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zs6buj / mav2pt

Mavlink to FrSky Passthrough protocol telemetry
GNU General Public License v3.0
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ESP12F Variant 1 code error #33

Closed drnayeem closed 4 years ago

drnayeem commented 4 years ago

The Variant 1 option compiler on this board returns with an error of Undeclared Variable in line 425 ...

zs6buj commented 4 years ago

More information please

drnayeem commented 4 years ago

@zs6buj Thanks for the reply
Am trying to compile the firmware for ESP 12F

//================================================================================================= //================================================================================================= // // C O N F I G U R A T I O N //

/* =================================================================================================== M o s t R e c e n t C h a n g e s ===================================================================================================

Complete change log and debugging options are at the bottom of this tab

v2.60.3 2020-05-25 Added new variant for ESP8266 - ESP-12F WEMOS D1 Mini
2020-05-30 Added some support for PitLab flight stack v2.60.4 2020-06-01 Half-duplex Mavlite on S.Port - phase 1
*/

//=========================================================================================== // // PLEASE SELECT YOUR DEFAULT OPTIONS BELOW BEFORE COMPILING // //===========================================================================================

define webSupport // ESP only. Enable wifi web support, including OTA firmware updating. Browse to IP.

define webPassword "changeme!" // Web password

//#define Reset_Web_Defaults // Reset settings in eeprom. Do this if eeprom settings are corrupt or wrong.

//#define SD_Support // Enable if you have an SD card reader attached

define OLED_Support // Enable if you have an OLED display attached

//#define AutoBaud // Auto detect Mavlink serial-in baud rate // NOTE: Set mvBaudFC = 57600 for Dragonlink and RFD900X

define mvBaudFC 57600 // Mavlink to/from the flight controller - max 921600 - must match FC or long range radio

define frBaud 57600 // S.Port baud setting - default 57600

// Do not enable for FlightDeck

define PlusVersion // Added support for 0x5009 Mission WPs, 0x50F1 Servo_Channels, 0x50F2 VFR_Hud

//================================================================================================= // D E F A U L T T R A N S L A T I O N M O D E S E T T I N G S
//=================================================================================================
// Choose only one of these three translation modes //#define Ground_Mode // Translator between Taranis et al and LRS transceiver (like Dragonlink, ULRS, RFD900...)

define Air_Mode // Translator between FrSky receiver (like XRS) and Flight Controller (like Pixhawk)

//#define Relay_Mode // Translator between LRS tranceiver (like Dragonlink) and FrSky receiver (like XRS) in relay box on the ground

//================================================================================================= // D E F A U L T F L I G H T C O M P U T E R I / O S E T T I N G S
//================================================================================================= // Choose only one of these default Flight-Controller-side I/O channels // How does Mavlink telemetry enter this translator?

define FC_Mavlink_IO 0 // Serial Port (default)

//#define FC_Mavlink_IO 1 // BlueTooth Classic - ESP32 only //#define FC_Mavlink_IO 2 // WiFi - ESP32 or ESP8266 only //#define FC_Mavlink_IO 3 // SD Card / TF - ESP32 only

//================================================================================================= // D E F A U L T G R O U N D S T A T I O N I / O S E T T I N G S
//================================================================================================= // Choose only one of these default GCS-side I/O channels // How does Mavlink telemetry leave this translator? // These are optional, and in addition to the S.Port telemetry output //#define GCS_Mavlink_IO 0 // Serial Port - Only Teensy 3.x and Maple Mini have Serial3
//#define GCS_Mavlink_IO 1 // BlueTooth Classic - ESP32 only

define GCS_Mavlink_IO 2 // WiFi - ESP32 or ESP8266 only - auto selects on ESP8266

//#define GCS_Mavlink_IO 3 // WiFi AND Bluetooth simultaneously - ESP32 only

ifndef GCS_Mavlink_IO

define GCS_Mavlink_IO 9 // NONE (default)

endif

// NOTE: The Bluetooth class library uses a lot of application memory. During Compile/Flash // you may need to select Tools/Partition Scheme: "Minimal SPIFFS (1.9MB APP ...) or similar

//#define GCS_Mavlink_SD // SD Card - ESP32 only - mutually inclusive with other GCS I/O

//=================================================================================================
// S E L E C T E S P B O A R D V A R I A N T
//=================================================================================================

//#define ESP32_Variant 1 // ESP32 Dev Module - Use Partition Scheme: "Minimal SPIFFS(1.9MB APP...)" //#define ESP32_Variant 2 // Wemos® LOLIN ESP32-WROOM-32_OLED_Dual_26p //#define ESP32_Variant 3 // Dragonlink V3 slim with internal ESP32 - contributed by Noircogi //#define ESP32_Variant 4 // Heltec Wifi Kit 32 - Use Partition Scheme: "Minimal SPIFFS(Large APPS ith OTA)" - contributed by Noircogi

define ESP8266_Variant 1 // NodeMCU ESP 12F - choose "NodeMCU 1.0(ESP-12E)" board in the IDE

//#define ESP8266_Variant 2 // ESP-12E, ESP-F barebones boards. RFD900X TX-MOD, QLRS et al - use Generic ESP8266 on IDE //#define ESP8266_Variant 3 // ESP-12F - Wemos® LOLIN D1 Mini

//================================================================================================= // D E F A U L T B L U E T O O T H S E T T I N G S
//=================================================================================================

//#define BT_Mode 1 // Master Mode - active, initiate connection with slave (name)

define BT_Mode 2 // Slave Mode - passive, advertise our hostname & wait for master to connect to us

define BT_ConnectToSlave "Crossfire 0277" // Example

//================================================================================================= // D E F A U L T W I F I S E T T I N G S
//=================================================================================================

define Start_WiFi // Start WiFi at startup, override startWiFi Pin

define HostName "MavToPass" // This translator's host name

define APssid "MavToPassthru" // The AP SSID that we advertise ====>

define APpw "password" // Change me!

define APchannel 9 // The wifi channel to use for our AP

define STAssid "OmegaOffice" // Target AP to connect to (in STA mode) <====

define STApw "changeme" // Target AP password (in STA mode)

// Choose one default mode for ESP only - AP means advertise as an access point (hotspot). STA means connect to a known host //#define WiFi_Mode 1 //AP

define WiFi_Mode 2 // STA

//#define WiFi_Mode 3 // STA failover to AP

// Choose one default protocol - for ESP32 only //#define WiFi_Protocol 1 // TCP/IP

define WiFi_Protocol 2 // UDP

//================================================================================================= // R S S I O P T I O N S
//=================================================================================================

define Rssi_Pacemaker 200 // Period in mS. An RSSI 0xF101 frame will be sent with this period regardless of rate of RSSI arrival

//#define RSSI_Override // Dummy RSSI - fixed at 70% - REDUNDANT due to PR by Hasi123 (if no rssi, force fixed 69%)
//#define Rssi_In_Percent // Un-comment if RSSI is already in %, not relative to (254->100%) //#define QLRS // QLRS Longe Range System (QRLS uses remote rssi field - PR from giocomo892 april 2020)

// RSSI_Source is automatic. Order of precedence: // First: #109 SiK style RADIO_STATUS // Second: #65 RC_CHANNELS // Third: #35 RC_CHANNELS_RAW

//================================================================================================= // O T H E R U S E R O P T I O N S
//=================================================================================================

//#define Battery_mAh_Source 1 // Get battery mAh from the FC - note both rx and tx lines must be connected
//#define Battery_mAh_Source 2 // Define bat1_capacity and bat2_capacity below and use those const uint16_t bat1_capacity = 5200;
const uint16_t bat2_capacity = 0;

define Battery_mAh_Source 3 // Define battery mAh in the LUA script on the Taranis/Horus - Recommended

define SPort_Serial 1 // Teensy port1=pin1, port3=pin8. The default is Serial 1, but 3 is possible

// Status_Text messages place a huge burden on the meagre 4 byte FrSky telemetry payload bandwith // The practice has been to send them 3 times to ensure that they arrive unscathed at the receiver // but that makes the bandwidth limitation worse and may crowd out other message types. Try without // sending 3 times, but if status_text gets distorted, un-comment the next line //#define Send_status_Text_3_Times

//#define Send_Sensor_Health_Messages

//#define Request_Missions_From_FC // Un-comment if you need mission waypoint from FC - NOT NECESSARY RIGHT NOW

//#define Data_Streams_Enabled // Requests data streams from FC. Requires both rx and tx lines to FC. Rather set SRn in Mission Planner

//================================== Set your time zone here ====================================== // Only for SD / TF Card adapter option // Date and time determines the TLog file name only //const float Time_Zone = 10.5; // Adelaide, Australia const float Time_Zone = 2.0; // Jo'burg bool daylightSaving = false;

//================================================================================================= // E X P E R I M E N T A L O P T I O N S
// Don't change anything here unless you are confident you know the outcome

//#define ESP32_SoftwareSerial // otherwise HardwareSerial is used //#define ESP_Onewire // enable half_duplex on single (tx) pin and wire - Air/Relay //#define ESP_Air_Relay_Blind_Inject_OK // Blind inject instead of interleaving

define Support_Mavlite

//=================================================================================================
// Auto Determine Target Platform //================================================================================================= // // Don't change anything here //

if defined (MK20DX128) || defined(MK20DX256)

define TEENSY3X

elif defined ESP32

define Target_Board 3 // Espressif ESP32 Dev Module

elif defined ESP8266

define Target_Board 4 // Espressif ESP8266

else

error "Unsupported board type!"

endif

//=================================================================================================
// CHECK #MACRO OPTIONS LOGIC //=================================================================================================

if defined PlusVersion

define Request_Mission_Count_From_FC // Needed for yaapu's mission/waypoint script

endif

if (not defined ESP32) && (not defined ESP8266)

if defined webSupport

#undef webSupport
//    #error webSupport only available on ESP32 or ESP8266

endif

endif

if defined ESP32

include

include

include <driver/uart.h> // In Arduino ESP32 install repo

//C:\Users\\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.4\tools\sdk\include\driver

endif

if (defined ESP32) || (defined ESP8266) // ESP32 or ESP8266 (UART0, UART1, and UART2)

#if (SPort_Serial  == 3)    
  #error Board does not have Serial3. This configuration is not possible.
#endif

endif

if (defined TEENSY3X)

#if (FC_Mavlink_IO == 3) || (defined GCS_Mavlink_SD)  
  #error SD card not currently implemented for Teensy
#endif

endif

ifndef Battery_mAh_Source

#error Please choose at least one Battery_mAh_Source

endif

if (not defined ESP32) && (not defined ESP8266)

 #if (FC_Mavlink_IO == 2) || (GCS_Mavlink_IO == 2) || (GCS_Mavlink_IO == 3) || (defined webSupport)
//   #error WiFi and webSupport only work on an ESP32 or ESP8266 board
   #if defined FC_Mavlink
     #undef FC_Mavlink
   #endif  
   #define FC_Mavlink_IO  0
   #if defined GCS_Mavlink_IO
     #undef GCS_Mavlink_IO
   #endif   
   #define GCS_Mavlink_IO 9
   #if defined webSupport
     #undef  webSupport
   #endif  
 #endif

endif

if (defined ESP8266) && ((GCS_Mavlink_IO == 1) || (GCS_Mavlink_IO == 3)) // Can't do BT on 8266

  #undef GCS_Mavlink_IO
  #define GCS_Mavlink_IO  2    // WiFi Only

endif

if (FC_Mavlink_IO == 1) || (GCS_Mavlink_IO == 1) || (GCS_Mavlink_IO == 3)

#if (not defined ESP32) 
  #error Bluetooth works only on an ESP32 board      
#else
  #if (not defined BT_Mode)
    #error Please define BT_Mode  
  #endif
#endif

endif

ifndef FC_Mavlink_IO

#error Please choose at least one Mavlink FC IO channel

endif

if (defined ESP32)

#ifndef WiFi_Mode 
  #error Please define WiFi_Mode
#endif

endif

if (defined ESP32)

#ifndef WiFi_Protocol
  #error Please define WiFi_Protocol
#endif

endif

if (defined ESP32)

#ifndef ESP32_Variant 
  #error Please define an ESP32 board variant
#endif

endif

if (defined ESP8266)

#ifndef ESP8266_Variant
     #error Please define an ESP8266 board variant
#endif

endif

if (defined ESP32 || defined ESP8266) && (FC_Mavlink_IO == 2 || FC_Mavlink_IO == 3 || GCS_Mavlink_IO == 2 || GCS_Mavlink_IO == 3 || defined webSupport)

#define wifiBuiltin   //  for these features we need wifi support compiled in

endif

if (defined ESP32) && (FC_Mavlink_IO == 1 || FC_Mavlink_IO == 3 || GCS_Mavlink_IO == 1 || GCS_Mavlink_IO == 3)

#define btBuiltin   //  for these features we need bluetooth support compiled in

endif

//=================================================================================================
// P L A T F O R M D E P E N D E N T S E T U P S //=================================================================================================

if defined TEENSY3X // Teensy3x

define MavStatusLed 13

define InvertMavLed false

define BufStatusLed 14

define FC_Mav_rxPin 9

define FC_Mav_txPin 10

if (SPort_Serial == 1)

#define Fr_txPin       1      // SPort tx - Use me in single wire mode 
#define GC_Mav_rxPin   7    
#define GC_Mav_txPin   8

elif (SPort_Serial == 3)

#define Fr_txPin       8      // Optional SPort tx

endif

if (defined SD_Support) || (defined OLED_Support)

endif

elif defined ESP32 // ESP32 Platform

if (ESP32_Variant == 1) // ESP32 Dev Module

#define MavStatusLed  02        // Onboard LED
#define InvertMavLed false      
#define BufStatusLed  27        // untested pin      
#define FC_Mav_rxPin  16        // Mavlink to FC
#define FC_Mav_txPin  17        // Mavlink from FC
#define Fr_rxPin      13        // SPort - Not used in 1-wire mode
#define Fr_txPin       4        // SPort tx - Use me in single wire mode
#define startWiFiPin   5        // Trigger WiFi startup       
#if (defined SD_Support) || (defined OLED_Support)   
  #define SDA           21        // I2C OLED board
  #define SCL           22        // I2C OLED board
  #define i2cAddr      0x3C       // I2C OLED board
#endif   
/*  
  SPI/CS                       Pin 05   For optional TF/SD Card Adapter
  SPI/MOSI                     Pin 23   For optional TF/SD Card Adapter
  SPI/MISO                     Pin 19   For optional TF/SD Card Adapter
  SPI/SCK                      Pin 18   For optional TF/SD Card Adapter  
*/

endif

if (ESP32_Variant == 2) // Wemos® LOLIN ESP32-WROOM-32_OLED_Dual_26p

#define MavStatusLed  15        // No Onboard LED
#define InvertMavLed false     
#define BufStatusLed  99        // None    
#define FC_Mav_rxPin  25        // Mavlink to FC
#define FC_Mav_txPin  26        // Mavlink from FC
#define Fr_rxPin      12        // SPort - Not used in single wire mode
#define Fr_txPin      14        // SPort tx - Use me in single wire mode
#define startWiFiPin  13        // Trigger WiFi startup      
#if (defined SD_Support) || (defined OLED_Support)
  #define SDA           05        // I2C OLED board
  #define SCL           04        // I2C OLED board
  #define i2cAddr      0x3C       // I2C OLED board
#endif

endif

if (ESP32_Variant == 3) // Dragonlink V3 slim with internal ESP32

#if defined mvBaudFC
  #undef mvBaudFC
  #define mvBaudFC 115200       // Force baud rate to DragonLink rate
#endif
#define MavStatusLed  18        // Blue LED
#define InvertMavLed false    
#define BufStatusLed  19        // Green LED        
#define FC_Mav_rxPin  16        // Mavlink to FC
#define FC_Mav_txPin  17        // Mavlink from FC
#define Fr_rxPin      12        // SPort - Not used in single wire mode
#define Fr_txPin      01        // SPort tx - Use me in single wire mode
#define startWiFiPin  13        // Trigger WiFi startup   
#if (defined SD_Support) || (defined OLED_Support)
  #define SDA           05        // I2C OLED board
  #define SCL           04        // I2C OLED board 
  #define i2cAddr      0x3C       // I2C OLED board
#endif

endif

if (ESP32_Variant == 4) // Heltec Wifi Kit 32 (NOTE! 8MB)

#define MavStatusLed  25        // Onboard LED
#define InvertMavLed false     
#define BufStatusLed  99   
#define FC_Mav_rxPin  27        // Mavlink to FC
#define FC_Mav_txPin  17        // Mavlink from FC
#define Fr_rxPin      12        // SPort rx 
#define Fr_txPin      14        // SPort tx - Use me in single wire mode
#define startWiFiPin  13        // Trigger WiFi startup   
#if !defined OLED_Support       // I2C OLED board is built into Heltec WiFi Kit 32
  #define OLED_Support
#endif

#if (defined SD_Support) || (defined OLED_Support)   
  #define SDA           04        // I2C OLED board 
  #define SCL           15        // I2C OLED board
  #define i2cAddr      0x3C       // I2C OLED board
  #define OLED_RESET    16        // RESET here so no rest lower down    
#endif

endif

elif defined ESP8266 // ESP8266 Platform

if (ESP8266_Variant == 1) // NodeMCU 12F board - Dev board with usb etc

#define MavStatusLed  D4        // D4 Board LED - Mav Status LED inverted logic - use 99 while debug
#define InvertMavLed true      
#define BufStatusLed  99        // None

// D4 // TXD1 - Serial1 debug log out SHARED WITH BOARD LED

define FC_Mav_rxPin D9 // RXD0 default

#define FC_Mav_txPin  D10       // TXD0 default    
#define Fr_rxPin      D5        // SPort - Not used in single wire mode
#define Fr_txPin      D6        // SPort tx - Use me in single wire mode
#define startWiFiPin  D3        // Trigger WiFi startup       
#if (defined SD_Support) || (defined OLED_Support)  
  #define SCL           D1        // I2C OLED board   
  #define SDA           D2        // I2C OLED board
  #define i2cAddr      0x3C       // I2C OLED board
#endif

endif

if (ESP8266_Variant == 2) // ESP-12E, ESP-F barebones boards. RFD900X TX-MOD, QLRS et al - use Generic ESP8266 on IDE

//                         GPIO as per node mcu
static const uint8_t D0   = 16;   // SCL - optional
static const uint8_t D1   = 5;    // SDA - optional
static const uint8_t D2   = 4;    // SPort tx - Use me in single wire mode
static const uint8_t D3   = 0;    // Flash
static const uint8_t D4   = 2;    // BoardLED & TXD1 optional debug out
static const uint8_t D5   = 14;   // SPort rx (unused in half-duplex)
static const uint8_t D6   = 12;   // P2-3 exposed dual row of pins
static const uint8_t D7   = 13;   // CTS
static const uint8_t D8   = 15;   // RTS
static const uint8_t D9   = 3;    // RXD0
static const uint8_t D10  = 1;    // TXD0 

#define MavStatusLed  D4        // D4 Board LED - Mav Status LED inverted logic - use 99 while debug
#define InvertMavLed true    
#define BufStatusLed  99        // None
//                    D4        // TXD1 - Serial1 default debug log out SHARED WITH BOARD LED                           
#define FC_Mav_rxPin  D9        // RXD0 default  
#define FC_Mav_txPin  D10       // TXD0 default    
#define Fr_rxPin      D5        // SPort - Not used in single wire mode
#define Fr_txPin      D2        // SPort (half-duplex) inverted - Use me in single wire mode
#define startWiFiPin  D6        // Trigger WiFi startup       
#if (defined SD_Support) || (defined OLED_Support)
  #define SCL           D0        // I2C OLED board   
  #define SDA           D1        // I2C OLED board
  #define i2cAddr      0x3C       // I2C OLED board
#endif

endif // end of this ESP8266 variant

if (ESP8266_Variant == 3) // ESP-12F, Wemos® LOLIN D1 Mini - use Generic ESP8266 on Arduino IDE

//  Pin Map as per C:\Users\<user>\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.7.1\variants\d1_mini\pins_arduino.h

#define LED_BUILTIN 2

static const uint8_t D0   = 16;  // WiFi trigger
static const uint8_t D1   = 5;   // SCL - optional
static const uint8_t D2   = 4;   // SDA - optional
static const uint8_t D3   = 0;   // Flash - reserved
static const uint8_t D4   = 2;   // LED_BUILTIN & TXD1 optional debug out
static const uint8_t D5   = 14;  // SPort rx (unused in half-duplex)
static const uint8_t D6   = 12;  // SPort tx - Use me in single wire mode
static const uint8_t D7   = 13;  // CTS 
static const uint8_t D8   = 15;  // RTS
static const uint8_t D9   = 3;   // RXD0
static const uint8_t D10  = 1;   // TCD0 

#define MavStatusLed  D4        // D4 Board LED - Mav Status LED inverted logic - use 99 while debug
#define InvertMavLed true    
#define BufStatusLed  99        // None
//                    D4        // TXD1 - Serial1 default debug log out SHARED WITH LED_BUILTIN BOARD LED                           
#define FC_Mav_rxPin  D9        // RXD0 - Serial(0) 
#define FC_Mav_txPin  D10       // TXD0 - Serial(0) 
#define Fr_rxPin      D5        // SPort - Not used in single wire mode
#define Fr_txPin      D6        // SPort - inverted - Use me in single wire mode
#define startWiFiPin  D16       // Trigger WiFi startup       
#if (defined SD_Support) || (defined OLED_Support)
  #define SCL           D1        // I2C OLED board   
  #define SDA           D2        // I2C OLED board
  #define i2cAddr      0x3C       // I2C OLED board
#endif

endif // end of this ESP8266 variant

endif // end of all ESP8266 variants

//=================================================================================================
// E E P R O M S U P P O R T - ESP Only - for now //=================================================================================================

if (defined ESP32) || (defined ESP8266)

#include <EEPROM.h>       // To store AP_Failover_Flag and webSupport Settings
#define EEPROM_SIZE 160   // 1 + 159 bytes, addr range 0 thru 160

endif

//=================================================================================================
// S D C A R D S U P P O R T - ESP Only - for now //=================================================================================================

if ((defined ESP32) || (defined ESP8266)) && (defined SD_Support)

#include <FS.h>
#include <SD.h>
#include <SPI.h>
#define SD_Libs_Loaded 

/*
// Optional SPI interface pins for SD card adapter or SSD1306 OLED display
#define CS            5        
#define MOSI          23 
#define MISO          19 
#define SCK           18 
*/  

// Pins generally   CS=5    MOSI=23   MISO=19   SCK=18    3.3V   GND   Dev Board, LilyGO/TTGO

// Rememeber to change SPI frequency from 4E6 to 25E6, i.e 4MHz to 25MHz in SD.h otherwise MavRingBuff fills up 
// C:\Users\YourUserName\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.2\libraries\SD\src  
// bool begin(uint8_t ssPin=SS, SPIClass &spi=SPI, uint32_t frequency=25000000, const char * mountpoint="/sd", uint8_t max_files=5);  

char     cPath[40];
std::string   fnPath[30];
uint8_t  fnCnt;
uint16_t sdReadDelay = 10;  // mS   Otherwise the reads run through unnaturally quickly

File     file;  // Create global object from File class for general use

static  const uint8_t mthdays[]={31,28,31,30,31,30,31,31,30,31,30,31}; 

typedef struct  { 
  uint16_t yr;   // relative to 1970;  
  uint8_t mth;
  uint8_t day;
  uint8_t dow;   // sunday is day 1 
  uint8_t hh; 
  uint8_t mm; 
  uint8_t ss; 
}   DateTime_t;

static DateTime_t dt_tm;

endif

//=================================================================================================
// O L E D S U P P O R T E S P O N L Y - for now //=================================================================================================

if (defined ESP32 || defined ESP8266)

#if not defined SD_Libs_Loaded   //  by SD block
  #include <SPI.h>                // for SD card and/or OLED
  #include <Wire.h>
#endif  

#include <Adafruit_SSD1306.h> 

#define max_col  22
#define max_row   8
// 8 rows of 21 characters

struct OLED_line {
  char OLx[max_col];
  };

 OLED_line OL[max_row]; 

uint8_t row = 0;
uint8_t col = 0;

#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
// 8 rows of 21 characters

// Declaration for an SSD1306 I2C display
#ifndef OLED_RESET
  #define OLED_RESET    -1 // Reset pin # (or -1 if sharing Arduino reset pin)
#endif  
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);

endif

//=================================================================================================
// B L U E T O O T H S U P P O R T - E S P 3 2 O n l y //=================================================================================================

if (defined ESP32)

#include "BluetoothSerial.h"
#include "esp_bt.h"
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
  #error Bluetooth is not enabled! Please run `make menuconfig in ESP32 IDF` 
#endif

BluetoothSerial SerialBT;

endif

//=================================================================================================
// W I F I S U P P O R T - ESP32 and ES8266 Only //================================================================================================= 

uint16_t TCP_localPort = 5760;
uint16_t UDP_localPort = 14555;     
uint16_t UDP_remotePort = 14550;      
bool FtRemIP = true;

if (defined ESP32 || defined ESP8266)

int16_t wifi_rssi;  
volatile uint32_t debnceTimr;
volatile int16_t  wifiButnPres = 0;;
volatile uint32_t delaytm = 100;

// Define link variables
struct linkStatus {
  uint32_t    packets_received;
  uint32_t    packets_lost;
  uint32_t    packets_sent;
};
bool          hb_heard_from = false;
uint8_t       hb_system_id = 0;
uint8_t       hb_comp_id = 0;
uint8_t       hb_seq_expected = 0;
uint32_t      hb_last_heartbeat = 0;
linkStatus    link_status;

#if defined ESP32 
  #include <WiFi.h>  
  #include <WiFiClient.h>
  #if defined webSupport
    #include <WebServer.h> 
    #include <Update.h> 
    WebServer server(80);          
  #endif      
  #include <WiFiAP.h>  
#endif

#if defined ESP8266
  #include <ESP8266WiFi.h>   // Includes AP class
  #include <WiFiClient.h>
  #if defined webSupport
    #include <ESP8266WebServer.h>    
    ESP8266WebServer server(80);
  #endif      
#endif

#include <WiFiUdp.h>

//==================== Instantiate WiFi Objects 

WiFiClient WiFiSTA;   

WiFiServer TCPserver(TCP_localPort);         // Dummy TCP local port(changes on TCPserver.begin() ).

IPAddress udp_remoteIP(192, 168, 1, 255);    // Declare UDP broadcast on dummy IP (changes on connect).
WiFiUDP UDP;       // Create UDP object    

IPAddress localIP;   // tcp and udp

endif // end of ESP32 and ESP8266

//=================================================================================================
// S E R I A L //=================================================================================================

if (defined ESP32)

define Debug Serial // USB

define mvSerialFC Serial2 // RXD0 and TXD0

if defined ESP32_SoftwareSerial

#include <SoftwareSerial.h>
SoftwareSerial frSerial;

else // default HW Serial

#define frSerial          Serial1

endif

elif (defined ESP8266)

define Debug Serial1 // D4 TXD1 debug out - no RXD1 !

define mvSerialFC Serial // RXD0 and TXD0

include

SoftwareSerial frSerial;

endif

if (defined TEENSY3X) // Teensy 3.1

define Debug Serial // USB

define mvSerialFC Serial2

if (SPort_Serial == 1)

#define frSerial              Serial1        // S.Port

elif (SPort_Serial == 3)

#define frSerial              Serial3        // S.Port

else

#error SPort_Serial can only be 1 or 3. Please correct.

endif

endif

if (defined TEENSY3X) || (defined MAPLE_MINI) // only these have 4 uarts at present

//#define Enable_GCS_Serial // OPTION SET HERE OPTION SET HERE OPTION SET HERE

endif

if defined Enable_GCS_Serial // only Teensy and maple mini have 4 uarts at present

if (SPort_Serial == 3)

error Mavlink_GCS and SPort both configured for Serial3. Please correct.

endif

if (defined TEENSY3X)

#define mvSerialGCS             Serial3 
#define mvBaudGCS               57600        // Use 57600

else

#error Mavlink_GCS Serial not available for ESP32 or ESP8266  - no Serial3. Please correct.

endif

endif

//=================================================================================================
// D E B U G G I N G O P T I O N S //=================================================================================================

//#define inhibit_SPort // Use me to send debug messages only, out of GPIO1/TX0 on ESP32_Variant 3, DL V3 internal ESP32 //#define Mav_Debug_All //#define Frs_Debug_All //#define Frs_Debug_Payload //#define Mav_Debug_RingBuff //#define Frs_Debug_Period //#define Debug_Air_Mode //#define Debug_Relay_Mode //#define Mav_List_Params // Use this to test uplink to Flight Controller //#define Mav_Debug_Params //#define Debug_BT
//#define Debug_FC_Down // traffic down from FC to Ring Buffer //#define Debug_FC_Up // traffic up to FC from GCS //#define Debug_GCS_Down // traffic from RB to GCS //#define Debug_GCS_Up // traffic up from GCS to FC //#define Mav_Debug_Servo //#define Frs_Debug_Servo //#define Mav_Debug_Rssi // #109 > #65 > #35 //#define Frs_Debug_Rssi // 0xF101 //#define Mav_Debug_RC
//#define Frs_Debug_RC //#define Mav_Debug_FC_Heartbeat //#define Mav_Debug_GCS_Heartbeat //#define Frs_Debug_Params //0x5007 //#define Mav_Debug_MavToPass_Heartbeat //#define Frs_Debug_APStatus // 0x5001 //#define Mav_Debug_SysStatus // #1 && battery //#define Debug_Batteries // 0x5003 //#define Frs_Debug_Home // 0x5004 //#define Mav_Debug_GPS_Raw // #24 //#define Mav_Debug_GPS_Int // #33 //#define Frs_Debug_LatLon // 0x800 //#define Frs_Debug_VelYaw // 0x5005 //#define Frs_Debug_GPS_status // 0x5002 //#define Mav_Debug_Scaled_IMU //#define Mav_Debug_Raw_IMU //#define Mav_Debug_Hud // #74 //#define Frs_Debug_Hud // 0x50F2 //#define Mav_Debug_Scaled_Pressure //#define Mav_Debug_Attitude // #30 //#define Frs_Debug_AttiRange // 0x5006 //#define Mav_Debug_StatusText // #253
//#define Frs_Debug_StatusText // 0x5000 //#define Mav_Debug_Mission //#define Frs_Debug_Mission
//#define Debug_SD
//#define Mav_Debug_System_Time
//#define Frs_Debug_Scheduler // - this debugger affects the performance of the scheduler when activated //#define Decode_Non_Essential_Mav //#define Debug_Baud //#define Debug_Radio_Status
//#define Debug_GCS_Unknown //#define Debug_Param_Request_Read //#define Mav_Show_Unknown_Msgs //#define Mav_Print_All_Msgid //#define Debug_Eeprom //#define Debug_Web_Settings // #define Debug_SPort //#define Mav_Debug_RPM //#define Debug_SRAM

define Debug_Mavlite

//=================================================================================================
// C H A N G E L O G //================================================================================================= /*

Change log:

v2.00 2019-06-07 Plus version firmware ported to ESP32 Dev Module V1 successfully - no improvements
v2.01 2019-06-09 Added OLED display support v2.02 2019-05-18 Belatedly include Alex's Rangefinder PR that I missed. v2.03 2019-05-21 Reduce voltage and current display moving average smoothing Empirical correction of mAh consumed as per Markus Greinwald's measurements Change mav heartbeat timeout from 3 to 6 seconds v2.04 2019-05-24 Merge Alex's BT classic PR. Thank you! Remove Aux port as no longer required Tidy #define options
v2.05 2019-06-09 Support 3 possible I/O channels on FC side, and 3 on GCS side. UART serial, BT and WiFi. WiFi AP ssid = 'Mav2Passthru', pw = 'password' for now.
v2.06 2019-06-10 Support added for STA mode and AP mode. Tidied up some lose ends. v2.07 2019-06-16 Initiate WiFi session with push button from GPIO15 momentary to ground. v2.08 2019-06-16 Add SD/TF card support - wip!! Added UTP protocol option v2.09 2019-06-30 WiFi activation push button momentary but one-time. 2019-07-03 Implemented optional TLog input and output via SD card.
v2.10 2019-07-09 For PX4 flight stack only, send HB to FC every 2 seconds
2019-07-10 Radical redesign of S.Port scheduling algorithm. Support SD and WiFi/BT I/O simultaneously v2.11 2109-07-11 Auto determine target board. Publish "Universal" version 2.11. One source, four platforms / boards v2.12 2019-07-12 Add #define PlusVersion, comment out for FlightDeck
v2.13 2019-08-13 UDP now working in Access Point mode v2.14 2019-07-17 PX4 flight stack only - fixed longitude typo if (ap_lat24<0) should be if (ap_lon24<0) v2.15 2019-07-17 Switch to Adafruit_SSD1306 OLED library. 8 lines x 21 chars v2.16 2019-07-18 Increase time burden for each successive Status Text chunk by 5mS v2.17 2019-07-19 Auto detect serial telemetry and baud rate
v2.18 2019-07-21 Tune FrSky packet schduler. Add option. Default is 1x. //Send_status_Text_3_Times v2.19 2019-07-22 Implement 2 tier scheduling. Tier1 gets priority, tier2 (0x5000) only when tier1 empty v2.20 2019-07-26 Release candidate. Send HB back to FC for APM also, not just PX4. Streamline library #includes.

undef troublesome F function.

v2.21 2019-07-26 Trap attempt to do GCS I/O on ESP32 or Blue Pill - no Serial3 UART. 2019-07-29 Implement system health status-text messages as per Alex's request.
v2.22 2019-08-10 Make sensor health messages optional for now. Fix end-of-sensor message text detection. v2.23 2019-08-21 Add support for RFD900x long-range telemetry modems, specifically RSSI
v2.24 2019-08-23 Workaround for Esp32 library "wifi: Set status to INIT" bug Improve responsiveness to baud detect with no telemetry present.
v2.25 2019-08-28 Version for RFD900x. Bug fixes on rssi. Include #define StartWiFi option to override startWiFi Pin.
v2.26 2019-08-31 Improved GCS to FC debugging. Make baud rate sensing optional. v2.27 2019-09-13 Small additions to test LILYGO®_TTGO_MINI32_ESP32-WROVER_B v2.28 2019-09-17 Localise pin definitions in one place to define ESP32 variants more easily v2.29 2019-09-24 Use #if (TargetBoard == 3) to define soft pins for mvSerialFC v2.30 2019-09-26 Don't push #5007 into sensor table from #147. Push from #1 only. v2.31 2019-09-30 Configurable declarations moved to config.h file v2.32 2019-10-08 Source line corrupted in v2.17 affecting Relay Mode, fixed. Thank you burtgree! v2.33 2019-10-09 Don't invert ESP32 SPort in Relay Mode. Use commercial inverter/converter. Tidy up config.h file. Send #5007 3 times at startup and then every 50th heartbeat. v2.34 2019-10-15 Move typedef struct DateTime_t to global scope in line with VS Code/Platform IO.
v2.35 2019-10-18 Add pre-defined ESP32 board variants. TargetBoard >> Target_Board typo Paul Atherton. v2.36 2019-10-30 Optimise WiFi amd BT read/send as per excellent mavesp8266 bridge by Tridge. Add support for ESP8266. v2.41 2019-11-08 Fix STA mode no-connect loop 2019-11-08 Make AutoAP optional
v2.42 2019-11-09 Add support for GCS-side simultaneous WiFi and BT telemetry option v2.43 2019-11-10 Tidy up WiFi Setup for auto AP failover. Support for 2 new ESP32 board variants, complements of Noircogi.
2019-11-11 Implement Auto RSSI selection(Order of precedence #109, then #65 then #35) 2019-11-11 Support AutoBaud up to 921600. v2.44 2019-11-12 Include Target0815 recommended reset after STA fail to connect.
v2.45 2019-11-12 Augment mission debugging for athertop.
2019-11-13 Move #endif outside } in SetupWiFi
v2.46 2019-11-16 A few cosmetic improvements
v2.47 2019-12-23 For ESP32 Dev Module, use pin 27 for S.Port tx, because boot fails if pin 12 pulled high

v2.48 2019-12-17 Option for SiK #109, if RSSI is already in %, i.e. not relative to 2.54 Added #define Rssi_In_Percent 2019-12-31 Changes for PlatformIO compatibility 2020-01-02 ESP32 Dev Board change again for stability - S.Port pins rx=13, tx=14 v2.49 2020-01-07 Move baud, ssid and BT settings to top of config.h for convenience v2.50 2020-01-12 AutoAP: Activate udp broadcast on AP dhcp allocated IP subnet. Eliminate annoying periodic "Stabilized Flight Mode" announcements. Further localise options in to logical groups.
2020-01-13 Revert max rssi to 254. 255 is invalid/unknown in ardupilot
v2.51 2020-01-18 Make default rssi 69% for SiK radios, like RFD900x. PR by Hasi123
v2.52 2020-01-21 Support web OTA. Rehash STA to AP failover using reboot - now stable. v2.53 2020-01-25 ESP8266 (Node MFU 12F) debugged, tested. ESP8266 OTA included. v2.54 2020-01-27 ESP8266 inverted single-wire enabled, like Teensy. No hardware invert/convert required.
v2.54a 2020-01-28 Setup OTA password in config.h
v2.54b 2020-01-30 Correct irritating warnings
v2.55 2020-02-04 Add RFD900X TXMOD ESP8266 variant
v2.56.1 2020-02-26 Add web interface to allow settings/parameter changes v2.56.2 2020-02-27 STM32F103C / Blue Pill / Maple Mini deprecated. Tidy up Teensy3.x warnings. v2.56.3 2020-03-03 Minor ESP8266 variants logic check v2.56.4 2020-03-04 Remove spurious debugging code affecting S.Port Thanks pascale dragos.
v2.56.5 2020-03-09 Reduce rssi timing cycle to 350mS from 700mS. v2.57 2020-03-15 Fix RFD900/TXMOD status LED. SoftwareSerial for ESP32.
v2.58 2020-03-17 Option to work around apparent bug in Mavlink V2 Library. Tolerate crc errors. This fixes failure to parse certain mavlink messages, including #226 RPM Needs more investigation. Use with caution! v2.58.1 2020-03-18 Improve user options on hw/sw serial v2.58.2 2020-03-20 Stable. Lots of nice, small tweaks. Exp. code for inherent 1-wire on ESP v2.58.3 2020-03-22 Deactivate experimental CRC error tolerance for general use. My bad. v2.58.4 2020-03-25 RPM fixed (library path). v2.58.5 2020-03-28 Add //#define SD_Support to optionally remove all SD support at compile time. This is especially useful for PlatformIO on ESP8266.
v2.59.1 2020-04-02 Support for QLRS (rssi) by giacomo892. Style and function improvements to web interface.
v2.59.2 2020-04-21 Some structural tidying up.
v2.59.3 Main loop minor fix.
wifiBuiltin and btBuiltim macros added.
2020-04-28 GetBaud(FC_Mav_rxPin) fix. Thanks has1123. v2.59.4 2020-05-08 Broadcast on the subnet we attached to. Can't assume 192.168.1/24 :) Patch by Stefan Arbes.
v2.59.5 2020-05-11 Fixed TCP_LocalPort initialisation v2.59.6 2020-05-20 Improve WiFi start button debounce . Add Debug_SRAM.
v2.60.0 2020-05-23 Deactivate BT to reclaim critical SRAM during web support. Patch by Scott P. Reboot on Cancel web settings page v2.60.1 2020-05-24 Schedule fr 0x5007 params individually, fixes periodic flight-mode announcement. Schedule fr 0xf101 rssi when mavlink #109, #65 or #35 arrives. Avg < 200 mS. Fixes periodic "telemetry lost".
v2.60.2 2020-05-25 Added RSSI_Pacemaker option to help prevent "telemetry lost". Default period 200 mS.

*/

This the the configuration

and this is the error

Executing task in folder MavToPassv_2.60.4: C:\Users\Dr Nayeem.platformio\penv\Scripts\platformio.exe run <

Processing esp01_1m (platform: espressif8266; board: esp01_1m; framework: arduino)

Verbose mode can be enabled via -v, --verbose option CONFIGURATION: https://docs.platformio.org/page/boards/espressif8266/esp01_1m.html PLATFORM: Espressif 8266 2.5.1 > Espressif Generic ESP8266 ESP-01 1M HARDWARE: ESP8266 80MHz, 80KB RAM, 1MB Flash PACKAGES:

Terminal will be reused by tasks, press any key to close it.

Kindly Help Regards

zs6buj commented 4 years ago

You have selected the NodeMCU board in MavToPass config.h, but your PlatformIO.ini has selected generic ESP8266, so the pins are defined twice and there is a conflict.

#define ESP8266_Variant 1 // NodeMCU ESP 12F - choose "NodeMCU 1.0(ESP-12E)" board in the IDE
//#define ESP8266_Variant 2 // ESP-12E, ESP-F barebones boards. RFD900X TX-MOD, QLRS et al - use Generic ESP8266 on IDE

Rather try this:

//#define ESP8266_Variant 1 // NodeMCU ESP 12F - choose "NodeMCU 1.0(ESP-12E)" board in the IDE
#define ESP8266_Variant 2 // ESP-12E, ESP-F barebones boards. RFD900X TX-MOD, QLRS et al - use Generic ESP8266 on IDE