| .. _esp32: |
| |
| ESP32 |
| ##### |
| |
| Overview |
| ******** |
| |
| ESP32 is a series of low cost, low power system on a chip microcontrollers |
| with integrated Wi-Fi & dual-mode Bluetooth. The ESP32 series employs a |
| Tensilica Xtensa LX6 microprocessor in both dual-core and single-core |
| variations. ESP32 is created and developed by Espressif Systems, a |
| Shanghai-based Chinese company, and is manufactured by TSMC using their 40nm |
| process. [1]_ |
| |
| The features include the following: |
| |
| - Dual core Xtensa microprocessor (LX6), running at 160 or 240MHz |
| - 520KB of SRAM |
| - 802.11b/g/n/e/i |
| - Bluetooth v4.2 BR/EDR and BLE |
| - Various peripherals: |
| |
| - 12-bit ADC with up to 18 channels |
| - 2x 8-bit DACs |
| - 10x touch sensors |
| - Temperature sensor |
| - 4x SPI |
| - 2x I2S |
| - 2x I2C |
| - 3x UART |
| - SD/SDIO/MMC host |
| - Slave (SDIO/SPI) |
| - Ethernet MAC |
| - CAN bus 2.0 |
| - IR (RX/TX) |
| - Motor PWM |
| - LED PWM with up to 16 channels |
| - Hall effect sensor |
| |
| - Cryptographic hardware acceleration (RNG, ECC, RSA, SHA-2, AES) |
| - 5uA deep sleep current |
| |
| System requirements |
| ******************* |
| |
| Prerequisites |
| ============= |
| |
| The ESP32 toolchain :file:`xtensa-esp32-elf` is required to build this port. |
| The toolchain installation can be performed in two ways: |
| |
| #. Automatic installation |
| |
| .. code-block:: console |
| |
| west espressif install |
| |
| .. note:: |
| |
| By default, the toolchain will be downloaded and installed under $HOME/.espressif directory |
| (%USERPROFILE%/.espressif on Windows). |
| |
| #. Manual installation |
| |
| Follow the `ESP32 Toolchain`_ link to download proper OS package version. |
| Unpack the toolchain file to a known location as it will be required for environment path configuration. |
| |
| Build Environment Setup |
| ======================= |
| |
| Some variables must be exported into the environment prior to building this port. |
| Find more information at :ref:`env_vars` on how to keep this settings saved in you environment. |
| |
| .. note:: |
| |
| In case of manual toolchain installation, set :file:`ESPRESSIF_TOOLCHAIN_PATH` accordingly. |
| Otherwise, set toolchain path as below. If necessary, update the version folder path as in :file:`esp-2020r3-8.4.0`. |
| |
| On Linux and macOS: |
| |
| .. code-block:: console |
| |
| export ZEPHYR_TOOLCHAIN_VARIANT="espressif" |
| export ESPRESSIF_TOOLCHAIN_PATH="${HOME}/.espressif/tools/zephyr" |
| |
| On Windows: |
| |
| .. code-block:: console |
| |
| # on CMD: |
| set ESPRESSIF_TOOLCHAIN_PATH=%USERPROFILE%\.espressif\tools\zephyr |
| set ZEPHYR_TOOLCHAIN_VARIANT=espressif |
| |
| # on PowerShell |
| $env:ESPRESSIF_TOOLCHAIN_PATH="$env:USERPROFILE\.espressif\tools\zephyr" |
| $env:ZEPHYR_TOOLCHAIN_VARIANT="espressif" |
| |
| Finally, retrieve required submodules to build this port. This might take a while for the first time: |
| |
| .. code-block:: console |
| |
| west espressif update |
| |
| .. note:: |
| |
| It is recommended running the command above after :file:`west update` so that submodules also get updated. |
| |
| Flashing |
| ======== |
| |
| The usual ``flash`` target will work with the ``esp32`` board |
| configuration. Here is an example for the :ref:`hello_world` |
| application. |
| |
| .. zephyr-app-commands:: |
| :zephyr-app: samples/hello_world |
| :board: esp32 |
| :goals: flash |
| |
| Refer to :ref:`build_an_application` and :ref:`application_run` for |
| more details. |
| |
| It's impossible to determine which serial port the ESP32 board is |
| connected to, as it uses a generic RS232-USB converter. The default of |
| ``/dev/ttyUSB0`` is provided as that's often the assigned name on a Linux |
| machine without any other such converters. |
| |
| The baud rate of 921600bps is recommended. If experiencing issues when |
| flashing, try halving the value a few times (460800, 230400, 115200, |
| etc). It might be necessary to change the flash frequency or the flash |
| mode; please refer to the `esptool documentation`_ for guidance on these |
| settings. |
| |
| All flashing options are now handled by the :ref:`west` tool, including flashing |
| with custom options such as a different serial port. The ``west`` tool supports |
| specific options for the ESP32 board, as listed here: |
| |
| --esp-idf-path ESP_IDF_PATH |
| path to ESP-IDF |
| --esp-device ESP_DEVICE |
| serial port to flash, default $ESPTOOL_PORT if defined. |
| If not, esptool will loop over available serial ports until |
| it finds ESP32 device to flash. |
| --esp-baud-rate ESP_BAUD_RATE |
| serial baud rate, default 921600 |
| --esp-flash-size ESP_FLASH_SIZE |
| flash size, default "detect" |
| --esp-flash-freq ESP_FLASH_FREQ |
| flash frequency, default "40m" |
| --esp-flash-mode ESP_FLASH_MODE |
| flash mode, default "dio" |
| --esp-tool ESP_TOOL if given, complete path to espidf. default is to |
| search for it in [ESP_IDF_PATH]/components/esptool_py/ |
| esptool/esptool.py |
| --esp-flash-bootloader ESP_FLASH_BOOTLOADER |
| Bootloader image to flash |
| --esp-flash-partition_table ESP_FLASH_PARTITION_TABLE |
| Partition table to flash |
| |
| For example, to flash to ``/dev/ttyUSB2``, use the following command after |
| having build the application in the ``build`` directory: |
| |
| |
| .. code-block:: console |
| |
| west flash -d build/ --skip-rebuild --esp-device /dev/ttyUSB2 |
| |
| Using JTAG |
| ========== |
| |
| As with much custom hardware, the ESP-32 modules require patches to |
| OpenOCD that are not upstream. Espressif maintains their own fork of |
| the project here. By convention they put it in ``~/esp`` next to the |
| installations of their toolchain and SDK: |
| |
| .. code-block:: console |
| |
| cd ~/esp |
| |
| git clone https://github.com/espressif/openocd-esp32 |
| |
| cd openocd-esp32 |
| ./bootstrap |
| ./configure |
| make |
| |
| On the ESP-WROVER-KIT board, the JTAG pins are connected internally to |
| a USB serial port on the same device as the console. These boards |
| require no external hardware and are debuggable as-is. The JTAG |
| signals, however, must be jumpered closed to connect the internal |
| controller (the default is to leave them disconnected). The jumper |
| headers are on the right side of the board as viewed from the power |
| switch, next to similar headers for SPI and UART. See |
| `ESP-WROVER-32 V3 Getting Started Guide`_ for details. |
| |
| On the ESP-WROOM-32 DevKitC board, the JTAG pins are not run to a |
| standard connector (e.g. ARM 20-pin) and need to be manually connected |
| to the external programmer (e.g. a Flyswatter2): |
| |
| +------------+-----------+ |
| | ESP32 pin | JTAG pin | |
| +============+===========+ |
| | 3V3 | VTRef | |
| +------------+-----------+ |
| | EN | nTRST | |
| +------------+-----------+ |
| | IO14 | TMS | |
| +------------+-----------+ |
| | IO12 | TDI | |
| +------------+-----------+ |
| | GND | GND | |
| +------------+-----------+ |
| | IO13 | TCK | |
| +------------+-----------+ |
| | IO15 | TDO | |
| +------------+-----------+ |
| |
| Once the device is connected, you should be able to connect with (for |
| a DevKitC board, replace with esp32-wrover.cfg for WROVER): |
| |
| .. code-block:: console |
| |
| cd ~/esp/openocd-esp32 |
| src/openocd -f interface/ftdi/flyswatter2.cfg -c 'set ESP32_ONLYCPU 1' -c 'set ESP32_RTOS none' -f board/esp-wroom-32.cfg -s tcl |
| |
| The ESP32_ONLYCPU setting is critical: without it OpenOCD will present |
| only the "APP_CPU" via the gdbserver, and not the "PRO_CPU" on which |
| Zephyr is running. It's currently unexplored as to whether the CPU |
| can be switched at runtime or if breakpoints can be set for |
| either/both. |
| |
| Now you can connect to openocd with gdb and point it to the OpenOCD |
| gdbserver running (by default) on localhost port 3333. Note that you |
| must use the gdb distributed with the ESP-32 SDK. Builds off of the |
| FSF mainline get inexplicable protocol errors when connecting. |
| |
| .. code-block:: console |
| |
| ~/esp/xtensa-esp32-elf/bin/xtensa-esp32-elf-gdb outdir/esp32/zephyr.elf |
| (gdb) target remote localhost:3333 |
| |
| Further documentation can be obtained from the SoC vendor in `JTAG debugging |
| for ESP32`_. |
| |
| Note on Debugging with GDB Stub |
| =============================== |
| |
| GDB stub is enabled on ESP32. |
| |
| * When adding breakpoints, please use hardware breakpoints with command |
| ``hbreak``. Command ``break`` uses software breakpoints which requires |
| modifying memory content to insert break/trap instructions. |
| This does not work as the code is on flash which cannot be randomly |
| accessed for modification. |
| |
| References |
| ********** |
| |
| .. [1] https://en.wikipedia.org/wiki/ESP32 |
| .. _`ESP32 Technical Reference Manual`: https://espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf |
| .. _`JTAG debugging for ESP32`: http://esp-idf.readthedocs.io/en/latest/api-guides/jtag-debugging/index.html |
| .. _`toolchain`: https://esp-idf.readthedocs.io/en/latest/get-started/index.html#get-started-setup-toochain |
| .. _`SDK`: https://esp-idf.readthedocs.io/en/latest/get-started/index.html#get-started-get-esp-idf |
| .. _`Hardware Reference`: https://esp-idf.readthedocs.io/en/latest/hw-reference/index.html |
| .. _`esptool documentation`: https://github.com/espressif/esptool/blob/master/README.md |
| .. _`esptool.py`: https://github.com/espressif/esptool |
| .. _`ESP-WROVER-32 V3 Getting Started Guide`: https://dl.espressif.com/doc/esp-idf/latest/get-started/get-started-wrover-kit.html |
| .. _`installing prerequisites`: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/get-started/index.html#step-1-install-prerequisites |
| .. _`set up the tools`: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/get-started/index.html#step-3-set-up-the-tools |
| .. _`set up environment variables`: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/get-started/index.html#step-4-set-up-the-environment-variables |
| .. _`ESP32 Toolchain`: https://docs.espressif.com/projects/esp-idf/en/v4.2/esp32/api-guides/tools/idf-tools.html#xtensa-esp32-elf |
| .. _`OpenOCD for ESP32 download`: https://docs.espressif.com/projects/esp-idf/en/v4.2/esp32/api-guides/tools/idf-tools.html#openocd-esp32 |