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>

libraries/AP_HAL_ESP32/Scheduler.cpp

@@ -28,6 +28,7 @@
 #include "esp_task_wdt.h"
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Scheduler/AP_Scheduler.h>
 #include <stdio.h>
 
 //#define SCHEDULERDEBUG 1
@@ -50,6 +51,7 @@ void disableCore0WDT()
         //print("Failed to remove Core 0 IDLE task from WDT");
     }
 }
+
 void disableCore1WDT()
 {
     TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU(1);
@@ -292,9 +294,14 @@ void Scheduler::_timer_thread(void *arg)
     printf("%s:%d start\n", __PRETTY_FUNCTION__, __LINE__);
 #endif
     Scheduler *sched = (Scheduler *)arg;
+
+#if HAL_INS_DEFAULT != HAL_INS_NONE
+    // wait to ensure INS system inits unless using HAL_INS_NONE
     while (!_initialized) {
         sched->delay_microseconds(1000);
     }
+#endif
+
 #ifdef SCHEDDEBUG
     printf("%s:%d initialised\n", __PRETTY_FUNCTION__, __LINE__);
 #endif
@@ -507,17 +514,25 @@ void Scheduler::print_stats(void)
     // printf("loop_rate_hz: %d",get_loop_rate_hz());
 }
 
+// Run every 10s
+void Scheduler::print_main_loop_rate(void)
+{
+    static int64_t last_run = 0;
+    if (AP_HAL::millis64() - last_run > 10000) {
+        last_run = AP_HAL::millis64();
+        const float actual_loop_rate = AP::scheduler().get_filtered_loop_rate_hz();
+        const uint16_t expected_loop_rate = AP::scheduler().get_loop_rate_hz();
+        hal.console->printf("loop_rate: actual: %uHz, expected: %uHz\n",
+            (uint16_t)actual_loop_rate, (uint16_t)expected_loop_rate);
+    }
+}
+
 void IRAM_ATTR Scheduler::_main_thread(void *arg)
 {
 #ifdef SCHEDDEBUG
     printf("%s:%d start\n", __PRETTY_FUNCTION__, __LINE__);
 #endif
     Scheduler *sched = (Scheduler *)arg;
-    hal.serial(0)->begin(115200);
-    hal.serial(1)->begin(57600);
-    hal.serial(2)->begin(57600);
-    //hal.uartC->begin(921600);
-    hal.serial(3)->begin(115200);
 
 #ifndef HAL_DISABLE_ADC_DRIVER
     hal.analogin->init();
@@ -535,7 +550,9 @@ void IRAM_ATTR Scheduler::_main_thread(void *arg)
         sched->callbacks->loop();
         sched->delay_microseconds(250);
 
-        sched->print_stats(); // only runs every 60 seconds.
+        // run stats periodically
+        sched->print_stats();
+        sched->print_main_loop_rate();
     }
 }
 

libraries/AP_HAL_ESP32/Scheduler.h

@@ -49,6 +49,8 @@ public:
     bool     is_system_initialized() override;
 
     void     print_stats(void) ;
+    void     print_main_loop_rate(void);
+
     uint16_t get_loop_rate_hz(void);
     AP_Int16 _active_loop_rate_hz;
     AP_Int16 _loop_rate_hz;

libraries/AP_HAL_ESP32/boards/esp32empty.h

@@ -27,9 +27,9 @@
 #define FALSE 0
 
 //Protocols
-//list of protocols/enum:	ardupilot/libraries/AP_SerialManager/AP_SerialManager.h
+// list of protocols/enum:  ardupilot/libraries/AP_SerialManager/AP_SerialManager.h
-//default protocols:		ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp
+// default protocols:    ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp
-//ESP32 serials:		AP_HAL_ESP32/HAL_ESP32_Class.cpp
+// ESP32 serials:    AP_HAL_ESP32/HAL_ESP32_Class.cpp
 
 //#define DEFAULT_SERIAL0_PROTOCOL        SerialProtocol_MAVLink2   //A  UART0: Always: Console, MAVLink2
 //#define DEFAULT_SERIAL0_BAUD            AP_SERIALMANAGER_CONSOLE_BAUD/1000  //115200
@@ -37,14 +37,16 @@
 //#define DEFAULT_SERIAL1_PROTOCOL        SerialProtocol_MAVLink2   //C  WiFi:  TCP, UDP, or disable (depends on HAL_ESP32_WIFI)
 //#define DEFAULT_SERIAL1_BAUD            AP_SERIALMANAGER_MAVLINK_BAUD/1000  //57600
 
-#define DEFAULT_SERIAL2_PROTOCOL				SerialProtocol_MAVLink2			//D	UART2: Always: MAVLink2 on ESP32
+#define DEFAULT_SERIAL2_PROTOCOL        SerialProtocol_MAVLink2   //D  UART2
-//#define DEFAULT_SERIAL2_BAUD				AP_SERIALMANAGER_MAVLINK_BAUD/1000	//57600
+#define DEFAULT_SERIAL2_BAUD            AP_SERIALMANAGER_MAVLINK_BAUD/1000  //57600
 
 #define DEFAULT_SERIAL3_PROTOCOL        SerialProtocol_GPS        //B  UART1: GPS1
-//#define DEFAULT_SERIAL4_BAUD				AP_SERIALMANAGER_GPS_BAUD/1000		//38400, Can not define default baudrate here (by config only)
+#define DEFAULT_SERIAL3_BAUD            AP_SERIALMANAGER_GPS_BAUD/1000    //38400, Can not define default baudrate here (by config only)
+//#define DEFAULT_SERIAL3_PROTOCOL        SerialProtocol_None       //B
+//#define DEFAULT_SERIAL3_BAUD            (115200/1000)
 
 #define DEFAULT_SERIAL4_PROTOCOL        SerialProtocol_None       //E
-//#define DEFAULT_SERIAL4_BAUD				AP_SERIALMANAGER_GPS_BAUD/1000		//38400, Can not define default baudrate here (by config only)
+#define DEFAULT_SERIAL5_BAUD            (115200/1000)
 
 #define DEFAULT_SERIAL5_PROTOCOL        SerialProtocol_None       //F
 #define DEFAULT_SERIAL5_BAUD            (115200/1000)
@@ -62,6 +64,7 @@
 #define DEFAULT_SERIAL9_BAUD            (115200/1000)
 
 //Inertial sensors
+#define HAL_INS_DEFAULT HAL_INS_NONE
 //#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)
@@ -79,24 +82,40 @@
 #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 }
+#define HAL_ESP32_RCOUT {GPIO_NUM_25, GPIO_NUM_27, GPIO_NUM_33, GPIO_NUM_32, GPIO_NUM_22, GPIO_NUM_21}
+
+//AIRSPEED
+#define AP_AIRSPEED_ENABLED 0
+#define AP_AIRSPEED_ANALOG_ENABLED 0
+#define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
 
 //BAROMETER
 #define HAL_BARO_ALLOW_INIT_NO_BARO 1
 
+//IMU
+// #define AP_INERTIALSENSOR_ENABLED 1
+// #define AP_INERTIALSENSOR_KILL_IMU_ENABLED 0
+
 //COMPASS
+#define AP_COMPASS_ENABLE_DEFAULT 0
 #define ALLOW_ARM_NO_COMPASS
 
+//See boards.py
+#ifndef ENABLE_HEAP
+#define ENABLE_HEAP 1
+#endif
+
 //WIFI
 #define HAL_ESP32_WIFI 1  //1-TCP, 2-UDP, comment this line = without wifi
-#define WIFI_SSID					"ardupilot-empty"
+#define WIFI_SSID "ardupilot-esp32"
-#define WIFI_PWD					"ardupilot-empty"
+#define WIFI_PWD "ardupilot-esp32"
 
 //UARTs
+// UART_NUM_0 and UART_NUM_2 are configured to use defaults
 #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}
+    {.port=UART_NUM_2, .rx=GPIO_NUM_16, .tx=GPIO_NUM_17}
 
 //ADC
 #define HAL_DISABLE_ADC_DRIVER 1
@@ -109,9 +128,10 @@
 #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 ,
+// 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
+// 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