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108 Commits

Author SHA1 Message Date
Thomas Watson
f62f1cdeab AP_HAL_ESP32: RCOutput: add support for brushed PWM mode 
Also adds some infrastructure for changing PWM group mode, though this
is likely the complete set that can be supported with the ESP32 PWM
peripheral.
 2024-12-27 16:20:26 +00:00
Thomas Watson
881c5fbd78 AP_HAL_ESP32: RCOutput: rework to properly support output groups 
Each of the six available timers now handles two consecutive PWM output
channels. This also implements support for changing the group PWM
frequency in a similar manner to the ChibiOS HAL.
 2024-12-27 16:20:26 +00:00
Thomas Watson
b2df646b86 AP_HAL_ESP32: RCOutput: appropriately assert PWM array size 
Avoid over-running the pending PWM and safe value PWM arrays in case
future chip revisions come out with more channels.
 2024-12-27 16:20:26 +00:00
Thomas Watson
f6e01dbee9 AP_HAL_ESP32: RCOutput: fix channel enable/disable 
Enabling/disabling the timer would apply the setting to whole groups of
channels. Fix to poke the comparator so that the setting only applies to
the particular channel.

Conveniently, though not necessarily intentionally, this avoids
truncating the output pulse and causing unexpected reactions from
servos. This also preserves the old behavior.
 2024-12-27 16:20:26 +00:00
Patrick José Pereira
c29815644f libraries: AP_HAL_ESP32: README: Add info about ESPPORT 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-12-27 09:12:12 +11:00
Thomas Watson
54e3d74b51 AP_HAL_ESP32: drop spurious HAL_PARAM_DEFAULTS_PATH definition 
It's already conditionally defined to nullptr in the top-level AP_HAL.
 2024-12-24 10:50:21 +11:00
Thomas Watson
5de8da421d AP_HAL_ESP32: drop never-used defaults.parm 2024-12-24 10:50:21 +11:00
Peter Barker
ab4614dd98 AP_HAL_ESP32: stop making python python3 
this isn't something we should be doing to people's environments
 2024-12-17 09:19:20 +11:00
Rhys Mainwaring
5b935a3838 AP_HAL_ESP32: update cmake minimum version 
- The ESP32 API guide states the cmake version must be 3.16 or greater.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-15 08:55:04 -06:00
Rhys Mainwaring
d1cbf30286 AP_HAL_ESP32: add targets to measure static memory sizes 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-12 23:16:48 -06:00
Rhys Mainwaring
eecac5eead AP_HAL_ESP32: reduce sdcard mount config max_files 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-12 22:54:18 -06:00
Rhys Mainwaring
3c561e215f AP_HAL_ESP32: set default cpu frequency to 240MHz 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-10 10:32:47 +11:00
Thomas Watson
a14fb9ab28 AP_HAL_ESP32: regenerate sdkconfig after sdkconfig.defaults change 
Ensures the sdkconfig does not get out of date as updates are made to
the defaults. The sdkconfig can still be manually changed for testing.
 2024-12-10 10:32:47 +11:00
Thomas Watson
535f6875a8 AP_HAL_ESP32: move generated sdkconfig to build folder 
Ensures it gets cleaned with `./waf clean`. Users will hopefully delete
and not be confused by the old one as it will now show up as an
untracked file.
 2024-12-10 10:32:47 +11:00
Rhys Mainwaring
85f8ae8aa3 AP_HAL_ESP32: disable define of HAL_ESP32_RCIN on esp32empty 
- RMTSigReader issue with rmt(legacy): RMT RX BUFFER FULL

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-11-23 21:50:51 -06:00
Rhys Mainwaring
7c1af5a1a9 AP_HAL_ESP32: format scheduler stack declarations 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-11-23 13:43:05 -06:00
David Buzz
f10333e787 AP_HAL_ESP32: sneak the scheduler Stack Sizes values down to smaller but still ok-we-hope values. 
WARN - may cause crashes!
 2024-11-23 13:43:05 -06:00
Thomas Watson
5398f1a499 AP_HAL_ESP32: move scheduler stats display behind SCHEDDEBUG 
It takes ~100ms and causes noticeable control glitches.
 2024-11-22 12:20:52 -06:00
Andrew Tridgell
d90d46c02d AP_HAL_ESP32: removed heap APIs 2024-11-20 07:32:03 +11:00
Andrew Tridgell
de49c9b1bc AP_HAL_ESP32: implement new scripting heap APIs 2024-11-20 07:32:03 +11:00
Rhys Mainwaring
f9e319d114 AP_HAL_ESP32: enable uart rc 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-11-19 11:21:09 +11:00
Peter Barker
35f2dce575 AP_HAL_ESP32: re-order initialiser lines so -Werror=reorder will work 2024-11-13 06:40:37 +11:00
ARg
a6f00a34b1 AP_HAL_ESP32: RCOutput ported to new mcpwm driver 2024-10-27 21:19:29 +11:00
Bayu Laksono
d27742983f AP_HAL_ESP32: Switch WIFI task from FASTCPU to SLOWCPU 
Switching WIFI task from FASTCPU to SLOWCPU seems to bring more balance between CPUs and thus increasing connection reliabiiity
 2024-10-27 21:16:28 +11:00
ARg
47d391fc6d AP_HAL_ESP32: ADC driver ported to new idf 5.x driver and debugged 2024-10-08 10:29:02 +11:00
Bayu Laksono
6d672d42b9 AP_HAL_ESP32: Add GPIO driver and buzzer 2024-10-01 21:06:39 -05:00
ARg
1ef0f1a63f AP_HAL_ESP32: Migration of ESP32 targets from idf 4.4 to 5.3 consisting of: 
- modification of CMakeLists to use new component names of idf 5.3;
- removing big sdkconfig, which changes a lot, when upgrading idf and to use sdkconfig.defaults, which contain only non default defines;
- Updated idf installation packages list, according to espressif documentation;
- Updated README.md to reflect changes in sdkconfig handling;
- Fixed WDT in Scheduler, it was broken with idf 5.3;
- fixed compilation issues with GCC 13 (which is used by idf 5.3);
- fixed bug in case when HAL_ESP32_WIFI defined as 0 (disable wifi)
- Added ESP32 targets sdkconfig (auto generated) to .gitignore
 2024-10-01 09:25:35 +10:00
Peter Barker
cc9279713a AP_HAL_ESP32: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
muramura
68bb55841a AP_HAL_ESP32: Change the magic number to a defined value 2024-09-12 14:23:10 +10:00
David Buzz
7846cccdaa AP_HAL_ESP32: fix RMT on s3by using channel thats compatible with both . 2024-09-06 11:54:31 +10:00
David 'Buzz' Bussenschutt
792941d4de AP_HAL_ESP32: bigger instruction cache on s3 helps performance 2024-09-06 11:52:32 +10:00
David Buzz
61e83dcd0e AP_HAL_ESP32: improve the reported LOOP_RATE on esp32s3 to similar loop rate to classic esp32 
getting a loop rate of around 130 on both now

source modules/esp_idf/export.sh

./waf configure --board=esp32s3empty --debug
./waf copter
cd build/esp32buzz/esp-idf_build/
ninja menuconfig

./waf configure --board=esp32buzz --debug
./waf copter
cd build/esp32buzz/esp-idf_build/
ninja menuconfig

and try to get both the resulting modified sdkconfig as smiilar as possible - this causes s3 to use qio, which is faster, and also puts the wifi stuff onto CORE1 on both configs.

s3:
loop_rate: actual: 148.097137Hz, expected: 400Hz
loop_rate: actual: 147.908691Hz, expected: 400Hz

classic:
loop_rate: actual: 188.718842Hz, expected: 400Hz
loop_rate: actual: 191.819748Hz, expected: 400Hz
 2024-09-03 11:04:10 +10:00
David Buzz
04292a280c AP_HAL_ESP32: scheduler timing information was lying to us 
This reverts commit 010cfa2f4c.

AP_HAL_ESP32: scheduler timing information was lying to us, this puts it back so both 'esp32buzz' and 'esp32s3empty' loop rates are "better than before.  Still terrible, but an improvement

revert of part of pr #27181
 2024-09-02 09:21:45 +10:00
Peter Barker
9a1aece9ab AP_HAL_ESP32: use GCS_SEND_TEXT rather than gcs().send_text 
Co-authored-by: muramura <ma2maru@gmail.com>
 2024-08-07 18:33:16 +10:00
Thomas Watson
63ab7bec69 AP_HAL_ESP32: use correct unformatted system ID length 
Avoids stuffing uninitialized data into the ID.
 2024-07-17 09:08:51 +10:00
Andrew Tridgell
15ef6b1192 AP_HAL_ESP32: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
ffc78722f7 HAL_ESP32: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
9caf942c7e AP_HAL_ESP32: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
radityankn
4cab322356 Update RCOutput.cpp 
erasing additional curly brackets
 2024-05-29 17:02:48 +10:00
radityankn
119f822583 AP_HAL_ESP32: support for Safety Switch 
modified RCOutout.cpp to read specified pin for safety switch and light
the LED on another specified pin
 2024-05-29 17:02:48 +10:00
David Buzz
1c9a44c33e AP_HAL_ESP32:LOWERING the MAIN_PRIO gets a 400hz loop rate on s3 "empty" board 
loop_rate: actual: 400.000000Hz, expected: 400Hz
loop_rate: actual: 400.000000Hz, expected: 400Hz
loop_rate: actual: 400.000000Hz, expected: 400Hz
[ setup esp32 build env ] 
./waf configure --board=esp32s3empty --debug
./waf copter --debug --disable-scripting --upload
 after upload:
cd build/esp32s3empty/esp-idf_build && ninja monitor && cd -
[watch console output for 2 minutes]
ctrl-right-square-bracket to stop watching console.
 2024-05-29 13:12:37 +10:00
David Buzz
07092715a7 AP_HAL_ESP32: print loop rate 
loop rate getting 262Hz from console after approx 2 minutes boot

loop_rate: actual: 262.022766Hz, expected: 400Hz
loop_rate: actual: 262.022766Hz, expected: 400Hz

t
 2024-05-29 13:12:37 +10:00
David 'Buzz' Bussenschutt
529d783e0e AP_HAL_ESP32: automatic S3 sdkconfig changes generated by IDF 2024-05-29 13:12:37 +10:00
Dave
d6488eb030 AP_HAL_ESP32: Added missing letter to printf statement 2024-04-03 16:18:02 +09:00
David Buzz
5cd6d74d36 AP_HAL_ESP32: esp32s3 debugger readme in both .txt and .md format 2024-03-16 07:16:46 +11:00
Simon
750ef597ff AP_HAL_ESP32: bugfix RmtSigReader for idf - 4.4 2024-03-15 19:29:21 +11:00
David Buzz
73afd26465 AP_HAL_ESP32: bugfixes 
bump  tick rate to 1kz to match chibios

experimentally make delay_microseconds not delay, and only yield ( vTaskDelay yields to higher-priority tasks )

ESP32 disable all watchdogs

emit info to console to tell user where to connect tcp/udp and what ports

comment out bad code throwing a ptr error
 2024-03-03 07:29:35 +11:00
Andrew Tridgell
673c89da9c AP_HAL_ESP32: fixed get_baud_rate() 2024-02-29 11:00:40 +11:00
David Buzz
b65313303f AP_HAL_ESP32: analog warning fix 2024-01-09 11:15:21 +11:00
David Buzz
ca32c8a873 AP_HAL_ESP32 : this was an attempt at resolving watchdog issues , now just needs to go 
superceeded by b9ac504d0d
 2024-01-08 07:49:25 +11:00