Update for Arduino-ESP32 3.x API and improve ESC init

Refactor buzzer and vibration motor initialization to use the new ledcAttach API from Arduino-ESP32 3.x. Update BLE characteristic callbacks to use String instead of std::string for compatibility. Improve ESC initialization by deferring throttle setup until after the first CAN process and add a readiness check. Update watchdog initialization to use the new esp_task_wdt_init config structure. Minor fix to pin initialization order in setup.

Author: zjwhitehead

platformio.ini

@@ -21,7 +21,7 @@ lib_ignore =
 
 
 [env:OpenPPG-CESP32S3-CAN-SP140]
-platform = espressif32@6.11.0
+platform = https://github.com/pioarduino/platform-espressif32.git#develop
 board = m5stack-stamps3
 framework = arduino
 src_folder = sp140
@@ -35,6 +35,7 @@ build_flags =
 	-D LV_CONF_INCLUDE_SIMPLE
 	-I inc/sp140/lvgl
 	-D LV_LVGL_H_INCLUDE_SIMPLE
+	-D USBSerial=Serial
 
 build_type = debug
 debug_speed = 12000

src/sp140/buzzer.cpp

@@ -29,9 +29,9 @@ static bool buzzerInitialized = false;
  * @return Returns true if initialization was successful, false otherwise
  */
 bool initBuzz() {
-  // Setup LEDC channel for buzzer
-  ledcSetup(BUZZER_PWM_CHANNEL, BUZZER_PWM_FREQUENCY, BUZZER_PWM_RESOLUTION);
-  ledcAttachPin(board_config.buzzer_pin, BUZZER_PWM_CHANNEL);
+  // Setup LEDC channel for buzzer (Arduino-ESP32 3.x API)
+  // Channels are implicitly allocated; attach pin to channel and set frequency/resolution
+  ledcAttach(board_config.buzzer_pin, BUZZER_PWM_FREQUENCY, BUZZER_PWM_RESOLUTION);
   buzzerInitialized = true;
   return true;
 }
@@ -43,9 +43,9 @@ void startTone(uint16_t frequency) {
   if (!buzzerInitialized || !ENABLE_BUZZ) return;
 
   // Change the frequency for this channel
-  ledcChangeFrequency(BUZZER_PWM_CHANNEL, frequency, BUZZER_PWM_RESOLUTION);
+  ledcWriteTone(board_config.buzzer_pin, frequency);
   // Set 50% duty cycle (square wave)
-  ledcWrite(BUZZER_PWM_CHANNEL, 128);
+  ledcWrite(board_config.buzzer_pin, 128);
 }
 
 /**
@@ -55,7 +55,7 @@ void stopTone() {
   if (!buzzerInitialized) return;
 
   // Set duty cycle to 0 to stop the tone
-  ledcWrite(BUZZER_PWM_CHANNEL, 0);
+  ledcWrite(board_config.buzzer_pin, 0);
 }
 
 /**

src/sp140/esc.cpp

@@ -15,6 +15,7 @@ static CanardAdapter adapter;
 static uint8_t memory_pool[1024] __attribute__((aligned(8)));
 static SineEsc esc(adapter);
 static unsigned long lastSuccessfulCommTimeMs = 0;  // Store millis() time of last successful ESC comm
+static bool escReady = false;
 
 
 STR_ESC_TELEMETRY_140 escTelemetryData = {
@@ -36,14 +37,13 @@ void initESC() {
   }
 
   adapter.begin(memory_pool, sizeof(memory_pool));
-  adapter.setLocalNodeId(LOCAL_NODE_ID);
   esc.begin(0x20);  // Default ID for the ESC
+  adapter.setLocalNodeId(LOCAL_NODE_ID);
 
-  // Set idle throttle only if ESC is found
-  const uint16_t IdleThrottle_us = 10000;  // 1000us (0.1us resolution)
-  esc.setThrottleSettings2(IdleThrottle_us);
+  // Defer sending throttle until after first adapter process to avoid null pointer in CANARD
   adapter.processTxRxOnce();
-  vTaskDelay(pdMS_TO_TICKS(20));  // Wait for ESC to process the command
+  vTaskDelay(pdMS_TO_TICKS(20));  // Give ESC time to be ready
+  escReady = true;
 }
 
 /**
@@ -54,6 +54,10 @@ void initESC() {
  * Important: The ESC requires messages at least every 300ms or it will reset
  */
 void setESCThrottle(int throttlePWM) {
+  // Ensure TWAI/ESC subsystem is initialized
+  if (!escTwaiInitialized || !escReady) {
+    return;
+  }
   // Input validation
   if (throttlePWM < 1000 || throttlePWM > 2000) {
     return;  // Ignore invalid throttle values

src/sp140/extra-data.ino

@@ -224,7 +224,7 @@ void updateBMSTelemetry(const STR_BMS_TELEMETRY_140& telemetry) {
 
 class MetricAltCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
-    std::string value = pCharacteristic->getValue();
+    String value = pCharacteristic->getValue();
 
     if (value.length() == 1) {  // Ensure we only get a single byte
       USBSerial.print("New: ");
@@ -243,7 +243,7 @@ class MetricAltCallbacks: public BLECharacteristicCallbacks {
 
 class PerformanceModeCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
-    std::string value = pCharacteristic->getValue();
+    String value = pCharacteristic->getValue();
 
     if (value.length() == 1) {
       uint8_t mode = value[0];
@@ -262,7 +262,7 @@ class PerformanceModeCallbacks: public BLECharacteristicCallbacks {
 
 class ScreenRotationCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
-    std::string value = pCharacteristic->getValue();
+    String value = pCharacteristic->getValue();
 
     if (value.length() == 1) {
       uint8_t rotation = value[0];
@@ -293,7 +293,7 @@ class ThrottleValueCallbacks: public BLECharacteristicCallbacks {
       return;  // Only allow updates while in cruise mode
     }
 
-    std::string value = pCharacteristic->getValue();
+    String value = pCharacteristic->getValue();
     if (value.length() == 2) {  // Expecting 2 bytes for PWM value
       uint16_t newPWM = (value[0] << 8) | value[1];
 
@@ -325,14 +325,14 @@ class MyServerCallbacks: public BLEServerCallbacks {
 
 class TimeCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
-    std::string value = pCharacteristic->getValue();
+    String value = pCharacteristic->getValue();
 
     if (value.length() == sizeof(time_t)) {  // Expecting just a unix timestamp
       struct timeval tv;
       time_t timestamp;
 
       // Copy the incoming timestamp
-      memcpy(&timestamp, value.data(), sizeof(timestamp));
+      memcpy(&timestamp, value.c_str(), sizeof(timestamp));
 
       // Apply timezone offset
       timestamp += deviceData.timezone_offset;
@@ -360,11 +360,11 @@ class TimeCallbacks: public BLECharacteristicCallbacks {
 
 class TimezoneCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
-    std::string value = pCharacteristic->getValue();
+    String value = pCharacteristic->getValue();
 
     if (value.length() == 4) {  // Expecting 4 bytes for timezone offset
       int32_t offset;
-      memcpy(&offset, value.data(), sizeof(offset));
+      memcpy(&offset, value.c_str(), sizeof(offset));
 
       deviceData.timezone_offset = offset;
       writeDeviceData();

src/sp140/sp140.ino

@@ -587,7 +587,15 @@ void setupAnalogRead() {
 void setupWatchdog() {
 #ifndef OPENPPG_DEBUG
   // Initialize Task Watchdog
-  ESP_ERROR_CHECK(esp_task_wdt_init(3000, true));  // 3 second timeout, panic on timeout
+  esp_task_wdt_config_t twdt_config = {
+    .timeout_ms = 3000,
+    .idle_core_mask = 0,   // do not subscribe idle tasks
+    .trigger_panic = true,
+  };
+  esp_err_t wdt_init_result = esp_task_wdt_init(&twdt_config);
+  if (wdt_init_result != ESP_OK && wdt_init_result != ESP_ERR_INVALID_STATE) {
+    ESP_ERROR_CHECK(wdt_init_result);
+  }
 #endif // OPENPPG_DEBUG
 }
 
@@ -604,8 +612,8 @@ void setup() {
 
   // Pull CSB (pin 42) high to activate I2C mode
   // temporary fix TODO remove
-  digitalWrite(42, HIGH);
   pinMode(42, OUTPUT);
+  digitalWrite(42, HIGH);
 
   // Initialize LVGL mutex before anything else
   lvglMutex = xSemaphoreCreateMutex();

src/sp140/vibration_pwm.cpp

@@ -61,8 +61,8 @@ void vibeTask(void* parameter) {
  */
 bool initVibeMotor() {
   extern HardwareConfig board_config;
-  ledcSetup(VIBE_PWM_CHANNEL, VIBE_PWM_FREQ, VIBE_PWM_RESOLUTION);
-  ledcAttachPin(board_config.vibe_pwm, VIBE_PWM_CHANNEL);
+  // Arduino-ESP32 3.x LEDC API: use ledcAttach(pin, freq, resolution)
+  ledcAttach(board_config.vibe_pwm, VIBE_PWM_FREQ, VIBE_PWM_RESOLUTION);
 
   // Create vibration queue
   vibeQueue = xQueueCreate(5, sizeof(VibeRequest));