Merge pull request #106 from rtlopez/esp32s3

ESP32-S3 and ESP32-S2 support (for devs only)
rtlopez · Feb 2, 2024 · 6ec2dcd · 6ec2dcd
2 parents 683c99f + 585e0c0
commit 6ec2dcd
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diff --git a/.github/workflows/platformio.yml b/.github/workflows/platformio.yml
@@ -40,7 +40,7 @@ jobs:
     runs-on: ubuntu-22.04
     strategy:
       matrix:
-        target: ['esp32', 'esp32c3', 'esp8266']
+        target: ['esp32', 'esp32s2', 'esp32s3', 'esp32c3', 'esp8266']
     steps:
       - uses: actions/checkout@v4
       - name: Extract Version
@@ -97,11 +97,15 @@ jobs:
         env:
           PLATFORMIO_BUILD_FLAGS: -DESPFC_REVISION=${{ env.build_sha }} -DESPFC_VERSION=${{ env.build_tag }}
 
-      - name: Merge ESP32 Target
-        if: ${{ startsWith(matrix.target, 'esp32') }}
-        run: |
-          python3 ~/.platformio/packages/tool-esptoolpy/esptool.py --chip ${{ matrix.target }} merge_bin -o .pio/build/${{ matrix.target }}/firmware_merged.bin --target-offset 0x0 --flash_mode keep --flash_freq keep --flash_size 4MB 0x1000 .pio/build/${{ matrix.target }}/bootloader.bin 0x8000 .pio/build/${{ matrix.target }}/partitions.bin 0xe000 ~/.platformio/packages/framework-arduinoespressif32/tools/partitions/boot_app0.bin 0x10000 .pio/build/${{ matrix.target }}/firmware.bin
+#      - name: Merge ESP32 Target
+#        if: ${{ matrix.target == 'esp32' }}
+#        run: |
+#          python3 ~/.platformio/packages/tool-esptoolpy/esptool.py --chip ${{ matrix.target }} merge_bin -o .pio/build/${{ matrix.target }}/firmware_merged.bin --target-offset 0x0 --flash_mode keep --flash_freq keep --flash_size 4MB 0x1000 .pio/build/${{ matrix.target }}/bootloader.bin 0x8000 .pio/build/${{ matrix.target }}/partitions.bin 0xe000 ~/.platformio/packages/framework-arduinoespressif32/tools/partitions/boot_app0.bin 0x10000 .pio/build/${{ matrix.target }}/firmware.bin
 
+#      - name: Merge ESP32-S3 Target
+#        if: ${{ matrix.target == 'esp32s3' }}
+#        run: |
+#          python3 ~/.platformio/packages/tool-esptoolpy/esptool.py --chip ${{ matrix.target }} merge_bin -o .pio/build/${{ matrix.target }}/firmware_merged.bin --target-offset 0x0 --flash_mode keep --flash_freq keep --flash_size 16MB 0x0000 .pio/build/${{ matrix.target }}/bootloader.bin 0x8000 .pio/build/${{ matrix.target }}/partitions.bin 0xe000 ~/.platformio/packages/framework-arduinoespressif32/tools/partitions/boot_app0.bin 0x10000 .pio/build/${{ matrix.target }}/firmware.bin
 
       - name: Create Development Artifact
         uses: actions/upload-artifact@v4
@@ -115,7 +119,7 @@ jobs:
         if: ${{ !startsWith(github.ref, 'refs/tags/') && startsWith(matrix.target, 'esp32') }}
         with:
           name: "${{ env.build_file_devel }}_0x00.bin"
-          path: .pio/build/${{ matrix.target }}/firmware_merged.bin
+          path: .pio/build/${{ matrix.target }}/firmware_0x00.bin
 
 
       - name: Create Release Artifact
@@ -130,4 +134,4 @@ jobs:
         if: ${{ startsWith(github.ref, 'refs/tags/') && startsWith(matrix.target, 'esp32') }}
         with:
           name: ${{ env.build_file_release }}_0x00.bin
-          path: .pio/build/${{ matrix.target }}/firmware_merged.bin
+          path: .pio/build/${{ matrix.target }}/firmware_0x00.bin
diff --git a/README.md b/README.md
@@ -56,6 +56,14 @@ Here are more details about [how to setup](/docs/setup.md).
 
 [![ESP-FC example wiring diagrams](/docs/images/espfc_wiring_combined.png)](/docs/wiring.md)
 
+## Supported chips
+
+ - **ESP32** - recommended
+ - **ESP32-S2** - experimantal
+ - **ESP32-S3** - experimantal
+ - **ESP32-C3** - experimantal
+ - **RP2040** - experimantal
+ - **ESP8266** - deprecated, may stop being developed
 
 ## Supported protocols
 

diff --git a/docs/connections.md b/docs/connections.md
@@ -138,4 +138,63 @@ https://github.com/espressif/esptool/wiki/ESP32-Boot-Mode-Selection
  CMD(11)  SD3(10) |             |  SD0(07)   CLK(06)
                   +----|---|----+
                         USB
+```
+
+# ESP32-S3
+
+https://docs.espressif.com/projects/esp-idf/en/latest/esp32s3/api-reference/peripherals/gpio.html
+
+```
+Pin | Function             | ESPFC external device
+----+------+---------------+----------------------------------------------
+ 0  | Strapping            |
+ 1  | ADC1_CH0             | ADC_VOLTAGE
+ 2  | ADC1_CH1             | DEBUG
+ 3  | ADC1_CH2, Strapping  |
+ 4  | ADC1_CH3             | ADC_CURRENT
+ 5  | ADC1_CH4             | BUZZER
+ 6  | ADC1_CH5             | PPM
+ 7  | ADC1_CH6             | SPI_CS_BARO
+ 8  | ADC1_CH7             | SPI_CS_GYRO
+ 9  | ADC1_CH8             | I2C_0_SDA
+10  | ADC1_CH9             | I2C_0_SCK
+11  | ADC2_CH0             | SPI_0_MOSI
+12  | ADC2_CH1             | SPI_0_SCK
+13  | ADC2_CH2             | SPI_0_MISO
+14  | ADC2_CH3             | ?
+15  | ADC2_CH4             | RX1
+16  | ADC2_CH5             | TX1
+17  | ADC2_CH6             | RX2
+18  | ADC2_CH7             | TX2
+19  | ADC2_CH8, USB        | USB
+20  | ADC2_CH9, USB        | USB
+21  | RTC_21               | ?
+38  | RGB                  | LED_RGB
+39  |                      | M0
+40  |                      | M1
+41  |                      | M2
+42  |                      | M3
+43  | U1TX                 | TX0
+44  | U1RX                 | RX0
+45  |                      | ?
+46  | Strapping            | SPI_CS_SD
+47  | Strapping            | ?
+48  |                      | ?
+
+RESERVED
+26  | FLASH                |
+27  | FLASH                |
+28  | FLASH                |
+29  | FLASH                |
+30  | FLASH                |
+31  | FLASH                |
+32  | FLASH                |
+33  | FLASH                |
+34  | FLASH                |
+35  | FLASH                |
+36  | FLASH                |
+37  | FLASH                |
+
+UNAVAILABLE
+22, 23, 24, 25
 ```
diff --git a/lib/EscDriver/src/EscDriver.h b/lib/EscDriver/src/EscDriver.h
@@ -69,6 +69,15 @@ class EscDriverBase
   #define ESC_DRIVER_MOTOR_TIMER ESC_DRIVER_TIMER0
   #define ESC_DRIVER_SERVO_TIMER ESC_DRIVER_TIMER1
 
+#elif defined(ESP32S3) || defined(ESP32S2)
+
+  #define ESC_CHANNEL_COUNT 4
+  #include "EscDriverEsp32.h"
+  #define EscDriver EscDriverEsp32
+
+  #define ESC_DRIVER_MOTOR_TIMER 0
+  #define ESC_DRIVER_SERVO_TIMER 1
+
 #elif defined(ESP32)
 
   #define ESC_CHANNEL_COUNT RMT_CHANNEL_MAX

diff --git a/lib/EscDriver/src/EscDriverEsp32.cpp b/lib/EscDriver/src/EscDriverEsp32.cpp
@@ -1,4 +1,4 @@
-#if defined(ESP32) and not defined(ESP32C3) //where is this defined???
+#if defined(ESP32) && !defined(ESP32C3)
 
 #include "EscDriverEsp32.h"
 

diff --git a/lib/EscDriver/src/EscDriverEsp32.h b/lib/EscDriver/src/EscDriverEsp32.h
@@ -1,7 +1,7 @@
 #ifndef _ESC_DRIVER_ESP32_H_
 #define _ESC_DRIVER_ESP32_H_
 
-#if defined(ESP32) and not defined(ESP32C3) //where is this defined???
+#if defined(ESP32) && !defined(ESP32C3)
 
 #include "EscDriver.h"
 #include <Arduino.h>
@@ -16,7 +16,11 @@ static const int32_t DURATION_MAX = 0x7fff; // max in 15 bits
 
 // faster esc response, but unsafe (no task synchronisation)
 // set to 0 in case of issues
+#if defined(ESP32S3) || defined(ESP32S2)
+#define ESPFC_RMT_BYPASS_WRITE_SYNC 0
+#else
 #define ESPFC_RMT_BYPASS_WRITE_SYNC 1
+#endif
 
 #if ESPFC_RMT_BYPASS_WRITE_SYNC
 IRAM_ATTR static esp_err_t _rmt_fill_tx_items(rmt_channel_t channel, const rmt_item32_t* item, uint16_t item_num, uint16_t mem_offset)

diff --git a/lib/EspWire/src/esp_twi.cpp b/lib/EspWire/src/esp_twi.cpp
@@ -39,7 +39,7 @@ static uint32_t esp_twi_clockStretchLimit;
   #define SCL_LOW()   (GPES = (1 << esp_twi_scl))
   #define SCL_HIGH()  (GPEC = (1 << esp_twi_scl))
   #define SCL_READ()  ((GPI & (1 << esp_twi_scl)) != 0)
-#elif defined(ESP32C3) //where is this defined???
+#elif defined(ESP32C3)
   //#define SDA_LOW()   (GPIO.enable_w1ts.enable_w1ts = ((uint32_t) 1 << esp_twi_sda)) //Enable SDA (becomes output and since GPO is 0 for the pin, it will pull the line low)
   static inline void SDA_LOW() { GPIO.enable_w1ts.enable_w1ts = (uint32_t) 1 << esp_twi_sda; GPIO.out_w1tc.out_w1tc = (uint32_t) 1 << esp_twi_sda; }
   #define SDA_HIGH()  (GPIO.enable_w1tc.enable_w1tc = ((uint32_t) 1 << esp_twi_sda)) //Disable SDA (becomes input and since it has pullup it will go high)
@@ -184,8 +184,7 @@ void esp_twi_stop(void){
 
 static inline IRAM_ATTR unsigned int _getCycleCount()
 {
-
-#if defined(ESP32C3) //where is this defined???
+#if defined(ESP32C3)
   return esp_cpu_get_ccount();
 #elif defined(ESP32) || defined(ESP8266)
   unsigned int ccount = 0;

diff --git a/lib/Espfc/src/Cli.h b/lib/Espfc/src/Cli.h
@@ -833,9 +833,9 @@ class Cli
           PSTR("available commands:"),
           PSTR(" help"), PSTR(" dump"), PSTR(" get param"), PSTR(" set param value ..."), PSTR(" cal [gyro]"),
           PSTR(" defaults"), PSTR(" save"), PSTR(" reboot"), PSTR(" scaler"), PSTR(" mixer"),
-          PSTR(" stats"), PSTR(" status"), PSTR(" devinfo"), PSTR(" version"),
+          PSTR(" stats"), PSTR(" status"), PSTR(" devinfo"), PSTR(" version"), PSTR(" logs"),
           //PSTR(" load"), PSTR(" eeprom"),
-          //PSTR(" fsinfo"), PSTR(" fsformat"), PSTR(" logs"),  PSTR(" log"),
+          //PSTR(" fsinfo"), PSTR(" fsformat"), PSTR(" log"),
           NULL
         };
         for(const char ** ptr = helps; *ptr; ptr++)
@@ -1190,9 +1190,27 @@ class Cli
         s.print(F(", "));
         s.println(_model.state.inputAutoFactor);
 
+        static const char* armingDisableNames[] = {
+          PSTR("NO_GYRO"), PSTR("FAILSAFE"), PSTR("RX_FAILSAFE"), PSTR("BAD_RX_RECOVERY"),
+          PSTR("BOXFAILSAFE"), PSTR("RUNAWAY_TAKEOFF"), PSTR("CRASH_DETECTED"), PSTR("THROTTLE"),
+          PSTR("ANGLE"), PSTR("BOOT_GRACE_TIME"), PSTR("NOPREARM"), PSTR("LOAD"),
+          PSTR("CALIBRATING"), PSTR("CLI"), PSTR("CMS_MENU"), PSTR("BST"),
+          PSTR("MSP"), PSTR("PARALYZE"), PSTR("GPS"), PSTR("RESC"),
+          PSTR("RPMFILTER"), PSTR("REBOOT_REQUIRED"), PSTR("DSHOT_BITBANG"), PSTR("ACC_CALIBRATION"),
+          PSTR("MOTOR_PROTOCOL"), PSTR("ARM_SWITCH")
+        };
+        const size_t armingDisableNamesLength = sizeof(armingDisableNames) / sizeof(armingDisableNames[0]);
+
+        s.println();
+        s.print(F(" arming disabled:"));
+        for(size_t i = 0; i < armingDisableNamesLength; i++)
+        {
+          if(_model.state.armingDisabledFlags & (1 << i)) {
+            s.print(' ');
+            s.print(armingDisableNames[i]);
+          }
+        }
         s.println();
-        s.print(F(" arming disabled: "));
-        s.println(_model.state.armingDisabledFlags);
       }
       else if(strcmp_P(cmd.args[0], PSTR("stats")) == 0)
       {
@@ -1206,6 +1224,7 @@ class Cli
           int time = lrintf(_model.state.stats.getTime(c));
           float load = _model.state.stats.getLoad(c);
           int freq = lrintf(_model.state.stats.getFreq(c));
+          int real = lrintf(_model.state.stats.getReal(c));
 
           s.print(FPSTR(_model.state.stats.getName(c)));
           s.print(": ");
@@ -1214,6 +1233,11 @@ class Cli
           s.print(time);
           s.print("us,  ");
 
+          if(real < 100) s.print(' ');
+          if(real < 10) s.print(' ');
+          s.print(real);
+          s.print("us/i,  ");
+
           if(load < 10) s.print(' ');
           s.print(load, 1);
           s.print("%,  ");
@@ -1232,36 +1256,6 @@ class Cli
         s.print(F("%"));
         s.println();
       }
-      else if(strcmp_P(cmd.args[0], PSTR("fsinfo")) == 0)
-      {
-        _model.logger.info(&s);
-      }
-      else if(strcmp_P(cmd.args[0], PSTR("fsformat")) == 0)
-      {
-        s.print(F("wait... "));
-        _model.logger.format();
-        s.println(F("OK"));
-      }
-      else if(strcmp_P(cmd.args[0], PSTR("logs")) == 0)
-      {
-        _model.logger.list(&s);
-      }
-      else if(strcmp_P(cmd.args[0], PSTR("log")) == 0)
-      {
-        if(!cmd.args[1])
-        {
-          _model.logger.show(&s);
-          return;
-        }
-        int id = String(cmd.args[1]).toInt();
-        if(!id)
-        {
-          s.println(F("invalid log id"));
-          s.println();
-          return;
-        }
-        _model.logger.show(&s, id);
-      }
       else if(strcmp_P(cmd.args[0], PSTR("reboot")) == 0)
       {
         Hardware::restart(_model);
@@ -1274,6 +1268,12 @@ class Cli
       {
         _active = false;
       }
+      else if(strcmp_P(cmd.args[0], PSTR("logs")) == 0)
+      {
+        s.print(_model.logger.c_str());
+        s.print(PSTR("total: "));
+        s.println(_model.logger.length());
+      }
       else
       {
         s.print(F("unknown command: "));

diff --git a/lib/Espfc/src/Debug_Espfc.h b/lib/Espfc/src/Debug_Espfc.h
@@ -21,7 +21,8 @@ extern Stream * _debugStream;
 static inline void initDebugStream(Stream * p) { _debugStream = p; }
 
 #define LOG_SERIAL_INIT(p) _debugStream = p;
-#define LOG_SERIAL_DEBUG(v) if(_debugStream) { _debugStream->print(' '); _debugStream->print(v); }
+#define LOG_SERIAL_DEBUG(v) if(_debugStream) { _debugStream->print(v); }
+#define LOG_SERIAL_DEBUG_HEX(v) if(_debugStream) {  _debugStream->print(v, HEX); }
 
 template <typename T>
 void D(T t)
@@ -47,6 +48,7 @@ static inline void initDebugStream(Stream * p) {}
 
 #define LOG_SERIAL_INIT(p)
 #define LOG_SERIAL_DEBUG(v)
+#define LOG_SERIAL_DEBUG_HEX(v)
 #define D(...)
 
 #endif

diff --git a/lib/Espfc/src/Espfc.h b/lib/Espfc/src/Espfc.h
@@ -35,24 +35,25 @@ class Espfc
 
     int begin()
     {
+      _serial.begin();
+      _model.logStorageResult();
       _hardware.begin();
       _model.begin();
-      _mixer.begin();
+      //_mixer.begin();
       _sensor.begin();
       _input.begin();
       _actuator.begin();
       _controller.begin();
       _blackbox.begin();
-      _model.state.buzzer.push(BEEPER_SYSTEM_INIT);
 
       return 1;
     }
 
     int beginOther()
     {
-      _serial.begin();
-      _model.logStorageResult();
+      _mixer.begin();
       _buzzer.begin();
+      _model.state.buzzer.push(BEEPER_SYSTEM_INIT);
       return 1;
     }
 

diff --git a/lib/Espfc/src/Hardware.h b/lib/Espfc/src/Hardware.h
@@ -27,9 +27,9 @@
 
 namespace {
 #if defined(ESPFC_SPI_0)
-  #if defined(ESP32C3)
+  #if defined(ESP32C3) || defined(ESP32S3) || defined(ESP32S2)
     static SPIClass SPI1(HSPI);
-  #elif defined(ESP32) //where is this defined???
+  #elif defined(ESP32)
     static SPIClass SPI1(VSPI);
   #endif
   static Espfc::Device::BusSPI spiBus(ESPFC_SPI_0_DEV);