AP_HAL_ESP32: new mcu: esp32s3

libraries/AP_HAL_ESP32/i2c_sw.c

@@ -35,7 +35,8 @@
 #include <stdio.h>
 
 #include "esp_attr.h"
-#include "esp32/rom/ets_sys.h"
+
+#include "rom/ets_sys.h" // seems to work for both...for now..deprecated
 
 #include "soc/gpio_reg.h"
 #include "soc/gpio_struct.h"

libraries/AP_HAL_ESP32/targets/esp32s3/.gitignore

@@ -0,0 +1,2 @@
+/sdkconfig.old
+/board.txt

libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt

@@ -0,0 +1,110 @@
+cmake_minimum_required(VERSION 3.5)
+
+set(CMAKE_TOOLCHAIN_FILE $ENV{IDF_PATH}/tools/cmake/toolchain-esp32s3.cmake CACHE STRING "")
+
+project(ardupilot)
+
+# Include for ESP-IDF build system functions
+include($ENV{IDF_PATH}/tools/cmake/idf.cmake)
+
+# Create idf::esp32 and idf::freertos static libraries
+idf_build_process(esp32s3
+    # try and trim the build; additional components
+    # will be included as needed based on dependency tree
+    #
+    # although esptool_py does not generate static library,
+    # processing the component is needed for flashing related
+    # targets and file generation
+    COMPONENTS esp32s3
+               freertos
+               tcpip_adapter
+               fatfs
+               esp_adc_cal
+               nvs_flash
+               esptool_py
+               app_update
+    SDKCONFIG ${CMAKE_CURRENT_LIST_DIR}/sdkconfig
+    BUILD_DIR ${CMAKE_BINARY_DIR})
+
+set(elf_file ardupilot.elf)
+
+add_executable(${elf_file} main.c)
+
+if(NOT DEFINED ARDUPILOT_CMD)
+    set(ARDUPILOT_CMD "none")
+endif()
+
+IF(${ARDUPILOT_CMD} STREQUAL "plane")
+    message("Building for plane")
+    target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarduplane.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduPlane_libs.a")
+ENDIF()
+
+IF(${ARDUPILOT_CMD} STREQUAL "copter")
+    message("Building for copter")
+    target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarducopter.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduCopter_libs.a")
+ENDIF()
+
+IF(${ARDUPILOT_CMD} STREQUAL "rover")
+    message("Building for rover")
+    target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardurover.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libRover_libs.a")
+ENDIF()
+
+IF(${ARDUPILOT_CMD} STREQUAL "sub")
+    message("Building for submarine")
+    target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardusub.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduSub_libs.a")
+ENDIF()
+
+IF(${ARDUPILOT_CMD} STREQUAL "antennatracker")
+    message("Building AntennaTracker")
+    target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libantennatracker.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libAntennaTracker_libs.a")
+ENDIF()
+add_custom_target(showinc ALL
+        COMMAND echo -e
+        "$<TARGET_PROPERTY:${elf_file},INCLUDE_DIRECTORIES>"
+        > includes.list
+    VERBATIM
+    BYPRODUCTS includes.list
+    COMMAND_EXPAND_LISTS
+)
+
+#Find files name lib to link
+#function(SUBLINK target curdir)
+#  FILE(GLOB children RELATIVE ${curdir} ${curdir}/*)
+#  FOREACH(child ${children})
+#    IF(NOT IS_DIRECTORY ${curdir}/${child})
+#      SET(PATH "${curdir}/${child}")
+#      message("Linking ${PATH}")
+#      target_link_libraries(${target} "${PATH}")
+#    ENDIF()
+#  ENDFOREACH()
+#endfunction()
+
+#IF (DEFINED ARDUPILOT_BIN)
+#    SUBLINK(${elf_file} ${ARDUPILOT_BIN})
+#ENDIF()
+#IF (DEFINED ARDUPILOT_LIB)
+#    SUBLINK(${elf_file} ${ARDUPILOT_LIB})
+#ENDIF()
+
+# Link the static libraries to the executable
+target_link_libraries(${elf_file}
+                idf::esp32s3
+                idf::freertos
+                idf::fatfs
+                idf::esp_adc_cal
+                idf::nvs_flash
+                idf::spi_flash
+                idf::tcpip_adapter
+                idf::app_update
+                )
+
+# Attach additional targets to the executable file for flashing,
+# linker script generation, partition_table generation, etc.
+idf_build_executable(${elf_file})
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)

libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/main.c

@@ -0,0 +1,14 @@
+/* Hello World Example
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stddef.h>
+
+int main(int argc, char *argv[]);
+
+void app_main()
+{
+    main(0, NULL);
+}

libraries/AP_HAL_ESP32/targets/esp32s3/partitions.csv

@@ -0,0 +1,5 @@
+# Name,   Type, SubType, Offset,  Size
+nvs,      data, nvs,           ,  0x6000
+phy_init, data, phy,           ,  0x1000
+factory,   app, factory,       ,  3M
+storage,  0x45, 0x0,           ,  128K