ardupilot/libraries/AP_HAL_ESP32/boards/esp32nick.h

/*
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once

#define HAL_ESP32_BOARD_NAME "esp32-nick"
// CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_ESP32_NICK

#define TRUE						1
#define FALSE						0

// make sensor selection clearer
#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))

#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
#define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))

#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
#define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args))
//------------------------------------

#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_ESP32_NICK

//-----INS/IMU-----
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_NONE)

// -----BARO-----
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
#define HAL_BARO_BMP280_NAME "BMP280"
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
// allow boot without a baro
#define HAL_BARO_ALLOW_INIT_NO_BARO 1

//-----ADC-----
#define HAL_USE_ADC TRUE

// 	pin number,
//	gain/multiplier,
//	the ardupilot name for the pin in parameter/s.
#define HAL_ESP32_ADC_PINS {\
	{ADC1_GPIO35_CHANNEL, 11, 34},\
	{ADC1_GPIO34_CHANNEL, 11, 35},\
	{ADC1_GPIO39_CHANNEL, 11, 39},\
	{ADC1_GPIO36_CHANNEL, 11, 36}\
}

//-----COMPASS-----
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
#define ALLOW_ARM_NO_COMPASS				1
#define AP_COMPASS_AK8963_ENABLED TRUE
//-----WIFI-----

#define HAL_ESP32_WIFI 1  // 2 use udp, 1 use tcp
#define WIFI_SSID "ardupilot123"
#define WIFI_PWD "ardupilot123"

//-----RCOUT-----
#define HAL_ESP32_RCOUT { \
	GPIO_NUM_21, \
	GPIO_NUM_22, \
	GPIO_NUM_27, \
	GPIO_NUM_25, \
	GPIO_NUM_32, \
	GPIO_NUM_33 }

//-----SPIBUS-----
#define HAL_ESP32_SPI_BUSES \
    {.host=VSPI_HOST, .dma_ch=1, .mosi=GPIO_NUM_23, .miso=GPIO_NUM_19, .sclk=GPIO_NUM_18}

//-----SPIDEVICES-----
#define HAL_ESP32_SPI_DEVICES \
    {.name="mpu9250", .bus=0, .device=1, .cs=GPIO_NUM_5,  .mode = 0, .lspeed=2*MHZ, .hspeed=8*MHZ}

//-----I2CBUS-----
#define HAL_ESP32_I2C_BUSES \
	{.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_12, .speed=400*KHZ, .internal=true}

//-----RCIN-----
#define HAL_ESP32_RCIN GPIO_NUM_4
//RMT pin number
#define HAL_ESP32_RMT_RX_PIN_NUMBER			4
//-----UARTS-----
#define HAL_ESP32_UART_DEVICES \
  {.port=UART_NUM_0, .rx=GPIO_NUM_3, .tx=GPIO_NUM_1 } \
  ,{.port=UART_NUM_1, .rx=GPIO_NUM_16, .tx=GPIO_NUM_17 }

//FILESYSTEM SUPPORT
#define HAVE_FILESYSTEM_SUPPORT 1
#define HAL_OS_POSIX_IO 1
#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
#define HAL_ESP32_SDMMC 1
#define HAL_ESP32_SDCARD 1

//LOGGING
#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
#define LOGGER_MAVLINK_SUPPORT 1
#define HAL_LOGGING_BACKENDS_DEFAULT 1
#define HAL_LOGGING_DATAFLASH_ENABLED			0
#define HAL_LOGGING_MAVLINK_ENABLED			0
//TERRAIN
#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"

// see boards.py
#ifndef ENABLE_HEAP
#define ENABLE_HEAP 1
#endif