Feature/add esp32s2

.github/workflows/build-firmware.yml

@@ -6,6 +6,7 @@ on:
     branches: 
       - master
       - development
+      - feature/*
   pull_request:
     branches:
       - master
@@ -40,6 +41,49 @@ jobs:
           name: OpenFFBoard-Firmware-${{ matrix.target }}
           path: ./Firmware/Output
 
+  Build-ESP32SX:
+    strategy:
+      fail-fast: false
+      matrix:
+        target: ['esp32s2', 'esp32s3'] # Targets to build
+    runs-on: ubuntu-latest
+    env:
+      PROJECT_PATH: Firmware/Targets/ESP32SX
+    container: espressif/idf:release-v4.4
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v2
+
+    - name: esp-idf build
+      run: |
+        pwd
+        ls -al
+        git config --global --add safe.directory $GITHUB_WORKSPACE
+        git log -n1
+        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
+        idf.py set-target ${{ matrix.target }}
+        idf.py build
+        esptool.py --chip ${{ matrix.target }} merge_bin -o build/OpenFFBoard-Firmware-${{ matrix.target }}.bin --flash_mode dio --flash_size 4MB 0x1000 build/bootloader/bootloader.bin 0x10000 build/openffboard.bin 0x8000 build/partition_table/partition-table.bin
+      shell: bash
+
+    - name: Upload a Build Artifact
+      uses: actions/upload-artifact@v3.0.0
+      with:
+        # Artifact name
+        name: OpenFFBoard-Firmware-${{ matrix.target }}
+        # A file, directory or wildcard pattern that describes what to upload
+        path: |
+          Firmware/Targets/ESP32SX/build/OpenFFBoard-Firmware-*.bin
+        retention-days: 90
+
   # Release:
   #   needs: [Build_firmware] # Requires build first
   #   name: Release if tagged
@@ -60,4 +104,5 @@ jobs:
   #       if: startsWith(github.ref, 'refs/tags/')
   #       with:
   #         body_path: ${{ github.workspace }}/CHANGELOG.txt
-  #         body: "Release notes coming soon"
+  #         body: "Release notes coming soon"
+

Firmware/FFBoard/Inc/CAN.h

@@ -24,7 +24,7 @@ typedef struct{
 
 typedef struct{
 	uint8_t data[8] = {0};
-	CAN_RxHeaderTypeDef header = {0,0,0,0,0,0};
+	CAN_RxHeaderTypeDef header = {0,0,0,0,0,0,0};
 } CAN_rx_msg;
 
 

Firmware/FFBoard/Inc/CommandInterface.h

@@ -14,6 +14,17 @@
 #include "thread.hpp"
 #include "CommandHandler.h"
 
+#ifdef HW_ESP32SX
+#define CDC_COMMANDINTERFACE_THREAD_MEM 4096
+#define CDC_COMMANDINTERFACE_THREAD_PRIO (37*25/56)
+#define UART_COMMANDINTERFACE_THREAD_MEM CDC_COMMANDINTERFACE_THREAD_MEM
+#define UART_COMMANDINTERFACE_THREAD_PRIO CDC_COMMANDINTERFACE_THREAD_PRIO
+#else
+#define CDC_COMMANDINTERFACE_THREAD_MEM 512
+#define CDC_COMMANDINTERFACE_THREAD_PRIO 36
+#define UART_COMMANDINTERFACE_THREAD_MEM 150
+#define UART_COMMANDINTERFACE_THREAD_PRIO CDC_COMMANDINTERFACE_THREAD_PRIO
+#endif
 
 class FFBoardMainCommandThread;
 

Firmware/FFBoard/Inc/DebugLog.h

@@ -0,0 +1,40 @@
+
+#ifndef DEBUGLOG_H_
+#define DEBUGLOG_H_
+
+#include "target_constants.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// LOG DEBUG
+#ifdef HW_ESP32SX
+#define FFB_LOGI(format, ...) do {                                          \
+            ESP_LOGI(__FUNCTION__, "%s:%d -- " format, __FILE__, __LINE__ __VA_OPT__(,) __VA_ARGS__);        \
+    } while(0)
+#define FFB_LOGW(format, ...) do {                                          \
+            ESP_LOGW(__FUNCTION__, "%s:%d -- " format, __FILE__, __LINE__ __VA_OPT__(,) __VA_ARGS__);        \
+    } while(0)
+#define FFB_LOGE(format, ...) do {                                          \
+            ESP_LOGE(__FUNCTION__, "%s:%d -- " format, __FILE__, __LINE__ __VA_OPT__(,) __VA_ARGS__);        \
+    } while(0)
+#define FFB_LOGD(format, ...) do {                                          \
+            ESP_LOGD(__FUNCTION__, "%s:%d -- " format, __FILE__, __LINE__ __VA_OPT__(,) __VA_ARGS__);        \
+    } while(0)
+
+#else
+
+#define FFB_LOGI(format, ...) 
+#define FFB_LOGW(format, ...) 
+#define FFB_LOGE(format, ...) 
+#define FFB_LOGD(format, ...) 
+
+#endif
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DEBUGLOG_H_ */

Firmware/FFBoard/Inc/ErrorHandler.h

@@ -11,6 +11,15 @@
 #include <string>
 #include "thread.hpp"
 #include "CommandHandler.h"
+#include "target_constants.h"
+
+#ifdef HW_ESP32SX
+#define ERROR_PRINTER_MEM 4096
+#define ERROR_PRINTER_PRIO 19*25/56
+#else
+#define ERROR_PRINTER_MEM 512
+#define ERROR_PRINTER_PRIO 19
+#endif
 
 /*
  * Error code definitions

Firmware/FFBoard/Inc/FFBoardMainCommandThread.h

@@ -11,9 +11,7 @@
 
 #include <CmdParser.h>
 #include "cppmain.h"
-#include "main.h"
 #include <string>
-#include "cdc_device.h"
 #include "ChoosableClass.h"
 #include "CommandHandler.h"
 #include <vector>
@@ -24,6 +22,14 @@
 
 #include "CommandInterface.h"
 
+#ifdef HW_ESP32SX
+#define FFBOARDMAINCOMMANDTHREAD_MEM 4096
+#define FFBOARDMAINCOMMANDTHREAD_PRIO 32*25/56
+#else
+#define FFBOARDMAINCOMMANDTHREAD_MEM 700
+#define FFBOARDMAINCOMMANDTHREAD_PRIO 32
+#endif
+
 class FFBoardMain;
 //class CommandInterface;
 

Firmware/FFBoard/Inc/HidCommandInterface.h

@@ -13,6 +13,14 @@
 #include "ffb_defs.h"
 #include "CommandHandler.h"
 
+#ifdef HW_ESP32SX
+#define HID_COMMANDINTERFACE_MEM 2048
+#define HID_COMMANDINTERFACE_PRIO 18*25/56
+#else
+#define HID_COMMANDINTERFACE_MEM 128
+#define HID_COMMANDINTERFACE_PRIO 18
+#endif
+
 enum class HidCmdType : uint8_t {write = 0, request = 1, info = 2, writeAddr = 3, requestAddr = 4,ACK = 10, notFound = 13, notification = 14, err = 15};
 
 

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/Inc/USBdevice.h

@@ -15,7 +15,13 @@
 
 #define USB_STRING_DESC_BUF_SIZE 32
 
-
+#ifdef HW_ESP32SX
+#define USBDEVICE_MEM 4096
+#define USBDEVICE_PRIO 40*25/56
+#else
+#define USBDEVICE_MEM 256
+#define USBDEVICE_PRIO 40
+#endif
 
 /**
  * This class defines a usb device and implements callbacks for getting the basic

Firmware/FFBoard/Inc/cppmain.h

@@ -22,18 +22,23 @@ extern "C" {
 
 #include "eeprom_addresses.h"
 #include "main.h"
-#include "cmsis_compiler.h"
-
+#include "DebugLog.h"
 
 void cppmain();
+#ifndef HW_ESP32SX
+#include "cmsis_compiler.h"
 void usb_init();
 void tudThread(void *argument);
-
+#endif
 #ifdef __cplusplus
 }
 
 static inline bool inIsr(){
+#ifdef HW_ESP32SX
+	return xPortInIsrContext();
+#else
 	return (__get_PRIMASK() != 0U) || (__get_IPSR() != 0U);
+#endif
 }
 
 template<class T,class C>
@@ -53,12 +58,14 @@ T clip(T v, C l, C h)
 {
   return { v > h ? h : v < l ? l : v };
 }
-
+#ifdef HW_ESP32SX
+#define micros() esp_timer_get_time() // Returns microsecond scaled time
+#else
 uint32_t micros(); // Returns microsecond scaled time
 unsigned long getRunTimeCounterValue(void); // RTOS
 
 void refreshWatchdog(); // Refreshes the watchdog
-
+#endif
 #endif
 
 

Firmware/FFBoard/Inc/critical.hpp

@@ -65,15 +65,19 @@ class CriticalSection {
          */
         static inline void Enter()
         {
+            #ifndef HW_ESP32SX
             taskENTER_CRITICAL();
+            #endif
         }
 
         /**
          *  Re-enable context switches.
          */
         static inline void Exit()
         {
+            #ifndef HW_ESP32SX
             taskEXIT_CRITICAL();
+            #endif
         }
 
         /**

Firmware/FFBoard/Inc/tickhook.hpp

@@ -44,7 +44,7 @@
 #include "task.h"
 #include <list>
 
-#if ( configUSE_TICK_HOOK == 1 )
+#if ( configUSE_TICK_HOOK == 1) && !defined(HW_ESP32SX)
 
 /**
  *  FreeRTOS expects this function to exist and requires it to be 

Firmware/FFBoard/Src/CAN.cpp

@@ -205,7 +205,12 @@ void CANPort::setSpeedPreset(uint8_t preset){
 	takeSemaphore();
 	HAL_CAN_Stop(this->hcan);
 	HAL_CAN_AbortTxRequest(hcan, txMailbox);
+#ifdef HW_ESP32SX
+	const uint32_t rate[6]={50000, 100000, 125000, 250000, 500000, 1000000}; //bit/s
+	glue_can_set_speed(this->hcan, rate[preset]);
+#else
 	this->hcan->Instance->BTR = canSpeedBTR_preset[preset];
+#endif
 	HAL_CAN_ResetError(hcan);
 
 	HAL_CAN_Start(this->hcan);

Firmware/FFBoard/Src/CDCcomm.cpp

@@ -29,7 +29,12 @@ CDCcomm::~CDCcomm() {
  * Global callback if cdc transfer is finished. Used to retry a failed transfer
  */
 void CDCcomm::cdcFinished(uint8_t itf){
-	cdcSems[itf].Give();
+	bool ret = cdcSems[itf].Give();
+	if (true != ret){
+		// FFB_LOGE("cdcSem give error\n");
+		return;
+	}
+
 	if(CDCcomm::usb_busy_retry && CDCcomm::remainingStrs[itf].length() > 0){
 		cdcSend(&CDCcomm::remainingStrs[itf], itf); // Retry with remaining string
 	}
@@ -67,8 +72,12 @@ uint16_t CDCcomm::cdcSend(std::string* reply,uint8_t itf){
 	cdcSems[itf].Take();
 	uint32_t bufferRemaining = tud_cdc_n_write_available(itf);
 	uint32_t cdc_sent = tud_cdc_n_write(itf,reply->c_str(), std::min<uint16_t>(reply->length(),bufferRemaining));
-	if(!usb_busy_retry) // We did not retransmit so flush now. otherwise TUD will flush if we were in the callback before
-		tud_cdc_n_write_flush(itf);
+	if(!usb_busy_retry){ // We did not retransmit so flush now. otherwise TUD will flush if we were in the callback before
+		int res = tud_cdc_n_write_flush(itf);
+        if (!res) {
+            FFB_LOGW("flush failed (res: %d, len=%d)", res, reply->length());
+		}
+	}
 
 	// If we can't write the whole reply copy remainder to send later
 	if(cdc_sent < reply->length()){

Firmware/FFBoard/Src/CmdParser.cpp

@@ -142,8 +142,8 @@ bool CmdParser::parse(std::vector<ParsedCommand>& commands){
 					cmd.type = CMDtype::err;
 
 				}else{
-					uint32_t peq = word.find('=', 0); // set
-					uint32_t pqm = word.find('?', 0); // read with var
+					int32_t peq = word.find('=', 0); // set
+					int32_t pqm = word.find('?', 0); // read with var
 
 					// <cmd>\n
 					if(pqm == std::string::npos && peq == std::string::npos){

Firmware/FFBoard/Src/CommandHandler.cpp

@@ -132,7 +132,7 @@ std::string CommandHandler::getCsvHelpstring(){
 		for(CmdHandlerCommanddef& cmd : registeredCommands){
 			if(cmd.helpstring != nullptr && cmd.cmd != nullptr){
 				char cmdhex[11];
-				std::snprintf(cmdhex,11,"0x%lX",cmd.cmdId);
+				std::snprintf(cmdhex,11,"0x%X",cmd.cmdId);
 				helpstring.append(cmd.cmd);
 				helpstring += ',';
 				helpstring += std::string(cmdhex);

Firmware/FFBoard/Src/CommandInterface.cpp

@@ -240,7 +240,7 @@ void StringCommandInterface::generateReplyFromCmd(std::string& replyPart,const P
  */
 
 
-CDC_CommandInterface::CDC_CommandInterface() : StringCommandInterface(1024), Thread("CDCCMD", 512, 37) {
+CDC_CommandInterface::CDC_CommandInterface() : StringCommandInterface(1024), Thread("CDCCMD", CDC_COMMANDINTERFACE_THREAD_MEM, CDC_COMMANDINTERFACE_THREAD_PRIO) {
 	parser.setClearBufferTimeout(parserTimeout);
 	this->Start();
 }
@@ -273,11 +273,13 @@ void CDC_CommandInterface::sendReplies(const std::vector<CommandResult>& results
 
 	if(HAL_GetTick() - lastSendTime > parserTimeout){
 		bufferLength = 0;
+		FFB_LOGE("parserTimeout");
 		resultsBuffer.clear(); // Empty buffer because we were not able to reply in time to prevent the full buffer from blocking future commands
 		//CDCcomm::clearRemainingBuffer(0);
 	}
 
 	if( (!enableBroadcastFromOtherInterfaces && originalInterface != this) ){
+		FFB_LOGW("not originalInterface");
 		return;
 	}
 	for(const CommandResult& r : results){
@@ -324,7 +326,7 @@ bool CDC_CommandInterface::readyToSend(){
  */
 
 extern UARTPort external_uart; // defined in cpp_target_config.cpp
-UART_CommandInterface::UART_CommandInterface(uint32_t baud) : UARTDevice(external_uart),Thread("UARTCMD", 150, 36),StringCommandInterface(512), baud(baud){ //
+UART_CommandInterface::UART_CommandInterface(uint32_t baud) : UARTDevice(external_uart),Thread("UARTCMD", UART_COMMANDINTERFACE_THREAD_MEM, UART_COMMANDINTERFACE_THREAD_PRIO),StringCommandInterface(512), baud(baud){ //
 	uartconfig = uartport->getConfig();
 	if(baud != 0){
 		uartconfig.BaudRate = this->baud;

Firmware/FFBoard/Src/ErrorHandler.cpp

@@ -131,7 +131,7 @@ void ErrorHandler::errorCallback(const Error &error, bool cleared){
 //	return info;
 //}
 
-ErrorPrinter::ErrorPrinter() : Thread("errprint",256,19){ // Higher than default task but low.
+ErrorPrinter::ErrorPrinter() : Thread("errprint",ERROR_PRINTER_MEM,ERROR_PRINTER_PRIO){ // Higher than default task but low.
 	this->Start();
 }