mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ESP32: update esp32empty
- Add INS_ACC offsets to param to skip calibration for esp32empty - Update esp32empty.h - Change tabs to whitespace. - Define HAL_INS_DEFAULT to HAL_INS_NONE - Update wifi details - Format comment in esp32empty - Update serial defaults and uarts - Use IO_MUX for UART_NUM_2 (TX 17, RX 16) - Update scheduler - Disable initialisation check in timer thread if HAL_INS_NONE - Print main loop rate every 10s - Remove serial(n)->begin() calls Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring
Peter Barker
parent
732b074bee
commit
b97e98242b
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@ -28,6 +28,7 @@
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#include "esp_task_wdt.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <stdio.h>
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//#define SCHEDULERDEBUG 1
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@ -50,6 +51,7 @@ void disableCore0WDT()
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//print("Failed to remove Core 0 IDLE task from WDT");
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}
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}
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void disableCore1WDT()
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{
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TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU(1);
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@ -292,9 +294,14 @@ void Scheduler::_timer_thread(void *arg)
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printf("%s:%d start\n", __PRETTY_FUNCTION__, __LINE__);
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#endif
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Scheduler *sched = (Scheduler *)arg;
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#if HAL_INS_DEFAULT != HAL_INS_NONE
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// wait to ensure INS system inits unless using HAL_INS_NONE
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while (!_initialized) {
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sched->delay_microseconds(1000);
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}
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#endif
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#ifdef SCHEDDEBUG
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printf("%s:%d initialised\n", __PRETTY_FUNCTION__, __LINE__);
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#endif
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@ -507,17 +514,25 @@ void Scheduler::print_stats(void)
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// printf("loop_rate_hz: %d",get_loop_rate_hz());
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}
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// Run every 10s
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void Scheduler::print_main_loop_rate(void)
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{
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static int64_t last_run = 0;
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if (AP_HAL::millis64() - last_run > 10000) {
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last_run = AP_HAL::millis64();
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const float actual_loop_rate = AP::scheduler().get_filtered_loop_rate_hz();
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const uint16_t expected_loop_rate = AP::scheduler().get_loop_rate_hz();
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hal.console->printf("loop_rate: actual: %uHz, expected: %uHz\n",
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(uint16_t)actual_loop_rate, (uint16_t)expected_loop_rate);
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}
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}
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void IRAM_ATTR Scheduler::_main_thread(void *arg)
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{
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#ifdef SCHEDDEBUG
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printf("%s:%d start\n", __PRETTY_FUNCTION__, __LINE__);
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#endif
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Scheduler *sched = (Scheduler *)arg;
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hal.serial(0)->begin(115200);
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hal.serial(1)->begin(57600);
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hal.serial(2)->begin(57600);
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//hal.uartC->begin(921600);
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hal.serial(3)->begin(115200);
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#ifndef HAL_DISABLE_ADC_DRIVER
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hal.analogin->init();
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@ -535,7 +550,9 @@ void IRAM_ATTR Scheduler::_main_thread(void *arg)
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sched->callbacks->loop();
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sched->delay_microseconds(250);
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sched->print_stats(); // only runs every 60 seconds.
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// run stats periodically
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sched->print_stats();
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sched->print_main_loop_rate();
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}
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}
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@ -49,6 +49,8 @@ public:
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bool is_system_initialized() override;
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void print_stats(void) ;
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void print_main_loop_rate(void);
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uint16_t get_loop_rate_hz(void);
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AP_Int16 _active_loop_rate_hz;
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AP_Int16 _loop_rate_hz;
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@ -23,108 +23,128 @@
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#define HAL_ESP32_BOARD_NAME "esp32-empty"
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#define TRUE 1
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#define FALSE 0
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#define TRUE 1
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#define FALSE 0
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//Protocols
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//list of protocols/enum: ardupilot/libraries/AP_SerialManager/AP_SerialManager.h
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//default protocols: ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp
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//ESP32 serials: AP_HAL_ESP32/HAL_ESP32_Class.cpp
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// list of protocols/enum: ardupilot/libraries/AP_SerialManager/AP_SerialManager.h
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// default protocols: ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp
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// ESP32 serials: AP_HAL_ESP32/HAL_ESP32_Class.cpp
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//#define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_MAVLink2 //A UART0: Always: Console, MAVLink2
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//#define DEFAULT_SERIAL0_BAUD AP_SERIALMANAGER_CONSOLE_BAUD/1000 //115200
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//#define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_MAVLink2 //A UART0: Always: Console, MAVLink2
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//#define DEFAULT_SERIAL0_BAUD AP_SERIALMANAGER_CONSOLE_BAUD/1000 //115200
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//#define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2 //C WiFi: TCP, UDP, or disable (depends on HAL_ESP32_WIFI)
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//#define DEFAULT_SERIAL1_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 //57600
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//#define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2 //C WiFi: TCP, UDP, or disable (depends on HAL_ESP32_WIFI)
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//#define DEFAULT_SERIAL1_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 //57600
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#define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MAVLink2 //D UART2: Always: MAVLink2 on ESP32
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//#define DEFAULT_SERIAL2_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 //57600
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#define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MAVLink2 //D UART2
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#define DEFAULT_SERIAL2_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 //57600
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#define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_GPS //B UART1: GPS1
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//#define DEFAULT_SERIAL4_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400, Can not define default baudrate here (by config only)
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#define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_GPS //B UART1: GPS1
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#define DEFAULT_SERIAL3_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400, Can not define default baudrate here (by config only)
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//#define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None //B
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//#define DEFAULT_SERIAL3_BAUD (115200/1000)
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#define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None //E
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//#define DEFAULT_SERIAL4_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400, Can not define default baudrate here (by config only)
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#define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None //E
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#define DEFAULT_SERIAL5_BAUD (115200/1000)
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#define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None //F
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#define DEFAULT_SERIAL5_BAUD (115200/1000)
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#define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None //F
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#define DEFAULT_SERIAL5_BAUD (115200/1000)
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#define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_None //G
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#define DEFAULT_SERIAL6_BAUD (115200/1000)
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#define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_None //G
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#define DEFAULT_SERIAL6_BAUD (115200/1000)
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#define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_None //H
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#define DEFAULT_SERIAL7_BAUD (115200/1000)
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#define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_None //H
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#define DEFAULT_SERIAL7_BAUD (115200/1000)
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#define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_None //I
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#define DEFAULT_SERIAL8_BAUD (115200/1000)
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#define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_None //I
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#define DEFAULT_SERIAL8_BAUD (115200/1000)
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#define DEFAULT_SERIAL9_PROTOCOL SerialProtocol_None //J
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#define DEFAULT_SERIAL9_BAUD (115200/1000)
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#define DEFAULT_SERIAL9_PROTOCOL SerialProtocol_None //J
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#define DEFAULT_SERIAL9_BAUD (115200/1000)
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//Inertial sensors
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//#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
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//#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
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//#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 0, 0x68, ROTATION_NONE)
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#define HAL_INS_DEFAULT HAL_INS_NONE
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//#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
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//#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
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//#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 0, 0x68, ROTATION_NONE)
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//I2C Buses
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#define HAL_ESP32_I2C_BUSES {.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_14, .speed=400*KHZ, .internal=true, .soft=true}
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#define HAL_ESP32_I2C_BUSES {.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_14, .speed=400*KHZ, .internal=true, .soft=true}
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//SPI Buses
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#define HAL_ESP32_SPI_BUSES {}
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#define HAL_ESP32_SPI_BUSES {}
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//SPI Devices
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#define HAL_ESP32_SPI_DEVICES {}
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#define HAL_ESP32_SPI_DEVICES {}
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//RCIN
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#define HAL_ESP32_RCIN GPIO_NUM_36
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#define HAL_ESP32_RCIN GPIO_NUM_36
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//RCOUT
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#define HAL_ESP32_RCOUT { GPIO_NUM_25, GPIO_NUM_27, GPIO_NUM_33, GPIO_NUM_32, GPIO_NUM_22, GPIO_NUM_21 }
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#define HAL_ESP32_RCOUT {GPIO_NUM_25, GPIO_NUM_27, GPIO_NUM_33, GPIO_NUM_32, GPIO_NUM_22, GPIO_NUM_21}
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//AIRSPEED
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#define AP_AIRSPEED_ENABLED 0
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#define AP_AIRSPEED_ANALOG_ENABLED 0
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#define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
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//BAROMETER
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#define HAL_BARO_ALLOW_INIT_NO_BARO 1
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#define HAL_BARO_ALLOW_INIT_NO_BARO 1
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//IMU
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// #define AP_INERTIALSENSOR_ENABLED 1
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// #define AP_INERTIALSENSOR_KILL_IMU_ENABLED 0
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//COMPASS
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#define AP_COMPASS_ENABLE_DEFAULT 0
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#define ALLOW_ARM_NO_COMPASS
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//See boards.py
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#ifndef ENABLE_HEAP
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#define ENABLE_HEAP 1
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#endif
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//WIFI
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#define HAL_ESP32_WIFI 1 //1-TCP, 2-UDP, comment this line = without wifi
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#define WIFI_SSID "ardupilot-empty"
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#define WIFI_PWD "ardupilot-empty"
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#define HAL_ESP32_WIFI 1 //1-TCP, 2-UDP, comment this line = without wifi
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#define WIFI_SSID "ardupilot-esp32"
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#define WIFI_PWD "ardupilot-esp32"
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//UARTs
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// UART_NUM_0 and UART_NUM_2 are configured to use defaults
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#define HAL_ESP32_UART_DEVICES \
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{.port=UART_NUM_0, .rx=GPIO_NUM_3 , .tx=GPIO_NUM_1 },\
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{.port=UART_NUM_1, .rx=GPIO_NUM_34, .tx=GPIO_NUM_18},\
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{.port=UART_NUM_2, .rx=GPIO_NUM_35, .tx=GPIO_NUM_19}
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{.port=UART_NUM_2, .rx=GPIO_NUM_16, .tx=GPIO_NUM_17}
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//ADC
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#define HAL_DISABLE_ADC_DRIVER 1
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#define HAL_USE_ADC 0
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#define HAL_DISABLE_ADC_DRIVER 1
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#define HAL_USE_ADC 0
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//LED
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#define DEFAULT_NTF_LED_TYPES Notify_LED_None
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#define DEFAULT_NTF_LED_TYPES Notify_LED_None
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//RMT pin number
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#define HAL_ESP32_RMT_RX_PIN_NUMBER 4
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#define HAL_ESP32_RMT_RX_PIN_NUMBER 4
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//SD CARD
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// Do u want to use mmc or spi mode for the sd card, this is board specific ,
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// as mmc uses specific pins but is quicker,
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// and spi is more flexible pinouts.... dont forget vspi/hspi should be selected to NOT conflict with HAL_ESP32_SPI_BUSES
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// Do u want to use mmc or spi mode for the sd card, this is board specific,
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// as mmc uses specific pins but is quicker,
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// and spi is more flexible pinouts....
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// dont forget vspi/hspi should be selected to NOT conflict with HAL_ESP32_SPI_BUSES
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//#define HAL_ESP32_SDCARD //after enabled, uncomment one of below
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//#define HAL_ESP32_SDMMC
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//#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}
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//#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}
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#define HAL_LOGGING_FILESYSTEM_ENABLED 0
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#define HAL_LOGGING_DATAFLASH_ENABLED 0
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#define HAL_LOGGING_MAVLINK_ENABLED 0
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#define HAL_LOGGING_FILESYSTEM_ENABLED 0
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#define HAL_LOGGING_DATAFLASH_ENABLED 0
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#define HAL_LOGGING_MAVLINK_ENABLED 0
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#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
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#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
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#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
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#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
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#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
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#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
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#define HAL_LOGGING_BACKENDS_DEFAULT 1
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#define HAL_LOGGING_BACKENDS_DEFAULT 1
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