From a31f01d5056210315136a7d22edb0264eb52cd7e Mon Sep 17 00:00:00 2001 From: David Buzz Date: Tue, 2 May 2023 09:27:32 +1000 Subject: [PATCH] AP_HAL_ESP32: add a new board for tomte76 mpu9255 board, bmp280 baro, micro sd card and NEO M8 clone a --- libraries/AP_HAL_ESP32/boards/esp32tomte76.h | 139 ++++++++++++++++++ .../AP_HAL_ESP32/hwdef/esp32tomte76/hwdef.dat | 0 2 files changed, 139 insertions(+) create mode 100644 libraries/AP_HAL_ESP32/boards/esp32tomte76.h create mode 100644 libraries/AP_HAL_ESP32/hwdef/esp32tomte76/hwdef.dat diff --git a/libraries/AP_HAL_ESP32/boards/esp32tomte76.h b/libraries/AP_HAL_ESP32/boards/esp32tomte76.h new file mode 100644 index 0000000000..decff630a2 --- /dev/null +++ b/libraries/AP_HAL_ESP32/boards/esp32tomte76.h @@ -0,0 +1,139 @@ +/* + * 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 . + */ + +/* + * This board is tomte76's version of esp32empty.h to work with an aliexpress WROOM32 devkit clone, mpu9255 spi, bmp280 i2c, micro sd on spi2 and NEO M8 clone on UART. + */ +#pragma once + +#define HAL_ESP32_BOARD_NAME "esp32-tomte76" +// CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_ESP32_TOMTE76 + +#define TRUE 1 +#define FALSE 0 + +#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,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_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args)) + +//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 HAL_SERIAL0_PROTOCOL SerialProtocol_MAVLink2 //A UART0: Always: Console, MAVLink2 +//#define HAL_SERIAL0_BAUD AP_SERIALMANAGER_CONSOLE_BAUD/1000 //115200 + +//#define HAL_SERIAL1_PROTOCOL SerialProtocol_MAVLink2 //C WiFi: TCP, UDP, or disable (depends on HAL_ESP32_WIFI) +//#define HAL_SERIAL1_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 //57600 + +//#define HAL_SERIAL2_PROTOCOL SerialProtocol_GPS //D UART2: Always: MAVLink2 on ESP32 +//#define HAL_SERIAL2_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400 + +//#define HAL_SERIAL3_PROTOCOL SerialProtocol_GPS //B UART1: GPS1 +//#define HAL_SERIAL4_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400, Can not define default baudrate here (by config only) + +//#define HAL_SERIAL4_PROTOCOL SerialProtocol_None //E +//#define HAL_SERIAL4_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400, Can not define default baudrate here (by config only) + +/*#define HAL_SERIAL5_PROTOCOL SerialProtocol_None //F +#define HAL_SERIAL5_BAUD (115200/1000) + +#define HAL_SERIAL6_PROTOCOL SerialProtocol_None //G +#define HAL_SERIAL6_BAUD (115200/1000) + +#define HAL_SERIAL7_PROTOCOL SerialProtocol_None //H +#define HAL_SERIAL7_BAUD (115200/1000) + +#define HAL_SERIAL8_PROTOCOL SerialProtocol_None //I +#define HAL_SERIAL8_BAUD (115200/1000) + +#define HAL_SERIAL9_PROTOCOL SerialProtocol_None //J +#define HAL_SERIAL9_BAUD (115200/1000)*/ + +//Inertial sensors +#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI +#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, HAL_INS_MPU9250_NAME, ROTATION_NONE) +#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) +#define HAL_INS_MPU9250_NAME "mpu9250" + +//Baro +#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C +#define HAL_BARO_BMP085_NAME "bmp280" +#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x76) + +//I2C Buses +#define HAL_ESP32_I2C_BUSES {.port=I2C_NUM_0, .sda=GPIO_NUM_21, .scl=GPIO_NUM_22, .speed=400*KHZ, .internal=true} + +//SPI Buses +#define HAL_ESP32_SPI_BUSES {.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_23, .miso=GPIO_NUM_19, .sclk=GPIO_NUM_18} + +//SPI Devices +#define HAL_ESP32_SPI_DEVICES {.name="mpu9250", .bus=0, .device=0, .cs=GPIO_NUM_5, .mode = 0, .lspeed=2*MHZ, .hspeed=2*MHZ} + +//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 } +#define NUM_SERVO_CHANNELS 16 + +//BAROMETER +#define HAL_BARO_ALLOW_INIT_NO_BARO 1 + +//COMPASS +#define ALLOW_ARM_NO_COMPASS 1 + +//WIFI +#define HAL_ESP32_WIFI 1 //1-TCP, 2-UDP, comment this line = without wifi +#define WIFI_SSID "ardupilot123" +#define WIFI_PWD "ardupilot123" + +//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} + +//ADC +#define HAL_DISABLE_ADC_DRIVER 1 +#define HAL_USE_ADC 0 + +//LED +#define BUILD_DEFAULT_LED_TYPE 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_SDCARD 1 +#define HAL_ESP32_SDSPI {.host=HSPI_HOST, .dma_ch=1, .mosi=GPIO_NUM_13, .miso=GPIO_NUM_12, .sclk=GPIO_NUM_14, .cs=GPIO_NUM_15} + +#define HAL_OS_POSIX_IO 1 + +#define HAL_LOGGING_FILESYSTEM_ENABLED 1 +#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 diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32tomte76/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32tomte76/hwdef.dat new file mode 100644 index 0000000000..e69de29bb2