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✨ Adds support for esp32 P4

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This commit is contained in:
Rune Harlyk
2026-02-02 20:42:51 +01:00
committed by Rune Harlyk
parent d6075deb6c
commit bf2fd957af
16 changed files with 224 additions and 27 deletions
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.vscode/settings.json
Vendored
+1 -1
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@@ -13,7 +13,7 @@
},
"editor.tabSize": 4,
"editor.detectIndentation": false,
"cmake.sourceDirectory": "C:/data/repos/Hardware/Spot Micro - Leika/.pio/libdeps/esp32cam/esp32-camera",
"cmake.sourceDirectory": "C:/data/repos/Hardware/Spot_Micro_Leika",
"cSpell.words": [
"Adafruit",
"IRAM",
boards/esp32p4_dev.json
+33
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@@ -0,0 +1,33 @@
{
"build": {
"core": "esp32",
"extra_flags": [
"-DBOARD_HAS_PSRAM"
],
"f_cpu": "360000000L",
"f_flash": "80000000L",
"f_psram": "200000000L",
"flash_mode": "qio",
"mcu": "esp32p4",
"variant": "esp32p4"
},
"connectivity": [
"wifi"
],
"debug": {
"openocd_target": "esp32p4.cfg"
},
"frameworks": [
"espidf"
],
"name": "ESP32-P4 Dev Board (32MB PSRAM + 32MB Flash, C6 coprocessor)",
"upload": {
"flash_size": "32MB",
"maximum_ram_size": 786432,
"maximum_size": 33554432,
"require_upload_port": true,
"speed": 1500000
},
"url": "https://docs.espressif.com/projects/esp-dev-kits/en/latest/esp32p4/",
"vendor": "Espressif"
}
esp32/include/features.h
+1
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@@ -1,5 +1,6 @@
#pragma once
#include <sdkconfig.h>
#include <wifi/wifi_idf.h>
#include <esp_http_server.h>
#include "platform_shared/message.pb.h"
esp32/include/global.h
+21
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@@ -23,16 +23,37 @@
#ifndef ESP_PLATFORM_NAME
#define ESP_PLATFORM_NAME "ESP32-S3"
#endif
#elif CONFIG_IDF_TARGET_ESP32C6
#include "esp32c6/rom/rtc.h"
#ifndef ESP_PLATFORM_NAME
#define ESP_PLATFORM_NAME "ESP32-C6"
#endif
#elif CONFIG_IDF_TARGET_ESP32P4
#include "esp32p4/rom/rtc.h"
#ifndef ESP_PLATFORM_NAME
#define ESP_PLATFORM_NAME "ESP32-P4"
#endif
#define ESP32P4_USES_C6_COPROCESSOR 1
#else
#error Target CONFIG_IDF_TARGET is not supported
#endif
#if CONFIG_IDF_TARGET_ESP32P4
#ifndef SDA_PIN
#define SDA_PIN 7
#endif
#ifndef SCL_PIN
#define SCL_PIN 8
#endif
#else
#ifndef SDA_PIN
#define SDA_PIN 21
#endif
#ifndef SCL_PIN
#define SCL_PIN 22
#endif
#endif
#ifndef I2C_FREQUENCY
#define I2C_FREQUENCY 100000UL
#endif
esp32/include/motion_states/walk_state.h
+1
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@@ -2,6 +2,7 @@
#include <motion_states/state.h>
#include <utils/math_utils.h>
#include <algorithm>
#include <array>
#include <functional>
esp32/include/peripherals/camera_service.h
+15 -3
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@@ -11,10 +11,16 @@
namespace Camera {
#if USE_CAMERA && !CONFIG_IDF_TARGET_ESP32P4
#include <esp_camera.h>
#if USE_CAMERA
#include <peripherals/camera_pins.h>
#else
typedef struct {
uint8_t *buf;
size_t len;
} camera_fb_t;
typedef struct {
} sensor_t;
#endif
#define PART_BOUNDARY "frame"
@@ -23,7 +29,11 @@ camera_fb_t *safe_camera_fb_get();
sensor_t *safe_sensor_get();
void safe_sensor_return();
class CameraService : public StatefulService<CameraSettings> {
class CameraService
#if USE_CAMERA && !CONFIG_IDF_TARGET_ESP32P4
: public StatefulService<CameraSettings>
#endif
{
public:
CameraService();
@@ -32,10 +42,12 @@ class CameraService : public StatefulService<CameraSettings> {
esp_err_t cameraStill(httpd_req_t *request);
esp_err_t cameraStream(httpd_req_t *request);
#if USE_CAMERA && !CONFIG_IDF_TARGET_ESP32P4
StatefulProtoEndpoint<CameraSettings, api_CameraSettings> protoEndpoint;
private:
FSPersistencePB<CameraSettings> _persistence;
void updateCamera();
#endif
};
} // namespace Camera
esp32/include/peripherals/led_service.h
+5
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@@ -1,6 +1,7 @@
#ifndef LEDService_h
#define LEDService_h
#include <sdkconfig.h>
#include <driver/rmt_tx.h>
#include <led_strip.h>
#include <led_strip_rmt.h>
@@ -9,8 +10,12 @@
#include <esp_log.h>
#ifndef WS2812_PIN
#if CONFIG_IDF_TARGET_ESP32P4
#define WS2812_PIN 27
#else
#define WS2812_PIN 12
#endif
#endif
#ifndef WS2812_NUM_LEDS
#define WS2812_NUM_LEDS 13
esp32/include/settings/camera_settings.h
+8 -3
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@@ -1,15 +1,20 @@
#pragma once
#include <template/state_result.h>
#include <sdkconfig.h>
#include <platform_shared/api.pb.h>
#if !CONFIG_IDF_TARGET_ESP32P4
#include <esp_camera.h>
#else
#define PIXFORMAT_JPEG 0
#define FRAMESIZE_VGA 0
#define GAINCEILING_2X 0
#endif
namespace Camera {
// Use proto type directly as settings type
using CameraSettings = api_CameraSettings;
// Default factory settings
inline CameraSettings CameraSettings_defaults() {
CameraSettings settings = api_CameraSettings_init_zero;
settings.pixformat = PIXFORMAT_JPEG;
esp32/include/settings/peripherals_settings.h
+10
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@@ -1,17 +1,27 @@
#pragma once
#include <template/state_result.h>
#include <sdkconfig.h>
#include <platform_shared/api.pb.h>
/*
* I2C software connection
*/
#if CONFIG_IDF_TARGET_ESP32P4
#ifndef SDA_PIN
#define SDA_PIN 7
#endif
#ifndef SCL_PIN
#define SCL_PIN 8
#endif
#else
#ifndef SDA_PIN
#define SDA_PIN 21
#endif
#ifndef SCL_PIN
#define SCL_PIN 22
#endif
#endif
#ifndef I2C_FREQUENCY
#define I2C_FREQUENCY 1000000UL
#endif
esp32/partition_table/default_32MB.csv
+8
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@@ -0,0 +1,8 @@
# Name, Type, SubType, Offset, Size, Flags
# 32MB Flash partition table for ESP32-P4
nvs, data, nvs, 0x9000, 0x5000,
otadata, data, ota, 0xe000, 0x2000,
app0, app, ota_0, 0x10000, 0xC80000,
app1, app, ota_1, 0xC90000, 0xC80000,
spiffs, data, spiffs, 0x1910000,0x6E0000,
coredump, data, coredump,0x1FF0000,0x10000,
1 # Name, Type, SubType, Offset, Size, Flags
2 # 32MB Flash partition table for ESP32-P4
3 nvs, data, nvs, 0x9000, 0x5000,
4 otadata, data, ota, 0xe000, 0x2000,
5 app0, app, ota_0, 0x10000, 0xC80000,
6 app1, app, ota_1, 0xC90000, 0xC80000,
7 spiffs, data, spiffs, 0x1910000,0x6E0000,
8 coredump, data, coredump,0x1FF0000,0x10000,
esp32/src/CMakeLists.txt
+22 -13
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@@ -1,3 +1,24 @@
set(COMPONENT_REQUIRES
driver
esp_http_server
nvs_flash
esp_wifi
esp_event
esp_netif
mdns
esp_timer
esp_psram
spi_flash
littlefs
esp-dsp
)
if(IDF_TARGET STREQUAL "esp32p4")
list(APPEND COMPONENT_REQUIRES esp_wifi_remote esp_hosted)
else()
list(APPEND COMPONENT_REQUIRES esp32-camera)
endif()
idf_component_register(
SRC_DIRS
"."
@@ -10,17 +31,5 @@ idf_component_register(
"../include"
"../../submodules/nanopb"
REQUIRES
driver
esp_http_server
nvs_flash
esp_wifi
esp_event
esp_netif
mdns
esp_timer
esp_psram
spi_flash
littlefs
esp32-camera
esp-dsp
${COMPONENT_REQUIRES}
)
esp32/src/idf_component.yml
+13
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@@ -16,3 +16,16 @@ dependencies:
espressif/esp32-camera:
version: "^2.0.0"
rules:
- if: "idf_version >=5.0.0"
- if: "target not in [esp32p4]"
espressif/esp_wifi_remote:
version: ">=0.3.0"
rules:
- if: "target in [esp32p4]"
espressif/esp_hosted:
version: ">=0.0.6"
rules:
- if: "target in [esp32p4]"
esp32/src/main.cpp
+20
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@@ -21,6 +21,10 @@
#include <mdns_service.h>
#include <system_service.h>
#if CONFIG_IDF_TARGET_ESP32P4
#include <esp_hosted.h>
#endif
#include <www_mount.hpp>
Websocket wsSocket {server, "/api/ws"};
@@ -275,6 +279,21 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
void IRAM_ATTR serviceLoopEntry(void *) {
ESP_LOGI("main", "Service task starting");
#if CONFIG_IDF_TARGET_ESP32P4
ESP_LOGI("main", "Initializing ESP-Hosted for C6 coprocessor WiFi...");
int ret = esp_hosted_init();
if (ret != 0) {
ESP_LOGE("main", "ESP-Hosted init failed: %d", ret);
} else {
ESP_LOGI("main", "ESP-Hosted initialized, connecting to C6...");
ret = esp_hosted_connect_to_slave();
if (ret != 0) {
ESP_LOGW("main", "ESP-Hosted connect failed: %d - WiFi may not work", ret);
} else {
ESP_LOGI("main", "ESP-Hosted link established with C6");
}
}
#endif
WiFi.init();
wifiService.begin();
@@ -291,6 +310,7 @@ void IRAM_ATTR serviceLoopEntry(void *) {
setupEventSocket();
ESP_LOGI("main", "Service task started");
for (;;) {
wifiService.loop();
apService.loop();
esp32/src/peripherals/camera_service.cpp
+20 -5
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@@ -5,6 +5,7 @@
namespace Camera {
static const char *const TAG = "CameraService";
#if USE_CAMERA && !CONFIG_IDF_TARGET_ESP32P4
static constexpr const char *_STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
static constexpr const char *_STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
@@ -35,9 +36,8 @@ CameraService::CameraService()
: protoEndpoint(CameraSettings_read, CameraSettings_update, this,
API_REQUEST_EXTRACTOR(camera_settings, api_CameraSettings),
API_RESPONSE_ASSIGNER(camera_settings, api_CameraSettings)),
_persistence(CameraSettings_read, CameraSettings_update, this,
CAMERA_SETTINGS_FILE, api_CameraSettings_fields, api_CameraSettings_size,
CameraSettings_defaults()) {
_persistence(CameraSettings_read, CameraSettings_update, this, CAMERA_SETTINGS_FILE, api_CameraSettings_fields,
api_CameraSettings_size, CameraSettings_defaults()) {
addUpdateHandler([&](const std::string &originId) { updateCamera(); }, false);
}
@@ -46,7 +46,6 @@ esp_err_t CameraService::begin() {
camera_config_t camera_config;
camera_config.ledc_channel = LEDC_CHANNEL_0;
camera_config.ledc_timer = LEDC_TIMER_0;
#if FT_ENABLED(USE_CAMERA)
camera_config.pin_d0 = Y2_GPIO_NUM;
camera_config.pin_d1 = Y3_GPIO_NUM;
camera_config.pin_d2 = Y4_GPIO_NUM;
@@ -63,7 +62,6 @@ esp_err_t CameraService::begin() {
camera_config.pin_sccb_scl = SIOC_GPIO_NUM;
camera_config.pin_pwdn = PWDN_GPIO_NUM;
camera_config.pin_reset = RESET_GPIO_NUM;
#endif
camera_config.xclk_freq_hz = 20000000;
camera_config.pixel_format = PIXFORMAT_JPEG;
@@ -181,4 +179,21 @@ void CameraService::updateCamera() {
safe_sensor_return();
}
#else
camera_fb_t *safe_camera_fb_get() { return nullptr; }
sensor_t *safe_sensor_get() { return nullptr; }
void safe_sensor_return() {}
CameraService::CameraService() {}
esp_err_t CameraService::begin() { return ESP_ERR_NOT_SUPPORTED; }
esp_err_t CameraService::cameraStill(httpd_req_t *request) {
return WebServer::sendError(request, 501, "Camera not supported on this platform");
}
esp_err_t CameraService::cameraStream(httpd_req_t *request) {
return WebServer::sendError(request, 501, "Camera not supported on this platform");
}
#endif
} // namespace Camera
esp32/src/system_service.cpp
+4 -2
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@@ -8,7 +8,8 @@
#include <esp_sleep.h>
#include <soc/soc.h>
#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6
#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3 || \
CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32P4
#include <driver/temperature_sensor.h>
static float temperatureRead() {
@@ -100,7 +101,7 @@ void sleep() {
uint64_t bitmask = (uint64_t)1 << (WAKEUP_PIN_NUMBER);
#ifdef CONFIG_IDF_TARGET_ESP32C3
#if CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32P4
esp_deep_sleep_enable_gpio_wakeup(bitmask, (esp_deepsleep_gpio_wake_up_mode_t)WAKEUP_SIGNAL);
#else
esp_sleep_enable_ext1_wakeup(bitmask, (esp_sleep_ext1_wakeup_mode_t)WAKEUP_SIGNAL);
@@ -124,6 +125,7 @@ static const char *getChipModel() {
case CHIP_ESP32C2: return "ESP32-C2";
case CHIP_ESP32C6: return "ESP32-C6";
case CHIP_ESP32H2: return "ESP32-H2";
case CHIP_ESP32P4: return "ESP32-P4";
default: return "Unknown";
}
}
platformio.ini
+42
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@@ -15,6 +15,7 @@ src_dir = esp32/src
include_dir = esp32/include
lib_dir = esp32/lib
test_dir = esp32/test
boards_dir = boards
extra_configs =
esp32/factory_settings.ini
esp32/features.ini
@@ -73,6 +74,47 @@ board_build.partitions = esp32/partition_table/min_spiffs.csv
build_flags =
${env.build_flags}
[env:esp32-p4]
platform = https://github.com/pioarduino/platform-espressif32.git
framework = espidf
board = esp32p4_dev
board_build.mcu = esp32p4
board_build.f_cpu = 360000000L
board_build.f_flash = 80000000L
board_build.f_psram = 200000000L
board_build.flash_mode = qio
board_upload.flash_size = 32MB
board_build.partitions = esp32/partition_table/default_32MB.csv
board_build.filesystem = littlefs
board_build.sdkconfig_defaults =
esp32/sdkconfig.defaults
esp32/sdkconfig.defaults.esp32p4
upload_speed = 921600
monitor_speed = 115200
monitor_filters =
direct
esp32_exception_decoder
extra_scripts =
pre:esp32/scripts/pre_build.py
pre:esp32/scripts/build_app.py
build_flags =
${env.build_flags}
-D USE_CAMERA=1
-D CAM_XCLK_PIN=-1
-D CAM_RESET_PIN=-1
-D CAM_PWDN_PIN=-1
-D MIPI_CSI_HRES=800
-D MIPI_CSI_VRES=640
-D MIPI_CSI_LANE_BITRATE_MBPS=400
-D MIPI_CSI_DATA_LANES=2
-D CSI_JPEG_QUALITY=65
-D WAKEUP_PIN_NUMBER=0
-D BOARD_HAS_PSRAM
-D USE_BLE=0
-D SDA_PIN=7
-D SCL_PIN=8
-D WS2812_PIN=27
; ================================================================
; General environment section