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# Ardupilot port to the esp32 series mcu ## Building instructions 0. Build currently tested on linux 1. Checkout this branch https://github.com/ardupilot/ardupilot/tree/master 2. Use this to install ardupilot requirements: ``` Tools/environment_install/install-prereqs-ubuntu.sh ``` or ``` Tools/environment_install/install-prereqs-arch.sh ``` 3. install esp-idf python deps: ``` # from: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/get-started/linux-setup.html sudo apt-get install git wget flex bison gperf python-setuptools cmake ninja-build ccache libffi-dev libssl-dev dfu-util sudo apt-get install python3 python3-pip python3-setuptools sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10 #or sudo pacman -S --needed gcc git make flex bison gperf python-pip cmake ninja ccache dfu-util libusb cd ardupilot git submodule update --init --recursive # ensure the idf exists in modules/esp_idf (supports pre-existing submodules and/or cloning it for you) ./Tools/scripts/esp32_get_idf.sh cd modules/esp_idf # use it: ./install.sh unset IDF_PATH source ./export.sh cd ../../.. ``` 4. Configure and run build: ```bash cd ardupilot ./waf configure ./waf configure --board=esp32buzz --debug [ or ./waf configure --board=esp32diy --debug ] ./waf plane or ./waf copter ``` ``` Do NOT use "./waf build", it's broken right now. ``` TIPS: - ninja: error: loading 'build.ninja': No such file or directory You need to run a plain './waf configure' FIRST, THEN run it with the --board type you want. - we use toolchain and esp-idf from espressif , as a 'git submodule', so no need to preinstall etc. https://docs.espressif.com/projects/esp-idf/en/latest/get-started/ - (note we currently use https://github.com/espressif/esp-idf/tree/release/v4.0 ) - if you get compile error/s to do with CONFIG... such as in expansion of macro 'configSUPPORT_STATIC_ALLOCATION' warning: "CONFIG_SUPPORT_STATIC_ALLOCATION" is not defined this means your 'sdkconfig' file that the IDF relies on is perhaps a bit out of date or out of sync with your IDF. So double check you are using the correct IDF version ( buzz's branch uses v3.3 , sh83's probably does not.. and then if you are sure: ``` cd build/esp32{BOARD}/esp-idf_build ninja menuconfig ``` navigate to [save] (tab,tab,tab,enter) press [tab] then [ok] to update the sdkconfig file 'config written' press [enter] to exit this dialog press [tab] then enter on the [exit] box to exit the app done. the 'sdkconfig' file in this folder should have been updated cd ../../../.. OR locate the 'libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig' and delete it, as it should call back to the 'sdkconfig.defaults' file if its not there. 'cd libraries/AP_HAL_ESP32/targets/esp32/esp-idf ; idf.py defconfig' is the command that updates it, but that shouldn't be needed manually, we don't think. ... try ./waf plane" 5. Recommanded way to flash the firmware : ``` ESPBAUD=921600 ./waf plane --upload ``` 6. The espressif esp-idf original project is built at `cd build/esp32{BOARD}/esp-idf_build/`. You can use your default build system (make or ninja) to build other esp-idf target. For example : - ninja flash - ninja monitor If you want to specify the port, specify before any command: ``` ESPTOOL_PORT=/dev/ttyUSB1 ``` If you want to specify a wanted baudrate : ``` ESPTOOL_BAUD=57600 ESPTOOL_BAUD=921600 ``` You can find more info here : [ESPTOOL](https://github.com/espressif/esptool) You can also find the cmake esp-idf project at `libraries/AP_HAL_ESP32/targets/esp32/esp-idf` for idf.py command. But see next section to understand how ardupilot is compiled on ESP32. For flashing from another machine you need the following files: ``` build/<board>/esp-idf_build/bootloader/bootloader.bin build/<board>/esp-idf_build/ardupilot.bin build/<board>/esp-idf_build/partition_table/partition-table.bin ``` see build/<board>/esp-idf_build/flash_project_args (after building) for hints on what arguments to use --- OLD Alternatively, the "./waf plane' build outputs a python command that y can cut-n-paste to flash... buzz found that but using that command with a slower baudrate of 921600 instead of its recommended 2000000 worked for him: cd ardupilot python ./modules/esp_idf/components/esptool_py/esptool/esptool.py --chip esp32 --port /dev/ttyUSB0 --baud 921600 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect 0xf000 ./build/esp32buzz/idf-plane/ota_data_initial.bin 0x1000 ./build/esp32buzz/idf-plane/bootloader/bootloader.bin 0x20000 ./build/esp32buzz/idf-plane/arduplane.bin 0x8000 ./build/esp32buzz/idf-plane/partitions.bin --- ## How is compiled Ardupilot on esp32 The ESP-IDF os is compiled as a library to the project. First waf configure the esp-idf cmake and run a target to get all esp-idf includes. Waf compile all ardupilot parts in libardusub.a and libArduSub_libs.a (for example for subs, but similarly for planes, copter, rover). Then waf execute the esp-idf cmake to compile esp-idf itself. And the cmake link the final ardupilot.elf against previous built libraries. The ardupilot.elf contains all symbol. The cmake provide a stripped version as ardupilot.bin. ## Test hardware Currently esp32 dev board with connected gy-91 10dof sensor board is supported. Pinout (consult UARTDriver.cpp and SPIDevice.cpp for reference): ### Uart connecion/s Internally connected on most devboards, just for reference. After flashing the esp32 , u can connect with a terminal app of your preference to the same COM port ( eg /dev/ttyUSB0) at a baud rate of 115200, software flow control, 8N1 common uart settings, and get to see the output from hal.console->printf("...") and other console messages. ### Console/usb/boot-messages/mavlink telem aka serial0/uart0: | ESP32 | CP2102 | | --- | --- | | GPIO3 | UART_TX | AKA UART0_RX | | GPIO1 | UART_RX | AKA UART0_TX | ### GPS aka serial1/uart1: | ESP32 | GPS | | --- | --- | | GPIO17 (TX) | GPS (RX) | | GPIO16 (RX) | GPS (TX) | | GND | GND | | 5v | Pwr | ### RC receiver connection: |ESP32| RC Receiver | | --- | --- | | D4 | CPPM-out | | GND | GND | | 5v | Pwr | ### I2C connection ( for gps with leds/compass-es/etc onboard, or digital airspeed sensorrs, etc): | ESP32 | I2C | | --- | --- | | GPIO12 | SCL | | GPIO13 | SDA | | GND | GND | | 5v | Pwr | ### Compass (using i2c) - u need to set the ardupilot params, and connected a GPS that has at least one i2c compass on it.. tested this with a HMC5883 and/or LIS3MDL COMPASS_ENABLE=1 COMPASS_EXTERNAL=1 COMPASS_EXTERN2=1 COMPASS_EXTERN3=1 ### Analog input/s 2nd column is the ardupilot _PIN number and matches what u specify in the third column of HAL_ESP32_ADC_PINS #define elsewhere : if HAL_ESP32_ADC_PINS == HAL_ESP32_ADC_PINS_OPTION1: | ESP32 | AnalogIn | | --- | --- | | GPIO35 | 1 | | GPIO34 | 2 | | GPIO39 | 3 | | GPIO36 | 4 | | GND | GND | eg, set ardupilot params like this: RSSI_ANA_PIN = 3 - and it will attempt to read the adc value on GPIO39 for rssi data BATT_CURR_PIN = 2 - and it will attempt to read the adc value on GPIO34 for battery current BATT_VOLT_PIN = 1 - and it will attempt to read the adc value on GPIO35 for battery voltage ARSPD_PIN = 4 - and it will attempt to read the adc value on GPIO36 for analog airspeed data if HAL_ESP32_ADC_PINS == HAL_ESP32_ADC_PINS_OPTION2: | ESP32 | AnalogIn | | --- | --- | | GPIO35 | 35 | | GPIO34 | 34 | | GPIO39 | 39 | | GPIO36 | 36 | | GND | GND | eg, set ardupilot params like this: RSSI_ANA_PIN = 39 - and it will attempt to read the adc value on GPIO39 for rssi data BATT_CURR_PIN = 34 - and it will attempt to read the adc value on GPIO34 f