Merge pull request #116 from rtlopez/develop

pending release v0.2.0-RC5

README.md

@@ -2,32 +2,34 @@
 The mini, DIY, ~$5 cost, ESP8266/ESP32 based, high performance flight controller.
 
 ## Features
+* Espressif targets (ESP32, ESP8266, ESP32-S3, ESP32-S2, ESP32-C3)
+* ESC protocols (PWM, Oneshot125/42, Multishot, Brushed, Dshot150/300/600 bidirectional)
+* PPM, SBUS and CRSF Receivers
+* Builtin ESP-NOW receiver and WiFi configuration [read more...](/docs/wireless.md)
+* SPI and I2C gyro modules support (MPU6050, MPU9250, ICM20602, BMI160)
+* Flight modes (ACRO, ANGLE, AIRMODE)
 * Frames (Quad X)
-* Betaflight configuration tool compatible (v10.8 or v10.9)
-* Receiver protocol (8 channel PPM)
-* SBUS and CRSF Serial Rx protocols on ESP32 and RP2040
-* ESC protocols (PWM, Oneshot125, Brushed, Dshot150, Dshot300, Dshot600)
-* Configurable Gyro Filters (LPF, Notch, dTerm)
-* Blackbox recording (OpenLog/Opelager serial)
-* In flight PID Tuning
-* Flight modes (ACRO, ANGLE, AIRMODE, ARM)
-* Up to 8kHz gyro/loop on ESP32 with SPI gyro
+* Betaflight configuration tool compatible (v10.8-v10.10)
+* Configurable Gyro Filters (LPF, Notch, dTerm, RPM)
+* Blackbox recording (OpenLog/OpenLager/Flash)
+* Up to 4kHz gyro/loop on ESP32 with SPI gyro
 * MSP protocol interface
 * CLI Interface
 * Resorce/Pin mapping
+* In flight PID Tuning
 * Buzzer
 * Lipo voltage monitor
-* Failsafe
+* Failsafe mode
 
 ## Requirements
 Hardware:
-* ESP8266 Wemos D1 Mini or ESP32 mini board
-* MPU6050 I2C gyro (GY-88, GY-91, GY-521 or similar) or MPU9250 SPI on ESP32
+* ESP32 mini board or ESP8266 Wemos D1 mini or similar
+* MPU9250 SPI or MPU6050 I2C gyro (GY-88, GY-91, GY-521 or similar)
 * PDB with 5V BEC
 * Buzzer and some electronic components (optional).
 
 Software:
-* [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) (v10.8 or v10.9)
+* [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) (v10.10 or v10.9 or v10.8)
 * [CH340 usb-serial converter driver](https://sparks.gogo.co.nz/ch340.html)
 
 ## Flashing
@@ -38,6 +40,8 @@ Software:
 5. Click "Program"
 6. After success power cycle board
 
+Note: only ESP32 and ESP8266 can be flashed in this way.
+
 ![ESP-FC Flashing](/docs/images/esptool-js-flash-connect.png)
 
 ## Setup
@@ -75,9 +79,8 @@ Here are more details about [how to setup](/docs/setup.md).
 | MSP             | Yes     |   Yes |    Yes |
 | CLI             | Yes     |   Yes |    Yes |
 | PPM (IN)        | Yes     |   Yes |    Yes |
-| SBUS            | -       |   Yes |    Yes |
-| IBUS            | -       |     - |      - |
-| CRSF (ELRS)     | -       |   Yes |    Yes |
+| SBUS            | Yes     |   Yes |    Yes |
+| CRSF (ELRS)     | Yes     |   Yes |    Yes |
 | BLACKBOX        | Yes     |   Yes |    Yes |
 | PWM (OUT)       | Yes     |   Yes |    Yes |
 | ONESHOT125      | Yes     |   Yes |    Yes |
@@ -124,7 +127,6 @@ You can also join to our [Discord Channel](https://discord.gg/jhyPPM5UEH)
 * Serial Rx (IBUS)
 * ELRS telemetry
 * ESP32-S2/S3/C3 targets
-* BiDir Dshot
 * Baro (MS5611)
 * GPS navigation
 

docs/setup.md

@@ -44,6 +44,13 @@ If you want to use Serial based receiver (SBUS,CRSF), you need to allocate UART
 
 Then go to the `Receiver` tab, and select `Receiver mode` and `Serial Receiver Provider`.
 
+To use Serial RX on ESP8266, you need to connect reciver to primary UART. In this case you lose ability to configure through UART.
+To deal with it activate "SOFTSERIAL" feature. In this case if board stay in failsafe mode for 30 seconds (transmitter is turned off), then automatically WiFi access point will be started.
+Default name is "ESP-FC". After connecting to this AP open configurator, select "manual" port and type port: `tcp://192.168.4.1:1111`.
+You can also configure board to automatically connect existing wifi network. In this case set `wifi_ssid` and `wifi_pass` parameters in CLI.
+
+To use ESP-NOW receiver, choose "SPI Rx (e.g. built-in Rx)" receiver mode in Receiver tab. You need compatible transmitter module. Read more about [ESP-FC Wireless Functions](/docs/wireless.md)
+
 ## Motor setup
 
 In `Motors` tab you must configure
@@ -92,7 +99,7 @@ This option allows to separate PWM frequency. If your pid loop is set to 1k, but
 
 ## Flight modes
 
-Flight modes can be configured in modes tab
+Flight modes can be configured in `Modes` tab
 
 ### Arm
 
@@ -125,8 +132,7 @@ Logging using serial device is possible, like [D-ronin OpenLager](https://github
 
 Recommended settings
 
-- To log with 1k rate, you need device that is capable to receive data with 250kbps.
-- To log with 1k rate with debug, baro and mag data, 500kbps is recommended.
+- To log with 1k rate, you need device that is capable to receive data with 500kbps.
 - To log with 2k rate, you need 1Mbps
 
 OpenLager can handle it easily. If you plan to use OpenLog, you might need to flash [blackbox-firmware](https://github.com/cleanflight/blackbox-firmware) to be able to handle more than 115.2kbps. Either 250kbps and 500kbps works well with modern SD cards up to 32GB size.

docs/wireless.md

@@ -0,0 +1,44 @@
+# ESP-FC Wireless functions
+
+Espressif modules have a built-in WiFi module that can be used for configuration and control.
+
+## WiFi configuration
+
+> [!NOTE] To be able to configure device using WiFi connection, you need to enable `SOFTSERIAL` function. WiFi function can only be used to configure device. Whilst WiFi is active, it is not possible to ARM controller and reboot is required.
+
+![Enable WiFi](/docs/images/espfc_wifi_ap_enable.png)
+
+WiFi will start its own Access-Point if board will not detect receiver signal for at least 30 seconds (stay in failsafe mode since boot). Name of this AP is `ESP-FC` and it is open network. If you connect to this AP, then choose `Manual Selection` and type `tcp://192.168.4.1:1111` 
+
+![Connect to ESP-FC AP](/docs/images/espfc_wifi_ap_connect.png)
+
+You can also automatically connect ESP-FC to your home network. To achive that, go to the CLI tab, and enter your network name and secret.
+```
+set wifi_ssid MY-HOME-NET
+set wifi_pass MY-HOME-PASS
+```
+> [!NOTE] Network name and pass cannot contains spaces.
+
+then you can check status of connection by typing `wifi` in CLI tab.
+```
+wifi 
+ST IP4: tcp://0.0.0.0:1111
+ST MAC: 30:30:F9:6E:10:74
+AP IP4: tcp://192.168.4.1:1111
+AP MAC: 32:30:F9:6E:10:74
+```
+In this mode you need to discover IP address granted by DHCP. In line `ST IP4` is the address that you need to use in configurator. If there is `0.0.0.0`, that means that FC was not able to connect to home network.
+
+## ESP-NOW control
+
+ESP-NOW is a proprietary wireless communication protocol defined by Espressif, which enables the direct, quick and low-power control of smart devices, without the need of a router. 
+
+As there are no real transmitters usng this protocol on the market, you have to build your own transmitting module first. If you alredy own RC transmitter with JR bay, you can use another ESP32 module. In this case follow [espnow-rclink-tx](https://github.com/rtlopez/espnow-rclink-tx) instructions.
+
+In ESP-FC you have to choose `SPI Rx (e.g. built-in Rx)` as Receiver mode in Receiver tab.
+
+![ESP-FC ESP-NOW Reciever](/docs/images/espfc_receiver.png)
+
+Transmitter and receiver binds automatically after power up, you don't need to do anything. Recomended startup procedure is:
+1. turn on transmitter first
+2. next power up receiver/flight controller

lib/AHRS/src/Mahony.cpp

@@ -22,6 +22,13 @@
 // Header files
 
 #include "Mahony.h"
+#include <Arduino.h>
+
+#ifdef ESP32
+#define FAST_CODE_IMU_ATTR IRAM_ATTR
+#else
+#define FAST_CODE_IMU_ATTR
+#endif
 
 //-------------------------------------------------------------------------------------------
 // Definitions
@@ -165,7 +172,7 @@ void Mahony::update(float gx, float gy, float gz, float ax, float ay, float az,
 //-------------------------------------------------------------------------------------------
 // IMU algorithm update
 
-void Mahony::update(float gx, float gy, float gz, float ax, float ay, float az)
+void FAST_CODE_IMU_ATTR Mahony::update(float gx, float gy, float gz, float ax, float ay, float az)
 {
 	float recipNorm;
 	float halfvx, halfvy, halfvz;

lib/EscDriver/src/EscDriverEsp32.cpp

@@ -60,6 +60,16 @@ static void IRAM_ATTR _rmt_zero_mem(rmt_channel_t channel, size_t len)
   }
 }
 
+// using map() in isr cause crash
+static long IRAM_ATTR _map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+  const long in_range = in_max - in_min;
+  if(in_range == 0) return out_min;
+  const long out_range = out_max - out_min;
+  const long delta = x - in_min;
+  return (delta * out_range) / in_range + out_min;
+}
+
 bool EscDriverEsp32::_tx_end_installed = false;
 
 EscDriverEsp32 *EscDriverEsp32::instances[] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
@@ -205,18 +215,14 @@ void EscDriverEsp32::initChannel(int i, gpio_num_t pin, int pulse)
 
 void EscDriverEsp32::modeTx(rmt_channel_t channel)
 {
-  //PIN_DEBUG(HIGH);
   disableRx(channel);
   enableTx(channel);
-  //PIN_DEBUG(LOW);
 }
 
 void EscDriverEsp32::modeRx(rmt_channel_t channel)
 {
-  //PIN_DEBUG(HIGH);
   disableTx(channel);
   enableRx(channel);
-  //PIN_DEBUG(LOW);
 }
 
 void EscDriverEsp32::enableTx(rmt_channel_t channel)
@@ -266,7 +272,6 @@ void EscDriverEsp32::disableRx(rmt_channel_t channel)
 
 void EscDriverEsp32::txDoneCallback(rmt_channel_t channel, void *arg)
 {
-  //PIN_DEBUG(HIGH);
   auto instance = instances[channel];
   if(!instance) return;
   if(instance->_async)
@@ -277,7 +282,6 @@ void EscDriverEsp32::txDoneCallback(rmt_channel_t channel, void *arg)
   {
     instance->modeRx(channel);
   }
-  //PIN_DEBUG(LOW);
 }
 
 void EscDriverEsp32::transmitOne(uint8_t i)
@@ -318,48 +322,25 @@ void EscDriverEsp32::transmitAll()
 
 void EscDriverEsp32::readTelemetry()
 {
-  //PIN_DEBUG(HIGH);
   for (size_t i = 0; i < ESC_CHANNEL_COUNT; i++)
   {
     if(!_digital || !_dshot_tlm) continue;
     if(!_channel[i].attached()) continue;
 
-    //HardwareSerial* s = (i == 0 && _timer.check()) ? &Serial : nullptr;
-
     RingbufHandle_t rb = NULL;
     if(ESP_OK != rmt_get_ringbuf_handle((rmt_channel_t)i, &rb)) continue;
 
     size_t rmt_len = 0;
     rmt_item32_t* data = (rmt_item32_t*)xRingbufferReceive(rb, &rmt_len, 0);
-    //if(s) { s->print((uint8_t)rmt_len); }
     if (data)
     {
-      /*for(size_t j = 0; j < rmt_len >> 2; j++)
-      {
-        if(!data[j].duration0) break;
-        if(s) s->print(' ');
-        if(s) s->print(data[j].level0);
-        if(s) s->print(':');
-        if(s) s->print(data[j].duration0);
-
-        if(!data[j].duration1) break;
-        if(s) s->print(' ');
-        if(s) s->print(data[j].level1);
-        if(s) s->print(':');
-        if(s) s->print(data[j].duration1);
-      }*/
       uint32_t value = extractTelemetryGcr((uint32_t*)data, rmt_len >> 2, _channel[i].dshot_tlm_bit_len);
 
-      //if(s) s->print(' ');
-      //if(s) s->print(value, HEX);
-
       vRingbufferReturnItem(rb, (void *)data);
 
       _channel[i].telemetryValue = value;
     }
-    //if(s) s->print('\n');
   }
-  //PIN_DEBUG(LOW);
 }
 
 void EscDriverEsp32::writeAnalogCommand(uint8_t channel, int32_t pulse)
@@ -373,7 +354,7 @@ void EscDriverEsp32::writeAnalogCommand(uint8_t channel, int32_t pulse)
     maxPulse = 2000;
   }
   pulse = constrain(pulse, minPulse, maxPulse);
-  int duration = map(pulse, 1000, 2000, slot.pulse_min, slot.pulse_max);
+  int duration = _map(pulse, 1000, 2000, slot.pulse_min, slot.pulse_max);
 
   int count = 2;
   if (_async)

lib/EscDriver/src/EscDriverEsp32.h

@@ -82,10 +82,10 @@ class EscDriverEsp32: public EscDriverBase
     int begin(const EscConfig& conf);
     void end();
     int attach(size_t channel, int pin, int pulse);
-    int write(size_t channel, int pulse);
-    void apply();
+    int write(size_t channel, int pulse) IRAM_ATTR;
+    void apply() IRAM_ATTR;
     int pin(size_t channel) const;
-    uint32_t telemetry(size_t channel) const;
+    uint32_t telemetry(size_t channel) const IRAM_ATTR;
 
   private:
     void initChannel(int channel, gpio_num_t pin, int pulse);
@@ -97,8 +97,8 @@ class EscDriverEsp32: public EscDriverBase
     void disableRx(rmt_channel_t channel) IRAM_ATTR;
     static void txDoneCallback(rmt_channel_t channel, void *arg) IRAM_ATTR;
     void transmitOne(uint8_t i) IRAM_ATTR;
-    void transmitAll();
-    void readTelemetry();
+    void transmitAll() IRAM_ATTR;
+    void readTelemetry() IRAM_ATTR;
     void writeAnalogCommand(uint8_t channel, int32_t pulse) IRAM_ATTR;
     void writeDshotCommand(uint8_t channel, int32_t pulse) IRAM_ATTR;
     void transmitCommand(uint8_t channel) IRAM_ATTR;