BBCtrl support and combined lib for esp32s3 devices with CH340 chip

ports/esp32/boards/CM_-CombinedS3CH340/board.json

@@ -0,0 +1,18 @@
+{
+    "vendor": "CircuitMess",
+    "product": "ESP32S3 CH340 Devices",
+    "thumbnail": "",
+    "url": "https://circuitmess.com/",
+    "images": [],
+
+    "docs": "",
+    "mcu": "esp32s3",
+    "features": [
+        "USB-C",
+        "BLE",
+        "WiFi"
+    ],
+    "deploy": [
+        "../deploy_s3.md"
+    ]
+}

ports/esp32/boards/CM_-CombinedS3CH340/board.md

@@ -0,0 +1,3 @@
+The following files are daily firmware for ESP32-based boards without external SPIRAM.
+
+This firmware is compiled using ESP-IDF v4.x. Some older releases are also provided that are compiled with ESP-IDF v3.x.

ports/esp32/boards/CM_-CombinedS3CH340/manifest.py

@@ -0,0 +1,4 @@
+include("$(PORT_DIR)/boards/manifest.py")
+
+package("ButterBotCtrl", base_path="$(PORT_DIR)/libraries")
+package("ButterBot", base_path="$(PORT_DIR)/libraries")

ports/esp32/boards/CM_-CombinedS3CH340/mpconfigboard.cmake

@@ -0,0 +1,9 @@
+set(IDF_TARGET esp32s3)
+
+set(SDKCONFIG_DEFAULTS
+    boards/sdkconfig.base
+    boards/sdkconfig.ble
+    boards/CM_-CombinedS3CH340/sdkconfig.board
+)
+
+set(MICROPY_FROZEN_MANIFEST ${MICROPY_BOARD_DIR}/manifest.py)

ports/esp32/boards/CM_-CombinedS3CH340/mpconfigboard.h

@@ -0,0 +1,9 @@
+#define MICROPY_HW_BOARD_NAME "CircuitMess ESP32S3 CH340 Devices"
+#define MICROPY_HW_MCU_NAME "ESP32S3"
+
+#define MICROPY_PY_MACHINE_DAC              (0)
+
+// Enable UART REPL for modules that have an external USB-UART and don't use native USB. - set to 1 to enable
+// These devices route USB-C through an onboard CH340 to UART0; the S3's native USB pins
+// (GPIO19/20) are repurposed as regular GPIOs.
+#define MICROPY_HW_ENABLE_UART_REPL         (1)

ports/esp32/boards/CM_-CombinedS3CH340/sdkconfig.board

@@ -0,0 +1,7 @@
+CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+CONFIG_ESPTOOLPY_AFTER_NORESET=y
+
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+CONFIG_ESPTOOLPY_FLASHSIZE_8MB=
+CONFIG_ESPTOOLPY_FLASHSIZE_16MB=

ports/esp32/boards/CM_ButterBot/board.json

@@ -0,0 +1,16 @@
+{
+    "vendor": "CircuitMess",
+    "product": "Butter Bot",
+    "thumbnail": "",
+    "url": "https://circuitmess.com/",
+    "images": [],
+
+    "docs": "",
+    "mcu": "esp32s3",
+    "features": [
+        "USB-C"
+    ],
+    "deploy": [
+        "../deploy_s3.md"
+    ]
+}

ports/esp32/boards/CM_ButterBot/board.md

@@ -0,0 +1,3 @@
+The following files are daily firmware for ESP32-based boards without external SPIRAM.
+
+This firmware is compiled using ESP-IDF v4.x. Some older releases are also provided that are compiled with ESP-IDF v3.x.

ports/esp32/boards/CM_ButterBot/manifest.py

@@ -0,0 +1,3 @@
+include("$(PORT_DIR)/boards/manifest.py")
+
+package("ButterBot", base_path="$(PORT_DIR)/libraries")

ports/esp32/boards/CM_ButterBot/mpconfigboard.cmake

@@ -0,0 +1,9 @@
+set(IDF_TARGET esp32s3)
+
+set(SDKCONFIG_DEFAULTS
+    boards/sdkconfig.base
+    boards/sdkconfig.ble
+    boards/CM_ButterBot/sdkconfig.board
+)
+
+set(MICROPY_FROZEN_MANIFEST ${MICROPY_BOARD_DIR}/manifest.py)

ports/esp32/boards/CM_ButterBot/mpconfigboard.h

@@ -0,0 +1,12 @@
+#define MICROPY_HW_BOARD_NAME "CircuitMess Butter Bot"
+#define MICROPY_HW_MCU_NAME "ESP32S3"
+
+#define MICROPY_PY_MACHINE_DAC              (0)
+
+#define MICROPY_HW_I2C0_SCL                 (48)
+#define MICROPY_HW_I2C0_SDA                 (47)
+
+// Enable UART REPL for modules that have an external USB-UART and don't use native USB. - set to 1 to enable
+// Butter Bot has no native USB (GPIO19/20 are used as the accelerometer and motor base board
+// interrupts); its USB-C routes through an onboard CH340 to UART0.
+#define MICROPY_HW_ENABLE_UART_REPL         (1)

ports/esp32/boards/CM_ButterBot/sdkconfig.board

@@ -0,0 +1,9 @@
+CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+CONFIG_ESPTOOLPY_AFTER_NORESET=y
+
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+CONFIG_ESPTOOLPY_FLASHSIZE_8MB=
+CONFIG_ESPTOOLPY_FLASHSIZE_16MB=
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions/noota_4MB.csv"

ports/esp32/boards/CM_ButterBotCtrl/board.json

@@ -0,0 +1,16 @@
+{
+    "vendor": "CircuitMess",
+    "product": "Butter Bot Controller",
+    "thumbnail": "",
+    "url": "https://circuitmess.com/",
+    "images": [],
+
+    "docs": "",
+    "mcu": "esp32s3",
+    "features": [
+        "USB-C"
+    ],
+    "deploy": [
+        "../deploy_s3.md"
+    ]
+}

ports/esp32/boards/CM_ButterBotCtrl/board.md

@@ -0,0 +1,3 @@
+The following files are daily firmware for ESP32-based boards without external SPIRAM.
+
+This firmware is compiled using ESP-IDF v4.x. Some older releases are also provided that are compiled with ESP-IDF v3.x.

ports/esp32/boards/CM_ButterBotCtrl/manifest.py

@@ -0,0 +1,3 @@
+include("$(PORT_DIR)/boards/manifest.py")
+
+package("ButterBotCtrl", base_path="$(PORT_DIR)/libraries")

ports/esp32/boards/CM_ButterBotCtrl/mpconfigboard.cmake

@@ -0,0 +1,9 @@
+set(IDF_TARGET esp32s3)
+
+set(SDKCONFIG_DEFAULTS
+    boards/sdkconfig.base
+    boards/sdkconfig.ble
+    boards/CM_ButterBotCtrl/sdkconfig.board
+)
+
+set(MICROPY_FROZEN_MANIFEST ${MICROPY_BOARD_DIR}/manifest.py)

ports/esp32/boards/CM_ButterBotCtrl/mpconfigboard.h

@@ -0,0 +1,9 @@
+#define MICROPY_HW_BOARD_NAME "CircuitMess Butter Bot Controller"
+#define MICROPY_HW_MCU_NAME "ESP32S3"
+
+#define MICROPY_PY_MACHINE_DAC              (0)
+
+// Enable UART REPL for modules that have an external USB-UART and don't use native USB. - set to 1 to enable
+// Butter Bot Controller has no native USB (GPIO19/D- is used as the battery calibration
+// reference); its USB-C routes through an onboard CH340 to UART0.
+#define MICROPY_HW_ENABLE_UART_REPL         (1)

ports/esp32/boards/CM_ButterBotCtrl/sdkconfig.board

@@ -0,0 +1,9 @@
+CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+CONFIG_ESPTOOLPY_AFTER_NORESET=y
+
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+CONFIG_ESPTOOLPY_FLASHSIZE_8MB=
+CONFIG_ESPTOOLPY_FLASHSIZE_16MB=
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions/noota_4MB.csv"

ports/esp32/libraries/ButterBot/Motors.py

@@ -0,0 +1,116 @@
+import time
+import ustruct
+from machine import I2C, Timer
+from micropython import const
+
+
+class Motor:
+	Left = const(0)
+	Right = const(1)
+
+
+class Motors:
+	REG_IDENTIFY = 0x00
+	REG_RESET = 0x01
+	REG_MOTOR_L = 0x02
+
+	# The base board stops both motors if it doesn't receive a motor command within 500ms
+	# (dead-man switch), so the current speeds are re-sent every 250ms while any motor is running.
+	RESEND_PERIOD = 250
+
+	# Setup time needed between a reset and the following command [ms]
+	RESET_DELAY = 200
+
+	def __init__(self, bus: I2C, addr: int = 0x69, timer_id: int = 0):
+		self.bus = bus
+		self.addr = addr
+		self.timer = Timer(timer_id)
+		self.__values = [0] * 2
+
+	def begin(self) -> bool:
+		try:
+			ident = self.bus.readfrom_mem(self.addr, self.REG_IDENTIFY, 1)[0]
+		except OSError:
+			print("Motor base board not responding on address", self.addr)
+			return False
+
+		if ident != self.addr:
+			print("Motor base board ID mismatch: expected", self.addr, ", got", ident)
+			return False
+
+		self.timer.deinit()
+		self.__values = [0, 0]
+
+		# Reset is a bare command byte with no register data
+		self.bus.writeto(self.addr, bytes([self.REG_RESET]))
+		time.sleep_ms(self.RESET_DELAY)
+
+		return True
+
+	def set(self, motor: int, value: int):
+		if motor < 0 or motor >= 2:
+			return
+
+		value = min(max(value, -100), 100)
+		if value == self.__values[motor]:
+			return
+
+		self.__values[motor] = value
+		self.__send()
+
+	def get(self, motor: int):
+		if motor < 0 or motor >= 2:
+			return 0
+
+		return self.__values[motor]
+
+	def set_left(self, value: int):
+		self.set(Motor.Left, value)
+
+	def set_right(self, value: int):
+		self.set(Motor.Right, value)
+
+	def get_left(self):
+		return self.get(Motor.Left)
+
+	def get_right(self):
+		return self.get(Motor.Right)
+
+	def set_all(self, val: int | [int] | (int, int)):
+		if type(val) == int:
+			self.set_all((val, val))
+			return
+
+		if type(val) == tuple or type(val) == list:
+			if len(val) != 2:
+				return
+
+		values = [min(max(v, -100), 100) for v in val]
+		if values == self.__values:
+			return
+
+		self.__values = values
+		self.__send()
+
+	def get_all(self):
+		return tuple(self.get(i) for i in range(2))
+
+	def stop_all(self):
+		self.set_all((0, 0))
+
+	def __send(self):
+		self.__write()
+
+		if self.__values[Motor.Left] == 0 and self.__values[Motor.Right] == 0:
+			self.timer.deinit()
+		else:
+			self.timer.init(mode=Timer.PERIODIC, period=self.RESEND_PERIOD, callback=self.__resend)
+
+	def __resend(self, timer):
+		self.__write()
+
+	def __write(self):
+		# Motor direction is inverted between the user-facing API and the base board.
+		# Both motor registers are written in a single sequential transfer.
+		data = ustruct.pack("<bb", -self.__values[Motor.Left], -self.__values[Motor.Right])
+		self.bus.writeto_mem(self.addr, self.REG_MOTOR_L, data)

ports/esp32/libraries/ButterBot/Pins.py

@@ -0,0 +1,58 @@
+from micropython import const
+
+
+class Pins:
+	BTN_POWER: int = const(0)
+	I2C_SDA: int = const(1)
+	I2C_SCL: int = const(2)
+	PIN_PWDN: int = const(3)
+
+	# TCA9555 expander pins (not ESP32 GPIOs - don't pass these to get())
+	EXP_LED: int = const(0)
+	EXP_SD_MODE: int = const(4)
+
+	Rev1Map = {
+		BTN_POWER: const(42),
+		I2C_SDA: const(47),
+		I2C_SCL: const(48),
+		PIN_PWDN: const(4),
+	}
+
+	def __init__(self, revision):
+		self.currentMap = None
+		if revision == 0:
+			self.currentMap = self.Rev1Map
+		else:
+			print("Unknown revision", revision)
+
+	def get(self, pin: int) -> int:
+		if not pin in self.currentMap:
+			print("Pin", pin, "not in map")
+			return -1
+		return self.currentMap[pin]
+
+
+class Buttons:
+	Power: int = const(0)
+
+	def __init__(self, pins: Pins):
+		# Maps Buttons [0] to their respective GPIO pins
+		self.Pins: [int] = const([
+			pins.get(Pins.BTN_POWER)
+		])
+
+	def get_pins_array(self) -> [int]:
+		return self.Pins
+
+
+class LEDs:
+	Status: int = const(0)
+
+	def __init__(self, pins: Pins):
+		# Maps LEDs to their respective TCA9555 expander pins
+		self.pins: [int] = const([
+			Pins.EXP_LED
+		])
+
+	def get_pins_array(self) -> [int]:
+		return self.pins

ports/esp32/libraries/ButterBot/_LED.py

@@ -0,0 +1,22 @@
+from CircuitOS import PCA95XX
+
+
+class LED:
+	def __init__(self, expander: PCA95XX, pins: [int]):
+		self.expander = expander
+		self.pins = pins
+
+	def set(self, led: int, value: int):
+		"""
+		@param led: LED from LEDs
+		@param value: value from 0 to 100. The LED is on the TCA9555 expander and can't be
+		dimmed - any value above 0 turns it on
+		"""
+		if led < 0 or led >= len(self.pins):
+			return
+
+		self.expander.pin_write(self.pins[led], value > 0)
+
+	def set_all(self, value: int):
+		for pin in self.pins:
+			self.expander.pin_write(pin, value > 0)