AP_HAL_ESP32: add board esp32nick

libraries/AP_HAL_ESP32/boards/esp32nick.h

@@ -0,0 +1,124 @@
+/*
+ * 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

libraries/AP_HAL_ESP32/hwdef/esp32nick/README.MD

@@ -0,0 +1,44 @@
+IMU MPU9250
+NCS IO5
+SDA IO23
+ADO IO19
+SCL IO18
+
+GPS W/COMPASS
+TX  IO17
+RX  IO16
+SDA IO13
+SCL IO12
+
+BARO BMP280
+SDA IO13
+SCL IO12
+
+TELEM (UART0)
+TX IO1
+RX IO3
+
+TELEM (UART1)
+WIFI TCP
+
+RCIN (PPM)
+PPM IO4
+
+SDMMC
+CMD	IO15
+CLK	IO14
+D0	IO2
+
+ANALOG IN
+IO34
+IO35
+IO36
+IO39
+
+PWMOUT
+IO21
+IO22
+IO25
+IO27
+IO32
+IO33