support for ESP32

README.md

@@ -23,13 +23,25 @@ platformio run
 
 When you run ```platformio run``` for the first time, it will download the toolchains and all necessary libraries automatically.
 
-### Useful commands:
+### Useful commands: ESP32-WROOM
+
+* ```platformio run -e espwroom32 -t upload```
+
+### Useful commands: ESP12e
 
 * ```platformio run``` - process/build all targets
 * ```platformio run -e esp12e``` - process/build just the ESP12e target (the NodeMcu v2, Adafruit HUZZAH, etc.)
 * ```platformio run -e esp12e -t upload``` - build and upload firmware to embedded board
 * ```platformio run -t clean``` - clean project (remove compiled files)
 
+### Useful commands: ESP-01
+* ```platformio run``` - process/build all targets
+* ```platformio run -e esp01_1m``` - process/build just the ESP01 target with 1MB [Amazon](https://www.amazon.com/gp/product/B01EA3UJJ4)
+* ```platformio run -e esp01_1m -t upload``` - build and upload firmware to embedded board
+* ```platformio run -t clean``` - clean project (remove compiled files)
+
+
+
 The resulting image(s) can be found in the directory ```.pioenvs``` created during the build process.
 
 ### MavLink Submodule
@@ -44,6 +56,9 @@ User level (as well as wiring) instructions can be found [here for px4](https://
 
 * Resetting to Defaults: In case you change the parameters and get locked out of the module, all the parameters can be reset by bringing the GPIO02 pin low (Connect GPIO02 pin to GND pin). 
 
+Get the ESP-01 adapter board here on [Amazon](https://www.amazon.com/gp/product/B07Q17XJ36/); commonly called an "ESP01 programmer", this one has a little rocker switch on the side (UART side for serial TTL debugging by AT commands, PROG for firmware programming) and a yellow pin header which allows you plugin the ESP01 module without any wires. It defaults to 115200 and enumerates under Ubuntu as a ch341-uart converter. 
+
+
 ### MavLink Protocol
 
 The MavESP8266 handles its own set of parameters and commands. Look at the [PARAMETERS](PARAMETERS.md) page for more information.

platformio.ini

@@ -31,15 +31,30 @@ platform = [email protected]
 framework = arduino
 build_flags = !echo "-DPIO_SRC_REV="$(git rev-parse HEAD) "-DPIO_BUILD_DATE="$(date +%%Y-%%m-%%d) "-DPIO_BUILD_TIME="$(date +%%H:%%M:%%S) ${version_env.version_flags}
 extra_scripts = pre:platformio_prebuild.py
+#platform_packages = [email protected]
 
 # Platform specific settings
 
 [env:esp12e]
 board = esp12e
 build_flags = ${env.build_flags} -Wl,-Tesp8266.flash.4m.ld
+upload_port = /dev/ttyUSB1
 
 [env:esp01_1m]
 board = esp01_1m
+upload_port = /dev/ttyUSB0
 
 [env:esp01]
 board = esp01
+upload_port = /dev/ttyUSB1
+
+[env:espwroom32]
+platform = espressif32
+#platform_packages = [email protected]
+framework = arduino
+board = esp32dev
+#board = esp32thing_plus
+upload_port = /dev/ttyUSB0
+#monitor_speed = 115200
+#upload_speed = 115200
+#upload_flags = -b 115200

src/main.cpp

@@ -42,7 +42,20 @@
 #include "mavesp8266_httpd.h"
 #include "mavesp8266_component.h"
 
+#ifndef ARDUINO_ESP32_DEV
 #include <ESP8266mDNS.h>
+#else
+/* ESP32 */
+typedef uint8_t uint8;
+typedef uint16_t uint16;
+typedef uint32_t uint32;
+#include <esp_event.h>
+#include <esp_event_loop.h>
+#include <esp_wifi.h>
+#include <esp_wifi_types.h>
+#include <esp_err.h>
+#include <mdns.h>
+#endif
 
 #define GPIO02  2
 
@@ -109,7 +122,11 @@ void wait_for_client() {
 #ifdef ENABLE_DEBUG
     int wcount = 0;
 #endif
+#ifdef ARDUINO_ESP32_DEV
+    uint8 client_count = WiFi.softAPgetStationNum();
+#else    
     uint8 client_count = wifi_softap_get_station_num();
+#endif    
     while (!client_count) {
 #ifdef ENABLE_DEBUG
         Serial1.print(".");
@@ -119,7 +136,11 @@ void wait_for_client() {
         }
 #endif
         delay(1000);
+#ifdef ARDUINO_ESP32_DEV
+	client_count = WiFi.softAPgetStationNum();
+#else	
         client_count = wifi_softap_get_station_num();
+#endif	
     }
     DEBUG_LOG("Got %d client(s)\n", client_count);
 }
@@ -129,7 +150,11 @@ void wait_for_client() {
 void reset_interrupt(){
     Parameters.resetToDefaults();
     Parameters.saveAllToEeprom();
+#ifdef ARDUINO_ESP32_DEV
+    ESP.restart();
+#else    
     ESP.reset();
+#endif    
 }
 
 //---------------------------------------------------------------------------------
@@ -155,7 +180,11 @@ void setup() {
 
     if(Parameters.getWifiMode() == WIFI_MODE_STA){
         //-- Connect to an existing network
+#ifdef ARDUINO_ESP32_DEV
+        WiFi.mode(WIFI_MODE_STA);      
+#else      
         WiFi.mode(WIFI_STA);
+#endif	
         WiFi.config(Parameters.getWifiStaIP(), Parameters.getWifiStaGateway(), Parameters.getWifiStaSubnet(), 0U, 0U);
         WiFi.begin(Parameters.getWifiStaSsid(), Parameters.getWifiStaPassword());
 
@@ -178,20 +207,35 @@ void setup() {
 
     if(Parameters.getWifiMode() == WIFI_MODE_AP){
         //-- Start AP
+#ifdef ARDUINO_ESP32_DEV
+	WiFi.mode(WIFI_MODE_AP);      /* Default to WPA2 */
+#else
         WiFi.mode(WIFI_AP);
-        WiFi.encryptionType(AUTH_WPA2_PSK);
+        WiFi.encryptionType(AUTH_WPA2_PSK);	
+#endif	
         WiFi.softAP(Parameters.getWifiSsid(), Parameters.getWifiPassword(), Parameters.getWifiChannel());
         localIP = WiFi.softAPIP();
         wait_for_client();
     }
-
-    //-- Boost power to Max
+    //-- Boost power to Max    
+#ifdef ARDUINO_ESP32_DEV
+    {
+         int8_t power;
+	 esp_wifi_get_max_tx_power(&power);
+	 esp_wifi_set_max_tx_power(power);
+    }
+#else
     WiFi.setOutputPower(20.5);
-    //-- MDNS
+#endif    
     char mdsnName[256];
     sprintf(mdsnName, "MavEsp8266-%d",localIP[3]);
+#ifdef ARDUINO_ESP32_DEV
+    mdns_init();
+    mdns_service_add(NULL, "http", "tcp", 80, NULL, 0);
+#else    
     MDNS.begin(mdsnName);
     MDNS.addService("http", "tcp", 80);
+#endif    
     //-- Initialize Comm Links
     DEBUG_LOG("Start WiFi Bridge\n");
     DEBUG_LOG("Local IP: %s\n", localIP.toString().c_str());

src/mavesp8266.cpp

@@ -105,7 +105,13 @@ MavESP8266Log::log(const char *format, ...) {
     va_list arg;
     va_start(arg, format);
     char temp[1024];
+#ifdef ARDUINO_ESP32_DEV
+    size_t len = vsnprintf(temp, 1024, format, arg);    
+#else    
     size_t len = ets_vsnprintf(temp, 1024, format, arg);
+#endif
+
+
 #ifdef ENABLE_DEBUG
     Serial1.print(temp);
 #endif

src/mavesp8266.h

@@ -38,17 +38,26 @@
 #ifndef MAVESP8266_H
 #define MAVESP8266_H
 
+
+
+#ifdef ARDUINO_ESP32_DEV
+#include <WiFi.h>
+#else
 #include <ESP8266WiFi.h>
+#endif
+
 #include <WiFiClient.h>
 #include <WiFiUdp.h>
 
 #undef F
 #include <ardupilotmega/mavlink.h>
 
- extern "C" {
+#ifndef ARDUINO_ESP32_DEV
+extern "C" {
     // Espressif SDK
     #include "user_interface.h"
 }
+#endif
 
 class MavESP8266Parameters;
 class MavESP8266Component;

src/mavesp8266_component.cpp

@@ -317,5 +317,9 @@ MavESP8266Component::_wifiReboot(MavESP8266Bridge* sender)
 {
     _sendStatusMessage(sender, MAV_SEVERITY_NOTICE, "Rebooting WiFi Bridge.");
     delay(50);
+#ifdef ARDUINO_ESP32_DEV
+    ESP.restart();
+#else    
     ESP.reset();
+#endif    
 }

src/mavesp8266_gcs.cpp

@@ -39,6 +39,12 @@
 #include "mavesp8266_gcs.h"
 #include "mavesp8266_parameters.h"
 #include "mavesp8266_component.h"
+#ifdef ARDUINO_ESP32_DEV
+#include <esp_wifi.h>
+#include <tcpip_adapter.h>
+#endif
+
+WiFiUDP             _udp;
 
 //---------------------------------------------------------------------------------
 MavESP8266GCS::MavESP8266GCS()
@@ -87,7 +93,11 @@ MavESP8266GCS::readMessage()
 bool
 MavESP8266GCS::_readMessage()
 {
+#ifdef ARDUINO_ESP32_DEV
+    char msgReceived = false;
+#else  
     bool msgReceived = false;
+#endif    
     int udp_count = _udp.parsePacket();
     if(udp_count > 0)
     {
@@ -114,7 +124,11 @@ MavESP8266GCS::_readMessage()
                         if(_message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
                             //-- We no longer need DHCP
                             if(getWorld()->getParameters()->getWifiMode() == WIFI_MODE_AP) {
+#ifdef ARDUINO_ESP32_DEV
+			      tcpip_adapter_dhcps_stop(TCPIP_ADAPTER_IF_AP);
+#else			      
                                 wifi_softap_dhcps_stop();
+#endif				
                             }
                             _heard_from      = true;
                             _system_id       = _message.sysid;
@@ -155,7 +169,11 @@ MavESP8266GCS::_readMessage()
         if(_heard_from && (millis() - _last_heartbeat) > HEARTBEAT_TIMEOUT) {
             //-- Restart DHCP and start broadcasting again
             if(getWorld()->getParameters()->getWifiMode() == WIFI_MODE_AP) {
-                wifi_softap_dhcps_start();
+#ifdef ARDUINO_ESP32_DEV
+	      tcpip_adapter_dhcps_start(TCPIP_ADAPTER_IF_AP);
+#else		
+	      wifi_softap_dhcps_start();
+#endif	      
             }
             _heard_from = false;
             _ip[3] = 255;
@@ -248,10 +266,19 @@ MavESP8266GCS::_sendRadioStatus()
     uint8_t rssi = 0;
     uint8_t lostVehicleMessages = 100;
     uint8_t lostGcsMessages = 100;
-
+#ifdef ARDUINO_ESP32_DEV
+    {
+        wifi_mode_t mode;
+	esp_wifi_get_mode(&mode);
+	if(mode == WIFI_MODE_STA) {
+	    rssi = WiFi.RSSI();
+	  }
+    }
+#else    
     if(wifi_get_opmode() == STATION_MODE) {
         rssi = (uint8_t)wifi_station_get_rssi();
     }
+#endif    
 
     if (st->packets_received > 0) {
         lostVehicleMessages = (st->packets_lost * 100) / st->packets_received;

src/mavesp8266_gcs.h

@@ -59,7 +59,6 @@ class MavESP8266GCS : public MavESP8266Bridge {
     void    _checkUdpErrors         (mavlink_message_t* msg);
 
 private:
-    WiFiUDP             _udp;
     IPAddress           _ip;
     uint16_t            _udp_port;
     mavlink_message_t   _message;

src/mavesp8266_httpd.cpp

@@ -34,9 +34,13 @@
  *
  * @author Gus Grubba <[email protected]>
  */
-
+#ifdef ARDUINO_ESP32_DEV
+#include <WebServer.h>
+#include <Update.h>
+#include <esp_spi_flash.h>
+#else
 #include <ESP8266WebServer.h>
-
+#endif
 #include "mavesp8266.h"
 #include "mavesp8266_httpd.h"
 #include "mavesp8266_parameters.h"
@@ -80,7 +84,13 @@ const char* kFlashMaps[7] = {
 static uint32_t flash = 0;
 static char paramCRC[12] = {""};
 
+#ifdef ARDUINO_ESP32_DEV
+WebServer           webServer(80);
+extern WiFiUDP             _udp;
+#else
 ESP8266WebServer    webServer(80);
+#endif
+
 MavESP8266Update*   updateCB    = NULL;
 bool                started     = false;
 
@@ -133,7 +143,11 @@ void handle_upload_status() {
         #ifdef DEBUG_SERIAL
             DEBUG_SERIAL.setDebugOutput(true);
         #endif
+#ifdef ARDUINO_ESP32_DEV
+	_udp.stop();
+#else	    
         WiFiUDP::stopAll();
+#endif	
         #ifdef DEBUG_SERIAL
             DEBUG_SERIAL.printf("Update: %s\n", upload.filename.c_str());
         #endif
@@ -332,7 +346,11 @@ static void handle_getStatus()
     message += "</td></tr></table>";
     message += "<p>System Status</p><table>\n";
     message += "<tr><td width=\"240\">Flash Size</td><td>";
+#ifdef ARDUINO_ESP32_DEV
+    message += spi_flash_get_chip_size();
+#else    
     message += ESP.getFlashChipRealSize();
+#endif    
     message += "</td></tr>\n";
     message += "<tr><td width=\"240\">Flash Available</td><td>";
     message += flash;
@@ -373,18 +391,30 @@ void handle_getJSysInfo()
     if(!paramCRC[0]) {
         snprintf(paramCRC, sizeof(paramCRC), "%08X", getWorld()->getParameters()->paramHashCheck());
     }
+#if ARDUINO_ESP32_DEV
+    uint32_t fid = 0; /* TODO */
+#else    
     uint32_t fid = spi_flash_get_id();
+#endif    
     char message[512];
     snprintf(message, 512,
         "{ "
-        "\"size\": \"%s\", "
+#if ARDUINO_ESP32_DEV
+        "\"size\": \"%d\", "
+#else
+        "\"size\": \"%s\", "	     
+#endif
         "\"id\": \"0x%02lX 0x%04lX\", "
         "\"flashfree\": \"%u\", "
         "\"heapfree\": \"%u\", "
         "\"logsize\": \"%u\", "
         "\"paramcrc\": \"%s\""
         " }",
+#if ARDUINO_ESP32_DEV
+        ESP.getFlashChipSize(),
+#else	     
         kFlashMaps[system_get_flash_size_map()],
+#endif	     
         (long unsigned int)(fid & 0xff), (long unsigned int)((fid & 0xff00) | ((fid >> 16) & 0xff)),
         flash,
         ESP.getFreeHeap(),