AI-Deck ESP32 firmware

This firmware is running on the ESP32 Nina W102 module of the AI-Deck. It implements communication with the GAP8 chip, the Crazyflie's STM32 main MCU as well as implementing Wifi communication.

NOTE: The default configuration uses the NINA_SYSBOOT (IO1) as log UART TX from the ESP32.

Compile and flash

The firmware is currently designed to be flashed and run from the serial port.

It has been developed using the version 4.3.1 of the Esp32 IDF.

To flash and run:

$ source ~/path/to/idf/export.sh
$ idf.py build
$ idf.py flash
$ idf.py monitor

Flash using the builder image

To build the firmware in Docker, use:

docker run --rm -it -v $PWD:/module/ --device /dev/ttyUSB0 --privileged -P bitcraze/builder /bin/bash -c "source /new_home/.espressif/python_env/idf4.3_py3.10_env/bin/activate && make"

Then, to flash the ESP using a JTAG, use:

docker run --rm -it -v $PWD:/module/ --device /dev/ttyUSB0 --privileged -P bitcraze/builder /bin/bash -c "openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f board/esp-wroom-32.cfg -c 'adapter_khz 20000' -c 'program_esp build/bootloader/bootloader.bin 0x1000 verify' -c 'program_esp build/aideck_esp.bin 0x10000 verify reset exit'"

Flash using the cfloader

A binary can be flashed to the ESP via a Crazyradio using the cfloader

Note: replace the radio address with the appropriate value for your Crazyflie

cfloader flash build/aideck_esp.bin deck-bcAI:esp-fw -w radio://0/30/2M

Build with the toolbelt

When using the toolbelt the required toolchain is running in a docker container and no tools have to be installed on the machine. Just pre-pend make with tb, for instance

tb make

tb make clean

Debugging

Conntect an Olimex Programmer (Arm-usb-Tiny-h) to the esp debug port on the deck. Make sure its powered.

To start an openocd server

openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f board/esp-wroom-32.cfg -c 'adapter_khz 20000'

Then add a debug config in your launch.json (or create one)

{
  "name": "Attach to ESP32",
  "type": "cppdbg",
  "request": "launch",
  "program": "${workspaceFolder}/build/aideck_esp.elf",
  "cwd": "${workspaceFolder}",
  "miDebuggerPath": "your_espressif_path/.espressif/tools/xtensa-esp-elf-gdb/11.2_20220823/xtensa-esp-elf-gdb/bin/xtensa-esp32-elf-gdb",
  "miDebuggerServerAddress": "localhost:3333",
  "externalConsole": false,
  "stopAtEntry": false

}