AP_HAL_ESP32: add empty board - without any sensors

libraries/AP_HAL/AP_HAL_Boards.h

@@ -63,6 +63,7 @@
 #define HAL_BOARD_SUBTYPE_ESP32_DIY             6001
 #define HAL_BOARD_SUBTYPE_ESP32_ICARUS          6002
 #define HAL_BOARD_SUBTYPE_ESP32_BUZZ            6003
+#define HAL_BOARD_SUBTYPE_ESP32_EMPTY           6004
 
 /* InertialSensor driver types */
 #define HAL_INS_NONE         0

libraries/AP_HAL/board/esp32.h

@@ -7,6 +7,8 @@
 #include "esp32buzz.h" //Buzz
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_ICARUS
 #include "esp32icarus.h" //Alex
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_EMPTY
+#include "esp32empty.h" //wiktor-m
 #endif
 
 #define HAL_BOARD_NAME "ESP32"

libraries/AP_HAL_ESP32/boards/esp32empty.h

@@ -0,0 +1,132 @@
+/*
+ * 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/>.
+ */
+
+/*
+ * This board that does not contain any sensors (but pins are active), it is a great help for a novice user,
+ * by flashing an empty board, you can connect via Mavlink (Mission Planner - MP) and gradually add sensors.
+ * If you had some sensor configured and it doesn't work then the MP connection does not work and then you may not know what to do next.
+*/
+
+#pragma once
+
+#define HAL_ESP32_BOARD_NAME "esp32-empty"
+
+#define TRUE						1
+#define FALSE						0
+
+//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_MAVLink2			//D	UART2: Always: MAVLink2 on ESP32
+//#define HAL_SERIAL2_BAUD				AP_SERIALMANAGER_MAVLINK_BAUD/1000	//57600
+
+#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_I2C
+//#define PROBE_IMU_I2C(driver, bus, addr, args ...)	ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
+//#define HAL_INS_PROBE_LIST				PROBE_IMU_I2C(Invensense, 0, 0x68, ROTATION_NONE)
+
+//I2C Buses
+#define HAL_ESP32_I2C_BUSES				{.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_14, .speed=400*KHZ, .internal=true, .soft=true}
+
+//SPI Buses
+#define HAL_ESP32_SPI_BUSES				{}
+
+//SPI Devices
+#define HAL_ESP32_SPI_DEVICES				{}
+
+//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, GPIO_NUM_22, GPIO_NUM_21 }
+
+//BAROMETER
+#define HAL_BARO_ALLOW_INIT_NO_BARO			1
+
+//COMPASS
+#define ALLOW_ARM_NO_COMPASS
+
+//WIFI
+#define HAL_ESP32_WIFI					1	//1-TCP, 2-UDP, comment this line = without wifi
+#define WIFI_SSID					"ardupilot-empty"
+#define WIFI_PWD					"ardupilot-empty"
+
+//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_34, .tx=GPIO_NUM_18},\
+    {.port=UART_NUM_2, .rx=GPIO_NUM_35, .tx=GPIO_NUM_19}
+
+//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_SDSPI				{.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_2, .miso=GPIO_NUM_15, .sclk=GPIO_NUM_26, .cs=GPIO_NUM_21}
+
+#define HAL_OS_POSIX_IO					1
+
+#define HAL_LOGGING_FILESYSTEM_ENABLED			0
+#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
+