HiveConnect

Project for the esp32 module and ros simulation node for SwarmUs.

Requirements

• ROS Noetic for building the POSIX target
• esp-idf for the esp32 tooling. v4.2 was chosen for development
• Clang tools are used to match the style and warnings used in the project
  • clang-format to match the coding style
  • clang-tidy for additional compiler warnings
• Doxygen and graphviz to generate the documentation

Setup

This project requires the esp-idf repo cloned and sourced to be able to compile. It wil then need to be installed to set the the Extensa toolchain and other stuff. Simply run:

git clone -b v4.2 --recurse-submodules https://github.com/espressif/esp-idf
esp-idf/install.xx (extension varies from platform to platform, use sh for linux and bat for windows)
git clone https://github.com/SwarmUS/HiveConnect

To be able to open a serial port, you will need to add your user to the dialout group. Run sudo adduser YOUR_NAME dialout.

Build

To be able to build for esp-32, you need to have some environment variables source. You can run the following command to source the required variables:

    source path/to/esp-idf/export.xx (extension varies from platform to platform, use sh for linux and bat for windows)

After this is done, echo $IDF_PATH should output /path/to/esp-idf.

To build for esp or host, do the following commands. Supplying the to cmake will build for esp32.

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Debug <-DCMAKE_TOOLCHAIN_FILE=../cmake/esp-idf/toolchain-esp32.cmake>
make

In case of conflicts with the python interpreter for the posix buid, you can supply a path to the python interpreter. Simply add -DPython3_EXECUTABLE=/usr/bin/python3 to the cmake command arguments

For CLion users, since you need to source a script before running the cmake from clion, you just need to source the script before launching clion from a terminal. Simply run:

    source path/to/esp-idf/export.xx (extension varies from platform to platform, use sh for linux and bat for windows)
    clion

Then, in File->Settings->Build,Execution,Deployment->CMake, add a profile, set the type to debug and copy the following arguments in CMake Options: -DCMAKE_TOOLCHAIN_FILE=cmake/esp-idf/toolchain-esp32.cmake -DTARGET=esp32. This has been tested on Ubuntu 20.04 but the same logic should apply to any system.

Network configuration

The network SSID, password and encryption type need to be provided within the file src/network/esp/DefaultNetworkConfig.cmake. In the future, there will be a cleaner entry point to set those parameter, but for now use this. The authentication method should work with pretty much every residential networks, if it needs to be changed, refer to the doc from esp for the available types.

Running

As can be seen in the scripts, the target can be run locally with a make run command and on the esp32 using the idf.py python script to flash and open a serial on the esp32. The esp32 target could be changed in the future to use openocd.

The project includes a target called openocd-flash that will flash the program over JTAG with the adafruit ftd2232h breakout board. For other adapters, other .cfg might need to be supplied.

Debugging

The xtensa debugger has a depency on libpython2.7. You can install it using your package manager.

To debug using CLion, you can create a run configuration using the Embedded Gdb Server template. Follow these steps to create this configuration:

1. Create a new configuration using Embedded GDB Server Template
2. Set the executable to the .elf file of the project
3. Select the xtensa gdb located under .espressif (exemple path: /home/casto/.espressif/tools/xtensa-esp32-elf/esp-2020r2-8.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-gdb)
4. For download executable, select None. This will be done manually while launching the gdb server (aka openocd)
5. For target remote args, enter localhost 3333
6. For the GDB server, choose the one provided with the esp tool chain, similarly to the gdb (example path: /home/casto/.espressif/tools/openocd-esp32/v0.10.0-esp32-20191114/openocd-esp32/bin/openocd)
7. For the GDB server args, enter these args, modifying the paths to your project: -s share/openocd/scripts -f /home/casto/git/Sherbrooke/SwarmUs/HiveConnect/tools/openocd/adafruit-esp.cfg -c "program_esp /home/casto/git/Sherbrooke/SwarmUs/HiveConnect/cmake-build-target/hive_connect.bin 0x10000"

Debugging is also supported in VS Code. Some template files are supplied under tools/vscode-templates with some path to set.

IMPORTANT: VS Code has trouble attaching the debugger on the first launch. If this occurs, relaunch the configuration and the program should launch and break on app_main() entry.

Connections to ftd2232h breakout board

Connections:
FTD2232H        ESP32       Signal
D0              D13         TCLK
D1              D12         TDI
D2              D15         TMS
D3              D14         TDO
GND             GND         GND

Tests

This projects uses Google Tests for testings, there are some examples of uses. To run tests you can use make test

Or use CTest runner (recommended) ctest -V