mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ESP32: Update the WiFi init code to the newer ESP-IDF (4.2+) and
mostly by TByte007 from here, but fixed and re-tested. https://github.com/ArduPilot/ardupilot/pull/24527/commits
This commit is contained in:
David Buzz
Andrew Tridgell
parent
5560bd8ed8
commit
678474614f
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@ -24,6 +24,7 @@
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#include "esp_system.h"
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#include "esp_wifi.h"
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#include "esp_event.h"
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#include "esp_log.h"
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#include "nvs_flash.h"
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#include "lwip/err.h"
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@ -208,31 +209,158 @@ bool WiFiDriver::write_data()
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return true;
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}
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#if WIFI_STATION
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#define WIFI_CONNECTED_BIT BIT0
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#define WIFI_FAIL_BIT BIT1
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#ifndef ESP_STATION_MAXIMUM_RETRY
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#define ESP_STATION_MAXIMUM_RETRY 10
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#endif
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static const char *TAG = "wifi station";
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static int s_retry_num = 0;
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static EventGroupHandle_t s_wifi_event_group;
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static void _sta_event_handler(void* arg, esp_event_base_t event_base,
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int32_t event_id, void* event_data)
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{
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if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
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esp_wifi_connect();
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} else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
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if (s_retry_num < ESP_STATION_MAXIMUM_RETRY) {
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esp_wifi_connect();
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s_retry_num++;
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ESP_LOGI(TAG, "retry to connect to the AP");
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} else {
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xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
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}
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ESP_LOGI(TAG,"connect to the AP fail");
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} else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
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s_retry_num = 0;
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xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
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}
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}
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#endif
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void WiFiDriver::initialize_wifi()
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{
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tcpip_adapter_init();
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nvs_flash_init();
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esp_event_loop_init(nullptr, nullptr);
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wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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esp_wifi_init(&cfg);
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esp_wifi_set_storage(WIFI_STORAGE_FLASH);
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#ifndef WIFI_PWD
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#default WIFI_PWD "ardupilot1"
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#endif
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//Initialize NVS
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esp_err_t ret = nvs_flash_init();
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if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
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ESP_ERROR_CHECK(nvs_flash_erase());
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ret = nvs_flash_init();
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}
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ESP_ERROR_CHECK(ret);
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ESP_ERROR_CHECK(esp_netif_init());
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ESP_ERROR_CHECK(esp_event_loop_create_default());
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wifi_config_t wifi_config;
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memset(&wifi_config, 0, sizeof(wifi_config));
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#ifdef WIFI_SSID
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bzero(&wifi_config, sizeof(wifi_config));
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/*
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Acting as an Access Point (softAP)
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*/
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#if !WIFI_STATION
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#ifndef WIFI_SSID
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#define WIFI_SSID "ardupilot"
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#endif
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#ifndef WIFI_CHANNEL
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#define WIFI_CHANNEL 1
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#endif
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esp_netif_create_default_wifi_ap();
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wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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ESP_ERROR_CHECK(esp_wifi_init(&cfg));
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strcpy((char *)wifi_config.ap.ssid, WIFI_SSID);
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#else
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strcpy((char *)wifi_config.ap.ssid, "ardupilot");
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#endif
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#ifdef WIFI_PWD
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strcpy((char *)wifi_config.ap.password, WIFI_PWD);
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wifi_config.ap.ssid_len = strlen(WIFI_SSID),
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wifi_config.ap.max_connection = WIFI_MAX_CONNECTION,
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wifi_config.ap.authmode = WIFI_AUTH_WPA2_PSK;
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wifi_config.ap.channel = WIFI_CHANNEL;
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if (strlen(WIFI_PWD) == 0) {
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wifi_config.ap.authmode = WIFI_AUTH_OPEN;
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}
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ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
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ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
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ESP_ERROR_CHECK(esp_wifi_start());
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hal.console->printf("WiFi softAP init finished. SSID: %s password: %s channel: %d\n",
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wifi_config.ap.ssid, wifi_config.ap.password, wifi_config.ap.channel);
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/*
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Acting as a Station (WiFi Client)
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*/
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#else
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strcpy((char *)wifi_config.ap.password, "ardupilot1");
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#ifndef WIFI_SSID_STATION
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#define WIFI_SSID_STATION "ardupilot"
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#endif
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#ifndef WIFI_HOSTNAME
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#define WIFI_HOSTNAME "ArduPilotESP32"
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#endif
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s_wifi_event_group = xEventGroupCreate();
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esp_netif_t *netif = esp_netif_create_default_wifi_sta();
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esp_netif_set_hostname(netif, WIFI_HOSTNAME);
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wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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ESP_ERROR_CHECK(esp_wifi_init(&cfg));
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esp_event_handler_instance_t instance_any_id;
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esp_event_handler_instance_t instance_got_ip;
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ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
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ESP_EVENT_ANY_ID,
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&_sta_event_handler,
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NULL,
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&instance_any_id));
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ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT,
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IP_EVENT_STA_GOT_IP,
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&_sta_event_handler,
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NULL,
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&instance_got_ip));
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strcpy((char *)wifi_config.sta.ssid, WIFI_SSID_STATION);
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strcpy((char *)wifi_config.sta.password, WIFI_PWD);
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wifi_config.sta.threshold.authmode = WIFI_AUTH_OPEN;
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wifi_config.sta.sae_pwe_h2e = WPA3_SAE_PWE_BOTH;
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ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
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ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
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ESP_ERROR_CHECK(esp_wifi_start() );
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hal.console->printf("WiFi Station init finished. Connecting:\n");
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/* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
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* number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
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EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
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WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
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pdFALSE, pdFALSE, portMAX_DELAY);
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/* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
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* happened. */
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if (bits & WIFI_CONNECTED_BIT) {
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ESP_LOGI(TAG, "connected to ap SSID: %s password: %s",
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wifi_config.sta.ssid, wifi_config.sta.password);
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} else if (bits & WIFI_FAIL_BIT) {
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ESP_LOGI(TAG, "Failed to connect to SSID: %s, password: %s",
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wifi_config.sta.ssid, wifi_config.sta.password);
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} else {
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ESP_LOGE(TAG, "UNEXPECTED EVENT");
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}
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/* The event will not be processed after unregister */
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ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));
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ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
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vEventGroupDelete(s_wifi_event_group);
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#endif
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wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
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wifi_config.ap.max_connection = WIFI_MAX_CONNECTION;
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esp_wifi_set_mode(WIFI_MODE_AP);
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esp_wifi_set_config(WIFI_IF_AP, &wifi_config);
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esp_wifi_start();
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}
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size_t WiFiDriver::_write(const uint8_t *buffer, size_t size)
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@ -178,33 +178,158 @@ bool WiFiUdpDriver::write_data()
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return true;
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}
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#if WIFI_STATION
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#define WIFI_CONNECTED_BIT BIT0
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#define WIFI_FAIL_BIT BIT1
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#ifndef ESP_STATION_MAXIMUM_RETRY
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#define ESP_STATION_MAXIMUM_RETRY 10
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#endif
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static const char *TAG = "wifi station";
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static int s_retry_num = 0;
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static EventGroupHandle_t s_wifi_event_group;
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static void _sta_event_handler(void* arg, esp_event_base_t event_base,
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int32_t event_id, void* event_data)
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{
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if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
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esp_wifi_connect();
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} else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
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if (s_retry_num < ESP_STATION_MAXIMUM_RETRY) {
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esp_wifi_connect();
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s_retry_num++;
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ESP_LOGI(TAG, "retry to connect to the AP");
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} else {
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xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
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}
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ESP_LOGI(TAG,"connect to the AP fail");
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} else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
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s_retry_num = 0;
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xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
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}
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}
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#endif
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void WiFiUdpDriver::initialize_wifi()
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{
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esp_event_loop_init(nullptr, nullptr);
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#ifndef WIFI_PWD
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#default WIFI_PWD "ardupilot1"
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#endif
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//Initialize NVS
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esp_err_t ret = nvs_flash_init();
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if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
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ESP_ERROR_CHECK(nvs_flash_erase());
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ret = nvs_flash_init();
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}
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ESP_ERROR_CHECK(ret);
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tcpip_adapter_init();
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nvs_flash_init();
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ESP_ERROR_CHECK(esp_netif_init());
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ESP_ERROR_CHECK(esp_event_loop_create_default());
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wifi_config_t wifi_config;
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bzero(&wifi_config, sizeof(wifi_config));
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/*
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Acting as an Access Point (softAP)
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*/
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#if !WIFI_STATION
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#ifndef WIFI_SSID
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#define WIFI_SSID "ardupilot"
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#endif
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#ifndef WIFI_CHANNEL
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#define WIFI_CHANNEL 1
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#endif
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esp_netif_create_default_wifi_ap();
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wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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esp_wifi_init(&cfg);
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esp_wifi_set_storage(WIFI_STORAGE_FLASH);
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wifi_config_t wifi_config;
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memset(&wifi_config, 0, sizeof(wifi_config));
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#ifdef WIFI_SSID
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ESP_ERROR_CHECK(esp_wifi_init(&cfg));
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strcpy((char *)wifi_config.ap.ssid, WIFI_SSID);
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#else
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strcpy((char *)wifi_config.ap.ssid, "ardupilot");
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#endif
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#ifdef WIFI_PWD
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strcpy((char *)wifi_config.ap.password, WIFI_PWD);
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wifi_config.ap.ssid_len = strlen(WIFI_SSID),
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wifi_config.ap.max_connection = WIFI_MAX_CONNECTION,
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wifi_config.ap.authmode = WIFI_AUTH_WPA2_PSK;
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wifi_config.ap.channel = WIFI_CHANNEL;
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if (strlen(WIFI_PWD) == 0) {
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wifi_config.ap.authmode = WIFI_AUTH_OPEN;
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}
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ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
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ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
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ESP_ERROR_CHECK(esp_wifi_start());
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hal.console->printf("WiFi softAP init finished. SSID: %s password: %s channel: %d\n",
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wifi_config.ap.ssid, wifi_config.ap.password, wifi_config.ap.channel);
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/*
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Acting as a Station (WiFi Client)
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*/
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#else
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strcpy((char *)wifi_config.ap.password, "ardupilot1");
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#ifndef WIFI_SSID_STATION
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#define WIFI_SSID_STATION "ardupilot"
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#endif
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#ifndef WIFI_HOSTNAME
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#define WIFI_HOSTNAME "ArduPilotESP32"
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#endif
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s_wifi_event_group = xEventGroupCreate();
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esp_netif_t *netif = esp_netif_create_default_wifi_sta();
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esp_netif_set_hostname(netif, WIFI_HOSTNAME);
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wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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ESP_ERROR_CHECK(esp_wifi_init(&cfg));
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esp_event_handler_instance_t instance_any_id;
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esp_event_handler_instance_t instance_got_ip;
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ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
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ESP_EVENT_ANY_ID,
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&_sta_event_handler,
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NULL,
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&instance_any_id));
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ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT,
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IP_EVENT_STA_GOT_IP,
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&_sta_event_handler,
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NULL,
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&instance_got_ip));
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strcpy((char *)wifi_config.sta.ssid, WIFI_SSID_STATION);
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strcpy((char *)wifi_config.sta.password, WIFI_PWD);
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wifi_config.sta.threshold.authmode = WIFI_AUTH_OPEN;
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wifi_config.sta.sae_pwe_h2e = WPA3_SAE_PWE_BOTH;
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ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
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ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
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ESP_ERROR_CHECK(esp_wifi_start() );
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hal.console->printf("WiFi Station init finished. Connecting:\n");
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/* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
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* number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
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EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
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WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
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pdFALSE, pdFALSE, portMAX_DELAY);
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/* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
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* happened. */
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if (bits & WIFI_CONNECTED_BIT) {
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ESP_LOGI(TAG, "connected to ap SSID: %s password: %s",
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wifi_config.sta.ssid, wifi_config.sta.password);
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} else if (bits & WIFI_FAIL_BIT) {
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ESP_LOGI(TAG, "Failed to connect to SSID: %s, password: %s",
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wifi_config.sta.ssid, wifi_config.sta.password);
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} else {
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ESP_LOGE(TAG, "UNEXPECTED EVENT");
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}
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/* The event will not be processed after unregister */
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ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));
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ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
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vEventGroupDelete(s_wifi_event_group);
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#endif
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wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
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wifi_config.ap.max_connection = 4;
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esp_wifi_set_mode(WIFI_MODE_AP);
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esp_wifi_set_config(WIFI_IF_AP, &wifi_config);
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esp_wifi_start();
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}
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size_t WiFiUdpDriver::_write(const uint8_t *buffer, size_t size)
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@ -22,6 +22,9 @@
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#include "lwip/sockets.h"
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#include "esp_event.h"
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#ifndef WIFI_MAX_CONNECTION
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#define WIFI_MAX_CONNECTION 5
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#endif
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class ESP32::WiFiUdpDriver : public AP_HAL::UARTDriver
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{
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