update for v1.12.1

.github/workflows/build-firmware.yml

@@ -63,7 +63,9 @@ jobs:
         cd /opt/esp/idf
         git checkout c29343eb94d
         git submodule update --init --recursive
+        git status
         tools/idf_tools.py --non-interactive install cmake
+        rm $IDF_TOOLS_PATH/idf-env.json
         ./install.sh
         source ./export.sh
         cd $GITHUB_WORKSPACE/$PROJECT_PATH

Firmware/FFBoard/Inc/OutputPin.h

@@ -37,6 +37,8 @@ class OutputPin {
 		return(this->port == b.port && this->pin == b.pin);
 	}
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
 	/**
 	 * Sets a pin into output mode in case it was previously reconfigured
 	 */
@@ -48,7 +50,7 @@ class OutputPin {
 		GPIO_InitStruct.Speed = speed;
 		HAL_GPIO_Init(port, &GPIO_InitStruct);
 	}
-
+#pragma GCC diagnostic pop
 	//const std::string getName(){return name;}
 
 

Firmware/FFBoard/Src/flash_helpers.cpp

@@ -25,13 +25,15 @@ bool Flash_Write(uint16_t adr,uint16_t dat){
 	bool res = false;
 	if(readRes == 1 || (readRes == 0 && buf != dat) ){ // Only write if var updated
 		HAL_FLASH_Unlock();
+		#ifndef HW_ESP32SX
 		// Clear all the error flags
 	    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP);
 	    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR);
 	    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_WRPERR);
 	    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGAERR);
 	    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGPERR);
 	    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGSERR);
+		#endif
 		if(EE_WriteVariable(adr, dat) == HAL_OK){
 			res = true;
 		}
@@ -60,13 +62,15 @@ bool Flash_ReadWriteDefault(uint16_t adr,uint16_t *buf,uint16_t def){
 	if(EE_ReadVariable(adr, buf) != 0){
 		*buf = def;
 		HAL_FLASH_Unlock();
+		#ifndef HW_ESP32SX
 		// Clear all the error flags
 		__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP);
 		__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR);
 		__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_WRPERR);
 		__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGAERR);
 		__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGPERR);
 		__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGSERR);
+		#endif
 		EE_WriteVariable(adr, def);
 		HAL_FLASH_Lock();
 		return false;

Firmware/FFBoard/UserExtensions/Inc/TMC4671.h

@@ -32,9 +32,13 @@
 #ifdef HW_ESP32SX
 #define TMC_THREAD_MEM 4096
 #define TMC_THREAD_PRIO 25*25/56
+#define TMCENC_THREAD_MEM 2048
+#define TMCENC_THREAD_PRIO 33*25/56
 #else
 #define TMC_THREAD_MEM 256
 #define TMC_THREAD_PRIO 25 // Must be higher than main thread
+#define TMCENC_THREAD_MEM 80
+#define TMCENC_THREAD_PRIO 33
 #endif
 
 #define TMC_ADCOFFSETFAIL 5000 // How much offset from 0x7fff to allow before a calibration is failed

Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp

@@ -2996,7 +2996,7 @@ void TMC4671::setUpExtEncTimer(){
 /**
  * Medium priority task to update external encoders
  */
-TMC4671::TMC_ExternalEncoderUpdateThread::TMC_ExternalEncoderUpdateThread(TMC4671* tmc) : cpp_freertos::Thread("TMCENC",80,33),tmc(tmc){
+TMC4671::TMC_ExternalEncoderUpdateThread::TMC_ExternalEncoderUpdateThread(TMC4671* tmc) : cpp_freertos::Thread("TMCENC",TMCENC_THREAD_MEM,TMCENC_THREAD_PRIO),tmc(tmc){
 	this->Start();
 }
 

Firmware/Targets/ESP32SX/firmware/generate_bin.sh

@@ -20,7 +20,7 @@ build_and_generate_bin(){
     cd firmware
 }
 
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+SCRIPT_DIR=$(dirname $(readlink -f "$0"))
 cd $SCRIPT_DIR
 rm -f ../firmware/*.bin
 

Firmware/Targets/ESP32SX/main/cpp_target_config.cpp

@@ -42,18 +42,25 @@ CANPort canport{CANPORT};
 
 #ifdef PWMDRIVER
 // CCR and channels must match!
-const PWMConfig pwmTimerConfig = {
-		.channel_1 = TIM_CHANNEL_1,
-		.channel_2 = TIM_CHANNEL_2,
-		.channel_3 = TIM_CHANNEL_3,
-		.channel_4 = TIM_CHANNEL_4,
-
-		.ccr_1 = 1,
-		.ccr_2 = 2,
-		.ccr_3 = 3,
-		.ccr_4 = 4,
-
-		.timer = &TIM_PWM,
-		.timerFreq = APB_CLK_FREQ
-	};
+const PWMConfig pwmTimerConfig =
+{
+	.channel_1 = TIM_CHANNEL_1,
+	.channel_2 = TIM_CHANNEL_2,
+	.channel_3 = TIM_CHANNEL_3,
+	.channel_4 = TIM_CHANNEL_4,
+
+	.pwm_chan = 1,
+	.dir_chan = 3,
+	.dir_chan_n = 4,
+
+	.centerpwm_chan = 1,
+
+	.rcpwm_chan = 1,
+
+	.dualpwm1 = 1,
+	.dualpwm2 = 2,
+
+	.timer = &TIM_PWM,
+	.timerFreq = APB_CLK_FREQ
+};
 #endif

Firmware/Targets/ESP32SX/main/glue.c

@@ -14,7 +14,6 @@
 static const char *TAG = "glue";
 
 ADC_HandleTypeDef hadc1;
-ADC_HandleTypeDef hadc2;
 SPI_HandleTypeDef hspi1;
 #if defined(SHIFTERBUTTONS) || defined(SPIBUTTONS)
 SPI_HandleTypeDef hspi2;
@@ -25,6 +24,20 @@ CAN_HandleTypeDef hcan1;
 TIM_HandleTypeDef htim1;
 I2C_HandleTypeDef hi2c1;
 
+
+void HAL_GPIO_Init(GPIO_TypeDef  *GPIOx, GPIO_InitTypeDef *GPIO_Init)
+{
+    gpio_config_t io_conf = {0};
+    io_conf.intr_type = GPIO_INTR_DISABLE;
+    io_conf.mode = GPIO_Init->Mode;
+    io_conf.pin_bit_mask = (BIT64(LED_CLIP_Pin) | BIT64(LED_ERR_Pin) \
+                            | BIT64(LED_SYS_Pin) | BIT64(DRV_ENABLE_Pin) \
+                            | BIT64(DRV_BRAKE_Pin) | BIT64(CAN_S_Pin));
+    io_conf.pull_down_en = 0;
+    io_conf.pull_up_en = 0;
+    gpio_config(&io_conf);
+}
+
 GPIO_PinState HAL_GPIO_ReadPin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin)
 {
     return gpio_ll_get_level(&GPIO, GPIO_Pin);
@@ -125,7 +138,7 @@ HAL_StatusTypeDef HAL_SPI_Init(SPI_HandleTypeDef *hspi)
         .sclk_io_num = SPI1_SCK_Pin,
         .quadwp_io_num = -1,
         .quadhd_io_num = -1,
-        .max_transfer_sz = 256,
+        .max_transfer_sz = 4096,
     };
     hspi->Init.BaudRatePrescaler >>= 3;
     uint32_t freq = (84 * 1000 * 1000) / (uint32_t)(powf(2, hspi->Init.BaudRatePrescaler + 1));
@@ -158,6 +171,11 @@ HAL_StatusTypeDef HAL_SPI_Transmit(SPI_HandleTypeDef *hspi, uint8_t *pData, uint
     return HAL_OK;
 }
 
+HAL_StatusTypeDef HAL_SPI_Transmit_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size)
+{
+    return HAL_SPI_Transmit(hspi, pData, Size, 500);
+}
+
 HAL_StatusTypeDef HAL_SPI_Transmit_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size)
 {
     ESP_LOGW(TAG, "%s: Unsupported", __FUNCTION__);
@@ -216,6 +234,21 @@ HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, ui
     ESP_LOGW(TAG, "%s: Unsupported", __FUNCTION__);
     return HAL_OK;
 }
+HAL_StatusTypeDef HAL_UART_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size)
+{
+    ESP_LOGW(TAG, "%s: Unsupported", __FUNCTION__);
+    return HAL_OK;
+}
+HAL_StatusTypeDef HAL_UART_AbortReceive(UART_HandleTypeDef *huart)
+{
+    ESP_LOGW(TAG, "%s: Unsupported", __FUNCTION__);
+    return HAL_OK;
+}
+HAL_StatusTypeDef HAL_UART_AbortTransmit(UART_HandleTypeDef *huart)
+{
+    ESP_LOGW(TAG, "%s: Unsupported", __FUNCTION__);
+    return HAL_OK;
+}
 
 HAL_StatusTypeDef HAL_I2C_Init(I2C_HandleTypeDef *hi2c)
 {

Firmware/Targets/ESP32SX/main/glue.h

@@ -29,6 +29,23 @@ extern "C" {
 #define HAL_FLASH_Unlock()
 #define HAL_FLASH_Lock()
 
+/**
+  \brief   Reverse byte order (16 bit)
+  \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+static inline int16_t __REVSH(int16_t value)
+{
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+  return (int16_t)__builtin_bswap16(value);
+#else
+  int16_t result;
+
+  __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return result;
+#endif
+}
 
 #define TIM_CHANNEL_1 LEDC_CHANNEL_0
 #define TIM_CHANNEL_2 LEDC_CHANNEL_1
@@ -46,6 +63,7 @@ extern "C" {
 #endif
 #endif
 
+void HAL_GPIO_Init(GPIO_TypeDef  *GPIOx, GPIO_InitTypeDef *GPIO_Init);
 GPIO_PinState HAL_GPIO_ReadPin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
 void HAL_GPIO_WritePin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin, GPIO_PinState PinState);
 void HAL_GPIO_TogglePin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
@@ -89,6 +107,9 @@ HAL_StatusTypeDef HAL_UART_Transmit_DMA(UART_HandleTypeDef *huart, uint8_t *pDat
 HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout);
 HAL_StatusTypeDef HAL_UART_Transmit_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
 HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout);
+HAL_StatusTypeDef HAL_UART_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
+HAL_StatusTypeDef HAL_UART_AbortReceive(UART_HandleTypeDef *huart);
+HAL_StatusTypeDef HAL_UART_AbortTransmit(UART_HandleTypeDef *huart);
 
 HAL_StatusTypeDef HAL_ADC_Start_DMA(ADC_HandleTypeDef *hadc, uint32_t *pData, uint32_t Length);
 

Firmware/Targets/ESP32SX/main/stm32f4xx_hal.h

@@ -120,6 +120,40 @@ typedef enum
 #define GPIO_PIN_47   (47)
 #define GPIO_PIN_48   (48)
 
+/** 
+  * @brief GPIO Init structure definition  
+  */ 
+typedef struct
+{
+  uint32_t Pin;       /*!< Specifies the GPIO pins to be configured.
+                           This parameter can be any value of @ref GPIO_pins_define */
+
+  uint32_t Mode;      /*!< Specifies the operating mode for the selected pins.
+                           This parameter can be a value of @ref GPIO_mode_define */
+
+  uint32_t Pull;      /*!< Specifies the Pull-up or Pull-Down activation for the selected pins.
+                           This parameter can be a value of @ref GPIO_pull_define */
+
+  uint32_t Speed;     /*!< Specifies the speed for the selected pins.
+                           This parameter can be a value of @ref GPIO_speed_define */
+
+  uint32_t Alternate;  /*!< Peripheral to be connected to the selected pins. 
+                            This parameter can be a value of @ref GPIO_Alternate_function_selection */
+}GPIO_InitTypeDef;
+
+#define  GPIO_MODE_INPUT                        GPIO_MODE_INPUT                                                  /*!< Input Floating Mode                   */
+#define  GPIO_MODE_OUTPUT_PP                    GPIO_MODE_OUTPUT                                   /*!< Output Push Pull Mode                 */
+#define  GPIO_MODE_OUTPUT_OD                    GPIO_MODE_OUTPUT_OD                                   /*!< Output Open Drain Mode                */
+
+#define  GPIO_NOPULL        GPIO_PULLUP_DISABLE   /*!< No Pull-up or Pull-down activation  */
+#define  GPIO_PULLUP        GPIO_PULLUP_ENABLE   /*!< Pull-up activation                  */
+#define  GPIO_PULLDOWN      GPIO_PULLDOWN_ENABLE   /*!< Pull-down activation                */
+
+#define  GPIO_SPEED_FREQ_LOW         0x00000000U  /*!< IO works at 2 MHz, please refer to the product datasheet */
+#define  GPIO_SPEED_FREQ_MEDIUM      0x00000001U  /*!< range 12,5 MHz to 50 MHz, please refer to the product datasheet */
+#define  GPIO_SPEED_FREQ_HIGH        0x00000002U  /*!< range 25 MHz to 100 MHz, please refer to the product datasheet  */
+#define  GPIO_SPEED_FREQ_VERY_HIGH   0x00000003U  /*!< range 50 MHz to 200 MHz, please refer to the product datasheet  */
+
 typedef struct {
     twai_timing_config_t t_config;
     TaskHandle_t task;
@@ -431,6 +465,7 @@ typedef struct
 typedef struct {
     UART_InitTypeDef Init;
     uint32_t a;
+    uint32_t ErrorCode;
 } UART_HandleTypeDef;
 
 

Firmware/Targets/ESP32SX/main/target_constants.h

@@ -8,6 +8,7 @@
 #ifndef INC_TARGET_CONSTANTS_H_
 #define INC_TARGET_CONSTANTS_H_
 
+#include "sdkconfig.h"
 /*
  * Add settings and peripheral maps for this specific target here
  */
@@ -17,6 +18,10 @@
 #define HW_TYPE_INT 2
 #define FW_DEVID 0x413 // F407
 
+#if !(defined(CONFIG_IDF_TARGET_ESP32S2)) && !(defined(CONFIG_IDF_TARGET_ESP32S3))
+#error "The target chip is not supported, you should select a proper target by 'idf.py set-target esp32s2/3'"
+#endif
+
 #define HW_ESP32SX // Defining this macro will implement the STM32 HAL library using some of the functions of ESP-IDF
 
 #ifdef HW_ESP32SX
@@ -98,6 +103,9 @@ extern ADC_HandleTypeDef hadc1;
 #define BUTTON_PINS 3
 #endif
 
+extern SPI_HandleTypeDef hspi1;
+#define HSPIDRV hspi1
+
 // CAN
 #ifdef CANBUS
 extern CAN_HandleTypeDef hcan1;