Add Arduino port for ESP32

libcopter-arduino/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

libcopter-arduino/.travis.yml

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+# Continuous Integration (CI) is the practice, in software
+# engineering, of merging all developer working copies with a shared mainline
+# several times a day < https://docs.platformio.org/page/ci/index.html >
+#
+# Documentation:
+#
+# * Travis CI Embedded Builds with PlatformIO
+#   < https://docs.travis-ci.com/user/integration/platformio/ >
+#
+# * PlatformIO integration with Travis CI
+#   < https://docs.platformio.org/page/ci/travis.html >
+#
+# * User Guide for `platformio ci` command
+#   < https://docs.platformio.org/page/userguide/cmd_ci.html >
+#
+#
+# Please choose one of the following templates (proposed below) and uncomment
+# it (remove "# " before each line) or use own configuration according to the
+# Travis CI documentation (see above).
+#
+
+
+#
+# Template #1: General project. Test it using existing `platformio.ini`.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# install:
+#     - pip install -U platformio
+#     - platformio update
+#
+# script:
+#     - platformio run
+
+
+#
+# Template #2: The project is intended to be used as a library with examples.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# env:
+#     - PLATFORMIO_CI_SRC=path/to/test/file.c
+#     - PLATFORMIO_CI_SRC=examples/file.ino
+#     - PLATFORMIO_CI_SRC=path/to/test/directory
+#
+# install:
+#     - pip install -U platformio
+#     - platformio update
+#
+# script:
+#     - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N

libcopter-arduino/README.md

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+# libcopter for ESP32
+
+# Connections
+
+|  ESP32 Pin | Function | Input |
+|---|---|---|
+| GPIO36 | ADC1_CH0 | Throttle |
+| GPIO39 | ADC1_CH3 | Pitch |
+| GPIO34 | ADC1_CH6 | Yaw |
+| GPIO35 | ADC1_CH7 | Roll |
+| GPIO32 | ADC1_CH4 | NC |
+| GPIO33 | ADC1_CH5 | NC |
+| GPIO25 | Digital Input, Int. Pull-Down, Active Low | Takeoff |
+| GPIO26 | Digital Input, Int. Pull-Down, Active Low | Land |
+| GPIO27 | Digital Input, Int. Pull-Down, Active Low | Panic |
+| GPIO14 | Digital Input, Int. Pull-Down, Active Low | Calibrate |
+| GPIO23 | Digital Output, Active Low | Connection Indicator |
+| GPIO19 | Digital Output, Active Low | Connection Indicator |
+| GPIO18 | Digital Output, Active Low | Connection Indicator |
+| GPIO5  | Digital Output, Active Low | Connection Indicator |
+
+![](images/ESP32-DOIT-DEVKIT-V1-Board-Pinout-30-GPIOs.webp)

libcopter-arduino/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

libcopter-arduino/include/sg500.hpp

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+#include <Arduino.h>
+#include <WiFi.h>
+#include <WiFiUdp.h>
+
+class SG500
+{
+    WiFiUDP udp;
+    const char *udpAddress = "172.16.10.1";
+    const int udpPort = 8080;
+    const char *ssid = "JJRC-0df227";
+    const char *pwd = NULL;
+
+    public:
+        SG500();
+
+        void beginInit();
+        bool initReady();
+
+        bool command(float roll, float pitch, float yaw, float height, bool launch = false, bool panic = false, bool land = false, bool recalibrate = false);
+
+    protected:
+        void init();
+        void makeCommand(byte *command, byte height, byte yaw, byte pitch, byte roll, bool launch, bool panic, bool land, bool recalibrate, bool auto_altitude = true,
+            byte yaw_trim = 0x10, byte pitch_trim = 0x10, byte roll_trim = 0x10, bool compass = false, byte percent_raw = 0);
+
+        boolean request(const byte *data, int length);
+};

libcopter-arduino/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

libcopter-arduino/platformio.ini

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+;PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200

libcopter-arduino/src/main.cpp

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+#include <Arduino.h>
+#include <WiFi.h>
+#include <WiFiUdp.h>
+#include <sg500.hpp>
+
+uint16_t throttle_raw;
+uint16_t pitch_raw;
+uint16_t yaw_raw;
+uint16_t roll_raw;
+
+float throttle;
+float pitch;
+float yaw;
+float roll;
+
+
+int takeoff;
+int land;
+int panic;
+int calibrate;
+
+SG500 copter;
+
+//#define DONT_CONNECT
+
+float convertAnalog(uint16_t value)
+{
+  return ((((float)value) / 4096) - 0.5f) * 2.0f * 0.8f;
+}
+
+void input() {
+  throttle_raw = analogRead(36);
+  pitch_raw = analogRead(39);
+  yaw_raw = analogRead(34);
+  roll_raw = analogRead(35);
+
+  throttle = convertAnalog(throttle_raw) + 0.02f;
+  pitch = -convertAnalog(pitch_raw) - 0.02f;
+  yaw = convertAnalog(yaw_raw) + 0.02f;
+  roll = convertAnalog(roll_raw) + 0.03f;
+
+  takeoff = digitalRead(25) == 0;
+  land = digitalRead(26) == 0;
+  panic = digitalRead(27) == 0;
+  calibrate = digitalRead(14) == 0;
+
+  Serial.print("T: ");Serial.print(throttle);Serial.print(", ");
+  Serial.print("Y: ");Serial.print(yaw);Serial.print(", ");
+  Serial.print("P: ");Serial.print(pitch);Serial.print(", ");
+  Serial.print("R: ");Serial.print(roll);Serial.print(", ");
+  Serial.print("Takeoff: ");Serial.print(takeoff);Serial.print(", ");
+  Serial.print("Land: ");Serial.print(land);Serial.print(", ");
+  Serial.print("Panic: ");Serial.print(panic);Serial.print(", ");
+  Serial.print("Calibrate: ");Serial.print(calibrate);
+  Serial.println();
+}
+
+void led(byte leds) {
+  digitalWrite(23, (leds & 1) == 0);
+  digitalWrite(19, (leds & 2) == 0);
+  digitalWrite(18, (leds & 4) == 0);
+  digitalWrite(5, (leds & 8) == 0);
+}
+
+byte led_blink = 1;
+void setup() {
+  pinMode(25, INPUT_PULLDOWN);
+  pinMode(26, INPUT_PULLDOWN);
+  pinMode(27, INPUT_PULLDOWN);
+  pinMode(14, INPUT_PULLDOWN);
+  pinMode(23, OUTPUT);
+  pinMode(19, OUTPUT);
+  pinMode(18, OUTPUT);
+  pinMode(5, OUTPUT);
+  led(0);
+  Serial.begin(115200);
+
+#ifndef DONT_CONNECT
+  copter.beginInit();
+  while(!copter.initReady())
+  {
+    led(led_blink);
+    delay(500);
+    led_blink <<= 1;
+    if(led_blink > 8)
+      led_blink = 1;
+    Serial.print(".");
+  }
+#endif
+  led(0xff);
+}
+
+void loop() {
+  input();
+
+#ifndef DONT_CONNECT
+  if(!copter.command(roll, pitch, yaw, throttle, takeoff, panic, land, calibrate))
+  {
+    Serial.println("Send error, restart.");
+    ESP.restart();
+  }
+#endif
+
+  delay(20);
+}