogIn.h"
 #include "Scheduler.h"
 #include "I2CDevice.h"
 #include "SPIDevice.h"
@@ -27,7 +28,6 @@
 #include "RCOutput.h"
 #include "GPIO.h"
 #include "Storage.h"
-#include "AnalogIn.h"
 #include "Util.h"
 #if AP_SIM_ENABLED
 #include <AP_HAL/SIMState.h>

diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3devkit.h b/libraries/AP_HAL_ESP32/boards/esp32s3devkit.h
@@ -43,8 +43,8 @@
 //#define HAL_BOARD_ESP32 12
 #define AP_INERTIALSENSOR_ENABLED 1
 //INS choices:
-#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
-//#define HAL_INS_MPU9250_NAME "MPU9250"
+#define HAL_INS_DEFAULT HAL_INS_MPU6500_SPI
+#define HAL_INS_MPU6500_NAME "mpu6500"
 
 // or this:
 //#define HAL_INS_DEFAULT HAL_INS_ICM20XXX_I2C
@@ -53,36 +53,38 @@
 
 // BARO choices:
 #define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
-#define HAL_BARO_BMP280_NAME "BMP280"
+#define HAL_BARO_BMP280_NAME "bmp280"
 // or one of these:
 //#define HAL_BARO_DEFAULT HAL_BARO_MS5837_I2C
 // or: GPIO 34
 //#define HAL_BARO_ANALOG_PIN (6)
 
 // MAG/COMPASS choices:
-#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
+//#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
 // or others:
-//#define HAL_COMPASS_ICM20948_I2C_ADDR (0x68)
-//#define HAL_COMPASS_AK09916_I2C_BUS 0
+#define AP_COMPASS_QMC5883L_ENABLED TRUE
+#define HAL_COMPASS_QMC5883L_I2C_ADDR (0xD0)
+#define HAL_COMPASS_AK09916_I2C_BUS 0
 //#define HAL_COMPASS_AK09916_I2C_ADDR (0x0C)
 //#define HAL_COMPASS_MAX_SENSORS 3
 
 // IMU probing:
-//#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensensev2, 0, 0x68, ROTATION_YAW_270)
+#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, HAL_INS_MPU6500_NAME, ROTATION_NONE)
 // MAG/COMPASS probing:
-//#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948_I2C(0, ROTATION_NONE));
+#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_QMC5883L, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(0, 0xD0), 0, ROTATION_NONE))
 //#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(Invensense, "mpu9250")
 // BARO probing:
-#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x77)
+#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x76)
+//#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
 
 // allow boot without a baro
 #define HAL_BARO_ALLOW_INIT_NO_BARO 1
 
 
 // ADC is available on lots of pints on the esp32, but adc2 cant co-exist with wifi we choose to allow ADC on :
-//#define HAL_DISABLE_ADC_DRIVER 1
+#define HAL_DISABLE_ADC_DRIVER 1
 #define TRUE 1
-#define HAL_USE_ADC TRUE
+//#define HAL_USE_ADC TRUE
 
 // the pin number, the gain/multiplier associated with it, the ardupilot name for the pin in parameter/s.
 //
@@ -101,9 +103,7 @@
 }
 // pick one:
 //#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1
-#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1
-
-#define HAL_INS_MPU9250_NAME "mpu9250"
+#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION2
 
 // uncommenting one or more of these will give more console debug in certain areas..
 //#define INSEDEBUG 1
@@ -112,15 +112,13 @@
 //#define FSDEBUG 1
 //#define BUSDEBUG 1
 
-#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_NONE)
+//#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_NONE)
 //#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_ROLL_180)
 // MAG/COMPASS probing:
-#define AP_COMPASS_AK8963_ENABLED TRUE
-#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE))
+//#define AP_COMPASS_AK8963_ENABLED TRUE
+//#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(0, ROTATION_NONE))
 #define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
-//#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
-
 // 2 use udp, 1 use tcp...  for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
 #define HAL_ESP32_WIFI 1
 
@@ -147,13 +145,13 @@
 // SPI BUS setup, including gpio, dma, etc
 // note... we use 'vspi' for the bmp280 and mpu9250
 #define HAL_ESP32_SPI_BUSES \
-    {.host=SPI3_HOST, .dma_ch=SPI_DMA_CH_AUTO, .mosi=GPIO_NUM_36, .miso=GPIO_NUM_37, .sclk=GPIO_NUM_35}
+    {.host=SPI3_HOST, .dma_ch=SPI_DMA_CH_AUTO, .mosi=GPIO_NUM_18, .miso=GPIO_NUM_17, .sclk=GPIO_NUM_46}
 // tip:  VSPI_HOST  is an alternative name for esp's SPI3
 //#define HAL_ESP32_SPI_BUSES {}
 
 // SPI per-device setup, including speeds, etc.
 #define HAL_ESP32_SPI_DEVICES \
-    {.name="mpu9250", .bus=0, .device=0, .cs=GPIO_NUM_34,  .mode = 0, .lspeed=2*MHZ, .hspeed=8*MHZ}
+    {.name="mpu6500", .bus=0, .device=0, .cs=GPIO_NUM_9,  .mode = 0, .lspeed=2*MHZ, .hspeed=8*MHZ}
 //#define HAL_ESP32_SPI_DEVICES {}
 
 //I2C bus list
@@ -163,12 +161,14 @@
 
 
 // rcin on what pin?
-#define HAL_ESP32_RCIN GPIO_NUM_14
+// #define HAL_ESP32_RCIN GPIO_NUM_40
 
 
 //HARDWARE UARTS
 #define HAL_ESP32_UART_DEVICES \
-  {.port=UART_NUM_0, .rx=GPIO_NUM_44, .tx=GPIO_NUM_43 },{.port=UART_NUM_1, .rx=GPIO_NUM_17, .tx=GPIO_NUM_18 }
+  {.port=UART_NUM_0, .rx=GPIO_NUM_44, .tx=GPIO_NUM_43 }, \
+  {.port=UART_NUM_1, .rx=GPIO_NUM_13, .tx=GPIO_NUM_12 }, \
+  {.port=UART_NUM_2, .rx=GPIO_NUM_20, .tx=GPIO_NUM_21}
 
 #define HAVE_FILESYSTEM_SUPPORT 1
 
@@ -180,11 +180,22 @@
 
 #define HAL_ESP32_SDCARD 1
 #define LOGGER_MAVLINK_SUPPORT 1
-#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
-#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
-#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
 #define HAL_OS_POSIX_IO 1
 
 // this becomes the default value for the ardupilot param LOG_BACKEND_TYPE, which most ppl want to be 1, for log-to-flash
 // setting to 2 means log-over-mavlink to a companion computer etc.
 #define HAL_LOGGING_BACKENDS_DEFAULT 1
+
+#define HAL_LOGGING_FILESYSTEM_ENABLED 1
+#define HAL_LOGGING_DATAFLASH_ENABLED 0
+#define HAL_LOGGING_MAVLINK_ENABLED 1
+
+#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
+#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
+
+#define AP_RCPROTOCOL_ENABLED 1
+
+#define AP_FILESYSTEM_ESP32_ENABLED 1
+#define AP_SCRIPTING_ENABLED 0
+//#define HAL_USE_EMPTY_STORAGE 1
diff --git a/libraries/AP_Logger/AP_Logger_Block.cpp b/libraries/AP_Logger/AP_Logger_Block.cpp
@@ -929,22 +929,22 @@ void AP_Logger_Block::flash_test()
     const uint32_t pages_to_check = 128;
     for (uint32_t i=1; i<=pages_to_check; i++) {
         if ((i-1) % df_PagePerBlock == 0) {
-            printf("Block erase %u\n", get_block(i));
+            printf("Block erase %lu\n", get_block(i));
             SectorErase(get_block(i));
         }
         memset(buffer, uint8_t(i), df_PageSize);
         if (i<5) {
             printf("Flash fill 0x%x\n", uint8_t(i));
         } else if (i==5) {
-            printf("Flash fill pages 5-%u\n", pages_to_check);
+            printf("Flash fill pages 5-%lu\n", pages_to_check);
         }
         BufferToPage(i);
     }
     for (uint32_t i=1; i<=pages_to_check; i++) {
         if (i<5) {
             printf("Flash check 0x%x\n", uint8_t(i));
         } else if (i==5) {
-            printf("Flash check pages 5-%u\n", pages_to_check);
+            printf("Flash check pages 5-%lu\n", pages_to_check);
         }
         PageToBuffer(i);
         uint32_t bad_bytes = 0;

diff --git a/libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp
@@ -156,15 +156,15 @@ bool AP_Logger_Flash_JEDEC::getSectorCount(void)
         break;
     default:
         hal.scheduler->delay(2000);
-        printf("Unknown SPI Flash 0x%08x\n", id);
+        printf("Unknown SPI Flash 0x%08lx\n", id);
         return false;
     }
 
     df_PageSize = 256;
     df_NumPages = blocks * df_PagePerBlock;
     erase_cmd = JEDEC_BLOCK64_ERASE;
 
-    printf("SPI Flash 0x%08x found pages=%u erase=%uk\n",
+    printf("SPI Flash 0x%08lx found pages=%lu erase=%uk\n",
            id, df_NumPages, (df_PagePerBlock * (uint32_t)df_PageSize)/1024);
     return true;
 

diff --git a/libraries/AP_Logger/AP_Logger_W25NXX.cpp b/libraries/AP_Logger/AP_Logger_W25NXX.cpp
@@ -147,13 +147,13 @@ bool AP_Logger_W25NXX::getSectorCount(void)
 
     default:
         hal.scheduler->delay(2000);
-        printf("Unknown SPI Flash 0x%08x\n", id);
+        printf("Unknown SPI Flash 0x%08lx\n", id);
         return false;
     }
 
     df_NumPages = flash_blockNum * df_PagePerBlock;
 
-    printf("SPI Flash 0x%08x found pages=%u\n", id, df_NumPages);
+    printf("SPI Flash 0x%08lx found pages=%lu\n", id, df_NumPages);
     return true;
 }
 

diff --git a/libraries/AP_Scheduler/PerfInfo.cpp b/libraries/AP_Scheduler/PerfInfo.cpp
@@ -152,7 +152,7 @@ void AP::PerfInfo::check_loop_time(uint32_t time_in_micros)
         // helpful for bringup of other boards too
 #if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
 #ifdef SCHEDDEBUG
-        DEV_PRINTF("way overtime: %dus\n", loop_time_us);
+        DEV_PRINTF("way overtime: %lu us\n", loop_time_us);
 #endif
 #endif
     }