Building and flashing

1. Make sure you've got all of the submodules in this repo correctly initialised:

git submodule update --init --recursive

2. If this is your first time setting up the repo, then you will need to install the ESP-IDF tools. You can consult the ESP-IDF docs for more detailed instructions, but the TL;DR is that you'll want to run something like this:

./lib/esp-idf/install.sh esp32

3. As a final piece of setup, you will need to source the env file in this repo to correctly set up your environment for building.

. ./.env

There is also a .env.fish for fish users.

4. You can now build the project using idf.py build. Or to flash the project onto your board, something like:

idf.py -p /dev/ttyUSB0 -b 115200 flash

(give or take the correct serial port)

Running tests

Tests are implemented as a separate application build, located in the test directory. We use Catch2 as our test framework.

To run them, navigate to the test directory, then build and flash as normal. Connect to your device via UART, and you will be presented with a terminal prompt that you may run tests from.

To add new tests to a components, you must:

1. Create a test subcomponent within that component. See drivers/test for an example of this.
2. Include the component in the test build and list of testable components, in test/CMakeLists.txt.

VSCode setup

When using the Espressif IDF extension, you may want to set the following in your settings.json file:

  "idf.espIdfPath": "${workspaceFolder}/lib/esp-idf",
  "idf.espIdfPathWin": "${workspaceFolder}/lib/esp-idf"

LSP (clangd) setup

A regular build will generate build/compile_commands.json, which clangd will automatically pick up. However, there are a couple of additional steps to get everything to play nicely.

First, you will need to download the xtensa clang toolchain. You can do this via ESP-IDF by running idf_tools.py install xtensa-clang

This will install their prebuild clang into a path like ~/.espressif/tools/xtensa-clang/VERSION/xtensa-esp32-elf-clang/

Next, you will need to configure clangd to use this version of clang, plus forcible remove a couple of GCC-specific build flags. Do this by creating .clangd in the root directory of your project, with contents like so:

CompileFlags:
  Add: [
    -ferror-limit=0,
    -I/Users/YOU/.espressif/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/include,
    -I/Users/YOU/.espressif/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/xtensa-esp32-elf/include,
    -I/Users/YOU/.espressif/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/xtensa-esp32-elf/include/c++/8.4.0,
    -I/Users/YOU/.espressif/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/xtensa-esp32-elf/include/c++/8.4.0/xtensa-esp32-elf,
    -isysroot=/Users/YOU/.espressif/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/xtensa-esp32-elf,
  ]
  Remove: [
    -Wduplicated-cond,
    -Wduplicated-branches,
    -Wlogical-op,
    -fno-tree-switch-conversion,
    -mtext-section-literals,
    -mlongcalls,
    -fstrict-volatile-bitfields,
  ]
  Compiler: /Users/YOU/.espressif/tools/xtensa-clang/esp-clang/bin/clang++

You should then get proper LSP integration via clangd.