Dear community,
I’m a huge fan of the ESP32 extension for AP. I use a ESP32 dev 4 kit and it’s fantastic. Now I want to turn it up a notch: I want to add wheel encoders. Now the problem:
Do I have aux channels for ESP32, is it something what is integrated yet? Alternatively, since I only need throttle and steering for my rover, Can I use the primary channels except for 1 & 3 and make them to AUX channels?
Your support is very welcomed. Below my ESP32 board definition:
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define HAL_ESP32_BOARD_NAME "esp32-devv4"
// make sensor selection clearer
#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))
#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
#define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))
#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
#define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args))
//------------------------------------
//-----INS/IMU-----
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_NONE)
//-----COMPASS-----
// Not recognized
//#define AP_COMPASS_AK8963_ENABLED TRUE
//#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) // Default
// Check I2C PORT and enable flag when adding external I2C Compass
#define AP_COMPASS_QMC5883L_ENABLED TRUE
#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(QMC5883L, 0, 0x0D,true , ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
#define ALLOW_ARM_NO_COMPASS 1
// -----BARO-----
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
#define HAL_BARO_BMP280_NAME "BMP280"
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
// allow boot without a baro
#define HAL_BARO_ALLOW_INIT_NO_BARO 1
// -----no airspeed sensor-----
#define AP_AIRSPEED_MS4525_ENABLED 0
#define AP_AIRSPEED_ENABLED 0
#define AP_AIRSPEED_ANALOG_ENABLED 0
#define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
// -----ADC -----
// ADC is available on lots of pints on the esp32, but adc2 cant co-exist with wifi we choose to allow ADC on :
//#define HAL_DISABLE_ADC_DRIVER 1
#define TRUE 1
#define HAL_USE_ADC TRUE
// the pin number, the gain/multiplier associated with it, the ardupilot name for the pin in parameter/s.
//
// two different pin numbering schemes, both are ok, but only one at a time:
#define HAL_ESP32_ADC_PINS_OPTION1 {\
{ADC1_GPIO35_CHANNEL, 11, 1},\
{ADC1_GPIO34_CHANNEL, 11, 2},\
{ADC1_GPIO39_CHANNEL, 11, 3},\
{ADC1_GPIO36_CHANNEL, 11, 4}\
}
#define HAL_ESP32_ADC_PINS_OPTION2 {\
{ADC1_GPIO35_CHANNEL, 11, 35},\
{ADC1_GPIO34_CHANNEL, 11, 34},\
{ADC1_GPIO39_CHANNEL, 11, 39},\
{ADC1_GPIO36_CHANNEL, 11, 36}\
}
// pick one:
//#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1
#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION2
// ------------------------------------------------------------------
// uncommenting one or more of these will give more console debug in certain areas.. ...
// ...however all teh extra printf's use a lot of stack, so best to limit yourself to only uncommenting one at a time
//#define STORAGEDEBUG 1
//#define SCHEDDEBUG 1
//#define FSDEBUG 1
//#define BUSDEBUG 1 //ok
//#define WIFIDEBUG 1 //uses a lot?
//#define INS_TIMING_DEBUG 1 //define this to see all the imu-resets and temp resets and imu timing info on the console.
// 2 use udp, 1 use tcp... for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 14550 tcp: 5760
#define HAL_ESP32_WIFI 2
// tip: if u are ok getting mavlink-over-tcp or mavlink-over-udp and want to disable mavlink-over-serial-usb
//then set ardupilot parameter SERIAL0_PROTOCOL = 0 and reboot.
// u also will/may want..
//LOG_BACKEND_TYPE 1
//LOG_DISARMED 1
//SERIAL0_PROTOCOL 0
//#define SERIAL1_PROTOCOL 5
//#define SERIAL1_BAUD 115
// see boards.py
#ifndef ENABLE_HEAP
#define ENABLE_HEAP 1
#endif
#define WIFI_SSID "ardupilot123"
#define WIFI_PWD "ardupilot123"
// ------------------------------------------------------------------------------------
//RCOUT which pins are used?
#define HAL_ESP32_RCOUT { GPIO_NUM_25,GPIO_NUM_27, GPIO_NUM_33, GPIO_NUM_32, GPIO_NUM_13, GPIO_NUM_12 }
//#define HAL_ESP32_RCOUT { GPIO_NUM_25,GPIO_NUM_27, GPIO_NUM_33, GPIO_NUM_32, GPIO_NUM_13, GPIO_NUM_12, GPIO_NUM_26, GPIO_NUM_15, GPIO_NUM_8, GPIO_NUM_7}
// ------------------------------------------------------------------------------------
// SPI BUS setup, including gpio, dma, etc
// note... we use 'vspi' for the bmp280 and mpu9250
#define HAL_ESP32_SPI_BUSES \
{.host=VSPI_HOST, .dma_ch=1, .mosi=GPIO_NUM_23, .miso=GPIO_NUM_19, .sclk=GPIO_NUM_18}
// tip: VSPI_HOST is an alternative name for esp's SPI3
//#define HAL_ESP32_SPI_BUSES {}
// SPI per-device setup, including speeds, etc.
#define HAL_ESP32_SPI_DEVICES \
{.name= "bmp280", .bus=0, .device=0, .cs=GPIO_NUM_2, .mode = 3, .lspeed=1*MHZ, .hspeed=1*MHZ}, \
{.name="mpu9250", .bus=0, .device=1, .cs=GPIO_NUM_5, .mode = 0, .lspeed=2*MHZ, .hspeed=8*MHZ}
// ------------------------------------------------------------------------------------
//I2C bus list
#define HAL_ESP32_I2C_BUSES \
{.port=I2C_NUM_0, .sda=GPIO_NUM_21, .scl=GPIO_NUM_22, .speed=400*KHZ, .internal=true}
//#define HAL_ESP32_I2C_BUSES {} // using this embty block appears to cause crashes?
// ------------------------------------------------------------------------------------
// rcin on what pin?
#define HAL_ESP32_RCIN GPIO_NUM_4
// ------------------------------------------------------------------------------------
//HARDWARE UARTS
#define HAL_ESP32_UART_DEVICES \
{.port=UART_NUM_0, .rx=GPIO_NUM_3, .tx=GPIO_NUM_1 },\
{.port=UART_NUM_1, .rx=GPIO_NUM_16, .tx=GPIO_NUM_17 }
// {.port=UART_NUM_2, .rx=GPIO_NUM_8, .tx=GPIO_NUM_7 } // Doesnt work, esp32dev doesnt start
// ------------------------------------------------------------------------------------
//#define AP_FILESYSTEM_ESP32_ENABLED 1
// 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,
// #define HAL_ESP32_SDMMC 0
// // and spi is more flexible pinouts.... dont forget vspi/hspi should be selected to NOT conflict with SPI_BUSES above
// //#define HAL_ESP32_SDSPI {.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_2, .miso=GPIO_NUM_15, .sclk=GPIO_NUM_14, .cs=GPIO_NUM_21}
// #define HAL_ESP32_SDCARD 0
// #define LOGGER_MAVLINK_SUPPORT 0
#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
// // this becomes the default value for the ardupilot param LOG_BACKEND_TYPE, which most ppl want to be 1, for log-to-flash
// // setting to 2 means log-over-mavlink to a companion computer etc.
// #define HAL_LOGGING_BACKENDS_DEFAULT 1
// ------------------------------------------------------------------------------------
#define HAL_ESP32_RMT_RX_PIN_NUMBER 4