ardupilot/libraries/AP_HAL_ESP32/boards/esp32empty.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/>.
 */

/*
 * This board that does not contain any sensors (but pins are active), it is a great help for a novice user,
 * by flashing an empty board, you can connect via Mavlink (Mission Planner - MP) and gradually add sensors.
 * If you had some sensor configured and it doesn't work then the MP connection does not work and then you may not know what to do next.
*/

#pragma once

#define HAL_ESP32_BOARD_NAME "esp32-empty"

#define TRUE						1
#define FALSE						0

//Protocols
//list of protocols/enum:	ardupilot/libraries/AP_SerialManager/AP_SerialManager.h
//default protocols:		ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp
//ESP32 serials:		AP_HAL_ESP32/HAL_ESP32_Class.cpp

//#define DEFAULT_SERIAL0_PROTOCOL				SerialProtocol_MAVLink2			//A	UART0: Always: Console, MAVLink2
//#define DEFAULT_SERIAL0_BAUD				AP_SERIALMANAGER_CONSOLE_BAUD/1000	//115200

//#define DEFAULT_SERIAL1_PROTOCOL				SerialProtocol_MAVLink2			//C	WiFi:  TCP, UDP, or disable (depends on HAL_ESP32_WIFI)
//#define DEFAULT_SERIAL1_BAUD				AP_SERIALMANAGER_MAVLINK_BAUD/1000	//57600

#define DEFAULT_SERIAL2_PROTOCOL				SerialProtocol_MAVLink2			//D	UART2: Always: MAVLink2 on ESP32
//#define DEFAULT_SERIAL2_BAUD				AP_SERIALMANAGER_MAVLINK_BAUD/1000	//57600

#define DEFAULT_SERIAL3_PROTOCOL				SerialProtocol_GPS			//B	UART1: GPS1
//#define DEFAULT_SERIAL4_BAUD				AP_SERIALMANAGER_GPS_BAUD/1000		//38400, Can not define default baudrate here (by config only)

#define DEFAULT_SERIAL4_PROTOCOL				SerialProtocol_None			//E
//#define DEFAULT_SERIAL4_BAUD				AP_SERIALMANAGER_GPS_BAUD/1000		//38400, Can not define default baudrate here (by config only)

#define DEFAULT_SERIAL5_PROTOCOL				SerialProtocol_None			//F
#define DEFAULT_SERIAL5_BAUD				(115200/1000)

#define DEFAULT_SERIAL6_PROTOCOL				SerialProtocol_None			//G
#define DEFAULT_SERIAL6_BAUD				(115200/1000)

#define DEFAULT_SERIAL7_PROTOCOL				SerialProtocol_None			//H
#define DEFAULT_SERIAL7_BAUD				(115200/1000)

#define DEFAULT_SERIAL8_PROTOCOL				SerialProtocol_None			//I
#define DEFAULT_SERIAL8_BAUD				(115200/1000)

#define DEFAULT_SERIAL9_PROTOCOL				SerialProtocol_None			//J
#define DEFAULT_SERIAL9_BAUD				(115200/1000)

//Inertial sensors
//#define HAL_INS_DEFAULT				HAL_INS_MPU9250_I2C
//#define PROBE_IMU_I2C(driver, bus, addr, args ...)	ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
//#define HAL_INS_PROBE_LIST				PROBE_IMU_I2C(Invensense, 0, 0x68, ROTATION_NONE)

//I2C Buses
#define HAL_ESP32_I2C_BUSES				{.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_14, .speed=400*KHZ, .internal=true, .soft=true}

//SPI Buses
#define HAL_ESP32_SPI_BUSES				{}

//SPI Devices
#define HAL_ESP32_SPI_DEVICES				{}

//RCIN
#define HAL_ESP32_RCIN					GPIO_NUM_36

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

//BAROMETER
#define HAL_BARO_ALLOW_INIT_NO_BARO			1

//COMPASS
#define ALLOW_ARM_NO_COMPASS

//WIFI
#define HAL_ESP32_WIFI					1	//1-TCP, 2-UDP, comment this line = without wifi
#define WIFI_SSID					"ardupilot-empty"
#define WIFI_PWD					"ardupilot-empty"

//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_34, .tx=GPIO_NUM_18},\
    {.port=UART_NUM_2, .rx=GPIO_NUM_35, .tx=GPIO_NUM_19}

//ADC
#define HAL_DISABLE_ADC_DRIVER				1
#define HAL_USE_ADC					0

//LED
#define DEFAULT_NTF_LED_TYPES				Notify_LED_None

//RMT pin number
#define HAL_ESP32_RMT_RX_PIN_NUMBER			4

//SD CARD
// Do u want to use mmc or spi mode for the sd card, this is board specific ,
//  as mmc uses specific pins but is quicker,
// and spi is more flexible pinouts....  dont forget vspi/hspi should be selected to NOT conflict with HAL_ESP32_SPI_BUSES

//#define HAL_ESP32_SDCARD //after enabled, uncomment one of below
//#define HAL_ESP32_SDMMC
//#define HAL_ESP32_SDSPI				{.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_2, .miso=GPIO_NUM_15, .sclk=GPIO_NUM_26, .cs=GPIO_NUM_21}

#define HAL_LOGGING_FILESYSTEM_ENABLED			0
#define HAL_LOGGING_DATAFLASH_ENABLED			0
#define HAL_LOGGING_MAVLINK_ENABLED			0

#define HAL_BOARD_LOG_DIRECTORY				"/SDCARD/APM/LOGS"
#define HAL_BOARD_STORAGE_DIRECTORY			"/SDCARD/APM/STORAGE"
#define HAL_BOARD_LOG_DIRECTORY				"/SDCARD/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY			"/SDCARD/APM/TERRAIN"

#define HAL_LOGGING_BACKENDS_DEFAULT			1