✨ ESP-IDF Compatibility - Redo PR 194

CMakeLists.txt

@@ -0,0 +1,4 @@
+idf_component_register(SRC_DIRS src/source
+                       INCLUDE_DIRS "src"
+)
+target_compile_options(${COMPONENT_LIB} PRIVATE -Wfatal-errors)

src/TMCStepper.h

@@ -32,6 +32,9 @@
 	#include <bcm2835.h>
 	#include "source/bcm2835_spi.h"
 	#include "source/bcm2835_stream.h"
+#elif defined(ESP_PLATFORM)
+	#include "source/ESP32_Serial.h"
+	#include "source/ESP32_SPI.h"
 #elif defined(__has_include)
 	#if __has_include(<Arduino.h>)
 		#include <Arduino.h>

src/source/ESP32_Adapter.cpp

@@ -0,0 +1,25 @@
+#include "ESP32_Adapter.h"
+
+#ifdef ESP_PLATFORM
+    void pinMode( uint16_t num, gpio_dir_t mode ) {
+        switch( mode ) {
+            case OUTPUT:
+                gpio_set_direction( (gpio_num_t)num, GPIO_MODE_OUTPUT );
+                break;
+            case INPUT:
+                gpio_set_direction( (gpio_num_t)num, GPIO_MODE_INPUT );
+                gpio_set_pull_mode( (gpio_num_t)num, GPIO_FLOATING );
+                break;
+            case INPUT_PULLUP:
+                gpio_set_direction( (gpio_num_t)num, GPIO_MODE_INPUT );
+                gpio_set_pull_mode( (gpio_num_t)num, GPIO_PULLUP_ONLY );
+                break;
+        }
+    }
+    void digitalWrite( uint16_t num, uint32_t level ) {
+        gpio_set_level( (gpio_num_t)num, level );
+    }
+    int digitalRead( uint16_t num ) {
+        return gpio_get_level( (gpio_num_t)num );
+    }
+#endif

src/source/ESP32_Adapter.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+	#include <cstdint>
+	#include <driver/gpio.h>
+	#define LOW  0
+	#define HIGH 1
+	typedef enum {
+		OUTPUT,
+		INPUT,
+		INPUT_PULLUP
+	} gpio_dir_t;
+	void pinMode( uint16_t num, gpio_dir_t mode );
+	void digitalWrite( uint16_t num, uint32_t level );
+	int digitalRead( uint16_t num );
+#endif

src/source/ESP32_SPI.cpp

@@ -0,0 +1,7 @@
+#ifdef ESP_PLATFORM
+
+#include "ESP32_SPI.h"
+
+SPIClass SPI;
+
+#endif

src/source/ESP32_SPI.h

@@ -0,0 +1,48 @@
+#pragma once
+
+/*
+****************************************************
+DUMMY IMPLEMENTATION
+****************************************************
+DOES NOT ACTUALLY DO ANYTHING
+****************************************************
+*/
+
+#ifdef ESP_PLATFORM
+
+#include <cstdint>
+
+#define MSBFIRST 0
+#define SPI_MODE0 0
+#define SPI_MODE1 1
+#define SPI_MODE2 2
+#define SPI_MODE3 3
+
+class SPIClass;
+
+struct SPISettings
+{
+	friend class SPIClass;
+	SPISettings(uint32_t s, uint32_t o, uint32_t m) {
+		speed = s;
+		order = o;
+		mode = m;
+	}
+
+	uint32_t speed;
+	uint32_t order;
+	uint32_t mode;
+};
+
+class SPIClass
+{
+public:
+	void beginTransaction(SPISettings settings) {}
+	void endTransaction() {}
+	uint8_t transfer(uint8_t) {
+		return 0;
+	}
+};
+
+extern SPIClass SPI;
+#endif

src/source/ESP32_Serial.cpp

@@ -0,0 +1,80 @@
+#include "ESP32_Serial.h"
+
+#ifdef ESP_PLATFORM
+
+	#define LOG_LOCAL_LEVEL ESP_LOG_INFO
+	#define TAG_EPS32_SERIAL "ESP32_UART"
+	#include <esp_log.h>
+	#include <hal/gpio_types.h>
+
+	ESP32_Serial::ESP32_Serial( int baud_rate, int rx_pin, int tx_pin, uart_port_t uart_num_new ) {
+		uart_num = uart_num_new;
+		ready = false;
+		uart_config_t uart_config = {
+			.baud_rate = baud_rate,
+			.data_bits = UART_DATA_8_BITS,
+			.parity    = UART_PARITY_DISABLE,
+			.stop_bits = UART_STOP_BITS_1,
+			.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+			.rx_flow_ctrl_thresh = 0,
+			.source_clk = UART_SCLK_APB,
+		};
+		if( ESP_OK == uart_driver_install( uart_num, 2048, 0, 0, NULL, 0 ) ) {
+			if( ESP_OK == uart_param_config( uart_num, &uart_config ) ) {
+				if( ESP_OK == uart_set_pin( uart_num, tx_pin, rx_pin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE ) ) {
+					ready = true;
+				}
+				else {
+					ESP_LOGE( TAG_EPS32_SERIAL, "Unable to set UART pins." );
+				}
+			}
+			else {
+				ESP_LOGE( TAG_EPS32_SERIAL, "Unable to configure UART." );
+			}
+		}
+		else {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Unable to install UART driver." );
+		}
+	}
+
+	int16_t ESP32_Serial::read() {
+		if( !ready ) {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Trying to read from not ready UART." );
+			return -1;
+		}
+		uint8_t data = 0;
+		int len = uart_read_bytes( uart_num, &data, 1, 0 );
+		ESP_LOGD( TAG_EPS32_SERIAL, "Read data: %X (length %d)", data, len );
+		if( len < 1 ) return -1;
+		else return data;
+	}
+
+	uint8_t ESP32_Serial::write( const uint8_t data ) {
+		if( !ready ) {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Trying to write to not ready UART." );
+			return 0;
+		}
+		ESP_LOGD( TAG_EPS32_SERIAL, "Write data: %X", data );
+		int len = uart_write_bytes( uart_num, (const char*)&data, 1);
+		ESP_LOGD( TAG_EPS32_SERIAL, "Number of bytes written: %d", len );
+		if( len < 1 ) return 0;
+		else return len;
+	}
+
+	size_t ESP32_Serial::available() {
+		if( !ready ) {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Trying to get available bytes from not ready UART." );
+			return 0;
+		}
+		size_t len = 0;
+		if( ESP_OK == uart_get_buffered_data_len( uart_num, &len ) ) {
+			ESP_LOGD( TAG_EPS32_SERIAL, "Number of bytes available: %d", len );
+			return len;
+		}
+		else {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Error getting available bytes." );
+			return 0;
+		}
+	}
+
+#endif // ESP_PLATFORM

src/source/ESP32_Serial.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+	#include <cstdint>
+
+	#include <driver/uart.h>
+
+	class ESP32_Serial {
+		public:
+			ESP32_Serial( int baud_rate, int rx_pin = 16, int tx_pin = 17, uart_port_t uart_num_new = UART_NUM_2 );
+
+			int16_t read();
+			uint8_t write( const uint8_t data );
+			size_t available();
+
+		private:
+			bool ready;
+			uart_port_t uart_num;
+	};
+#endif

src/source/SERIAL_SWITCH.cpp

@@ -3,6 +3,7 @@
  * SERIAL_SWITCH.cpp - Serial Switch for Arduino / Raspberry Pi
  */
 #include "SERIAL_SWITCH.h"
+#include "ESP32_Adapter.h"
 
 SSwitch::SSwitch( const uint16_t pin1, const uint16_t pin2, const uint8_t address) :
   p1(pin1),

src/source/SERIAL_SWITCH.h

@@ -14,6 +14,7 @@
 		#include <Arduino.h>
 	#endif
 #endif
+#include <cstdint>
 
 #include "TMC_platforms.h"
 

src/source/SW_SPI.cpp

@@ -3,6 +3,7 @@
  * SW_SPI.cpp - Software SPI for Arduino or Raspberry Pi
  */
 #include "SW_SPI.h"
+#include "ESP32_Adapter.h"
 
 SW_SPIClass::SW_SPIClass(uint16_t mosi, uint16_t miso, uint16_t sck) :
   mosi_pin(mosi),

src/source/SW_SPI.h

@@ -4,6 +4,8 @@
  */
 #pragma once
 
+#include <cstdint>
+
 #if defined(ARDUINO) && ARDUINO >= 100
 	#include <Arduino.h>
 #elif defined(bcm2835)
@@ -22,16 +24,16 @@ class SW_SPIClass {
 	public:
 		SW_SPIClass(uint16_t sw_mosi_pin, uint16_t sw_miso_pin, uint16_t sw_sck_pin);
 		void init();
-		void begin() {};
+		void begin() {}
 		uint8_t transfer(uint8_t ulVal);
 		uint16_t transfer16(uint16_t data);
-		void endTransaction() {};
+		void endTransaction() {}
 	private:
 		const uint16_t	mosi_pin,
 						miso_pin,
 						sck_pin;
 
-		#if defined(ARDUINO_ARCH_AVR)
+		#ifdef ARDUINO_ARCH_AVR
 			fastio_bm mosi_bm,
 					miso_bm,
 					sck_bm;

src/source/TMC2130Stepper.cpp

@@ -9,16 +9,18 @@
 int8_t TMC2130Stepper::chain_length = 0;
 uint32_t TMC2130Stepper::spi_speed = 16000000/8;
 
-TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, float RS, int8_t link) :
-  TMCStepper(RS),
-  _pinCS(pinCS),
-  link_index(link)
+#ifndef ESP_PLATFORM
+  TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, float RS, int8_t link) :
+    TMCStepper(RS),
+    _pinCS(pinCS),
+    link_index(link)
   {
     defaults();
 
     if (link > chain_length)
       chain_length = link;
   }
+#endif
 
 TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
   TMCStepper(default_RS),

src/source/TMC2130Stepper.h

@@ -10,7 +10,9 @@
 
 class TMC2130Stepper : public TMCStepper {
 	public:
-		TMC2130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#ifndef ESP_PLATFORM
+			TMC2130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#endif
 		TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		void begin();

src/source/TMC2160Stepper.cpp

@@ -6,8 +6,10 @@
 #include "../TMCStepper.h"
 #include "TMC_MACROS.h"
 
-TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2130Stepper(pinCS, RS, link)
-  { defaults(); }
+#ifndef ESP_PLATFORM
+  TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2130Stepper(pinCS, RS, link)
+    { defaults(); }
+#endif
 TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
   TMC2130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
   { defaults(); }

src/source/TMC2160Stepper.h

@@ -10,7 +10,9 @@
 
 class TMC2160Stepper : public TMC2130Stepper {
 	public:
-		TMC2160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#ifndef ESP_PLATFORM
+			TMC2160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#endif
 		TMC2160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		void begin();