Upintegrate changes from the OpenMRNIDF repository (#771)

This PR pulls in changes that happened in the OpenMRNIDF repository. Most of these were authored by Mike Dunston.

- All instances of ifdef ESP32 replaced with ESP_PLATFORM
- Removed conditional code for supporting ESP-IDF v3.x and v4.x
  Only ESP-IDF v5 and up is now supported
- new feature for OPENMRN_HAVE_SOCKET_FSTAT
- fixed compile errors around spiram
- refactored definition of ADC pin into a separate class in a separate file
- fixes around printf PRIu32.
- do not print error messages on CAN overflow
- fix to not start the hub twice in the wifi manager
- Remove deprecated hardware can driver
- Adds I2C driver written by Mike Dunston for the ESP32.

===

* Upintegrate changes from OpenMRNIDF.

- All instances of ifdef ESP32 replaced with ESP_PLATFORM
- Removed conditional code for supporting ESP-IDF v3.x and v4.x
  Only ESP-IDF v5 and up is now supported
- new feature for OPENMRN_HAVE_SOCKET_FSTAT
- fixed compile errors around spiram
- refactored definition of ADC pin.
- fixes around printf PRIu32.
- do not print error messages on CAN overflow
- fix to not start the hub twice in the wifi manager

* Fix compile error.

* Remove deprecated hardware can driver.

* Adds I2C driver written by Mike Dunston for the ESP32.

* Adds refactored Adc Input class.

* Fix comments.

arduino/OpenMRNLite.cpp

@@ -43,7 +43,7 @@ OpenMRN::OpenMRN(openlcb::NodeID node_id)
     init(node_id);
 }
 
-#ifdef ESP32
+#ifdef ESP_PLATFORM
 extern "C" {
 
 #ifndef OPENMRN_EXCLUDE_REBOOT_IMPL
@@ -62,6 +62,6 @@ ssize_t os_get_free_heap()
 #endif // OPENMRN_EXCLUDE_FREE_HEAP_IMPL
 
 }
-#endif // ESP32
+#endif // ESP_PLATFORM
 
 } // namespace openmrn_arduino

arduino/OpenMRNLite.h

@@ -48,9 +48,8 @@
 #include "utils/logging.h"
 #include "utils/Uninitialized.hxx"
 
-#if defined(ESP32)
+#if defined(ESP_PLATFORM)
 
-#include <esp_idf_version.h>
 #include <esp_task.h>
 #include <esp_task_wdt.h>
 
@@ -70,8 +69,6 @@ constexpr UBaseType_t OPENMRN_TASK_PRIORITY = ESP_TASK_TCPIP_PRIO - 1;
 #include "freertos_drivers/esp32/Esp32Gpio.hxx"
 #include "freertos_drivers/esp32/Esp32SocInfo.hxx"
 
-#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4,3,0)
-
 // If we are using ESP-IDF v4.3 (or later) enable the Esp32Ledc API.
 #include "freertos_drivers/esp32/Esp32Ledc.hxx"
 
@@ -92,15 +89,6 @@ constexpr UBaseType_t OPENMRN_TASK_PRIORITY = ESP_TASK_TCPIP_PRIO - 1;
 
 #endif // NOT ESP32-H2 and NOT ESP32-C2
 
-#endif // IDF v4.3+
-
-#if defined(CONFIG_IDF_TARGET_ESP32)
-// Note: This code is deprecated in favor of the TWAI interface which exposes
-// both select() and fnctl() interfaces. Support for this may be removed in the
-// future.
-#include "freertos_drivers/esp32/Esp32HardwareCanAdapter.hxx"
-#endif // ESP32 only
-
 #include "freertos_drivers/esp32/Esp32HardwareSerialAdapter.hxx"
 #include "freertos_drivers/esp32/Esp32WiFiManager.hxx"
 

arduino/libify.sh

@@ -134,7 +134,7 @@ copy_file . arduino/{library.json,library.properties,keywords.txt,README.md,LICE
 copy_dir . arduino/examples
 
 copy_file src arduino/OpenMRNLite.{h,cpp} arduino/CDIXMLGenerator.hxx \
-    include/{can_frame.h,nmranet_config.h,openmrn_features.h} \
+    include/{can_frame.h,nmranet_config.h,openmrn_features.h,i2c.h,i2c-dev.h} \
     include/freertos/{bootloader_hal.h,can_ioctl.h,endian.h,freertos_includes.h,stropts.h} \
     include/freertos_select/ifaddrs.h
 

include/can_frame.h

@@ -65,7 +65,7 @@
 
 #elif defined (__nuttx__) || defined (__FreeRTOS__) || defined (__MACH__) || \
       defined (__WIN32__) || defined (__EMSCRIPTEN__) || defined (ESP_NONOS) || \
-      defined (ARDUINO) || defined (ESP32)
+      defined (ARDUINO) || defined (ESP_PLATFORM)
     #include <stdint.h>
 
     struct can_frame

include/freertos/can_ioctl.h

@@ -37,7 +37,7 @@
 #include <stdint.h>
 #ifdef __FreeRTOS__
 #include "freertos/stropts.h"
-#elif defined(ESP32)
+#elif defined(ESP_PLATFORM)
 #include "stropts.h"
 #endif
 

include/freertos/freertos_includes.h

@@ -1,12 +1,64 @@
-#ifdef ESP32
+/** \copyright
+ * Copyright (c) 2019, Balazs Racz
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are  permitted provided that the following conditions are met:
+ * 
+ *  - Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ *  - Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \file freertos_includes.h
+ * This file simplifies the include path for FreeRTOS header files between
+ * platforms.
+ *
+ * @author Balazs Racz
+ * @date 2 March 2019
+ */
+
+#ifdef ESP_PLATFORM
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 #include <freertos/semphr.h>
+#include "sdkconfig.h"
 
 #define NSEC_TO_TICK(ns)                                                       \
     (((((long long)(ns)) / 1000 * configTICK_RATE_HZ) + 999999) / 1000000)
 
+// IDF v5.0 has introduced a configuration option (disabled by default) which
+// enables the usage of legacy FreeRTOS data types, if that configuration option
+// is *NOT* selected *AND* IDF v5.0+ is in use we need to add compatibility
+// defines in order to compile OpenMRN successfully.
+#if !defined(CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY)
+
+// used in os/os.c and os/os.h
+#define portTickType                  TickType_t
+#define xTaskHandle                   TaskHandle_t
+#define xQueueHandle                  QueueHandle_t
+#define xSemaphoreHandle              SemaphoreHandle_t
+
+// used in freertos_drivers/arduino/CpuLoad.hxx and os/os.c
+#define pcTaskGetTaskName             pcTaskGetName
+
+#endif // IDF v5.0+ and !CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY
+
 #else
 
 #include <FreeRTOS.h>

include/freertos/stropts.h

@@ -38,7 +38,7 @@
 extern "C" {
 #endif
 
-#if defined(ESP32)
+#if defined(ESP_PLATFORM)
 #include <sys/ioctl.h>
 #else
 /** Request and ioctl transaction
@@ -47,7 +47,7 @@ extern "C" {
  * @param ... key data (as a pointer or unsigned long type)
  */
 int ioctl(int fd, unsigned long int key, ...);
-#endif // ESP32
+#endif // ESP_PLATFORM
 
 /** ioctl key value for operation (not read or write) */
 #define IOC_NONE 0U

include/i2c-dev.h

@@ -36,7 +36,7 @@
 
 #if defined (__linux__)
     #include <linux/i2c-dev.h>
-#elif defined (__FreeRTOS__)
+#elif defined (__FreeRTOS__) || defined(ESP_PLATFORM)
     #include <stdint.h>
     /** magic number for this driver's ioctl calls */
     #define I2C_MAGIC ('i')

include/i2c.h

@@ -36,7 +36,7 @@
 
 #if defined (__linux__)
     #include <linux/i2c.h>
-#elif defined (__FreeRTOS__)
+#elif defined (__FreeRTOS__) || defined(ESP_PLATFORM)
     #include <stdint.h>
     /** Used in @ref i2c_rdwr_ioctl_data to describe a transaction segment. */
     struct i2c_msg

include/openmrn_features.h

@@ -37,12 +37,12 @@
 #ifndef _INCLUDE_OPENMRN_FEATURES_
 #define _INCLUDE_OPENMRN_FEATURES_
 
-#ifdef ESP32
+#ifdef ESP_PLATFORM
 #include <esp_idf_version.h>
 #else
 #define ESP_IDF_VERSION 0
 #define ESP_IDF_VERSION_VAL(a,b,c) 1
-#endif // ESP32
+#endif // ESP_PLATFORM
 
 #ifdef __FreeRTOS__
 /// Compiles the FreeRTOS event group based ::select() implementation.
@@ -54,43 +54,50 @@
 #define OPENMRN_FEATURE_REENT 1
 #endif
 
-#if defined(__FreeRTOS__) || ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4,3,0)
+#if defined(__FreeRTOS__) || defined(ESP_PLATFORM)
 // Note: this is not using OPENMRN_FEATURE_DEVICE_SELECT due to other usages
 // of that macro which may conflict with the ESP32 version of this feature.
 /// Adds support for FD based CAN interfaces.
 #define OPENMRN_FEATURE_FD_CAN_DEVICE 1
 #endif
 
-#if defined(__linux__) || defined(__MACH__) || defined(__WINNT__) || defined(ESP32) || defined(OPENMRN_FEATURE_DEVTAB)
+#if defined(__linux__) || defined(__MACH__) || defined(__WINNT__) ||           \
+    defined(ESP_PLATFORM) || defined(OPENMRN_FEATURE_DEVTAB)
 /// Enables the code using ::open ::close ::read ::write for non-volatile
 /// storage, FileMemorySpace for the configuration space, and
 /// SNIP_DYNAMIC_FILE_NAME for node names.
 #define OPENMRN_HAVE_POSIX_FD 1
 #endif
 
+#if !defined(ESP_PLATFORM)
+/// Enables the code using ::fstat to confirm if the file handle is a socket.
+#define OPENMRN_HAVE_SOCKET_FSTAT 1
+#endif
+
 /// @todo this should probably be a whitelist: __linux__ || __MACH__.
-#if !defined(__FreeRTOS__) && !defined(__WINNT__) && !defined(ESP32) &&        \
+#if !defined(__FreeRTOS__) && !defined(__WINNT__) && !defined(ESP_PLATFORM) && \
     !defined(ARDUINO) && !defined(ESP_NONOS)
 /// Uses ::pselect in the Executor for sleep and pkill for waking up.
 #define OPENMRN_HAVE_PSELECT 1
 #endif
 
-#if defined(__WINNT__) || defined(ESP32) || defined(ESP_NONOS)
+#if defined(__WINNT__) || defined(ESP_PLATFORM) || defined(ESP_NONOS)
 /// Uses ::select in the executor to sleep (unsure how wakeup is handled)
 #define OPENMRN_HAVE_SELECT 1
 #endif
 
-#if defined(OPENMRN_HAVE_SELECT) || defined(OPENMRN_HAVE_PSELECT) || defined(OPENMRN_FEATURE_DEVICE_SELECT)
+#if defined(OPENMRN_HAVE_SELECT) || defined(OPENMRN_HAVE_PSELECT) ||           \
+    defined(OPENMRN_FEATURE_DEVICE_SELECT)
 #define OPENMRN_FEATURE_EXECUTOR_SELECT 1
 #endif
 
-#if (defined(ARDUINO) && !defined(ESP32)) || defined(ESP_NONOS) ||             \
+#if (defined(ARDUINO) && !defined(ESP_PLATFORM)) || defined(ESP_NONOS) ||      \
     defined(__EMSCRIPTEN__)
 /// A loop() function is calling the executor in the single-threaded OS context.
 #define OPENMRN_FEATURE_SINGLE_THREADED 1
 #endif
 
-#if defined(__FreeRTOS__) || defined(ESP32)
+#if defined(__FreeRTOS__) || defined(ESP_PLATFORM)
 /// Use os_mutex_... implementation based on FreeRTOS mutex and semaphores.
 #define OPENMRN_FEATURE_MUTEX_FREERTOS 1
 
@@ -111,7 +118,7 @@
 #define OPENMRN_FEATURE_SEM_TIMEDWAIT 1
 #endif
 
-#if defined(__FreeRTOS__) || defined(ESP32)
+#if defined(__FreeRTOS__) || defined(ESP_PLATFORM)
 /// Use FreeRTOS implementation for os_thread_create and keeping a list of live
 /// threads.
 #define OPENMRN_FEATURE_THREAD_FREERTOS 1
@@ -131,7 +138,7 @@
 #endif
 
 #if defined(__linux__) || defined(__MACH__) || defined(__FreeRTOS__) ||        \
-    defined(ESP32)
+    defined(ESP_PLATFORM)
 /// Compiles support for BSD sockets API.
 #define OPENMRN_FEATURE_BSD_SOCKETS 1
 
@@ -141,7 +148,7 @@
 #define OPENMRN_HAVE_BSD_SOCKETS_RX_TIMEOUT 1
 #endif
 
-#if !defined(__FreeRTOS__) && !defined(ESP32)
+#if !defined(__FreeRTOS__) && !defined(ESP_PLATFORM)
 /// Compiles support for calling getsockname when binding a socket to a port
 /// when listening for incoming connections.
 #define OPENMRN_HAVE_BSD_SOCKETS_GETSOCKNAME 1
@@ -157,7 +164,7 @@
 #define OPENMRN_FEATURE_BSD_SOCKETS_IGNORE_SIGPIPE 1
 #endif
 
-#if defined(__linux__) || defined(__MACH__) || defined(ESP32)
+#if defined(__linux__) || defined(__MACH__) || defined(ESP_PLATFORM)
 /// Compiles support for reporting EOF as an error for read/write.
 #define OPENMRN_FEATURE_BSD_SOCKETS_REPORT_EOF_ERROR 1
 #endif

src/executor/Executor.hxx

@@ -323,7 +323,7 @@ public:
      */
     void add_from_isr(Executable *msg, unsigned priority = UINT_MAX) override
     {
-#ifdef ESP32
+#ifdef ESP_PLATFORM
         // On the ESP32 we need to call insert instead of insert_locked to
         // ensure that all code paths lock the queue for consistency since
         // this code path is not guaranteed to be protected by a critical
@@ -333,7 +333,7 @@ public:
 #else
         queue_.insert_locked(
             msg, priority >= NUM_PRIO ? NUM_PRIO - 1 : priority);
-#endif // ESP32
+#endif // ESP_PLATFORM
         selectHelper_.wakeup_from_isr();
     }
 #endif // OPENMRN_FEATURE_RTOS_FROM_ISR

src/executor/StateFlow.hxx

@@ -355,6 +355,7 @@ protected:
         Pool *p = pool;
         if (!p)
         {
+            HASSERT(target_flow != nullptr);
             p = target_flow->pool();
         }
         LOG(VERBOSE, "allocate from pool %p, main pool %p", p, mainBufferPool);
@@ -736,14 +737,12 @@ protected:
      */
     Action listen_and_call(StateFlowSelectHelper *helper, int fd, Callback c)
     {
-// ESP-IDF does not implement fstat for the LwIP VFS layer
-// https://github.com/espressif/esp-idf/issues/7198
-#ifndef ESP32
+#if OPENMRN_HAVE_SOCKET_FSTAT
         // verify that the fd is a socket
         struct stat stat;
         fstat(fd, &stat);
         HASSERT(S_ISSOCK(stat.st_mode));
-#endif // ESP32
+#endif // OPENMRN_HAVE_SOCKET_FSTAT
 
         helper->reset(Selectable::READ, fd, Selectable::MAX_PRIO);
         helper->set_wakeup(this);
@@ -759,14 +758,12 @@ protected:
      */
     Action connect_and_call(StateFlowSelectHelper *helper, int fd, Callback c)
     {
-// ESP-IDF does not implement fstat for the LwIP VFS layer
-// https://github.com/espressif/esp-idf/issues/7198
-#ifndef ESP32
+#if OPENMRN_HAVE_SOCKET_FSTAT
         // verify that the fd is a socket
         struct stat stat;
         fstat(fd, &stat);
         HASSERT(S_ISSOCK(stat.st_mode));
-#endif // ESP32
+#endif // OPENMRN_HAVE_SOCKET_FSTAT
 
         helper->reset(Selectable::WRITE, fd, Selectable::MAX_PRIO);
         helper->set_wakeup(this);

src/freertos_drivers/common/libatomic.c

@@ -35,7 +35,7 @@
 
 #include <stdint.h>
 
-#if defined(STM32F0xx) || (!defined(ARDUINO) && !defined(ESP32))
+#if defined(STM32F0xx) || (!defined(ARDUINO) && !defined(ESP_PLATFORM))
 // On Cortex-M0 the only way to do atomic operation is to disable interrupts.
 
 /// Disables interrupts and saves the interrupt enable flag in a register.