Merge pull request #114 from rtlopez/develop

prepare RC4
rtlopez · Mar 2, 2024 · 981b4e7 · 981b4e7
2 parents c77dc04 + e9e0470
commit 981b4e7
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diff --git a/.github/workflows/platformio.yml b/.github/workflows/platformio.yml
@@ -40,7 +40,7 @@ jobs:
     runs-on: ubuntu-22.04
     strategy:
       matrix:
-        target: ['esp32', 'esp32c3', 'esp8266']
+        target: ['esp32', 'esp32s2', 'esp32s3', 'esp32c3', 'esp8266']
     steps:
       - uses: actions/checkout@v4
       - name: Extract Version
@@ -97,11 +97,15 @@ jobs:
         env:
           PLATFORMIO_BUILD_FLAGS: -DESPFC_REVISION=${{ env.build_sha }} -DESPFC_VERSION=${{ env.build_tag }}
 
-      - name: Merge ESP32 Target
-        if: ${{ startsWith(matrix.target, 'esp32') }}
-        run: |
-          python3 ~/.platformio/packages/tool-esptoolpy/esptool.py --chip ${{ matrix.target }} merge_bin -o .pio/build/${{ matrix.target }}/firmware_merged.bin --target-offset 0x0 --flash_mode keep --flash_freq keep --flash_size 4MB 0x1000 .pio/build/${{ matrix.target }}/bootloader.bin 0x8000 .pio/build/${{ matrix.target }}/partitions.bin 0xe000 ~/.platformio/packages/framework-arduinoespressif32/tools/partitions/boot_app0.bin 0x10000 .pio/build/${{ matrix.target }}/firmware.bin
+#      - name: Merge ESP32 Target
+#        if: ${{ matrix.target == 'esp32' }}
+#        run: |
+#          python3 ~/.platformio/packages/tool-esptoolpy/esptool.py --chip ${{ matrix.target }} merge_bin -o .pio/build/${{ matrix.target }}/firmware_merged.bin --target-offset 0x0 --flash_mode keep --flash_freq keep --flash_size 4MB 0x1000 .pio/build/${{ matrix.target }}/bootloader.bin 0x8000 .pio/build/${{ matrix.target }}/partitions.bin 0xe000 ~/.platformio/packages/framework-arduinoespressif32/tools/partitions/boot_app0.bin 0x10000 .pio/build/${{ matrix.target }}/firmware.bin
 
+#      - name: Merge ESP32-S3 Target
+#        if: ${{ matrix.target == 'esp32s3' }}
+#        run: |
+#          python3 ~/.platformio/packages/tool-esptoolpy/esptool.py --chip ${{ matrix.target }} merge_bin -o .pio/build/${{ matrix.target }}/firmware_merged.bin --target-offset 0x0 --flash_mode keep --flash_freq keep --flash_size 16MB 0x0000 .pio/build/${{ matrix.target }}/bootloader.bin 0x8000 .pio/build/${{ matrix.target }}/partitions.bin 0xe000 ~/.platformio/packages/framework-arduinoespressif32/tools/partitions/boot_app0.bin 0x10000 .pio/build/${{ matrix.target }}/firmware.bin
 
       - name: Create Development Artifact
         uses: actions/upload-artifact@v4
@@ -115,7 +119,7 @@ jobs:
         if: ${{ !startsWith(github.ref, 'refs/tags/') && startsWith(matrix.target, 'esp32') }}
         with:
           name: "${{ env.build_file_devel }}_0x00.bin"
-          path: .pio/build/${{ matrix.target }}/firmware_merged.bin
+          path: .pio/build/${{ matrix.target }}/firmware_0x00.bin
 
 
       - name: Create Release Artifact
@@ -130,4 +134,4 @@ jobs:
         if: ${{ startsWith(github.ref, 'refs/tags/') && startsWith(matrix.target, 'esp32') }}
         with:
           name: ${{ env.build_file_release }}_0x00.bin
-          path: .pio/build/${{ matrix.target }}/firmware_merged.bin
+          path: .pio/build/${{ matrix.target }}/firmware_0x00.bin
diff --git a/README.md b/README.md
@@ -56,6 +56,14 @@ Here are more details about [how to setup](/docs/setup.md).
 
 [![ESP-FC example wiring diagrams](/docs/images/espfc_wiring_combined.png)](/docs/wiring.md)
 
+## Supported chips
+
+ - **ESP32** - recommended
+ - **ESP32-S2** - experimantal
+ - **ESP32-S3** - experimantal
+ - **ESP32-C3** - experimantal
+ - **RP2040** - experimantal
+ - **ESP8266** - deprecated, may stop being developed
 
 ## Supported protocols
 

diff --git a/docs/connections.md b/docs/connections.md
@@ -2,10 +2,10 @@
 ```
 Pin | Function         | ESP-8266 Pin | ESPFC external device
 ----+------------------+--------------+----------------------------------------------
-TX  | TXD0             | TXD, GPIO1   | (UART0 TX) | CLI | MSP | OSD | GPS
-RX  | RXD0             | RXD, GPIO3   | (UART0 RX) | CLI | MSP | OSD | GPS | SBUS
+TX  | TXD0             | TXD, GPIO1   | (UART0 TX) | CLI | MSP | OSD
+RX  | RXD0             | RXD, GPIO3   | (UART0 RX) | CLI | MSP | OSD
 A0  | Analog In,  3.3V | A0           | Batery voltage or current sensor, analog only
-D0  | IO               | GPIO16       | LED | BUZZER | PWM (output recommended, no interrupts)
+D0  | IO               | GPIO16       | LED | BUZZER (output recommended, no interrupts)
 D1  | IO, SCL          | GPIO5        | I2C Gyro, Compas, Pressure and other sensors
 D2  | IO, SDA          | GPIO4        | I2C Gyro, Compas, Pressure and other sensors
 D3  | IO, PU           | GPIO0        | PWM 1 (servo/motor)
@@ -138,4 +138,63 @@ https://github.com/espressif/esptool/wiki/ESP32-Boot-Mode-Selection
  CMD(11)  SD3(10) |             |  SD0(07)   CLK(06)
                   +----|---|----+
                         USB
+```
+
+# ESP32-S3
+
+https://docs.espressif.com/projects/esp-idf/en/latest/esp32s3/api-reference/peripherals/gpio.html
+
+```
+Pin | Function             | ESPFC external device
+----+------+---------------+----------------------------------------------
+ 0  | Strapping            |
+ 1  | ADC1_CH0             | ADC_VOLTAGE
+ 2  | ADC1_CH1             | DEBUG
+ 3  | ADC1_CH2, Strapping  |
+ 4  | ADC1_CH3             | ADC_CURRENT
+ 5  | ADC1_CH4             | BUZZER
+ 6  | ADC1_CH5             | PPM
+ 7  | ADC1_CH6             | SPI_CS_BARO
+ 8  | ADC1_CH7             | SPI_CS_GYRO
+ 9  | ADC1_CH8             | I2C_0_SDA
+10  | ADC1_CH9             | I2C_0_SCK
+11  | ADC2_CH0             | SPI_0_MOSI
+12  | ADC2_CH1             | SPI_0_SCK
+13  | ADC2_CH2             | SPI_0_MISO
+14  | ADC2_CH3             | ?
+15  | ADC2_CH4             | RX1
+16  | ADC2_CH5             | TX1
+17  | ADC2_CH6             | RX2
+18  | ADC2_CH7             | TX2
+19  | ADC2_CH8, USB        | USB
+20  | ADC2_CH9, USB        | USB
+21  | RTC_21               | ?
+38  | RGB                  | LED_RGB
+39  |                      | M0
+40  |                      | M1
+41  |                      | M2
+42  |                      | M3
+43  | U1TX                 | TX0
+44  | U1RX                 | RX0
+45  |                      | ?
+46  | Strapping            | SPI_CS_SD
+47  | Strapping            | ?
+48  |                      | ?
+
+RESERVED
+26  | FLASH                |
+27  | FLASH                |
+28  | FLASH                |
+29  | FLASH                |
+30  | FLASH                |
+31  | FLASH                |
+32  | FLASH                |
+33  | FLASH                |
+34  | FLASH                |
+35  | FLASH                |
+36  | FLASH                |
+37  | FLASH                |
+
+UNAVAILABLE
+22, 23, 24, 25
 ```
diff --git a/docs/dshot_gcr_dump.txt b/docs/dshot_gcr_dump.txt
@@ -0,0 +1,47 @@
+// bluejay esc, dshot 300
+
+// power on
+32 0:375 1:168 0:10368 0:14 0:381 1:162 0:172 1:172 0:384 1:159 0:178 1:168 0:166 1:168 0:603 2950 2950
+32 0:381 1:165 0:172 1:172 0:377 1:176 0:165 1:171 0:381 1:169 0:168 1:172 0:175 1:172 0:593 52950 52950
+32 0:381 1:172 0:171 1:165 0:385 1:168 0:168 1:169 0:381 1:169 0:178 1:162 0:175 1:171 0:607 52950 52950
+32 0:380 1:172 0:175 1:172 0:371 1:172 0:175 1:172 0:371 1:172 0:174 1:162 0:172 1:172 0:606 52950 52950
+32 0:380 1:170 0:170 1:173 0:376 1:173 0:171 1:170 0:389 1:170 0:173 1:177 0:160 1:174 0:598 52950 52950
+32 0:380 1:173 0:173 1:174 0:369 1:174 0:173 1:173 0:370 1:173 0:174 1:163 0:170 1:173 0:606 52950 52950
+32 0:380 1:163 0:170 1:174 0:382 1:160 0:177 1:170 0:373 1:170 0:174 1:176 0:160 1:174 0:598 52950 52950
+32 0:379 1:167 0:170 1:174 0:376 1:176 0:164 1:173 0:380 1:170 0:167 1:173 0:173 1:174 0:592 52950 52950
+32 0:380 1:173 0:177 1:170 0:382 1:174 0:173 1:163 0:380 1:173 0:174 1:160 0:177 1:170 0:608 52950 52950
+
+// running
+24 0:373 1:605 0:163 1:605 0:174 1:376 0:379 1:599 0:177 1:163 0:173 1EF67A 1EF67A
+24 0:379 1:599 0:170 1:654 0:170 1:170 0:184 1:605 0:173 1:379 0:380 1EF5EC 1EF5EC
+24 0:383 1:605 0:163 1:602 0:177 1:163 0:383 1:170 0:170 1:167 0:605 F7A50 F7A50
+24 0:370 1:601 0:174 1:605 0:595 1:173 0:174 1:163 0:380 1:379 0:174 1EF0A6 1EF0A6
+28 0:379 1:595 0:174 1:605 0:164 1:173 0:173 1:379 0:164 1:173 0:174 1:163 0:380 F7AD4 F7AD4
+24 0:383 1:605 0:167 1:608 0:161 1:379 0:608 1:164 0:173 1:170 0:167 F7B0A F7B0A
+
+// armed
+28 0:177 1:379 0:177 1:167 0:173 1:164 0:379 1:177 0:373 1:379 0:380 1:608 0:164 D499E D499E
+24 0:173 1:379 0:167 1:173 0:167 1:605 0:386 1:164 0:379 1:376 0:602 D7930 D7930
+24 0:183 1:380 0:173 1:173 0:164 1:605 0:380 1:604 0:164 1:379 0:664 35E7B0 35E7B0
+24 0:174 1:379 0:173 1:164 0:226 1:601 0:383 1:599 0:376 1:180 0:373 D79E4 D79E4
+28 0:173 1:380 0:163 1:173 0:174 1:602 0:595 1:173 0:380 1:173 0:380 1:163 0:173 1AF092 1AF092
+28 0:167 1:379 0:170 1:173 0:164 1:602 0:602 1:173 0:173 1:380 0:163 1:173 0:380 1AF0B4 1AF0B4
+28 0:164 1:379 0:174 1:173 0:164 1:605 0:605 1:163 0:174 1:379 0:174 1:163 0:380 1AF0B4 1AF0B4
+
+// disarmed
+28 0:380 1:595 0:173 1:605 0:164 1:173 0:174 1:379 0:164 1:173 0:174 1:163 0:380 F7AD4 F7AD4
+24 0:379 1:602 0:173 1:599 0:170 1:386 0:386 1:608 0:164 1:173 0:174 1EF67A 1EF67A
+16 0:380 1:595 0:10368 0:14 0:599 1:173 0:1 1 1
+24 0:373 1:602 0:180 1:598 0:380 1:166 0:171 1:166 0:383 1:173 0:377 7BCA4 7BCA4
+20 0:380 1:605 0:173 1:596 0:605 1:173 0:379 1:380 0:595 3DE130 3DE130
+
+// power off
+32 0:383 1:173 0:164 1:170 0:382 1:174 0:173 1:164 0:379 1:173 0:174 1:160 0:177 1:170 0:608 52950 52950
+32 0:382 1:170 0:167 1:170 0:380 1:170 0:177 1:163 0:380 1:173 0:170 1:167 0:173 1:174 0:595 52950 52950
+32 0:383 1:170 0:164 1:170 0:383 1:176 0:161 1:173 0:379 1:174 0:177 1:170 0:173 1:177 0:592 52950 52950
+32 0:379 1:173 0:174 1:173 0:370 1:173 0:174 1:173 0:369 1:174 0:173 1:164 0:170 1:173 0:605 52950 52950
+32 0:382 1:170 0:164 1:170 0:383 1:176 0:161 1:173 0:380 1:173 0:177 1:170 0:173 1:177 0:592 52950 52950
+32 0:383 1:170 0:167 1:170 0:380 1:170 0:177 1:163 0:380 1:173 0:170 1:167 0:173 1:173 0:596 52950 52950
+32 0:384 1:175 0:162 1:172 0:381 1:172 0:178 1:169 0:384 1:172 0:175 1:162 0:171 1:172 0:597 52950 52950
+32 0:387 1:162 0:172 1:169 0:390 1:159 0:175 1:169 0:384 1:175 0:172 1:171 0:179 1:158 0:604 52950 52950
+32 0:381 1:168 0:172 1:172 0:378 1:171 0:172 1:169 0:390 1:169 0:175 1:175 0:162 1:172 0:600 52950 52950
diff --git a/lib/AHRS/src/helper_3dmath.h b/lib/AHRS/src/helper_3dmath.h
@@ -11,6 +11,7 @@ inline float invSqrt(float x)
   //return 1.f / sqrt(x);
   #pragma GCC diagnostic push
   #pragma GCC diagnostic ignored "-Wstrict-aliasing"
+  #pragma GCC diagnostic ignored "-Wuninitialized"
   float halfx = 0.5f * x;
   float y = x;
   long i = *(long*)&y;

diff --git a/lib/EscDriver/src/EscDriver.h b/lib/EscDriver/src/EscDriver.h
@@ -17,21 +17,37 @@ enum EscProtocol {
   ESC_PROTOCOL_COUNT
 };
 
+struct EscConfig
+{
+  int timer;
+  EscProtocol protocol;
+  int rate;
+  bool async;
+  bool dshotTelemetry;
+};
+
 #define PWM_TO_DSHOT(v) (((v - 1000) * 2) + 47)
 #define ESC_PROTOCOL_SANITIZE(p) (p > ESC_PROTOCOL_DSHOT600 && p != ESC_PROTOCOL_DISABLED ? ESC_PROTOCOL_DSHOT600 : p)
 
 class EscDriverBase
 {
   public:
 #if defined(UNIT_TEST)
-    int begin(EscProtocol protocol, bool async, int16_t rate, int timer = 0) { return 1; }
+    int begin(const EscConfig& conf) { return 1; }
     void end() {}
     int attach(size_t channel, int pin, int pulse) { return 1; }
     int write(size_t channel, int pulse) { return 1; }
     void apply() {}
+    int pin(size_t channel) const { return -1; }
+    uint32_t telemetry(size_t channel) const { return 0; }
 #endif
 
-    uint16_t dshotEncode(uint16_t value)
+    static inline uint16_t dshotConvert(uint16_t pulse)
+    {
+      return pulse > 1000 ? PWM_TO_DSHOT(pulse) : 0;
+    }
+
+    static inline uint16_t dshotEncode(uint16_t value, bool inverted = false)
     {
       value <<= 1;
 
@@ -43,11 +59,136 @@ class EscDriverBase
         csum ^= csum_data; // xor
         csum_data >>= 4;
       }
+      if(inverted)
+      {
+        csum = ~csum;
+      }
       csum &= 0xf;
 
       return (value << 4) | csum;
     }
 
+    static inline uint32_t durationToBitLen(uint32_t duration, uint32_t len)
+    {
+      return (duration + (len >> 1)) / len;
+    }
+
+    static inline uint32_t pushBits(uint32_t value, uint32_t bitVal, size_t bitLen)
+    {
+      while(bitLen--)
+      {
+        value <<= 1;
+        value |= bitVal;
+      }
+      return value;
+    }
+
+    /**
+     * @param data expected data layout (bits): duration0(15), level0(1), duration(15), level1(1)
+     * @param len number of data items
+     * @param bitLen duration of single bit
+     * @return uint32_t raw gcr value
+     */
+    static inline uint32_t extractTelemetryGcr(uint32_t* data, size_t len, uint32_t bitLen)
+    {
+      int bitCount = 0;
+      uint32_t value = 0;
+      for(size_t i = 0; i < len; i++)
+      {
+        uint32_t duration0 = data[i] & 0x7fff;
+        if(!duration0) break;
+        uint32_t level0 = (data[i] >> 15) & 0x01;
+        uint32_t len0 = durationToBitLen(duration0, bitLen);
+        if(len0)
+        {
+          value = pushBits(value, level0, len0);
+          bitCount += len0;
+        }
+
+        uint32_t duration1 = (data[i] >> 16) & 0x7fff;
+        if(!duration1) break;
+        uint32_t level1 = (data[i] >> 31) & 0x01;
+        uint32_t len1 = durationToBitLen(duration1, bitLen);
+        if(len1)
+        {
+          value = pushBits(value, level1, len1);
+          bitCount += len1;
+        }
+      }
+
+      // fill missing bits with 1
+      if(bitCount < 21)
+      {
+        value = pushBits(value, 0x1, 21 - bitCount);
+      }
+
+      return value;
+    }
+
+    static constexpr uint32_t INVALID_TELEMETRY_VALUE = 0xffff;
+    static constexpr int SECONDS_PER_MINUTE = 60;
+    static constexpr float ERPM_PER_LSB = 100.0f;
+
+    static inline float getErpmToHzRatio(int poles)
+    {
+      return ERPM_PER_LSB / SECONDS_PER_MINUTE / (poles / 2.0f);
+    }
+
+    static inline uint32_t convertToErpm(uint32_t value)
+    {
+      if(!value) return 0;
+
+      if(!value || value == INVALID_TELEMETRY_VALUE)
+      {
+        return INVALID_TELEMETRY_VALUE;
+      }
+
+      // Convert period to erpm * 100
+      return (1000000 * 60 / 100 + value / 2) / value;
+    }
+
+    static inline uint32_t convertToValue(uint32_t value)
+    {
+      // eRPM range
+      if(value == 0x0fff)
+      {
+          return 0;
+      }
+
+      // Convert value to 16 bit from the GCR telemetry format (eeem mmmm mmmm)
+      return (value & 0x01ff) << ((value & 0xfe00) >> 9);
+    }
+
+    static uint32_t gcrToRawValue(uint32_t value)
+    {
+      value = value ^ (value >> 1); // extract gcr
+
+      constexpr uint32_t iv = 0xffffffff; // invalid code
+      // First bit is start bit so discard it.
+      value &= 0xfffff;
+      static const uint32_t decode[32] = {
+        iv, iv, iv, iv, iv, iv, iv, iv, iv, 9, 10, 11, iv, 13, 14, 15,
+        iv, iv,  2,  3, iv,  5,  6,  7, iv, 0,  8,  1, iv,  4, 12, iv,
+      };
+
+      uint32_t decodedValue = decode[value & 0x1f];
+      decodedValue |= decode[(value >>  5) & 0x1f] <<  4;
+      decodedValue |= decode[(value >> 10) & 0x1f] <<  8;
+      decodedValue |= decode[(value >> 15) & 0x1f] << 12;
+
+      uint32_t csum = decodedValue;
+      csum = csum ^ (csum >> 8); // xor bytes
+      csum = csum ^ (csum >> 4); // xor nibbles
+
+      if((csum & 0xf) != 0xf || decodedValue > 0xffff)
+      {
+        return INVALID_TELEMETRY_VALUE;
+      }
+      value = decodedValue >> 4;
+
+      return value;
+    }
+
     static const size_t DSHOT_BIT_COUNT = 16;
 };
 
@@ -69,6 +210,15 @@ class EscDriverBase
   #define ESC_DRIVER_MOTOR_TIMER ESC_DRIVER_TIMER0
   #define ESC_DRIVER_SERVO_TIMER ESC_DRIVER_TIMER1
 
+#elif defined(ESP32S3) || defined(ESP32S2)
+
+  #define ESC_CHANNEL_COUNT 4
+  #include "EscDriverEsp32.h"
+  #define EscDriver EscDriverEsp32
+
+  #define ESC_DRIVER_MOTOR_TIMER 0
+  #define ESC_DRIVER_SERVO_TIMER 1
+
 #elif defined(ESP32)
 
   #define ESC_CHANNEL_COUNT RMT_CHANNEL_MAX