Owen0857/esp-drone

Clone from https://github.com/espressif/esp-drone

ESP-Drone firmware Build

編譯ESP-IDF 需要以下軟件包

sudo apt-get install git wget flex bison gperf python3 python3-pip python3-setuptools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0

設置Python 3 為Rpi3 的默認Python 版本

sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10 && alias pip=pip3

獲取ESP-IDF (建議先用 v4.2 , 因為最新的 V4.4 會有system auto restart issue)

mkdir -p ~/esp
cd ~/esp
git clone -b release/v4.2 --recursive https://github.com/espressif/esp-idf.git

安裝ESP-IDF 使用的各種工具

cd ~/esp/esp-idf
./install.sh

設置環境變量

. $HOME/esp/esp-idf/export.sh

先測試 Hello_World ,要先確定可以build

cd ~/esp
cp -r $IDF_PATH/examples/get-started/hello_world .
cd ~/esp/hello_world
idf.py set-target esp32s2
idf.py build

請確認有產生 hello-world.bin 及以下的message

$ idf.py build
Running cmake in directory /path/to/hello_world/build
Executing "cmake -G Ninja --warn-uninitialized /path/to/hello_world"...
Warn about uninitialized values.
-- Found Git:/usr/bin/git (found version "2.17.0")
-- Building empty aws_iot component due to configuration
-- Component names: ...
-- Component paths: ...

... (more lines of build system output)

[527/527] Generating hello-world.bin
esptool.py v2.3.1

Project build complete. To flash, run this command:
../../../components/esptool_py/esptool/esptool.py -p (PORT) -b 921600 write_flash --flash_mode dio --flash_size detect --flash_freq 40m 0x10000 build/hello-world.bin  build 0x1000 build/bootloader/bootloader.bin 0x8000 build/partition_table/partition-table.bin
or run 'idf.py -p PORT flash'

修改以下鏈接腳本 (注意：沒加會導致 ESP-Drone compiler failed) ${IDF_PATH}/components/esp32/ld/esp32.project.ld.in ${IDF_PATH}/components/esp32s2/ld/esp32s2.project.ld.in 將以下代碼放在的末尾.flash.rodata。

/* Parameters and log system data */
 _param_start = .;
 KEEP(*(.param))
 KEEP(*(.param.*))
 _param_stop = .;
 . = ALIGN(4);
 _log_start = .;
 KEEP(*(.log))
 KEEP(*(.log.*))
 _log_stop = .;
 . = ALIGN(4);

Get Esp-Drone code from github (此版本已經修改成 TW 專用wifi channel 及可以正常使用的code base)

cd ~/esp
git clone https://github.com/joehou45/esp-drone.git

另外也可以get espressif github 的code , 但先用特定版本及修改 wifi channel to 11.

Get Esp-Drone code
- 因為最新的 code有相容性問題, 無法使用Crazyflie cfcclient, 所以建議退到前一版.

git clone https://github.com/espressif/esp-drone
git branch newBranch 673175cc10a456d9249c64b3fe8d90686c1a7875 
git checkout newBranch

請參考此git code 修改wifi channel to 11. (wifi_config.ap.channel = 11;)

Build Esp-Drone
- 進入idf.py menuconfig 後不需修改, 就可以離開, 除非你想要修改其它設定, 目前motor set to "720", 所以可以直接換720 motor.

cd esp-drone
idf.py set-target esp32s2
idf.py menuconfig
idf.py build

預期結果:

a. 完整 Flash: (example: your ESP-Drone mount to /dev/ttyUSB0)

  idf.py -p /dev/ttyUSB0 flash

b. 部份 Flash: (不燒bootloader/partition, 直接刷code binary)

esptool --chip esp32s2 --port /dev/ttyUSB0 --before=default_reset --after=hard_reset write_flash -z 0x10000 ESPDrone.bin

Noted:

先 backup 原本的Rom image, 刷掛還可以用此binary 還原

esptool.py -p /dev/ttyUSB0 -b 921600 read_flash 0 0x400000 OrgEspDronedump.bin

如果燒錄失敗，請用以下命令救援ESP-Drone

esptool.py write_flash 0x0 ./binary/OrgEspDronedump.bin

附上台灣Android /Rpi3/Rpi4 可以使用的版本

esptool.py write_flash 0x0 ./binary/EspDroneTW_Channel11.bin

Owen0857 / esp-drone

ESP-Drone firmware Build

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