Fine tuning for esp32s3 (#143)

- exposed strain SCK and DO
- use 12 bit PWM (instead of 16 bit) for screen brightness on s3
- added option to use uart serial for s3
- bump nanopb/Nanopb @ 0.4.7
- fixed SPI bus alias and DMA channel for s3

---------

Co-authored-by: Scott Bezek <scottbez1@gmail.com>

.github/workflows/pio.yml

@@ -60,3 +60,10 @@ jobs:
       run: |
         pio run \
           -e nanofoc
+
+    - name: Build Firmware (brushknight_esp32s3)
+      # Run regardless of other build step failures, as long as setup steps completed
+      if: always() && steps.pio_install.outcome == 'success'
+      run: |
+        pio run \
+          -e brushknight_esp32s3

firmware/src/display_task.cpp

@@ -35,9 +35,9 @@ void DisplayTask::run() {
     tft_.setRotation(SK_DISPLAY_ROTATION);
     tft_.fillScreen(TFT_DARKGREEN);
 
-    ledcSetup(LEDC_CHANNEL_LCD_BACKLIGHT, 5000, 16);
+    ledcSetup(LEDC_CHANNEL_LCD_BACKLIGHT, 5000, SK_BACKLIGHT_BIT_DEPTH);
     ledcAttachPin(PIN_LCD_BACKLIGHT, LEDC_CHANNEL_LCD_BACKLIGHT);
-    ledcWrite(LEDC_CHANNEL_LCD_BACKLIGHT, UINT16_MAX);
+    ledcWrite(LEDC_CHANNEL_LCD_BACKLIGHT, (1 << SK_BACKLIGHT_BIT_DEPTH) - 1);
 
     spr_.setColorDepth(8);
 
@@ -201,7 +201,7 @@ QueueHandle_t DisplayTask::getKnobStateQueue() {
 
 void DisplayTask::setBrightness(uint16_t brightness) {
   SemaphoreGuard lock(mutex_);
-  brightness_ = brightness;
+  brightness_ = brightness >> (16 - SK_BACKLIGHT_BIT_DEPTH);
 }
 
 void DisplayTask::setLogger(Logger* logger) {

firmware/src/interface_task.cpp

@@ -262,7 +262,7 @@ void InterfaceTask::run() {
         Wire.setClock(400000);
     #endif
     #if SK_STRAIN
-        scale.begin(38, 2);
+        scale.begin(PIN_STRAIN_DO, PIN_STRAIN_SCK);
     #endif
 
     #if SK_ALS

firmware/src/interface_task.h

@@ -12,6 +12,10 @@
 #include "serial/uart_stream.h"
 #include "task.h"
 
+#ifndef SK_FORCE_UART_STREAM
+    #define SK_FORCE_UART_STREAM 0
+#endif
+
 class InterfaceTask : public Task<InterfaceTask>, public Logger {
     friend class Task<InterfaceTask>; // Allow base Task to invoke protected run()
 
@@ -26,7 +30,7 @@ class InterfaceTask : public Task<InterfaceTask>, public Logger {
         void run();
 
     private:
-    #ifdef CONFIG_IDF_TARGET_ESP32S3
+    #if defined(CONFIG_IDF_TARGET_ESP32S3) && !SK_FORCE_UART_STREAM
         HWCDC stream_;
     #else
         UartStream stream_;

firmware/src/mt6701_sensor.cpp

@@ -51,7 +51,13 @@ void MT6701Sensor::init() {
       .quadhd_io_num = -1,
       .max_transfer_sz = 1000,
   };
-  esp_err_t ret = spi_bus_initialize(HSPI_HOST, &tx_bus_config, 1);
+
+  #ifdef CONFIG_IDF_TARGET_ESP32S3
+    esp_err_t ret = spi_bus_initialize(SPI3_HOST, &tx_bus_config, SPI_DMA_CH_AUTO);
+  #else
+    esp_err_t ret = spi_bus_initialize(HSPI_HOST, &tx_bus_config, 1);
+  #endif
+
   ESP_ERROR_CHECK(ret);
 
   spi_device_interface_config_t tx_device_config = {
@@ -70,7 +76,12 @@ void MT6701Sensor::init() {
       .pre_cb=NULL,
       .post_cb=NULL,
   };
-  ret=spi_bus_add_device(HSPI_HOST, &tx_device_config, &spi_device_);
+  #ifdef CONFIG_IDF_TARGET_ESP32S3
+    ret=spi_bus_add_device(SPI3_HOST, &tx_device_config, &spi_device_);
+  #else
+    ret=spi_bus_add_device(HSPI_HOST, &tx_device_config, &spi_device_);
+  #endif
+
   ESP_ERROR_CHECK(ret);
 
 

platformio.ini

@@ -29,7 +29,7 @@ lib_deps =
     infineon/TLV493D-Magnetic-Sensor @ 1.0.3
     bxparks/AceButton @ 1.9.1
     bakercp/PacketSerial @ 1.4.0
-    nanopb/Nanopb @ 0.4.6   ; Ideally this would reference the nanopb submodule, but that would require
+    nanopb/Nanopb @ 0.4.7   ; Ideally this would reference the nanopb submodule, but that would require
                             ; everyone to check out submodules to just compile, so we use the library
                             ; registry for the runtime. The submodule is available for manually updating
                             ; the pre-compiled (checked in) .pb.h/c files when proto files change, but is
@@ -86,12 +86,16 @@ build_flags =
   -DPIN_MT_CSN=14
   -DPIN_LED_DATA=7
   -DPIN_LCD_BACKLIGHT=19
+  -DPIN_STRAIN_DO=38
+  -DPIN_STRAIN_SCK=2
 
   -DDESCRIPTION_FONT=Roboto_Thin_24
   -DDESCRIPTION_Y_OFFSET=20
   -DVALUE_OFFSET=30
   -DDRAW_ARC=0
 
+  -DSK_BACKLIGHT_BIT_DEPTH=16
+
   ; TFT_eSPI setup
   -DUSER_SETUP_LOADED=1
   -DGC9A01_DRIVER=1
@@ -184,3 +188,109 @@ build_flags =
 
   ; Reduce loop task stack size (only works on newer IDF Arduino core)
   ; -DARDUINO_LOOP_STACK_SIZE=2048
+
+
+[env:brushknight_esp32s3]
+extends = base_config
+platform = espressif32@6.3.1
+board = esp32-s3-devkitc-1
+board_build.partitions = default_ffat.csv
+
+monitor_speed = 115200
+
+lib_deps =
+  ${base_config.lib_deps}
+  bodmer/TFT_eSPI@2.5.0
+  fastled/FastLED @ 3.5.0
+  bogde/HX711 @ 0.7.5
+  adafruit/Adafruit VEML7700 Library @ 1.1.1
+  askuric/Simple FOC@2.3.0
+
+build_flags =
+  ${base_config.build_flags}
+  ; Use physical UART for the serial stream rather than the S3 default USB CDC
+  -DSK_FORCE_UART_STREAM=1
+  -DMONITOR_SPEED=115200
+  ; Display enabled: 1=enable, 0=disable
+  -DSK_DISPLAY=1
+  ; PWM bit resolution (even esp32s3 claims that there are 13 bits, max is 12, after it panics)
+  -DSK_BACKLIGHT_BIT_DEPTH=12
+  ; Display orientation: 0=usb bottom, 2=usb top
+  -DSK_DISPLAY_ROTATION=0
+  ; LEDs enabled: 1=enable, 0=disable
+  -DSK_LEDS=1
+  ; Number of LEDs
+  -DNUM_LEDS=8
+  ; Strain-gauge press input enabled: 1=enable, 0=disable
+  -DSK_STRAIN=1
+  ; Ambient light sensor (VEML7700) enabled: 1=enable (display/LEDs match ambient brightness), 0=disable (100% brightness all the time)
+  -DSK_ALS=0
+  ; Use MT6701 magnetic encoder
+  -DSENSOR_MT6701=1
+  ; Invert direction of angle sensor (motor direction is detected relative to angle sensor as part of the calibration procedure)
+  -DSK_INVERT_ROTATION=1
+
+  -DMOTOR_WANZHIDA_ONCE_TOP=1
+
+  ; Pin configurations
+  ; Motor
+  -DPIN_UH=20
+  -DPIN_UL=19
+  -DPIN_VH=21
+  -DPIN_VL=17
+  -DPIN_WH=12
+  -DPIN_WL=18
+
+  -DPIN_BUTTON_NEXT=-1
+  -DPIN_BUTTON_PREV=-1
+  -DPIN_LED_DATA=7
+  -DPIN_LCD_BACKLIGHT=5
+
+  -DPIN_SDA=15
+  -DPIN_SCL=8
+
+  -DPIN_MT_DATA=37
+  -DPIN_MT_CLOCK=13
+  -DPIN_MT_CSN=14
+
+  -DPIN_STRAIN_DO=38
+  -DPIN_STRAIN_SCK=1
+
+  -DDESCRIPTION_FONT=Roboto_Thin_24
+  -DDESCRIPTION_Y_OFFSET=20
+  -DVALUE_OFFSET=30
+  -DDRAW_ARC=0
+
+  ; TFT_eSPI setup
+  -DUSER_SETUP_LOADED=1
+  -DGC9A01_DRIVER=1
+  -DCGRAM_OFFSET=1
+  -DTFT_WIDTH=240
+  -DTFT_HEIGHT=240
+  -DTFT_MISO=-1 # fake
+  -DTFT_MOSI=3
+  -DTFT_SCLK=4
+  -DTFT_CS=9
+  -DTFT_DC=2
+  -DTFT_RST=6
+  -DTFT_BL=-1
+  -DLOAD_GLCD=1
+  -DLOAD_GFXFF=1
+  -DSPI_FREQUENCY=40000000
+
+  ; Reduce loop task stack size (only works on newer IDF Arduino core)
+  ; -DARDUINO_LOOP_STACK_SIZE=2048
+
+  -DCORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_DEBUG
+
+  ; FastLED setup
+  ; Modify the default unusable pin mask to allow GPIO 7 (allowed to use on ESP32-PICO-V3-02)
+  ; Unusable bits: 6, 8, 9, 10, 20
+  ; (0ULL | _FL_BIT(6) | _FL_BIT(8) | _FL_BIT(9) | _FL_BIT(10) | _FL_BIT(20))
+  -DFASTLED_UNUSABLE_PIN_MASK=0x100740LL
+  ; 0~39 except from 24, 28~31 are valid
+  ; (0xFFFFFFFFFFULL & ~(0ULL | _FL_BIT(24) | _FL_BIT(28) | _FL_BIT(29) | _FL_BIT(30) | _FL_BIT(31)))
+  -DSOC_GPIO_VALID_GPIO_MASK=0xFF0EFFFFFF
+  ; GPIO >= 34 are input only
+  ; (SOC_GPIO_VALID_GPIO_MASK & ~(0ULL | _FL_BIT(34) | _FL_BIT(35) | _FL_BIT(36) | _FL_BIT(37) | _FL_BIT(38) | _FL_BIT(39)))
+  -DSOC_GPIO_VALID_OUTPUT_GPIO_MASK=0x30EFFFFFF