Support esp32s2 for the first time

esp32s2: fix local_encoder, TMC4671, Motorpwm, VescCAN

esp32s2: update gpio definition for my board

esp32s2: add esp-idf patch

esp32s2: fix adc function

esp32s2: rebase to development branch

add compiled bin file

esp32s2: update twai api

adc: reduce latency

add esp32s3 support

update tinyusb

Author: TDA-2030

.github/workflows/build-firmware.yml

@@ -6,6 +6,7 @@ on:
     branches: 
       - master
       - development
+      - feature/*
   pull_request:
     branches:
       - master
@@ -40,6 +41,47 @@ 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
+        tools/idf_tools.py --non-interactive install cmake
+        ./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 +102,5 @@ 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/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
         }
 
         /**