proj: switching to ESP32C6

.vscode/c_cpp_properties.json

@@ -2,7 +2,7 @@
     "configurations": [
         {
             "name": "ESP-IDF",
-            "compilerPath": "${config:idf.toolsPathWin}\\tools\\xtensa-esp-elf\\esp-13.2.0_20240530\\xtensa-esp-elf\\bin\\xtensa-esp32-elf-gcc.exe",
+            "compilerPath": "${config:idf.toolsPathWin}\\tools\\riscv32-esp-elf\\esp-13.2.0_20240530\\riscv32-esp-elf\\bin\\riscv32-esp-elf-gcc.exe",
             "compileCommands": "${config:idf.buildPath}/compile_commands.json",
             "includePath": [
                 "${config:idf.espIdfPath}/components/**",

.vscode/settings.json

@@ -11,9 +11,9 @@
     },
     "idf.espIdfPathWin": "C:\\Tools\\ESP-IDF\\v5.3\\esp-idf",
     "idf.openOcdConfigs": [
-        "board/esp32-wrover-kit-3.3v.cfg"
+        "board/esp32c6-builtin.cfg"
     ],
-    "idf.portWin": "COM4",
+    "idf.portWin": "COM9",
     "idf.pythonBinPathWin": "C:\\Tools\\ESP\\python_env\\idf5.3_py3.11_env\\Scripts\\python.exe",
     "idf.toolsPathWin": "C:\\Tools\\ESP",
     "idf.flashType": "UART",

components/movement/include/stepperMotor.hpp

@@ -204,7 +204,6 @@ class StepperMotor {
     }
 
     void demoFullTurn() {
-        auto steps = _config.resolution * _config.steps;
         ESP_LOGI("Stepper", "Running %i * %i steps for full turn", _config.resolution, _config.steps);
 
         ESP_LOGI("Stepper", "Start is %f.2", getScaledPos());

components/movement/src/pwmPort.cpp

@@ -19,7 +19,7 @@ PwmPort::PwmPort(ledc_timer_t timer, ledc_channel_t channel, gpio_num_t output,
         .duty_resolution = resolution,
         .timer_num = timer,
         .freq_hz = frequency,
-        .clk_cfg = LEDC_AUTO_CLK,
+        .clk_cfg = LEDC_AUTO_CLK
     };
     ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
 

components/movement/src/stepperDrv8833.cpp

@@ -63,7 +63,6 @@ StepperDriverDrv8833::StepperDriverDrv8833(Pins pins, int resolution)
 
     populateLookUps(resolution, _outA1, _outA2, _outB1, _outB2);
 
-    char buffer[resolution * 2 + 10];
     ESP_LOGD("Stepper", "Output Data:");
     ESP_LOG_BUFFER_HEXDUMP("Stepper", _outA1.data(), _outA1.size(), ESP_LOG_DEBUG);
     ESP_LOG_BUFFER_HEXDUMP("Stepper", _outA2.data(), _outA2.size(), ESP_LOG_DEBUG);

components/movement/src/stepperMotor.cpp

@@ -43,7 +43,6 @@ class ProfileGenerator {
     Profile createRapidStartSwingInEnd(float delta) {
         init();
 
-        auto pnt = getStopDistance(_aMax, _wMax);
         auto wMax = _wMax;
         // t0..t1: acceleration to max velocity
         accelUntil(_aMax * 2, 0, [wMax](Point pnt) { return pnt.w > (wMax * 2); });
@@ -159,7 +158,7 @@ class ProfileGenerator {
             t = t + _dT;
             float env = a * t;
             float p = std::sin(sTau * t / TwMax) * env * TwMax / sTau;
-            float w = (p - _pVec.back()) / _dT;
+            float w = (p - pX) / _dT;
             if (w > _wMax) {
                 break;
             }

dependencies.lock

@@ -11,5 +11,5 @@ dependencies:
       type: idf
     version: 5.3.0
 manifest_hash: 98a89ad95a9bf328a52537968b9e16f59396acd948940746898355de27de317f
-target: esp32
+target: esp32c6
 version: 1.0.0

main/watchMain.cpp

@@ -117,28 +117,33 @@ void LightingTask() {
     ESP_LOGI(TAG, "Start Lighting");
 
     static I2cMaster master(I2C_NUM_0,
-        /*sda=*/ GPIO_NUM_0,
-        /*scl=*/ GPIO_NUM_4);
+        /*sda=*/ GPIO_NUM_10,
+        /*scl=*/ GPIO_NUM_11);
     // static PmwExpanderPca9685 pca9685(master);
-    static PmwExpanderPca9685 ledDriver1(master, /*iverted=*/ true);
-    static PmwExpanderPca9685 ledDriver2(master, /*iverted=*/ true, 0x41);
+    static PmwExpanderPca9685 ledDriver1(master, /*iverted=*/ false);
+    static PmwExpanderPca9685 ledDriver2(master, /*iverted=*/ false, 0x41);
     PmwExpanderPca9685::GrayValues values[2];
 
-    while (true) {
-        ESP_LOGI("Light", "Tick");
+    OutputPort pwmEnable(GPIO_NUM_5, GpioPort::Logic::Inverted);
+    pwmEnable.write(true);
 
+    int idx = 0;
+    while (true) {
         values[0].fill(0);
         values[1].fill(0);
 
-        values[0][12] = 0x100;
-        values[0][15] = 0x100;
+        // values[x][4] = 0x200; // Actually first
+        values[0][idx] = 0x200;
         ledDriver1.sendImage(values[0]);
 
-        values[1][1] = 0x100;
-        values[1][2] = 0x100;
+        // values[1][4] = 0x100; // Actually first
+        values[1][idx] = 0x400;
         ledDriver2.sendImage(values[1]);
 
-        fos::Task::delayMs(1000);
+        if (++idx >= 16 ) {
+            idx = 0;
+        }
+        fos::Task::delayMs(100);
     }
 }
 
@@ -148,14 +153,20 @@ void MovementTask() {
     StepperDriverDrv8833::Pins stepperPins{
         LEDC_TIMER_0,
         {LEDC_CHANNEL_0, LEDC_CHANNEL_1, LEDC_CHANNEL_2, LEDC_CHANNEL_3},
-        {GPIO_NUM_16, GPIO_NUM_15, GPIO_NUM_14, GPIO_NUM_13},
+        {GPIO_NUM_23, GPIO_NUM_22, GPIO_NUM_21, GPIO_NUM_20},
     };
     StepperDriverDrv8833 stepperDriver(stepperPins, MicroSteps);
     stepperDriver.setPos(0);
 
     StepperMotor::Config stepperCfg{1.8F, MicroSteps};
-    InputPort initSens(GPIO_NUM_33);
-    initSens.setLogic(GpioPort::Logic::Inverted);
+    InputPort initSens(GPIO_NUM_18);
+    
+    InputPort motorFault(GPIO_NUM_8);
+    motorFault.setLogic(GpioPort::Logic::Inverted);
+    
+    OutputPort motorSleep(GPIO_NUM_15, GpioPort::Logic::Inverted);
+    motorSleep.write(false);
+    
     StepperMotor stepper(stepperCfg, stepperDriver, initSens);
 
     int i = 0;
@@ -178,20 +189,12 @@ void MovementTask() {
 void IoTest() 
 {
     ESP_LOGI(TAG, "Start IO");
-    InputPort in2(GPIO_NUM_32);
-    InputPort mFault(GPIO_NUM_35);
-
-    OutputPort nEnable(GPIO_NUM_2);
-    OutputPort nReset(GPIO_NUM_5);
+    InputPort in2(GPIO_NUM_19);
+    OutputPort nReset(GPIO_NUM_9);
 
     while (true) {
-        ESP_LOGI("Light", "InValues %i %i", in2.read(), mFault.read());
-        nEnable.write(true);
-        nReset.write(true);
-        fos::Task::delayMs(500);
-        nEnable.write(false);
-        nReset.write(false);
-        fos::Task::delayMs(500);
+        nReset.write(in2.read());
+        fos::Task::delayMs(100);
    }
 }
 
@@ -203,7 +206,6 @@ void app_main(void)
         ret = nvs_flash_init();
     }
     ESP_ERROR_CHECK(ret);
-    // ESP_ERROR_CHECK(esp_event_loop_create_default());
     initialize_ethernet();
     static fos::Task lightingTask(LightingTask, "Lights", 0x4000uL);
     static fos::Task movementTask(MovementTask, "Motor", 0x4000uL);

sdkconfig.defaults

@@ -1,25 +1,35 @@
 #
 # Example Ethernet Configuration
 #
-# CONFIG_ETH_USE_SPI_ETHERNET is not set
-
-CONFIG_EXAMPLE_USE_INTERNAL_ETHERNET=y
-CONFIG_EXAMPLE_ETH_PHY_LAN87XX=y
-CONFIG_EXAMPLE_ETH_MDC_GPIO=23
-CONFIG_EXAMPLE_ETH_MDIO_GPIO=18
-CONFIG_EXAMPLE_ETH_PHY_RST_GPIO=12
-CONFIG_EXAMPLE_ETH_PHY_ADDR=0
-# CONFIG_EXAMPLE_USE_SPI_ETHERNET is not set
+CONFIG_EXAMPLE_USE_SPI_ETHERNET=y
+CONFIG_EXAMPLE_SPI_ETHERNETS_NUM=1
+# CONFIG_EXAMPLE_USE_DM9051 is not set
+# CONFIG_EXAMPLE_USE_KSZ8851SNL is not set
+CONFIG_EXAMPLE_USE_W5500=y
+CONFIG_EXAMPLE_ETH_SPI_HOST=1
+CONFIG_EXAMPLE_ETH_SPI_SCLK_GPIO=6
+CONFIG_EXAMPLE_ETH_SPI_MOSI_GPIO=7
+CONFIG_EXAMPLE_ETH_SPI_MISO_GPIO=2
+CONFIG_EXAMPLE_ETH_SPI_CLOCK_MHZ=16
+CONFIG_EXAMPLE_ETH_SPI_CS0_GPIO=3
+CONFIG_EXAMPLE_ETH_SPI_INT0_GPIO=4
+CONFIG_EXAMPLE_ETH_SPI_POLLING0_MS=0
+CONFIG_EXAMPLE_ETH_SPI_PHY_RST0_GPIO=-1
+CONFIG_EXAMPLE_ETH_SPI_PHY_ADDR0=1
 # end of Example Ethernet Configuration
 
 #
 # Ethernet
 #
-# CONFIG_ETH_RMII_CLK_INPUT is not set
-CONFIG_ETH_RMII_CLK_OUTPUT=y
-# CONFIG_ETH_RMII_CLK_OUTPUT_GPIO0 is not set
+# CONFIG_ETH_SPI_ETHERNET_W5500 is not set
 
 #
 # Wi-Fi
 #
 # CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
+
+#
+# Serial flasher config
+#
+CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y
+CONFIG_ESPTOOLPY_FLASHSIZE="8MB"