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Merge branch 'fix/support_idf4.4_and_esp32s3' into 'master'

Browse Source 
fix: support idf>=4.4 and esp32s3

See merge request ae_group/esp-college/esp-drone!32
This commit is contained in:
Li Bo
2022-11-24 22:40:47 +08:00
parent cc41b335e4 5e88fcec67
commit ca6174fa38
66 changed files with 272 additions and 390 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitlab-ci.yml
+29 -2
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@@ -5,10 +5,37 @@ stages:
variables:
BATCH_BUILD: "1"
V: "0"
MAKEFLAGS: "-j5 --no-keep-going"
IDF_PATH: "$CI_PROJECT_DIR/esp-idf"
IDF_CI_BUILD: "1"
before_script:
# add gitlab ssh key
- mkdir -p ~/.ssh
- chmod 700 ~/.ssh
- echo -n $GITLAB_KEY > ~/.ssh/id_rsa_base64
- base64 --decode --ignore-garbage ~/.ssh/id_rsa_base64 > ~/.ssh/id_rsa
- chmod 600 ~/.ssh/id_rsa
- echo -e "Host gitlab.espressif.cn\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
- git --version
- git submodule update --init --recursive --force
.build_examples_template: &build_examples_template
stage: build
image: espressif/idf:release-v4.4
tags:
- build
build_demo_cmake:
<<: *build_examples_template
script:
- idf.py fullclean
- idf.py build
- idf.py fullclean
- idf.py set-target esp32s2
- idf.py build
- idf.py fullclean
- idf.py set-target esp32s3
- idf.py build
build_docs:
stage: build
image: $CI_SPHINX_DOCKER:latest
CMakeLists.txt
+1 -2
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@@ -4,8 +4,7 @@ cmake_minimum_required(VERSION 3.5)
set(__PROJECT_GROUP_LINK_COMPONENTS ON)
set(PLANE_COMPONENT_DIRS ${PLANE_COMPONENT_DIRS}
"./components/core"
set(PLANE_COMPONENT_DIRS "./components/core"
"./components/drivers"
"./components/drivers/general"
"./components/drivers/i2c_devices"
README.md
+3 -1
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@@ -5,7 +5,9 @@
### Introduction
**ESP-Drone** is an open source solution based on Espressif ESP32/ESP32-S2 Wi-Fi chip, which can be controlled by a mobile APP or gamepad over **Wi-Fi** connection. ESP-Drone comes with **simple hardware**, **clear and extensible code architecture**, and therefore this project can be used in **STEAM education** and other fields. The main code is ported from **Crazyflie** open source project with **GPL3.0** protocol.
**ESP-Drone** is an open source solution based on Espressif ESP32/ESP32-S2/S3 Wi-Fi chip, which can be controlled by a mobile APP or gamepad over **Wi-Fi** connection. ESP-Drone comes with **simple hardware**, **clear and extensible code architecture**, and therefore this project can be used in **STEAM education** and other fields. The main code is ported from **Crazyflie** open source project with **GPL3.0** protocol.
> Currently support ESP32、ESP32S2、ESP32S3, please using ESP-IDF [release/v4.4](https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html) branch as your develop environment
![ESP-Drone](./docs/_static/espdrone_s2_v1_2_2.png)
README_cn.md
+3 -1
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@@ -5,7 +5,9 @@
### 简介
ESP-Drone 是基于乐鑫 ESP32-S2/ESP32 开发的小型无人机解决方案，可使用手机 APP 或游戏手柄通过 Wi-Fi 网络进行连接和控制。目前已支持自稳定飞行、定高飞行、定点飞行等多种模式。该方案硬件结构简单，代码架构清晰完善，方便功能扩展，可用于 STEAM 教育等领域。控制系统代码来自 Crazyflie 开源工程，使用 GPL3.0 开源协议。
ESP-Drone 是基于乐鑫 ESP32/ESP32-S2/S3 开发的小型无人机解决方案，可使用手机 APP 或游戏手柄通过 Wi-Fi 网络进行连接和控制。目前已支持自稳定飞行、定高飞行、定点飞行等多种模式。该方案硬件结构简单，代码架构清晰完善，方便功能扩展，可用于 STEAM 教育等领域。控制系统代码来自 Crazyflie 开源工程，使用 GPL3.0 开源协议。
> 目前已支持 ESP32、ESP32S2、ESP32S3, 请使用 ESP-IDF [release/v4.4](https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html) 分支
![ESP-Drone](./docs/_static/espdrone_s2_v1_2_2.png)
components/config/component.mk
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components/config/include/config.h
+14 -8
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@@ -47,11 +47,17 @@
#define QUAD_FORMATION_X
#ifdef CONFIG_TARGET_ESPLANE_V2_S2
#define TARGET_MCU_ESP32S2
#ifndef CONFIG_IDF_TARGET_ESP32S2
#error "ESPLANE_V2 hardware with ESP32S2 onboard"
#endif
#elif defined(CONFIG_TARGET_ESPLANE_V1)
#define TARGET_MCU_ESP32
#ifndef CONFIG_IDF_TARGET_ESP32
#error "ESPLANE_V1 hardware with ESP32 onboard"
#endif
#elif defined(CONFIG_TARGET_ESP32_S2_DRONE_V1_2)
#define TARGET_MCU_ESP32S2
#ifdef CONFIG_IDF_TARGET_ESP32
#error "ESP32_S2_DRONE_V1_2 hardware with ESP32S2/S3 onboard"
#endif
#endif
#ifdef STM32F4XX
@@ -147,10 +153,10 @@
#define ESKYLINK_TASK_NAME "ESKYLINK"
#define SYSLINK_TASK_NAME "SYSLINK"
#define USBLINK_TASK_NAME "USBLINK"
#define WIFILINK_TASK_NAME "WIFILINK"
#define UDP_TX_TASK_NAME "UDP_TX"
#define UDP_RX_TASK_NAME "UDP_RX"
#define UDP_RX2_TASK_NAME "UDP_RX2"
#define WIFILINK_TASK_NAME "WIFILINK"
#define UDP_TX_TASK_NAME "UDP_TX"
#define UDP_RX_TASK_NAME "UDP_RX"
#define UDP_RX2_TASK_NAME "UDP_RX2"
#define PROXIMITY_TASK_NAME "PROXIMITY"
#define EXTRX_TASK_NAME "EXTRX"
#define UART_RX_TASK_NAME "UART"
@@ -194,7 +200,7 @@
#define ESKYLINK_TASK_STACKSIZE (1 * configBASE_STACK_SIZE)
#define SYSLINK_TASK_STACKSIZE (1 * configBASE_STACK_SIZE)
#define USBLINK_TASK_STACKSIZE (1 * configBASE_STACK_SIZE)
#define WIFILINK_TASK_STACKSIZE (5 * configBASE_STACK_SIZE)
#define WIFILINK_TASK_STACKSIZE (6 * configBASE_STACK_SIZE)
#define UDP_TX_TASK_STACKSIZE (2 * configBASE_STACK_SIZE)
#define UDP_RX_TASK_STACKSIZE (4 * configBASE_STACK_SIZE)
#define UDP_RX2_TASK_STACKSIZE (1 * configBASE_STACK_SIZE)
components/core/crazyflie/CMakeLists.txt
+6 -1
View File
@@ -68,9 +68,14 @@ idf_component_register(SRCS "./hal/src/buzzer.c"
"./utils/src/version.c"
"./utils/src/rateSupervisor.c"
INCLUDE_DIRS "./hal/interface" "./modules/interface" "./utils/interface"
REQUIRES i2c_bus deck mpu6050 ms5611 hmc5883l pmw3901 vl53l1 vl53l0 platform config led eeprom dsp_lib motors wifi adc)
REQUIRES i2c_bus deck mpu6050 ms5611 hmc5883l pmw3901 vl53l1 vl53l0 platform config led eeprom dsp_lib motors wifi adc esp_timer)
idf_component_get_property( FREERTOS_ORIG_INCLUDE_PATH freertos ORIG_INCLUDE_PATH)
target_include_directories(${COMPONENT_TARGET} PUBLIC
"${FREERTOS_ORIG_INCLUDE_PATH}"
)
target_compile_options(${COMPONENT_LIB} PRIVATE "-fno-strict-aliasing"
"-Wno-error=stringop-truncation"
"-Wno-absolute-value"
"-Wno-address-of-packed-member"
"-Wno-stringop-truncation")
components/core/crazyflie/hal/interface/pm_esplane.h
+2 -1
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@@ -28,8 +28,9 @@
#ifndef PM_H_
#define PM_H_
#include "driver/adc.h"
#include "esp_idf_version.h"
#include "syslink.h"
#include "driver/adc.h"
//#include "deck.h"
#ifndef CRITICAL_LOW_VOLTAGE
components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c
+30 -21
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@@ -140,9 +140,7 @@ static xQueueHandle barometerDataQueue;
STATIC_MEM_QUEUE_ALLOC(barometerDataQueue, 1, sizeof(baro_t));
static xSemaphoreHandle sensorsDataReady;
static StaticSemaphore_t sensorsDataReadyBuffer;
static xSemaphoreHandle dataReady;
static StaticSemaphore_t dataReadyBuffer;
static bool isInit = false;
static sensorData_t sensorData;
@@ -168,15 +166,22 @@ static void applyAxis3fLpf(lpf2pData *data, Axis3f *in);
static bool isBarometerPresent = false;
static bool isMagnetometerPresent = false;
#ifdef SENSORS_ENABLE_RANGE_VL53L1X
static bool isVl53l1xPresent = false;
#endif
#ifdef SENSORS_ENABLE_RANGE_VL53L0X
static bool isVl53l0xPresent = false;
#endif
#ifdef SENSORS_ENABLE_FLOW_PMW3901
static bool isPmw3901Present = false;
#endif
static bool isMpu6050TestPassed = false;
#ifdef SENSORS_ENABLE_MAG_HM5883L
static bool isHmc5883lTestPassed = false;
#endif
#ifdef SENSORS_ENABLE_PRESSURE_MS5611
static bool isMs5611TestPassed = false;
static bool isVl53l1xTestPassed = false;
static bool isPmw3901TestPassed = false;
#endif
// Pre-calculated values for accelerometer alignment
float cosPitch;
@@ -409,7 +414,9 @@ static void sensorsDeviceInit(void)
if (mpu6050TestConnection() == true) {
DEBUG_PRINTI("MPU6050 I2C connection [OK].\n");
} else {
DEBUG_PRINTW("MPU6050 I2C connection [FAIL].\n");
DEBUG_PRINTE("MPU6050 I2C connection [FAIL].\n");
// Please check your hardware !
assert(0);
}
mpu6050Reset();
@@ -514,7 +521,6 @@ static void sensorsDeviceInit(void)
#endif
#ifdef SENSORS_ENABLE_FLOW_PMW3901
flowdeck2Init();
if (flowdeck2Test() == true) {
@@ -525,9 +531,6 @@ static void sensorsDeviceInit(void)
//TODO: Should sensor test fail hard if no connection
DEBUG_PRINTW("PMW3901 SPI connection [FAIL].\n");
}
#endif
DEBUG_PRINTI("sensors init done");
@@ -635,17 +638,22 @@ static void sensorsInterruptInit(void)
{
DEBUG_PRINTD("sensorsInterruptInit \n");
gpio_config_t io_conf;
//interrupt of rising edge
io_conf.intr_type = GPIO_PIN_INTR_POSEDGE;
//bit mask of the pins
io_conf.pin_bit_mask = (1ULL << GPIO_INTA_MPU6050_IO);
//set as input mode
io_conf.mode = GPIO_MODE_INPUT;
//disable pull-down mode
io_conf.pull_down_en = 0;
//enable pull-up mode
io_conf.pull_up_en = 1;
gpio_config_t io_conf = {
//interrupt of rising edge
#if ESP_IDF_VERSION_MAJOR > 4
.intr_type = GPIO_INTR_POSEDGE,
#else
.intr_type = GPIO_PIN_INTR_POSEDGE,
#endif
//bit mask of the pins
.pin_bit_mask = (1ULL << GPIO_INTA_MPU6050_IO),
//set as input mode
.mode = GPIO_MODE_INPUT,
//disable pull-down mode
.pull_down_en = 0,
//enable pull-up mode
.pull_up_en = 1,
};
sensorsDataReady = xSemaphoreCreateBinary();
dataReady = xSemaphoreCreateBinary();
gpio_config(&io_conf);
@@ -1047,5 +1055,6 @@ PARAM_GROUP_STOP(imu_sensors)
PARAM_GROUP_START(imu_tests)
PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, mpu6050, &isMpu6050TestPassed)
PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, HMC5883L, &isMagnetometerPresent)
PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, pmw3901, &isPmw3901Present)
PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, MS5611, &isBarometerPresent) // TODO: Rename MS5611 to LPS25H. Client needs to be updated at the same time.
PARAM_GROUP_STOP(imu_tests)
components/core/crazyflie/hal/src/wifilink.c
+4 -4
View File
@@ -63,9 +63,6 @@ static int wifilinkReceiveCRTPPacket(CRTPPacket *p);
STATIC_MEM_TASK_ALLOC(wifilinkTask, USBLINK_TASK_STACKSIZE);
static float rch, pch, ych;
static uint16_t tch;
static bool wifilinkIsConnected(void)
{
return (xTaskGetTickCount() - lastPacketTick) < M2T(WIFI_ACTIVITY_TIMEOUT_MS);
@@ -78,6 +75,7 @@ static struct crtpLinkOperations wifilinkOp = {
.isConnected = wifilinkIsConnected,
};
#ifdef CONFIG_ENABLE_LEGACY_APP
static bool detectOldVersionApp(UDPPacket *in)
{
@@ -89,6 +87,7 @@ static bool detectOldVersionApp(UDPPacket *in)
return false;
}
#endif
static void wifilinkTask(void *param)
{
@@ -97,7 +96,8 @@ static void wifilinkTask(void *param)
wifiGetDataBlocking(&wifiIn);
lastPacketTick = xTaskGetTickCount();
#ifdef CONFIG_ENABLE_LEGACY_APP
float rch, pch, ych;
uint16_t tch;
if (detectOldVersionApp(&wifiIn)) {
rch = (1.0) * (float)(((((uint16_t)wifiIn.data[1] << 8) + (uint16_t)wifiIn.data[2]) - 296) * 15.0 / 150.0); //-15~+15
pch = (-1.0) * (float)(((((uint16_t)wifiIn.data[3] << 8) + (uint16_t)wifiIn.data[4]) - 296) * 15.0 / 150.0); //-15~+15
components/core/crazyflie/modules/src/crtp_commander_high_level.c
+10 -9
View File
@@ -109,10 +109,11 @@ static StaticSemaphore_t lockTrajBuffer;
static float defaultTakeoffVelocity = 0.5f;
static float defaultLandingVelocity = 0.5f;
// TODO
// Trajectory memory handling from the memory module
static uint32_t handleMemGetSize(void) { return crtpCommanderHighLevelTrajectoryMemSize(); }
static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer);
static bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
// static uint32_t handleMemGetSize(void) { return crtpCommanderHighLevelTrajectoryMemSize(); }
// static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer);
// static bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
// static const MemoryHandlerDef_t memDef = {
// .type = MEM_TYPE_TRAJ,
// .getSize = handleMemGetSize,
@@ -628,13 +629,13 @@ int define_trajectory(const struct data_define_trajectory* data)
return 0;
}
static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer) {
return crtpCommanderHighLevelReadTrajectory(memAddr, readLen, buffer);
}
// static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer) {
// return crtpCommanderHighLevelReadTrajectory(memAddr, readLen, buffer);
// }
static bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer) {
return crtpCommanderHighLevelWriteTrajectory(memAddr, writeLen, buffer);
}
// static bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer) {
// return crtpCommanderHighLevelWriteTrajectory(memAddr, writeLen, buffer);
// }
uint8_t* initCrtpPacket(CRTPPacket* packet, const enum TrajectoryCommand_e command)
{
components/core/crazyflie/modules/src/crtp_commander_rpyt.c
+1 -1
View File
@@ -116,7 +116,7 @@ void setCommandermode(FlightMode mode){
registerRequiredEstimator(complementaryEstimator);
break;
}
DEBUG_PRINTI("FlightMode = %u",mode);
DEBUG_PRINTI("FlightMode = %d",mode);
#else
DEBUG_PRINTI("set FlightMode disable");
#endif
components/core/crazyflie/modules/src/estimator_kalman.c
+2 -2
View File
@@ -55,7 +55,7 @@
* 2019.04.12, Kristoffer Richardsson: Refactored, separated kalman implementation from OS related functionality
*
*/
#include <inttypes.h>
#include "kalman_core.h"
#include "estimator_kalman.h"
#include "kalman_supervisor.h"
@@ -332,7 +332,7 @@ static void kalmanTask(void* parameters) {
nextPrediction = osTick + S2T(1.0f / PREDICT_RATE);
if (!rateSupervisorValidate(&rateSupervisorContext, T2M(osTick))) {
DEBUG_PRINT("WARNING: Kalman prediction rate low (%u)\n", rateSupervisorLatestCount(&rateSupervisorContext));
DEBUG_PRINT("WARNING: Kalman prediction rate low (%"PRIu32")\n", rateSupervisorLatestCount(&rateSupervisorContext));
}
}
components/core/crazyflie/modules/src/log.c
+2 -2
View File
@@ -146,7 +146,7 @@ void logBlockTimed(xTimerHandle timer);
//These are set by the Linker
extern struct log_s _log_start;
extern struct log_s _log_stop;
extern struct log_s _log_end;
//Pointer to the logeters list and length of it
static struct log_s * logs;
@@ -181,7 +181,7 @@ void logInit(void)
return;
logs = &_log_start;
logsLen = &_log_stop - &_log_start;
logsLen = &_log_end - &_log_start;
// Calculate a hash of the toc by chaining description of each elements
// Using the CRTP packet as temporary buffer
components/core/crazyflie/modules/src/mem.c
+2 -2
View File
@@ -28,7 +28,7 @@
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <inttypes.h>
/* FreeRtos includes */
#include "FreeRTOS.h"
#include "task.h"
@@ -341,7 +341,7 @@ static bool handleMemTesterWrite(const uint32_t memAddr, const uint8_t writeLen,
if (actualData != expectedData) {
// Log first error
if (memTesterWriteErrorCount == 0) {
DEBUG_PRINT("Verification failed: expected: %d, actual: %d, addr: %u\n", expectedData, actualData, addr);
DEBUG_PRINT("Verification failed: expected: %d, actual: %d, addr: %"PRIu32"\n", expectedData, actualData, addr);
}
memTesterWriteErrorCount++;
components/core/crazyflie/modules/src/param.c
+2 -2
View File
@@ -82,7 +82,7 @@ void paramTOCProcess(int command);
//These are set by the Linker
extern struct param_s _param_start;
extern struct param_s _param_stop;
extern struct param_s _param_end;
//The following two function SHALL NOT be called outside paramTask!
static void paramWriteProcess();
@@ -115,7 +115,7 @@ void paramInit(void)
return;
params = &_param_start;
paramsLen = &_param_stop - &_param_start;
paramsLen = &_param_end - &_param_start;
// Calculate a hash of the toc by chaining description of each elements
// Using the CRTP packet as temporary buffer
components/core/crazyflie/modules/src/stabilizer.c
+2 -1
View File
@@ -25,6 +25,7 @@
*/
#include <math.h>
#include <inttypes.h>
#include "FreeRTOS.h"
#include "task.h"
@@ -322,7 +323,7 @@ static void stabilizerTask(void* param)
if (!rateSupervisorValidate(&rateSupervisorContext, xTaskGetTickCount())) {
if (!rateWarningDisplayed) {
DEBUG_PRINT("WARNING: stabilizer loop rate is off (%u)\n", rateSupervisorLatestCount(&rateSupervisorContext));
DEBUG_PRINT("WARNING: stabilizer loop rate is off (%"PRIu32")\n", rateSupervisorLatestCount(&rateSupervisorContext));
rateWarningDisplayed = true;
}
}
components/core/crazyflie/modules/src/sysload.c
+5 -4
View File
@@ -28,6 +28,7 @@
#include <stdbool.h>
#include <inttypes.h>
#include "FreeRTOS.h"
#include "timers.h"
#include "cfassert.h"
@@ -101,20 +102,20 @@ static void timerHandler(xTimerHandle timer) {
// CPU usage is since last dump in % compared to total time spent in tasks. Note that time spent in interrupts will be included in measured time.
// Stack usage is displayed as nr of unused bytes at peak stack usage.
DEBUG_PRINTI("Task dump\n");
DEBUG_PRINTI("Load\tStack left\tName\tPRI\n");
DEBUG_PRINTI("Task dump");
DEBUG_PRINTI("Load\tStack left\tName\tPRI");
for (uint32_t i = 0; i < taskCount; i++) {
TaskStatus_t* stats = &taskStats[i];
taskData_t* previousTaskData = getPreviousTaskData(stats->xTaskNumber);
uint32_t taskRunTime = stats->ulRunTimeCounter;
float load = f * (taskRunTime - previousTaskData->ulRunTimeCounter);
DEBUG_PRINTI("%.2f \t%u \t%s \t%u\n", (double)load, stats->usStackHighWaterMark, stats->pcTaskName,stats->uxBasePriority);
DEBUG_PRINTI("%.2f \t%"PRIu32" \t%s \t%d", (double)load, stats->usStackHighWaterMark, stats->pcTaskName,stats->uxBasePriority);
previousTaskData->ulRunTimeCounter = taskRunTime;
}
DEBUG_PRINTI("Free heap: %d bytes\n", xPortGetFreeHeapSize());
DEBUG_PRINTI("Free heap: %"PRIu32" bytes", xPortGetFreeHeapSize());
previousTotalRunTime = totalRunTime;
triggerDump = 0;
components/core/crazyflie/modules/src/system.c
+2 -2
View File
@@ -26,7 +26,7 @@
*/
#include <stdbool.h>
#include <inttypes.h>
/* FreeRtos includes */
#include "FreeRTOS.h"
#include "task.h"
@@ -264,7 +264,7 @@ void systemTask(void *arg)
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
DEBUG_PRINT("Free heap: %"PRIu32" bytes\n", xPortGetFreeHeapSize());
workerLoop();
components/drivers/deck/component.mk
View File
components/drivers/deck/deck_digital.c
+13 -27
View File
@@ -26,25 +26,19 @@
void pinMode(uint32_t pin, uint32_t mode)
{
#ifdef TARGET_MCU_ESP32
if (pin > 35) {
#elif defined(TARGET_MCU_ESP32S2)
if (pin > 43) {
#endif
if (!GPIO_IS_VALID_GPIO((int)pin)) {
return;
}
gpio_config_t io_conf;
//disable interrupt
io_conf.intr_type = GPIO_PIN_INTR_DISABLE;
//bit mask of the pins that you want to set,e.g.GPIO18/19
io_conf.pin_bit_mask = (1ULL << pin);
//disable pull-down mode
io_conf.pull_down_en = 0;
//disable pull-up mode
io_conf.pull_up_en = 0;
//configure GPIO with the given settings
gpio_config_t io_conf = {
//bit mask of the pins that you want to set,e.g.GPIO18/19
.pin_bit_mask = (1ULL << pin),
//disable pull-down mode
.pull_down_en = 0,
//disable pull-up mode
.pull_up_en = 0,
//configure GPIO with the given settings
};
//set as output mode
if (mode == OUTPUT) {
io_conf.mode = GPIO_MODE_OUTPUT;
@@ -65,11 +59,7 @@ void pinMode(uint32_t pin, uint32_t mode)
void digitalWrite(uint32_t pin, uint32_t val)
{
#ifdef TARGET_MCU_ESP32
if (pin > 35) {
#elif defined(TARGET_MCU_ESP32S2)
if (pin > 43) {
#endif
if (!GPIO_IS_VALID_GPIO((int)pin)) {
return;
}
@@ -82,12 +72,8 @@ void digitalWrite(uint32_t pin, uint32_t val)
int digitalRead(uint32_t pin)
{
#ifdef TARGET_MCU_ESP32
if (pin > 35) {
#elif defined(TARGET_MCU_ESP32S2)
if (pin > 43) {
#endif
return 0;
if (!GPIO_IS_VALID_GPIO((int)pin)) {
return -1;
}
int val = gpio_get_level(pin);
components/drivers/deck/deck_spi.c
+8 -7
View File
@@ -74,20 +74,21 @@ void spiBegin(void)
/*.pre_cb = lcd_spi_pre_transfer_callback, //Specify pre-transfer callback to handle D/C line*/
};
//Initialize the SPI bus
#ifdef TARGET_MCU_ESP32
ret = spi_bus_initialize(HSPI_HOST, &buscfg, 1);
#elif defined(TARGET_MCU_ESP32S2)
ret = spi_bus_initialize(HSPI_HOST, &buscfg, 2);
spi_host_device_t host_id = SPI2_HOST;
#if (ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 3, 0))
ret = spi_bus_initialize(host_id, &buscfg, SPI_DMA_CH_AUTO);
#else
int dma_chan = host_id; //set dma channel equals to host_id by default
ret = spi_bus_initialize(host_id, &buscfg, dma_chan);
#endif
ESP_ERROR_CHECK(ret);
//Attach the pmw3901 to the SPI bus
ret = spi_bus_add_device(HSPI_HOST, &devcfg, &spi);
ret = spi_bus_add_device(host_id, &devcfg, &spi);
ESP_ERROR_CHECK(ret);
isInit = true;
}
static void spiConfigureWithSpeed(uint32_t baudRatePrescaler)
{
//TODO:
@@ -105,7 +106,7 @@ bool spiExchange(size_t length, bool is_tx, const uint8_t *data_tx, uint8_t *dat
}
if (length == 0) {
return; //no need to send anything
return true; //no need to send anything
}
esp_err_t ret;
components/drivers/general/adc/CMakeLists.txt
+7 -1
View File
@@ -1,3 +1,9 @@
if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER_EQUAL "5.0")
idf_component_register(SRCS "adc_esp32.c"
INCLUDE_DIRS "." "include"
REQUIRES crazyflie config esp_adc_cal)
REQUIRES crazyflie config esp_adc)
else()
idf_component_register(SRCS "adc_esp32.c"
INCLUDE_DIRS "." "include"
REQUIRES crazyflie config esp_adc_cal)
endif()
components/drivers/general/adc/adc_esp32.c
+4 -31
View File
@@ -21,9 +21,9 @@
*
*/
#include "esp_idf_version.h"
#include "driver/adc.h"
#include "esp_adc_cal.h"
#include "adc_esp32.h"
#include "config.h"
#include "pm_esplane.h"
@@ -34,43 +34,18 @@
static bool isInit;
static esp_adc_cal_characteristics_t *adc_chars;
#ifdef TARGET_MCU_ESP32
#ifdef CONFIG_IDF_TARGET_ESP32
static const adc_channel_t channel = ADC_CHANNEL_7; //GPIO35 if ADC1
static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
#elif defined(TARGET_MCU_ESP32S2)
#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
static const adc_channel_t channel = ADC_CHANNEL_1; // GPIO2 if ADC1
static const adc_bits_width_t width = ADC_WIDTH_BIT_13;
#endif
static const adc_bits_width_t width = ADC_WIDTH_MAX-1;
static const adc_atten_t atten = ADC_ATTEN_DB_11; //11dB attenuation (ADC_ATTEN_DB_11) gives full-scale voltage 3.9V
static const adc_unit_t unit = ADC_UNIT_1;
#define DEFAULT_VREF 1100 //Use adc2_vref_to_gpio() to obtain a better estimate
#define NO_OF_SAMPLES 30 //Multisampling
static void checkEfuse(void)
{
#ifdef TARGET_MCU_ESP32
//Check if TP is burned into eFuse
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK) {
printf("eFuse Two Point: Supported\n");
} else {
printf("eFuse Two Point: NOT supported\n");
}
//Check Vref is burned into eFuse
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_VREF) == ESP_OK) {
printf("eFuse Vref: Supported\n");
} else {
printf("eFuse Vref: NOT supported\n");
}
#elif defined(TARGET_MCU_ESP32S2)
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK) {
printf("eFuse Two Point: Supported\n");
} else {
printf("Cannot retrieve eFuse Two Point calibration values. Default calibration values will be used.\n");
}
#endif
}
static void print_char_val_type(esp_adc_cal_value_t val_type)
{
if (val_type == ESP_ADC_CAL_VAL_EFUSE_TP) {
@@ -106,8 +81,6 @@ void adcInit(void)
return;
}
checkEfuse();
//Configure ADC
if (unit == ADC_UNIT_1) {
adc1_config_width(width);
adc1_config_channel_atten(channel, atten);
components/drivers/general/adc/component.mk
-1
View File
@@ -1 +0,0 @@
components/drivers/general/buzzer/component.mk
-1
View File
@@ -1 +0,0 @@
components/drivers/general/led/component.mk
-1
View File
@@ -1 +0,0 @@
components/drivers/general/led/led_esp32.c
+10 -11
View File
@@ -51,17 +51,16 @@ void ledInit()
}
for (i = 0; i < LED_NUM; i++) {
gpio_config_t io_conf;
//disable interrupt
io_conf.intr_type = GPIO_PIN_INTR_DISABLE;
//bit mask of the pins that you want to set,e.g.GPIO18/19
io_conf.pin_bit_mask = (1ULL << led_pin[i]);
//disable pull-down mode
io_conf.pull_down_en = 0;
//disable pull-up mode
io_conf.pull_up_en = 0;
//set as output mode
io_conf.mode = GPIO_MODE_OUTPUT;
gpio_config_t io_conf = {
//bit mask of the pins that you want to set,e.g.GPIO18/19
.pin_bit_mask = (1ULL << led_pin[i]),
//disable pull-down mode
.pull_down_en = 0,
//disable pull-up mode
.pull_up_en = 0,
//set as output mode
.mode = GPIO_MODE_OUTPUT,
};
//configure GPIO with the given settings
gpio_config(&io_conf);
ledSet(i, 0);
components/drivers/general/motors/component.mk
View File
components/drivers/general/wifi/CMakeLists.txt
+2 -2
View File
@@ -1,3 +1,3 @@
idf_component_register(SRCS "wifi_esp32.c"
INCLUDE_DIRS "." "include"
REQUIRES crazyflie platform config)
INCLUDE_DIRS "." "include"
REQUIRES crazyflie platform config esp_wifi)
components/drivers/general/wifi/component.mk
-1
View File
@@ -1 +0,0 @@
components/drivers/general/wifi/wifi_esp32.c
+17 -11
View File
@@ -27,7 +27,13 @@ static struct sockaddr_in6 source_addr; // Large enough for both IPv4 or IPv6
//#define WIFI_SSID "Udp Server"
static char WIFI_SSID[32] = "ESP-DRONE";
static char WIFI_PWD[64] = "12345678" ;
#define MAX_STA_CONN (1)
static uint8_t WIFI_CH = 1;
#define MAX_STA_CONN (3)
#ifndef MAC2STR
#define MAC2STR(a) (a)[0], (a)[1], (a)[2], (a)[3], (a)[4], (a)[5]
#define MACSTR "%02x:%02x:%02x:%02x:%02x:%02x"
#endif
static char rx_buffer[UDP_SERVER_BUFSIZE];
static char tx_buffer[UDP_SERVER_BUFSIZE];
@@ -65,18 +71,14 @@ static void wifi_event_handler(void *arg, esp_event_base_t event_base,
{
if (event_id == WIFI_EVENT_AP_STACONNECTED) {
wifi_event_ap_staconnected_t *event = (wifi_event_ap_staconnected_t *) event_data;
DEBUG_PRINT_LOCAL("station "MACSTR" join, AID=%d",
MAC2STR(event->mac), event->aid);
DEBUG_PRINT_LOCAL("station" MACSTR "join, AID=%d", MAC2STR(event->mac), event->aid);
} else if (event_id == WIFI_EVENT_AP_STADISCONNECTED) {
wifi_event_ap_stadisconnected_t *event = (wifi_event_ap_stadisconnected_t *) event_data;
DEBUG_PRINT_LOCAL("station "MACSTR" leave, AID=%d",
MAC2STR(event->mac), event->aid);
DEBUG_PRINT_LOCAL("station" MACSTR "leave, AID=%d", MAC2STR(event->mac), event->aid);
}
}
bool wifiTest(void)
{
return isInit;
@@ -224,13 +226,17 @@ void wifiInit(void)
ESP_ERROR_CHECK(esp_wifi_get_mac(ESP_IF_WIFI_AP, mac));
sprintf(WIFI_SSID, "ESP-DRONE_%02X%02X%02X%02X%02X%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
wifi_config_t wifi_config;
wifi_config_t wifi_config = {
.ap = {
.channel = WIFI_CH,
.max_connection = MAX_STA_CONN,
.authmode = WIFI_AUTH_WPA_WPA2_PSK,
},
};
memcpy(wifi_config.ap.ssid, WIFI_SSID, strlen(WIFI_SSID) + 1) ;
wifi_config.ap.ssid_len = strlen(WIFI_SSID);
memcpy(wifi_config.ap.password, WIFI_PWD, strlen(WIFI_PWD) + 1) ;
wifi_config.ap.max_connection = MAX_STA_CONN;
wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
wifi_config.ap.channel = 13;
if (strlen(WIFI_PWD) == 0) {
wifi_config.ap.authmode = WIFI_AUTH_OPEN;
components/drivers/i2c_bus/CMakeLists.txt
+1 -1
View File
@@ -1,4 +1,4 @@
idf_component_register(SRCS "i2c_drv.c" "i2cdev_esp32.c"
INCLUDE_DIRS "include"
REQUIRES crazyflie platform
REQUIRES crazyflie platform driver
PRIV_REQUIRES config)
components/drivers/i2c_bus/component.mk
View File
components/drivers/i2c_bus/i2c_drv.c
+1 -7
View File
@@ -109,14 +109,8 @@ void i2cdrvInit(I2cDrv *i2c)
i2cdrvInitBus(i2c);
}
static void i2cdrvTryToRestartBus(I2cDrv *i2c)
void i2cdrvTryToRestartBus(I2cDrv *i2c)
{
i2cdrvInitBus(i2c);
}
components/drivers/i2c_devices/eeprom/component.mk
-1
View File
@@ -1 +0,0 @@
components/drivers/i2c_devices/eeprom/eeprom.c
+5 -10
View File
@@ -25,21 +25,17 @@
#include <string.h>
#include "esp_err.h"
#include "esp_spi_flash.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "eeprom.h"
#include "debug_cf.h"
#include "eprintf.h"
#ifdef EEPROM_RUN_WRITE_READ_TEST
#include "esp_spi_flash.h"
static bool eepromTestWriteRead(void);
#endif
static uint8_t devAddr;
static I2C_Dev *I2Cx;
static bool isInit;
bool eepromInit(I2C_Dev *i2cPort)
@@ -48,9 +44,7 @@ bool eepromInit(I2C_Dev *i2cPort)
return true;
}
// I2Cx = i2cPort;
// devAddr = EEPROM_I2C_ADDR;
spi_flash_init();
//TODOspi_flash_init();
DEBUG_PRINTI("spi_flash_init ... !");
isInit = true;
@@ -107,7 +101,7 @@ bool eepromTestConnection(void)
bool eepromReadBuffer(uint8_t *buffer, size_t readAddr, size_t len)
{
bool status = false;
esp_err_t err = spi_flash_read(readAddr, buffer, len);
esp_err_t err = ESP_OK; //TODO spi_flash_read(readAddr, buffer, len);
if (err == ESP_OK) {
@@ -126,7 +120,8 @@ bool eepromWriteBuffer(uint8_t *buffer, size_t writeAddr, size_t len)
bool status = false;
writeAddr += EEPROM_IN_FLASH_ADDR;
if (spi_flash_write(writeAddr, buffer, len) == ESP_OK) {
//TODO if (spi_flash_write(writeAddr, buffer, len) == ESP_OK) {
if (1) {
status = true;
components/drivers/i2c_devices/hmc5883l/component.mk
View File
components/drivers/i2c_devices/mpu6050/component.mk
View File
components/drivers/i2c_devices/ms5611/component.mk
View File
components/drivers/i2c_devices/vl53l0/component.mk
View File
components/drivers/i2c_devices/vl53l0/vl53l0x.c
+1 -1
View File
@@ -91,7 +91,7 @@ uint16_t vl53l0xReadReg16Bit(VL53L0xDev *dev, uint8_t reg);
static bool vl53l0xWriteReg16Bit(VL53L0xDev *dev, uint8_t reg, uint16_t val);
static bool vl53l0xWriteReg32Bit(VL53L0xDev *dev, uint8_t reg, uint32_t val);
static int nextI2CAddress = VL53L0X_DEFAULT_ADDRESS + 1;
//static int nextI2CAddress = VL53L0X_DEFAULT_ADDRESS + 1;
/** Default constructor, uses default I2C address.
* @see VL53L0X_DEFAULT_ADDRESS
components/drivers/i2c_devices/vl53l1/component.mk
-2
View File
@@ -1,2 +0,0 @@
COMPONENT_ADD_INCLUDEDIRS := . include core/inc
COMPONENT_SRCDIRS := . core/src
components/drivers/spi_devices/pmw3901/component.mk
View File
components/drivers/spi_devices/pmw3901/flowdeck_v1v2.c
+6 -6
View File
@@ -86,10 +86,10 @@ static void flowdeckTask(void *param)
while (1) {
// if task watchdog triggered,flow frequency should set lower
#ifdef TARGET_MCU_ESP32S2
vTaskDelay(10);
#elif defined(TARGET_MCU_ESP32)
#ifdef CONFIG_IDF_TARGET_ESP32S2
vTaskDelay(10);
#elif defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32)
vTaskDelay(5);
#endif
pmw3901ReadMotion(NCS_PIN, &currentMotion);
@@ -122,10 +122,10 @@ static void flowdeckTask(void *param)
flowData.stdDevY = stdFlow; // [pixels] should perhaps be made larger?
// if task watchdog triggered,flow frequency should set lower
#ifdef TARGET_MCU_ESP32S2
flowData.dt = 0.01;
#elif defined(TARGET_MCU_ESP32)
#ifdef CONFIG_IDF_TARGET_ESP32S2
flowData.dt = 0.01;
#elif defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32)
flowData.dt = 0.005;
#endif
#if defined(USE_MA_SMOOTHING)
components/lib/dsp_lib/CMakeLists.txt
+12 -9
View File
@@ -1,10 +1,13 @@
idf_component_register(SRC_DIRS "BasicMathFunctions"
"CommonTables"
"ComplexMathFunctions"
"ControllerFunctions"
"FastMathFunctions"
"FilteringFunctions"
"MatrixFunctions"
"StatisticsFunctions"
"TransformFunctions"
INCLUDE_DIRS "include")
"CommonTables"
"ComplexMathFunctions"
"ControllerFunctions"
"FastMathFunctions"
"FilteringFunctions"
"MatrixFunctions"
"StatisticsFunctions"
"TransformFunctions"
INCLUDE_DIRS "include"
)
target_compile_options(${COMPONENT_LIB} PUBLIC "-fno-strict-aliasing")
components/lib/dsp_lib/component.mk
-4
View File
@@ -1,4 +0,0 @@
COMPONENT_SRCDIRS:=BasicMathFunctions CommonTables ComplexMathFunctions ControllerFunctions \
FastMathFunctions FilteringFunctions MatrixFunctions StatisticsFunctions\
TransformFunctions
CFLAGS += -D ARM_MATH_CM4
components/platform/component.mk
-1
View File
@@ -1 +0,0 @@
components/platform/platform_esp32.c
+11 -16
View File
@@ -31,24 +31,19 @@
#error
#endif
#define DEFAULT_PLATFORM_STRING "0;EP20"
#ifndef UNIT_TEST_MODE
static char *getAddressOfOtpMemoryBlock(int blockNr)
{
//TODO:
//return block adress
return (char *)(0x1fff7800 + blockNr * 0x20);
}
#else
// This function is replaced by a mock in unit tests
char *getAddressOfOtpMemoryBlock(const int blockNr);
#endif
// //TODO:
// #ifndef UNIT_TEST_MODE
// static char *getAddressOfOtpMemoryBlock(int blockNr)
// {
// //return block adress
// return (char *)(0x1fff7800 + blockNr * 0x20);
// }
// #else
// // This function is replaced by a mock in unit tests
// char *getAddressOfOtpMemoryBlock(const int blockNr);
// #endif
void platformGetDeviceTypeString(char *deviceTypeString)
{
docs/en/rst/getespidf.rst
+2 -22
View File
@@ -5,34 +5,14 @@ Set up Development Environment
Set up ESP-IDF Environment
---------------------------------
Please refer to `ESP-IDF Programming Guide <https://docs.espressif.com/projects/esp-idf/en/latest/esp32s2/get-started/index.html>`__\ and set up ESP-IDF environmnet step by step.
Please refer to `ESP-IDF Programming Guide <https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html>`__\ and set up ESP-IDF environmnet step by step.
.. note::
- ESP-IDF branch ``release /v4.2`` is suggested.
- ESP-IDF branch ``release /v4.4`` is suggested.
- Please follow and complete all setup steps.
- Build a example of ESP-IDF to make sure the setup is successful.
Modify ESP32/ESP32-S2 Link Script
--------------------------------------
Open the link script template for ESP32/ESP32-S2 ``${IDF_PATH}/components/esp32/ld/esp32.project.ld.in`` and ``${IDF_PATH}/components/esp32s2/ld/esp32s2.project.ld.in``\. Put the following code at the end of ``.flash.rodata``.
::
/* Parameters and log system data */
_param_start = .;
KEEP(*(.param))
KEEP(*(.param.*))
_param_stop = .;
. = ALIGN(4);
_log_start = .;
KEEP(*(.log))
KEEP(*(.log.*))
_log_stop = .;
. = ALIGN(4);
The above code can place variables with ``.param.*`` or ``.log.*`` segment attributes at continuous storage area so as to speed up variable traversal.
Get Project Source Code
---------------------------------------------------
docs/en/rst/gettingstarted.rst
+1 -1
View File
@@ -87,7 +87,7 @@ ESP-IDF is the IoT Development Framework provided by Espressif for ESP32/ESP32-S
For more information, please check `ESP-IDF
Programming Guide <https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html>`__.
Programming Guide <https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html>`__.
Crazyflie Overview
=======================
docs/en/rst/system.rst
+1 -1
View File
@@ -124,7 +124,7 @@ The priority of system tasks can be configured in ``components/config/include/co
#define UART1_TEST_TASK_PRI 1
#define UART2_TEST_TASK_PRI 1
//if task watchdog triggered, KALMAN_TASK_PRI should set lower or set lower flow frequency
#ifdef TARGET_MCU_ESP32
#ifdef CONFIG_IDF_TARGET_ESP32
#define KALMAN_TASK_PRI 2
#define LOG_TASK_PRI 1
#define MEM_TASK_PRI 1
docs/zh_CN/md/getespidf.md
+3 -3
View File
@@ -3,7 +3,7 @@
## ESP-IDF 环境搭建
请参照 [ESP-IDF 编程指南](https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html)，按照步骤设置 ESP-IDF。
请参照 [ESP-IDF 编程指南](https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html)，按照步骤设置 ESP-IDF。
注意事项：
@@ -19,12 +19,12 @@
_param_start = .;
KEEP(*(.param))
KEEP(*(.param.*))
_param_stop = .;
_param_end = .;
. = ALIGN(4);
_log_start = .;
KEEP(*(.log))
KEEP(*(.log.*))
_log_stop = .;
_log_end = .;
. = ALIGN(4);
```
docs/zh_CN/md/gettingstarted.md
+1 -1
View File
@@ -35,7 +35,7 @@ ESP-IDF 是乐鑫为 ESP32/ESP32-S2 提供的物联网开发框架。
* ESP-IDF 包含一系列库及头文件，提供了基于 ESP32/ESP32-S2 构建软件项目所需的核心组件。
* ESP-IDF 还提供了开发和量产过程中最常用的工具及功能，例如：构建、烧录、调试和测量等。
详情可查阅：[ESP-IDF 编程指南](https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html)。
详情可查阅：[ESP-IDF 编程指南](https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html)。
## Crazyflie 简介
docs/zh_CN/md/system.md
+1 -1
View File
@@ -111,7 +111,7 @@ TASK 具体描述如下：
#define UART1_TEST_TASK_PRI 1
#define UART2_TEST_TASK_PRI 1
//if task watchdog triggered, KALMAN_TASK_PRI should set lower or set lower flow frequency
#ifdef TARGET_MCU_ESP32
#ifdef CONFIG_IDF_TARGET_ESP32
#define KALMAN_TASK_PRI 2
#define LOG_TASK_PRI 1
#define MEM_TASK_PRI 1
docs/zh_CN/rst/getespidf.rst
+2 -22
View File
@@ -5,34 +5,14 @@
ESP-IDF 环境搭建
----------------
请参照 `ESP-IDF 编程指南 <https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html>`__\ ，按照步骤设置 ESP-IDF。
请参照 `ESP-IDF 编程指南 <https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html>`__\ ，按照步骤设置 ESP-IDF。
注意事项：
- 推荐安装 ESP-IDF `release/v4.2` 分支；
- 推荐安装 ESP-IDF `release/v4.4` 分支；
- 请完成 ESP-IDF 所有安装步骤;
- 建议首先编译一个 ESP-IDF 示例程序，用以检查安装的完整性。
ESP32/ESP32-S2 链接脚本修改
---------------------------
打开 ESP32/ESP32-S2 的链接脚本模板 ``${IDF_PATH}/components/esp32/ld/esp32.project.ld.in`` 和 ``${IDF_PATH}/components/esp32s2/ld/esp32s2.project.ld.in``\ ，将以下代码添加到 ``.flash.rodata`` 段的末尾。
::
/* Parameters and log system data */
_param_start = .;
KEEP(*(.param))
KEEP(*(.param.*))
_param_stop = .;
. = ALIGN(4);
_log_start = .;
KEEP(*(.log))
KEEP(*(.log.*))
_log_stop = .;
. = ALIGN(4);
以上代码可以实现将具有 ``.param.*`` 或 ``.log.*`` 段属性的变量，放置在连续的存储区域，从而加快变量遍历速度。
获取项目源代码
--------------
docs/zh_CN/rst/gettingstarted.rst
+1 -1
View File
@@ -60,7 +60,7 @@ ESP-IDF 是乐鑫为 ESP32/ESP32-S2 提供的物联网开发框架。
- ESP-IDF 包含一系列库及头文件，提供了基于 ESP32/ESP32-S2 构建软件项目所需的核心组件。
- ESP-IDF 还提供了开发和量产过程中最常用的工具及功能，例如：构建、烧录、调试和测量等。
详情可查阅：`ESP-IDF 编程指南 <https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html>`__。
详情可查阅：`ESP-IDF 编程指南 <https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html>`__。
Crazyflie 简介
================
docs/zh_CN/rst/system.rst
+1 -1
View File
@@ -135,7 +135,7 @@ TASK 具体描述如下：
#define UART1_TEST_TASK_PRI 1
#define UART2_TEST_TASK_PRI 1
//if task watchdog triggered, KALMAN_TASK_PRI should set lower or set lower flow frequency
#ifdef TARGET_MCU_ESP32
#ifdef CONFIG_IDF_TARGET_ESP32
#define KALMAN_TASK_PRI 2
#define LOG_TASK_PRI 1
#define MEM_TASK_PRI 1
main/CMakeLists.txt
+2 -1
View File
@@ -1,2 +1,3 @@
idf_component_register(SRCS "main.c"
INCLUDE_DIRS "." )
INCLUDE_DIRS "."
LDFRAGMENTS linker_fragment.lf)
main/Kconfig.projbuild
+5 -4
View File
@@ -2,6 +2,7 @@ menu "ESPDrone Config"
choice
prompt "ESP_Drone hardware version"
default TARGET_ESP32_S2_DRONE_V1_2 if IDF_TARGET_ESP32S3
default TARGET_ESP32_S2_DRONE_V1_2 if IDF_TARGET_ESP32S2
default TARGET_ESPLANE_V1 if IDF_TARGET_ESP32
@@ -12,7 +13,7 @@ menu "ESPDrone Config"
bool "esplane with esp32-s2 onboard"
config TARGET_ESP32_S2_DRONE_V1_2
bool "esp-drone with esp32-s2 onboard"
bool "esp-drone with esp32-s2/s3 onboard"
endchoice
@@ -70,9 +71,9 @@ menu "ESPDrone Config"
config BASE_STACK_SIZE
int "base stack size for system task"
range 512 1024
default 512 if TARGET_ESPLANE_V2_S2
default 512 if TARGET_ESP32_S2_DRONE_V1_2
default 1024 if TARGET_ESPLANE_V1
default 1024 if IDF_TARGET_ESP32
default 512 if IDF_TARGET_ESP32S2
default 1024 if IDF_TARGET_ESP32S3
endmenu
main/component.mk
View File
main/linker_fragment.lf
+19
View File
@@ -0,0 +1,19 @@
[sections:_param]
entries:
.param+
[sections:_log]
entries:
.log+
[scheme:_table]
entries:
_param -> flash_rodata
_log -> flash_rodata
[mapping:my_project]
archive: *
entries:
* (_table);
_param -> flash_rodata KEEP() ALIGN(4, pre, post) SURROUND(param),
_log -> flash_rodata KEEP() ALIGN(4, pre, post) SURROUND(log)
sdkconfig.defaults
+9 -110
View File
@@ -1,127 +1,26 @@
#
# default value. DO NOT EDIT.
# Espressif IoT Development Framework (ESP-IDF) Project Configuration
#
#
# Component config
#
#
# ESP32S2-specific
#
# CONFIG_ESP32S2_DEFAULT_CPU_FREQ_80 is not set
# CONFIG_ESP32S2_DEFAULT_CPU_FREQ_160 is not set
CONFIG_ESP32S2_DEFAULT_CPU_FREQ_240=y
CONFIG_ESP32S2_DEFAULT_CPU_FREQ_MHZ=240
#
# ESP32-specific
CONFIG_ESP32_DEFAULT_CPU_FREQ_240=y
CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=240
#
# PHY
#
# CONFIG_ESP32_PHY_INIT_DATA_IN_PARTITION is not set
CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20
CONFIG_ESP32_PHY_MAX_TX_POWER=20
# end of PHY
#
# FreeRTOS
#
CONFIG_FREERTOS_UNICORE=y
CONFIG_FREERTOS_UNICORE=n
CONFIG_FREERTOS_NO_AFFINITY=0x7FFFFFFF
CONFIG_FREERTOS_CORETIMER_0=y
# CONFIG_FREERTOS_CORETIMER_1 is not set
CONFIG_FREERTOS_OPTIMIZED_SCHEDULER=y
CONFIG_FREERTOS_HZ=1000
CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y
# CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set
CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y
CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1
CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
# CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set
# CONFIG_FREERTOS_ASSERT_DISABLE is not set
CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
CONFIG_FREERTOS_ISR_STACKSIZE=1536
# CONFIG_FREERTOS_LEGACY_HOOKS is not set
CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
# CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is not set
CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1
CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=3072
CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10
CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0
CONFIG_FREERTOS_USE_TRACE_FACILITY=y
CONFIG_FREERTOS_USE_STATS_FORMATTING_FUNCTIONS=y
# CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set
CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS=y
CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER=y
CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER=y
CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER=y
# CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE is not set
CONFIG_FREERTOS_DEBUG_OCDAWARE=y
# end of FreeRTOS
CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=2048
CONFIG_FREERTOS_ISR_STACKSIZE=2048
CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY=y
#
# Serial flasher config
#
CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200
CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
# CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set
# CONFIG_ESPTOOLPY_FLASHMODE_DIO is not set
# CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set
CONFIG_ESPTOOLPY_FLASHMODE="dio"
CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
# CONFIG_ESPTOOLPY_FLASHFREQ_40M is not set
# CONFIG_ESPTOOLPY_FLASHFREQ_26M is not set
# CONFIG_ESPTOOLPY_FLASHFREQ_20M is not set
CONFIG_ESPTOOLPY_FLASHFREQ="80m"
# CONFIG_ESPTOOLPY_FLASHSIZE_1MB is not set
# CONFIG_ESPTOOLPY_FLASHSIZE_2MB is not set
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
# CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set
# CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set
CONFIG_ESPTOOLPY_FLASHSIZE="4MB"
CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y
CONFIG_ESPTOOLPY_BEFORE_RESET=y
# CONFIG_ESPTOOLPY_BEFORE_NORESET is not set
CONFIG_ESPTOOLPY_BEFORE="default_reset"
CONFIG_ESPTOOLPY_AFTER_RESET=y
# CONFIG_ESPTOOLPY_AFTER_NORESET is not set
CONFIG_ESPTOOLPY_AFTER="hard_reset"
# CONFIG_ESPTOOLPY_MONITOR_BAUD_9600B is not set
# CONFIG_ESPTOOLPY_MONITOR_BAUD_57600B is not set
CONFIG_ESPTOOLPY_MONITOR_BAUD_115200B=y
# CONFIG_ESPTOOLPY_MONITOR_BAUD_230400B is not set
# CONFIG_ESPTOOLPY_MONITOR_BAUD_921600B is not set
# CONFIG_ESPTOOLPY_MONITOR_BAUD_2MB is not set
# CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER is not set
CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER_VAL=115200
CONFIG_ESPTOOLPY_MONITOR_BAUD=115200
# end of Serial flasher config
#
# Compiler options
#
# CONFIG_COMPILER_OPTIMIZATION_DEFAULT is not set
# CONFIG_COMPILER_OPTIMIZATION_SIZE is not set
CONFIG_COMPILER_OPTIMIZATION_PERF=y
# CONFIG_COMPILER_OPTIMIZATION_NONE is not set
CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE=y
# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT is not set
# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE is not set
# CONFIG_COMPILER_CXX_EXCEPTIONS is not set
# CONFIG_COMPILER_CXX_RTTI is not set
CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y
# CONFIG_COMPILER_STACK_CHECK_MODE_NORM is not set
# CONFIG_COMPILER_STACK_CHECK_MODE_STRONG is not set
# CONFIG_COMPILER_STACK_CHECK_MODE_ALL is not set
# CONFIG_COMPILER_WARN_WRITE_STRINGS is not set
# CONFIG_COMPILER_DISABLE_GCC8_WARNINGS is not set
# end of Compiler options
CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=3072
CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
sdkconfig.defaults.esp32
-4
View File
@@ -1,4 +0,0 @@
#
# FreeRTOS
#
CONFIG_FREERTOS_UNICORE=n
sdkconfig.defaults.esp32s2
+3
View File
@@ -0,0 +1,3 @@
CONFIG_FREERTOS_UNICORE=y
CONFIG_ESP32S2_DEFAULT_CPU_FREQ_240=y
CONFIG_ESP32S2_DEFAULT_CPU_FREQ_MHZ=240
sdkconfig.defaults.esp32s3
+3
View File
@@ -0,0 +1,3 @@
CONFIG_FREERTOS_UNICORE=n
CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240=y
CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ=240