HAL_ESP32: added esp32s3empty target

libraries/AP_HAL_ESP32/Util.cpp

@@ -33,6 +33,7 @@
 #include "esp_log.h"
 #include "esp_system.h"
 #include "esp_heap_caps.h"
+#include <AP_Common/ExpandingString.h>
 
 
 extern const AP_HAL::HAL& hal;
@@ -268,28 +269,17 @@ bool Util::was_watchdog_reset() const
            || reason == ESP_RST_WDT;
 }
 
-#if CH_DBG_ENABLE_STACK_CHECK == TRUE
 /*
   display stack usage as text buffer for @SYS/threads.txt
  */
-size_t Util::thread_info(char *buf, size_t bufsize)
+void Util::thread_info(ExpandingString &str)
 {
-    thread_t *tp;
-    size_t total = 0;
-
     // a header to allow for machine parsers to determine format
-    int n = snprintf(buf, bufsize, "ThreadsV1\n");
+    str.printf("ThreadsV1\n");
-    if (n <= 0) {
-        return 0;
-    }
 
     //    char buffer[1024];
     //    vTaskGetRunTimeStats(buffer);
     //    snprintf(buf, bufsize,"\n\n%s\n", buffer);
-
-    // total = ..
-
-    return total;
 }
-#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
+
 

libraries/AP_HAL_ESP32/Util.h

@@ -62,10 +62,8 @@ public:
     // return true if the reason for the reboot was a watchdog reset
     bool was_watchdog_reset() const override;
 
-#if CH_DBG_ENABLE_STACK_CHECK == TRUE
     // request information on running threads
-    size_t thread_info(char *buf, size_t bufsize) override;
+    void thread_info(ExpandingString &str) override;
-#endif
 
 private:
 #ifdef HAL_PWM_ALARM

libraries/AP_HAL_ESP32/boards/esp32s3empty.h

@@ -0,0 +1,89 @@
+/*
+ * 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_S3EMPTY
+// make sensor selection clearer
+
+//- 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 "esp32s3empty"
+
+#define HAL_ESP32_RMT_RX_PIN_NUMBER GPIO_NUM_14
+
+// no sensors
+#define HAL_INS_DEFAULT HAL_INS_NONE
+
+#define HAL_BARO_ALLOW_INIT_NO_BARO 1
+
+#define AP_COMPASS_ENABLE_DEFAULT 0
+#define ALLOW_ARM_NO_COMPASS
+#define AP_AIRSPEED_ENABLED 0
+#define AP_AIRSPEED_ANALOG_ENABLED 0
+#define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
+
+// no ADC
+#define HAL_DISABLE_ADC_DRIVER 1
+#define HAL_USE_ADC 0
+
+// 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
+
+// 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 {}
+
+// SPI per-device setup, including speeds, etc.
+#define HAL_ESP32_SPI_DEVICES {}
+
+//I2C bus list
+#define HAL_ESP32_I2C_BUSES {.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_14, .speed=400*KHZ, .internal=true, .soft=true}
+
+// 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 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
+

libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig

@@ -203,7 +203,6 @@ CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
 # CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST is not set
 # CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID is not set
 # CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT is not set
-# CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM is not set
 # end of TWAI configuration
 
 #
@@ -248,16 +247,9 @@ CONFIG_EFUSE_MAX_BLK_LEN=192
 #
 CONFIG_ESP32_REV_MIN_0=y
 # CONFIG_ESP32_REV_MIN_1 is not set
-# CONFIG_ESP32_REV_MIN_1_1 is not set
 # CONFIG_ESP32_REV_MIN_2 is not set
 # CONFIG_ESP32_REV_MIN_3 is not set
-# CONFIG_ESP32_REV_MIN_3_1 is not set
 CONFIG_ESP32_REV_MIN=0
-CONFIG_ESP32_REV_MIN_FULL=0
-CONFIG_ESP_REV_MIN_FULL=0
-CONFIG_ESP32_REV_MAX_FULL_STR_OPT=y
-CONFIG_ESP32_REV_MAX_FULL=399
-CONFIG_ESP_REV_MAX_FULL=399
 CONFIG_ESP32_DPORT_WORKAROUND=y
 # CONFIG_ESP32_DEFAULT_CPU_FREQ_80 is not set
 # CONFIG_ESP32_DEFAULT_CPU_FREQ_160 is not set
@@ -359,7 +351,6 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO=y
 # CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR is not set
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=2
-# CONFIG_ESP_MAC_IGNORE_MAC_CRC_ERROR is not set
 # end of MAC Config
 
 #
@@ -369,7 +360,6 @@ CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=2
 CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y
 # CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND is not set
 CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND=y
-# CONFIG_ESP_SLEEP_MSPI_NEED_ALL_IO_PU is not set
 # end of Sleep Config
 
 #
@@ -414,13 +404,6 @@ CONFIG_PM_ENABLE=y
 # CONFIG_PM_TRACE is not set
 # end of Power Management
 
-#
-# ESP Ringbuf
-#
-# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set
-# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set
-# end of ESP Ringbuf
-
 #
 # ESP System Settings
 #
@@ -502,8 +485,6 @@ CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
 # CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE is not set
 # CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
 CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
-# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
-CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
 # end of Wi-Fi
 
 #
@@ -519,7 +500,6 @@ CONFIG_ESP_COREDUMP_CHECKSUM_CRC32=y
 CONFIG_ESP_COREDUMP_ENABLE=y
 CONFIG_ESP_COREDUMP_MAX_TASKS_NUM=64
 CONFIG_ESP_COREDUMP_UART_DELAY=0
-CONFIG_ESP_COREDUMP_STACK_SIZE=0
 CONFIG_ESP_COREDUMP_DECODE_INFO=y
 # CONFIG_ESP_COREDUMP_DECODE_DISABLE is not set
 CONFIG_ESP_COREDUMP_DECODE="info"
@@ -653,7 +633,6 @@ CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
 CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
 # CONFIG_LWIP_NETIF_API is not set
 # CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
-# CONFIG_LWIP_CHECK_THREAD_SAFETY is not set
 CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
 # CONFIG_LWIP_L2_TO_L3_COPY is not set
 # CONFIG_LWIP_IRAM_OPTIMIZATION is not set
@@ -674,15 +653,12 @@ CONFIG_LWIP_IP6_FRAG=y
 # CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
 CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
 CONFIG_LWIP_GARP_TMR_INTERVAL=60
-CONFIG_LWIP_ESP_MLDV6_REPORT=y
-CONFIG_LWIP_MLDV6_TMR_INTERVAL=40
 CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
 CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
 # CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
 CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
 # CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
 CONFIG_LWIP_DHCP_OPTIONS_LEN=68
-CONFIG_LWIP_DHCP_COARSE_TIMER_SECS=1
 
 #
 # DHCP server
@@ -712,7 +688,6 @@ CONFIG_LWIP_TCP_SYNMAXRTX=6
 CONFIG_LWIP_TCP_MSS=1436
 CONFIG_LWIP_TCP_TMR_INTERVAL=250
 CONFIG_LWIP_TCP_MSL=60000
-CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
 CONFIG_LWIP_TCP_WND_DEFAULT=5744
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
@@ -828,7 +803,6 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
-CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle
 
 # CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
@@ -947,7 +921,6 @@ CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
 #
 # NVS
 #
-# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
 # end of NVS
 
 #
@@ -1016,6 +989,7 @@ CONFIG_VFS_SUPPORT_TERMIOS=y
 # Host File System I/O (Semihosting)
 #
 CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # end of Host File System I/O (Semihosting)
 # end of Virtual file system
 
@@ -1157,7 +1131,6 @@ CONFIG_ESP32_COREDUMP_CHECKSUM_CRC32=y
 CONFIG_ESP32_ENABLE_COREDUMP=y
 CONFIG_ESP32_CORE_DUMP_MAX_TASKS_NUM=64
 CONFIG_ESP32_CORE_DUMP_UART_DELAY=0
-CONFIG_ESP32_CORE_DUMP_STACK_SIZE=0
 CONFIG_ESP32_CORE_DUMP_DECODE_INFO=y
 # CONFIG_ESP32_CORE_DUMP_DECODE_DISABLE is not set
 CONFIG_ESP32_CORE_DUMP_DECODE="info"
@@ -1203,4 +1176,5 @@ CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
 CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
 CONFIG_SUPPORT_TERMIOS=y
 CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+CONFIG_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # End of deprecated options

libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig

@@ -189,7 +189,6 @@ CONFIG_APPTRACE_LOCK_ENABLE=y
 #
 # CONFIG_ADC_FORCE_XPD_FSM is not set
 CONFIG_ADC_DISABLE_DAC=y
-# CONFIG_ADC_CONTINUOUS_FORCE_USE_ADC2_ON_C3_S3 is not set
 # end of ADC configuration
 
 #
@@ -211,7 +210,6 @@ CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
 # TWAI configuration
 #
 # CONFIG_TWAI_ISR_IN_IRAM is not set
-# CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM is not set
 # end of TWAI configuration
 
 #
@@ -239,14 +237,6 @@ CONFIG_EFUSE_MAX_BLK_LEN=256
 #
 # ESP32S3-Specific
 #
-CONFIG_ESP32S3_REV_MIN_0=y
-# CONFIG_ESP32S3_REV_MIN_1 is not set
-# CONFIG_ESP32S3_REV_MIN_2 is not set
-CONFIG_ESP32S3_REV_MIN_FULL=0
-CONFIG_ESP_REV_MIN_FULL=0
-CONFIG_ESP32S3_REV_MAX_FULL_STR_OPT=y
-CONFIG_ESP32S3_REV_MAX_FULL=99
-CONFIG_ESP_REV_MAX_FULL=99
 # CONFIG_ESP32S3_DEFAULT_CPU_FREQ_80 is not set
 CONFIG_ESP32S3_DEFAULT_CPU_FREQ_160=y
 # CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240 is not set
@@ -411,13 +401,6 @@ CONFIG_PM_POWER_DOWN_CPU_IN_LIGHT_SLEEP=y
 CONFIG_PM_POWER_DOWN_TAGMEM_IN_LIGHT_SLEEP=y
 # end of Power Management
 
-#
-# ESP Ringbuf
-#
-# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set
-# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set
-# end of ESP Ringbuf
-
 #
 # ESP System Settings
 #
@@ -507,8 +490,6 @@ CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
 # CONFIG_ESP_WIFI_GCMP_SUPPORT is not set
 # CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
 CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
-# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
-CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
 # end of Wi-Fi
 
 #
@@ -645,7 +626,6 @@ CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
 CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
 # CONFIG_LWIP_NETIF_API is not set
 # CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
-# CONFIG_LWIP_CHECK_THREAD_SAFETY is not set
 CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
 # CONFIG_LWIP_L2_TO_L3_COPY is not set
 # CONFIG_LWIP_IRAM_OPTIMIZATION is not set
@@ -666,15 +646,12 @@ CONFIG_LWIP_IP6_FRAG=y
 # CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
 CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
 CONFIG_LWIP_GARP_TMR_INTERVAL=60
-CONFIG_LWIP_ESP_MLDV6_REPORT=y
-CONFIG_LWIP_MLDV6_TMR_INTERVAL=40
 CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
 CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
 # CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
 CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
 # CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
 CONFIG_LWIP_DHCP_OPTIONS_LEN=68
-CONFIG_LWIP_DHCP_COARSE_TIMER_SECS=1
 
 #
 # DHCP server
@@ -704,7 +681,6 @@ CONFIG_LWIP_TCP_SYNMAXRTX=12
 CONFIG_LWIP_TCP_MSS=1440
 CONFIG_LWIP_TCP_TMR_INTERVAL=250
 CONFIG_LWIP_TCP_MSL=60000
-CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
 CONFIG_LWIP_TCP_WND_DEFAULT=5744
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
@@ -815,7 +791,6 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
-CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle
 
 # CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
@@ -932,7 +907,6 @@ CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
 #
 # NVS
 #
-# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
 # end of NVS
 
 #
@@ -1003,6 +977,7 @@ CONFIG_VFS_SUPPORT_TERMIOS=y
 # Host File System I/O (Semihosting)
 #
 CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # end of Host File System I/O (Semihosting)
 # end of Virtual file system
 
@@ -1156,4 +1131,5 @@ CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
 CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
 CONFIG_SUPPORT_TERMIOS=y
 CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+CONFIG_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # End of deprecated options