ESP32 Support Sponsored by AutonoSky

nsh console running on USB
param module running
working with i2c and common drivers
provided implementation for drv_pwm_output.h
i2cdetect working as expected with no device
mavlink started succesfully
mounts sd card and logger runs
logger to file succesfully
pwm_servo implemented without using Nuttx lib
pwm_out outputs expected waveforms
- however currently if the frequency is higher than what the pwm_out
driver runs, there will be aliasing, based on how the registers gets
resets
wifi softap working
- Seeing wifi hotspot
- cant connect due to wrong password
- problems with adjusting ssid and password
wifi ssid and password being set accordinglu
connected to wifi hotspot with dhpcd
- made some changes to nuttx to only build for SoftAP mode, however this
was effectivelyy removing the ifdef for STATION mode. Should investigate
the coexist option again
added ifdef to not use timer 0 when wifi enabled
- reverted esp32 rt_timer to make use of timer 0 by default

fix setting incorrect bit in hrt timer register

- hrt running as expected, but on startup the pwm_out driver starts up
at about 200Hz and then rises over a minute or so 250Hz. Not sure if
this was present previously, and could be due to Wifi running at time
priority on timer 0

pull xtensa compilers in setup.ubuntu.sh
revert logger stacksize and cmake argument
esp32 chip revision and PX4 UUID implemented

spi board reset implemented, formatting checked

devkit acts on startup as a wifi bridge for comms

- the most usefull setting for the general developer when buying a esp32 devkit
- testing Mavlink shell using ./Tools/mavlink_shell.py
- todo: Test mavlink messages being forward

improve wifi telemetry by increasing prio

- Remove power save mode on wifi
- increased daemon thread schedule priority to 50

compiles without Nuttx changes

- updated compiler settings to match those of nuttx on px4 side

add espressif_esp32 to excluded boards

ci: allow docker to find xtensa compilers

boards/espressif/esp32/src/CMakeLists.txt

@@ -0,0 +1,54 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	# usb.c
+	esp32_board_spiflash.c
+	esp32_board_wlan_setup.c
+	mtd.cpp
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_io_pins
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)

boards/espressif/esp32/src/board_config.h

@@ -0,0 +1,120 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* LEDs */
+#define GPIO_LED_BLUE	4 | GPIO_OUTPUT
+
+/* GPIOs available*/
+#define GPIO_1	4 | GPIO_OUTPUT
+#define GPIO_2	4 | GPIO_OUTPUT
+#define GPIO_3	4 | GPIO_OUTPUT
+#define GPIO_4	4 | GPIO_OUTPUT
+
+#define PX4_NUMBER_I2C_BUSES 2
+
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 2
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3)	// Change this later based on the adc channels actually used
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL  1			// Corresponding GPIO 27. Used in init.c for disabling GPIO_IE
+#define ADC_BATTERY_CURRENT_CHANNEL  2			// Corresponding GPIO 28. Used in init.c for disabling GPIO_IE
+#define ADC_RC_RSSI_CHANNEL          0
+
+/* High-resolution timer */
+/*
+ * For wifi to work, it needs to use its own timer.
+ * Make sure you are not using the timer for hrt
+ * that is being using for the wifi
+*/
+#define HRT_TIMER 2
+
+/* This board provides a DMA pool and APIs */			// Needs to be figured out
+#define BOARD_DMA_ALLOC_POOL_SIZE 2048
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS      4
+
+// Has pwm outputs
+#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
+
+// #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID));
+int esp32_spiflash_init(void);
+int esp32_partition_init(void);
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+
+/****************************************************************************************************
+ * Name: rp2040_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void esp32_spiinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/espressif/esp32/src/esp32_board_spiflash_setup.c

@@ -0,0 +1,353 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_spiflash.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/spi/spi.h>
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+#include <nuttx/fs/nxffs.h>
+#endif
+#ifdef CONFIG_BCH
+#include <nuttx/drivers/drivers.h>
+#endif
+
+#include <px4_platform_common/log.h>
+#define MODULE_NAME "spiflash"
+
+#include "esp32_spiflash.h"
+#include "esp32_partition.h"
+// #include "esp32_board_spiflash_setup.h"
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ARRAYSIZE(x)                (sizeof((x)) / sizeof((x)[0]))
+
+#ifdef CONFIG_ESP32_OTA_PARTITION_ENCRYPT
+#  define OTA_ENCRYPT true
+#else
+#  define OTA_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_WIFI_MTD_ENCRYPT
+#  define WIFI_ENCRYPT true
+#else
+#  define WIFI_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_STORAGE_MTD_ENCRYPT
+#  define STORAGE_ENCRYPT true
+#else
+#  define STORAGE_ENCRYPT false
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+int esp32_spiflash_init(void);
+int esp32_partition_init(void);
+
+static int init_ota_partitions(void)
+{
+	struct mtd_dev_s *mtd;
+	char blockdev[18];
+	int ret = OK;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET, CONFIG_ESP32_STORAGE_MTD_SIZE, false);
+
+	ret = ftl_initialize(0, mtd);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to initialize the FTL layer: %d\n", ret);
+		return ret;
+	}
+
+	snprintf(blockdev, sizeof(blockdev), "/dev/mtdblock%d", 0);
+
+	ret = bchdev_register(blockdev, "/fs/mtd_params", false);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: bchdev_register %s failed: %d\n", "/fs/mtd_params", ret);
+		return ret;
+	}
+
+	return ret;
+}
+
+/****************************************************************************
+ * Name: setup_smartfs
+ *
+ * Description:
+ *   Provide a block driver wrapper around MTD partition and mount a
+ *   SMART FS over it.
+ *
+ * Parameters:
+ *   smartn - Number used to register the mtd partition: /dev/smartx, where
+ *            x = smartn.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: setup_littlefs
+ *
+ * Description:
+ *   Register a mtd driver and mount a Little FS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int setup_littlefs(const char *path, struct mtd_dev_s *mtd,
+			  const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	// if (mnt_pt != NULL)
+	//   {
+	//     ret = nx_mount(path, "/mnt/lfs", "littlefs", 0, "");
+	//     if (ret < 0)
+	//       {
+	//         ret = nx_mount(path, "/fs/lfs", "littlefs", 0, "forceformat");
+	//         if (ret < 0)
+	//           {
+	//             PX4_INFO("ERROR: Failed to mount the FS volume: %d\n", ret);
+	//             return ret;
+	//           }
+	//       }
+	//   }
+
+	return OK;
+}
+
+/****************************************************************************
+ * Name: setup_spiffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int setup_spiffs(const char *path, struct mtd_dev_s *mtd,
+			const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(path, mnt_pt, "spiffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+
+/****************************************************************************
+ * Name: setup_nxffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+static int setup_nxffs(struct mtd_dev_s *mtd, const char *mnt_pt)
+{
+	int ret = OK;
+
+	ret = nxffs_initialize(mtd);
+
+	if (ret < 0) {
+		ferr("ERROR: NXFFS init failed: %d\n", ret);
+		return ret;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(NULL, mnt_pt, "nxffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+
+/****************************************************************************
+ * Name: init_storage_partition
+ *
+ * Description:
+ *   Initialize partition that is dedicated to general use.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int init_storage_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET,
+					   CONFIG_ESP32_STORAGE_MTD_SIZE,
+					   STORAGE_ENCRYPT);
+
+	if (!mtd) {
+		PX4_INFO("ERROR: Failed to alloc MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+	const char *path = "/dev/esp32flash";
+	ret = setup_littlefs(path, mtd, "/mnt/esp32", 0755);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to setup littlefs\n");
+		return ret;
+	}
+
+	// const char *path = "/dev/esp32flash";
+	// ret = setup_spiffs(path, mtd, "/mnt/spiffs/", 0755);
+	// if (ret < 0)
+	//   {
+	//     ferr("ERROR: Failed to setup spiffs\n");
+	//     return ret;
+	//   }
+
+
+	return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_spiflash_init
+ *
+ * Description:
+ *   Initialize the SPI Flash and register the MTD.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success. A negated errno value is returned
+ *   on failure.
+ *
+ ****************************************************************************/
+
+int esp32_spiflash_init(void)
+{
+	int ret = OK;
+
+	ret = init_ota_partitions();
+	PX4_INFO("ret = %d = init_ota_paritions()\n", ret);
+
+	if (ret < 0) {
+		return ret;
+	}
+
+	// ret = esp32_partition_init();
+	// if (ret < 0)
+	//   {
+	//     syslog(LOG_ERR, "ERROR: Failed to initialize partition error=%d\n",
+	//            ret);
+	//   }
+//
+	// ret = init_storage_partition();
+	// PX4_INFO("ret = %d = init_storage_paritions()\n", ret);
+
+	// if (ret < 0)
+	//   {
+	//     return ret;
+	//   }
+
+	return ret;
+}

boards/espressif/esp32/src/esp32_board_spiflash_setup.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_board_spiflash.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_spiflash_init
+ *
+ * Description:
+ *   Initialize the SPI Flash and register the MTD.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success. A negated errno value is returned
+ *   on failure.
+ *
+ ****************************************************************************/
+
+int esp32_spiflash_init(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H */

boards/espressif/esp32/src/esp32_board_wlan_setup.c

@@ -0,0 +1,91 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_wlan.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <syslog.h>
+#include <debug.h>
+
+#include <nuttx/wireless/wireless.h>
+
+#include "esp32_spiflash.h"
+#include "esp32_wlan.h"
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_wlan_init
+ *
+ * Description:
+ *   Configure the wireless subsystem.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; A negated errno value is returned
+ *   to indicate the nature of any failure.
+ *
+ ****************************************************************************/
+
+int board_wlan_init(void)
+{
+	int ret = OK;
+
+
+#ifdef ESP32_WLAN_HAS_STA
+	// ret = esp32_wlan_sta_initialize();
+	// if (ret)
+	//   {
+	//     printf("ERROR: Failed to initialize Wi-Fi station\n");
+	//     return ret;
+	//   }
+#endif
+
+
+#ifdef ESP32_WLAN_HAS_SOFTAP
+	ret = esp32_wlan_softap_initialize();
+
+	if (ret) {
+		wlerr("ERROR: Failed to initialize Wi-Fi softAP\n");
+		return ret;
+	}
+
+#endif
+
+	// netlib_ifup("wlan1");
+	// dhcpd_start("wlan1");
+
+	return ret;
+}

boards/espressif/esp32/src/esp32_board_wlan_setup.h

@@ -0,0 +1,73 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_board_wlan.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_WIRELESS
+
+/****************************************************************************
+ * Name: board_wlan_init
+ *
+ * Description:
+ *   Configure the wireless subsystem.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; A negated errno value is returned
+ *   to indicate the nature of any failure.
+ *
+ ****************************************************************************/
+
+int board_wlan_init(void);
+
+#endif /* CONFIG_ESP32_WIRELESS */
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H */

boards/espressif/esp32/src/i2c.cpp

@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+};

boards/espressif/esp32/src/init.c

@@ -0,0 +1,300 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/mm/gran.h>
+
+
+#include <chip.h>
+#include "board_config.h"
+
+#include <arch/board/board.h>
+#include <px4_platform_common/px4_manifest.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#define LEDC_LS_SIG_OUT0_IDX 79
+
+#include "esp32_board_wlan_setup.h"
+#ifdef CONFIG_ESP32_SPIFLASH
+#include "esp32_board_spiflash_setup.h"
+#endif
+
+#include "esp32_rt_timer.h"
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/**
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	UNUSED(ms);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	// Configure the GPIO pins to outputs and keep them low.
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+		esp32_gpio_matrix_out(timer_io_channels[i].gpio_out, LEDC_LS_SIG_OUT0_IDX + timer_io_channels[i].timer_channel, 0, 0);
+	}
+
+	/*
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/************************************************************************************
+ * Name: board_read_VBUS_state
+ *
+ * Description:
+ *   All boards must provide a way to read the state of VBUS, this my be simple
+ *   digital input on a GPIO. Or something more complicated like a Analong input
+ *   or reading a bit from a USB controller register.
+ *
+ * Returns -  0 if connected.
+ *
+ ************************************************************************************/
+
+int board_read_VBUS_state(void)
+{
+	// return BOARD_ADC_USB_CONNECTED ? 0 : 1;
+	return 0;
+}
+
+/************************************************************************************
+ * Name: esp32_board_initialize
+ *
+ * Description:
+ *   All architectures must provide the following entry point. This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+esp32_board_initialize(void)
+{
+	// /* Reset all PWM to Low outputs */
+	board_on_reset(-1);
+
+	// /* configure LEDs */
+	board_autoled_initialize();
+	up_mdelay(2);
+	esp32_spiinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPI2
+static struct spi_dev_s *spi2;
+#endif
+
+#ifdef CONFIG_ESP32_SPI3
+static struct spi_dev_s *spi3;
+#endif
+
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* configure the DMA allocator */				// Needs to be figured out
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+
+	/* initial LED state */
+	drv_led_start();
+
+#ifdef CONFIG_ESP32_SPI2
+	spi2 = esp32_spibus_initialize(2);
+
+	if (!spi2) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
+		// led_on(LED_RED);
+	}
+
+	// Default SPI1 to 10MHz
+	SPI_SETFREQUENCY(spi2, 10000000);
+	SPI_SETBITS(spi2, 8);
+	SPI_SETMODE(spi2, SPIDEV_MODE3);
+	up_udelay(20);
+
+#endif
+
+#ifdef CONFIG_ESP32_SPI3
+	spi3 = esp32_spibus_initialize(3);
+
+	if (!spi3) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
+		// led_on(LED_RED);
+	}
+
+	/* Now bind the SPI interface to the MMCSD driver */
+	int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
+	}
+
+#endif
+	int ret = esp32_spiflash_init();
+
+	if (ret) {
+		syslog(LOG_ERR, "ERROR: Failed to initialize SPI Flash\n");
+	}
+
+	esp32_rt_timer_init();
+
+	led_on(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_off(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_on(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_off(GPIO_LED_BLUE);
+
+
+
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
+	up_mdelay(1000);
+
+	board_wlan_init();
+
+	return OK;
+}

boards/espressif/esp32/src/led.c

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+
+
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE,    // Indexed by LED_BLUE
+};
+
+__EXPORT void led_init(void)
+{
+	/* Configure LED GPIOs for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		px4_arch_configgpio(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Pull Down to switch on */
+	px4_arch_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+
+	return !px4_arch_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+
+	phy_set_led(led, !phy_get_led(led));
+}

boards/espressif/esp32/src/mtd.cpp

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                                      KiB BS    nB
+static const px4_mft_device_t flash = {             // 24AA64FT on Base  8K 32 X 256
+	.bus_type = px4_mft_device_t::ONCHIP
+};
+
+
+static const px4_mtd_entry_t fmu_flash = {
+	.device = &flash,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 1
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmu_flash,
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {&mtd_mft}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/espressif/esp32/src/spi.cpp

@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+const constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+#ifdef CONFIG_ESP32_SPI2
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Pin(CONFIG_ESP32_SPI2_CSPIN)}),
+
+	}),
+#endif
+#ifdef CONFIG_ESP32_SPI3
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::Pin(CONFIG_ESP32_SPI3_CSPIN)})
+
+	}),
+#endif
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/espressif/esp32/src/timer_config.cpp

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer0), // this refers to LEDC periherals
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel0}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL0_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel1}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL1_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel2}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL2_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel3}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL3_PIN)}),
+};
+
+// constexpr io_timers_channel_mapping_t io_timers_channel_mapping = initIOTimerChannelMapping(io_timers,
+// 		timer_io_channels);

boards/espressif/esp32/src/usb.c

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <xtensa.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Name: rp2040_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the omnibusf4sd board.
+ *
+ ************************************************************************************/
+
+__EXPORT void esp32_usbinitialize(void)
+{
+	// px4_arch_configgpio(GPIO_USB_VBUS_VALID);
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void esp32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}