esp32-s3

dependencies.lock

@@ -154,8 +154,18 @@ dependencies:
       registry_url: https://components.espressif.com
       type: service
     version: 0.6.1~4
+  espressif/dl_fft:
+    component_hash: 7dadbd644c0d7ba4733cc3726ec4cff6edf27b043725e1115861dec1609a3d28
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 0.3.1
   espressif/esp-dsp:
-    component_hash: 939e9c053487d6e7b7320a5cb761b2200e4b331730d6721668755ef76ab9f067
+    component_hash: 42dce32d46ac93dc11f60d368e29a830e9661c7345d794b8a45c343479cae636
     dependencies:
     - name: idf
       require: private
@@ -163,7 +173,7 @@ dependencies:
     source:
       registry_url: https://components.espressif.com
       type: service
-    version: 1.7.1
+    version: 1.7.0
   espressif/esp-modbus:
     component_hash: 5d5e90b9e55721a8a194b301ad8102d4affb647f47b74cd413ff7d1ce2c1169c
     dependencies:
@@ -181,6 +191,24 @@ dependencies:
       registry_url: https://components.espressif.com
       type: service
     version: 0.0.11
+  espressif/esp-sr:
+    component_hash: c518b25995cf03021a09442feedb7e40acba9f15d6aa903ebdfe0f657b08197b
+    dependencies:
+    - name: espressif/dl_fft
+      registry_url: https://components.espressif.com
+      require: private
+      version: '>=0.2.0'
+    - name: espressif/esp-dsp
+      registry_url: https://components.espressif.com
+      require: private
+      version: 1.7.0
+    - name: idf
+      require: private
+      version: '>=5.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 2.4.0
   espressif/esp-zboss-lib:
     component_hash: 321883d142421f65009972408287441794250057668a11abbdfd8bec77c3309a
     dependencies:
@@ -254,7 +282,7 @@ dependencies:
       type: service
     version: 1.2.2
   espressif/esp_modem:
-    component_hash: 07b6ca85dc0c1edbcd76f650005c74067001db138db6bfa106bf05567adca4af
+    component_hash: f4fa6dab2496af2673a68881132bb7ce0f05bf62e30e5bd0d45b607066378a28
     dependencies:
     - name: idf
       require: private
@@ -262,7 +290,7 @@ dependencies:
     source:
       registry_url: https://components.espressif.com
       type: service
-    version: 2.0.0
+    version: 2.0.1
   espressif/esp_rainmaker:
     component_hash: f6fe458fc7a0102ee2879f0247da4b41419e6c07de12031f66e5e9454d25baaa
     dependencies:
@@ -375,35 +403,8 @@ dependencies:
       registry_url: https://components.espressif.com
       type: service
     version: 1.0.3
-  espressif/lan867x:
-    component_hash: 651c9d6e3d96acb08bd5066144b12a12e94df0a6241127a0538d8680689de2c4
-    dependencies:
-    - name: espressif/lan86xx_common
-      registry_url: https://components.espressif.com
-      require: private
-      version: '*'
-    - name: idf
-      require: private
-      version: '>=5.3'
-    source:
-      registry_url: https://components.espressif.com
-      type: service
-    targets:
-    - esp32
-    - esp32p4
-    version: 2.0.0
-  espressif/lan86xx_common:
-    component_hash: 6dcb1be9f43ae940979bd628fa5bee278949b66c545e1fe2321e486102e81026
-    dependencies:
-    - name: idf
-      require: private
-      version: '>=5.2'
-    source:
-      registry_url: https://components.espressif.com
-      type: service
-    version: 1.0.0
   espressif/libsodium:
-    component_hash: ec52dce5da4af52b1908a0e23e2cf8f492edea090450e51f0d1fbe1108b6d58e
+    component_hash: b51f5836f044d8b7fbb1784257605c47ff7356f701377b005912fe6a2f12db37
     dependencies:
     - name: idf
       require: private
@@ -411,9 +412,9 @@ dependencies:
     source:
       registry_url: https://components.espressif.com
       type: service
-    version: 1.0.20~4
+    version: 1.0.21
   espressif/mdns:
-    component_hash: 7c0fa01a1cd0e72a87ec1928c3b661c0a3a9034a6d3a69dcf4850db8c6f272db
+    component_hash: 1ebe3bd675bb9d1c58f52bc0b609b32f74e572b01c328f9e61282040c775495c
     dependencies:
     - name: idf
       require: private
@@ -421,7 +422,7 @@ dependencies:
     source:
       registry_url: https://components.espressif.com
       type: service
-    version: 1.10.1
+    version: 1.11.0
   espressif/network_provisioning:
     component_hash: ef2e10182fd1861e68b821491916327c25416ca7ae70e5a6e43313dbc71fe993
     dependencies:
@@ -464,5 +465,5 @@ direct_dependencies:
 - espressif/arduino-esp32
 - idf
 manifest_hash: bb586ec925aec51fa9a2f4da694bbf1dd0c5ef5f4f654f1ef56d33c48f29627b
-target: esp32
+target: esp32s3
 version: 2.0.0

main/gps.h

@@ -21,6 +21,9 @@ const float TO_RAD = M_PI / 180.0f;
 const float KNOTS_TO_M_SEC = 0.5144444f;
 const float earth_radius = 6371000.0f;
 
+#define GPS_RX_PIN 16
+#define GPS_TX_PIN 17
+
 struct GPS {
   Adafruit_GPS *gps;
   float origin_lat;
@@ -33,8 +36,9 @@ struct GPS {
   }
 
   void begin() {
+    Serial2.begin(9600, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
     this->gps = new Adafruit_GPS(&Serial2);
-    this->gps->begin(9600);
+    // this->gps->begin(9600);
     this->gps->sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
 
     this->gps->sendCommand(PMTK_API_SET_FIX_CTL_5HZ);

main/imu.cpp

@@ -24,8 +24,8 @@ void setup_imu() {
   imu_state *local_state = new imu_state;
   imu_state_mutex = xSemaphoreCreateMutex();
 
-  BNO08x *imu = new BNO08x(
+  BNO08x *imu = new BNO08x(bno08x_config_t(
-      bno08x_config_t(SPI2_HOST, GPIO_NUM_26, GPIO_NUM_27, GPIO_NUM_25,
+      SPI2_HOST, GPIO_NUM_26, GPIO_NUM_27, GPIO_NUM_25, // TODO: FIX
       GPIO_NUM_33, GPIO_NUM_36, GPIO_NUM_32, 2000000, false));
 
   if (!imu->initialize()) {

main/main.cpp

@@ -52,14 +52,14 @@ extern "C" void app_main(void) {
   //                         1     // Core ID
   // );
 
-  xTaskCreatePinnedToCore(motor_throttles_task,   // Function name
+  // xTaskCreatePinnedToCore(motor_throttles_task,   // Function name
-                          "motor_throttles_task", // Name for debugging
+  //                         "motor_throttles_task", // Name for debugging
-                          1024 * 4,               // Stack size in bytes
+  //                         1024 * 4,               // Stack size in bytes
-                          NULL,                   // Parameters
+  //                         NULL,                   // Parameters
-                          30,   // Priority (higher = more urgent)
+  //                         30,   // Priority (higher = more urgent)
-                          NULL, // Task handle
+  //                         NULL, // Task handle
-                          1     // Core ID
+  //                         1     // Core ID
-  );
+  // );
 
   ESP_LOGI("MAIN", "All tasks spawned. Main loop free.");
 
@@ -76,7 +76,7 @@ extern "C" void app_main(void) {
       handle_packet(&packet_data[0]);
     }
 
-    if (millis() > last_print_time + 1000) {
+    if (millis() > last_print_time + 5000) {
       last_print_time = millis();
 
       std::optional<Eigen::Vector3f> coords;

main/radio.cpp

@@ -58,6 +58,7 @@ void radio_task(void *pvParameters) {
     radio.setHighPower(true);
     radio.setCustomBitrate(DEFAULT_COMMS_BITRATE);
     ESP_LOGI(TAG, "Radio Initialized. Version: 0x%02X", radio.readReg(0x10));
+    radio.readAllRegsCompact();
 
   } else {
     ESP_LOGE(TAG, "Radio Init FAILED! Restarting.");

sdkconfig.defaults

@@ -0,0 +1,2 @@
+
+CONFIG_FREERTOS_HZ=1000