Support esp32s2 for the first time

fix local_encoder, TMC4671, Motorpwm

fix VescCAN

update gpio definition for my board

add esp-idf patch

Author: TDA-2030

Firmware/FFBoard/Inc/CommandInterface.h

@@ -14,6 +14,13 @@
 #include "thread.hpp"
 #include "CommandHandler.h"
 
+#ifdef HW_ESP32S2
+#define COMMANDINTERFACE_THREAD_MEM 2048
+#define COMMANDINTERFACE_THREAD_PRIO 9
+#else
+#define COMMANDINTERFACE_THREAD_MEM 256
+#define COMMANDINTERFACE_THREAD_PRIO 36
+#endif
 
 class FFBoardMainCommandThread;
 

Firmware/FFBoard/Inc/ErrorHandler.h

@@ -11,6 +11,15 @@
 #include <string>
 #include "thread.hpp"
 #include "CommandHandler.h"
+#include "target_constants.h"
+
+#ifdef HW_ESP32S2
+#define ERROR_PRINTER_MEM 4096
+#define ERROR_PRINTER_PRIO 10
+#else
+#define ERROR_PRINTER_MEM 512
+#define ERROR_PRINTER_PRIO 19
+#endif
 
 /*
  * Error code definitions

Firmware/FFBoard/Inc/HidCommandInterface.h

@@ -13,6 +13,14 @@
 #include "ffb_defs.h"
 #include "CommandHandler.h"
 
+#ifdef HW_ESP32S2
+#define HID_COMMANDINTERFACE_MEM 2048
+#define HID_COMMANDINTERFACE_PRIO 10
+#else
+#define HID_COMMANDINTERFACE_MEM 256
+#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_ESP32S2
+#define USBDEVICE_MEM 4096
+#define USBDEVICE_PRIO 10
+#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"
 
 
 void cppmain();
+#ifndef HW_ESP32S2
+#include "cmsis_compiler.h"
 void usb_init();
 void tudThread(void *argument);
-
+#endif
 #ifdef __cplusplus
 }
 
 static inline bool inIsr(){
+#ifdef HW_ESP32S2
+	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_ESP32S2
+#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_ESP32S2
             taskENTER_CRITICAL();
+            #endif
         }
 
         /**
          *  Re-enable context switches.
          */
         static inline void Exit()
         {
+            #ifndef HW_ESP32S2
             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_ESP32S2)
 
 /**
  *  FreeRTOS expects this function to exist and requires it to be 

Firmware/FFBoard/Src/CAN.cpp

@@ -111,7 +111,12 @@ void CANPort::setSpeedPreset(uint8_t preset){
 	takeSemaphore();
 	HAL_CAN_Stop(this->hcan);
 	HAL_CAN_AbortTxRequest(hcan, txMailbox);
+#ifdef HW_ESP32S2
+	const uint32_t rate[6]={50000, 100000, 125000, 250000, 500000, 1000000}; //bit/s
+	glue_can_set_speed(rate[preset]);
+#else
 	this->hcan->Instance->BTR = canSpeedBTR_preset[preset];
+#endif
 	HAL_CAN_ResetError(hcan);
 
 	HAL_CAN_Start(this->hcan);

Firmware/FFBoard/Src/CmdParser.cpp

@@ -120,8 +120,8 @@ 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

@@ -105,7 +105,7 @@ 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 += "," + std::string(cmdhex) + ",";
 				helpstring.append(cmd.helpstring);