AP_HAL_ESP32: new board: esp32s3devkit

libraries/AP_HAL_ESP32/boards/esp32s3devkit.h

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+/*
+ * 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 CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT
+// 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))
+
+//- these are missing from esp-idf......will not be needed later
+#define RTC_WDT_STG_SEL_OFF             0
+#define RTC_WDT_STG_SEL_INT             1
+#define RTC_WDT_STG_SEL_RESET_CPU       2
+#define RTC_WDT_STG_SEL_RESET_SYSTEM    3
+#define RTC_WDT_STG_SEL_RESET_RTC       4
+
+#define HAL_ESP32_BOARD_NAME "esp32s3devkit"
+
+#define HAL_ESP32_RMT_RX_PIN_NUMBER GPIO_NUM_14
+
+//#define CONFIG_HAL_BOARD 12
+//#define HAL_BOARD_ESP32 12
+#define AP_INERTIALSENSOR_ENABLED 1
+//INS choices:
+#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
+//#define HAL_INS_MPU9250_NAME "MPU9250"
+
+// or this:
+//#define HAL_INS_DEFAULT HAL_INS_ICM20XXX_I2C
+//#define HAL_INS_ICM20XXX_I2C_BUS 0
+//#define HAL_INS_ICM20XXX_I2C_ADDR (0x68)
+
+// BARO choices:
+#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
+#define HAL_BARO_BMP280_NAME "BMP280"
+// or one of these:
+//#define HAL_BARO_DEFAULT HAL_BARO_MS5837_I2C
+// or: GPIO 34
+//#define HAL_BARO_ANALOG_PIN (6)
+
+// MAG/COMPASS choices:
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
+// or others:
+//#define HAL_COMPASS_ICM20948_I2C_ADDR (0x68)
+//#define HAL_COMPASS_AK09916_I2C_BUS 0
+//#define HAL_COMPASS_AK09916_I2C_ADDR (0x0C)
+//#define HAL_COMPASS_MAX_SENSORS 3
+
+// IMU probing:
+//#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensensev2, 0, 0x68, ROTATION_YAW_270)
+// MAG/COMPASS probing:
+//#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948_I2C(0, ROTATION_NONE));
+//#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(Invensense, "mpu9250")
+// BARO probing:
+#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x77)
+
+// allow boot without a baro
+#define HAL_BARO_ALLOW_INIT_NO_BARO 1
+
+
+// ADC is available on lots of pints on the esp32, but adc2 cant co-exist with wifi we choose to allow ADC on :
+//#define HAL_DISABLE_ADC_DRIVER 1
+#define TRUE 1
+#define HAL_USE_ADC TRUE
+
+// the pin number, the gain/multiplier associated with it, the ardupilot name for the pin in parameter/s.
+//
+// two different pin numbering schemes, both are ok, but only one at a time:
+#define HAL_ESP32_ADC_PINS_OPTION1 {\
+	{ADC1_CHANNEL_4, 11, 1},\
+	{ADC1_CHANNEL_3, 11, 2},\
+	{ADC1_CHANNEL_1, 11, 3},\
+	{ADC1_CHANNEL_0, 11, 4}\
+}
+#define HAL_ESP32_ADC_PINS_OPTION2 {\
+	{ADC1_GPIO35_CHANNEL, 11, 35},\
+	{ADC1_GPIO34_CHANNEL, 11, 34},\
+	{ADC1_GPIO39_CHANNEL, 11, 39},\
+	{ADC1_GPIO36_CHANNEL, 11, 36}\
+}
+// pick one:
+//#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1
+#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1
+
+#define HAL_INS_MPU9250_NAME "mpu9250"
+
+// uncommenting one or more of these will give more console debug in certain areas..
+//#define INSEDEBUG 1
+//#define STORAGEDEBUG 1
+//#define SCHEDDEBUG 1
+//#define FSDEBUG 1
+//#define BUSDEBUG 1
+
+#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_NONE)
+//#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_ROLL_180)
+// MAG/COMPASS probing:
+#define AP_COMPASS_AK8963_ENABLED TRUE
+#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE))
+#define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
+
+//#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
+
+// 2 use udp, 1 use tcp...  for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
+#define HAL_ESP32_WIFI 1
+
+// tip: if u are ok getting mavlink-over-tcp or mavlink-over-udp and want to disable mavlink-over-serial-usb
+//then set ardupilot parameter SERIAL0_PROTOCOL = 0 and reboot.
+// u also will/may want..
+//LOG_BACKEND_TYPE 1
+//LOG_DISARMED 1
+//SERIAL0_PROTOCOL 0
+
+
+// see boards.py
+#ifndef ENABLE_HEAP
+#define ENABLE_HEAP 1
+#endif
+
+#define WIFI_SSID "ardupilot123"
+#define WIFI_PWD "ardupilot123"
+
+//RCOUT which pins are used?
+
+#define HAL_ESP32_RCOUT { GPIO_NUM_11,GPIO_NUM_10, GPIO_NUM_9, GPIO_NUM_8, GPIO_NUM_7, GPIO_NUM_6 }
+
+// SPI BUS setup, including gpio, dma, etc
+// note... we use 'vspi' for the bmp280 and mpu9250
+#define HAL_ESP32_SPI_BUSES \
+    {.host=SPI3_HOST, .dma_ch=SPI_DMA_CH_AUTO, .mosi=GPIO_NUM_36, .miso=GPIO_NUM_37, .sclk=GPIO_NUM_35}
+// tip:  VSPI_HOST  is an alternative name for esp's SPI3
+//#define HAL_ESP32_SPI_BUSES {}
+
+// SPI per-device setup, including speeds, etc.
+#define HAL_ESP32_SPI_DEVICES \
+    {.name="mpu9250", .bus=0, .device=0, .cs=GPIO_NUM_34,  .mode = 0, .lspeed=2*MHZ, .hspeed=8*MHZ}
+//#define HAL_ESP32_SPI_DEVICES {}
+
+//I2C bus list
+#define HAL_ESP32_I2C_BUSES \
+	{.port=I2C_NUM_0, .sda=GPIO_NUM_16, .scl=GPIO_NUM_15, .speed=400*KHZ, .internal=true}
+//#define HAL_ESP32_I2C_BUSES {} // using this embty block appears to cause crashes?
+
+
+// rcin on what pin?
+#define HAL_ESP32_RCIN GPIO_NUM_14
+
+
+//HARDWARE UARTS
+#define HAL_ESP32_UART_DEVICES \
+  {.port=UART_NUM_0, .rx=GPIO_NUM_44, .tx=GPIO_NUM_43 },{.port=UART_NUM_1, .rx=GPIO_NUM_17, .tx=GPIO_NUM_18 }
+
+#define HAVE_FILESYSTEM_SUPPORT 1
+
+// 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,
+#define HAL_ESP32_SDMMC 1
+// and spi is more flexible pinouts....  dont forget vspi/hspi should be selected to NOT conflict with SPI_BUSES above
+//#define HAL_ESP32_SDSPI {.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_2, .miso=GPIO_NUM_15, .sclk=GPIO_NUM_14, .cs=GPIO_NUM_21}
+
+#define HAL_ESP32_SDCARD 1
+#define LOGGER_MAVLINK_SUPPORT 1
+#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
+#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
+#define HAL_OS_POSIX_IO 1
+
+// this becomes the default value for the ardupilot param LOG_BACKEND_TYPE, which most ppl want to be 1, for log-to-flash
+// setting to 2 means log-over-mavlink to a companion computer etc.
+#define HAL_LOGGING_BACKENDS_DEFAULT 1

libraries/AP_HAL_ESP32/hwdef/esp32s3devkit/README.MD

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+to be added later