ESP32-S3 / ESP32 Boards
Arduino IDE Setup
madflight for ESP32-S3/ESP32 requires Arduino-ESP32 v3.x.x
Start the Arduino IDE and select menu Tools->Board Manager to install this software.
PlatformIO Setup
Clone or download the madflight repository from GitHub.
Start PlatformIO, press the "Import Arduino Project" button, and import a madflight example.
Adapt the platformio.ini file as follows:
; PlatformIO Project Configuration File for madflight
[env]
; Set this to the folder where madflight.h is located
; Default locations when installed via the Arduino IDE:
; Windows: C:\Users\{username}\Documents\Arduino\libraries\madflight
; macOS: /Users/{username}/Documents/Arduino/libraries/madflight
; Linux: /home/{username}/Arduino/libraries/madflight
lib_extra_dirs = /ENTER/MADFLIGHT/FOLDER/HERE
[env:esp32]
platform = espressif32
framework = arduino
board = esp32dev
[env:esp32s3]
platform = espressif32
framework = arduino
board = lolin_s3_mini
monitor_speed = 115200
build_flags =
-DCONFIG_IDF_TARGET_ESP32S3
-DARDUINO_USB_MODE=1
-DARDUINO_USB_CDC_ON_BOOT=1
Note: Espressiv stopped Arduino framework support for PlatformIO. Arduino 2.x is the last supported framework version, but madflight should still compile with this. Please post any updates on this topic here, or create an ESP-IDF version of madflight!
Pinout ESP32-S3-DevKitC-1
This is the default pinout for ESP32-S3. It is optimized for the Espressif ESP32-S3-DevKitC-1 (44 pin) board. This pinout is defined in madflight_board__ESP32-S3.h, but can be modified with madflight pin_xxx configuration settings in your program.
Note: Many clones of this board exist, which use various ESP32-S3-WROOM modules and/or have different on-board hardware (LED, RGB LED, SDCARD, etc.) Set Arduino IDE Board settings and pin_xxx configuration accordingly.
Note: Pin numbers refer to the GPIO numbers, not to the physical pin number on a board.
| Function | GPIO | Board | GPIO | Function |
|---|---|---|---|---|
| 3V3 out | 3V3 | Antenna | G | GND |
| 3V3 out | 3V3 | 43 | Serial USB UART port (used for programming / CLI) | |
| reset button | RST | 44 | Serial USB UART port (used for programming / CLI) | |
| pin_out0 (connect to motor/servo1) | 4 | 1 | free for future use | |
| pin_out1 (connect to motor/servo2) | 5 | 2 | pin_led (LED not present on all boards) | |
| pin_out2 (connect to motor/servo3) | 6 | 42 | free for future use | |
| pin_out3 (connect to motor/servo4) | 7 | 41 | free for future use | |
| pin_out4 (connect to motor/servo5) | 15 | 40 | pin_mmc_dat (mmc sdcard) | |
| pin_out5 (connect to motor/servo6) | 16 | 39 | pin_mmc_clk (mmc sdcard) | |
| pin_ser0_tx (connect to radio rx) | 17 | 38 | pin_mmc_cmd (mmc sdcard) | |
| pin_ser0_rx (connect to radio tx) | 18 | 37 | do not use, used for Octal PSRAM | |
| pin_i2c0_sda (connect to sda pins of barometer, magnetometer, etc. sensors) | 8 | 36 | do not use, used for Octal PSRAM | |
| pin_ser1_rx (connect to gps tx) | 3 | 35 | do not use, used for Octal PSRAM | |
| pin_ser1_tx (connect to gps rx) | 46 | 0 | boot button | |
| pin_i2c0_scl (connect to scl pins of barometer, magnetometer, etc. sensors) | 9 | 45 | free for future use | |
| pin_imu_cs (connect to SPI gyro cs) | 10 | 48 | RGB LED (not used) | |
| pin_spi0_mosi (connect to SPI gyro mosi) | 11 | 47 | pin_i2c1_scl (connect to I2C gyro scl) | |
| pin_spi0_miso (connect to SPI gyro miso) | 12 | 21 | pin_i2c1_sda (connect to I2C gyro sda) | |
| pin_spi0_sclk (connect to SPI gyro sclk) | 13 | 20 | USB_D+ (alternate for programming / CLI) | |
| pin_imu_int (connect to SPI/I2C gyro interrupt out) | 14 | 19 | USB_D- (alternate for programming / CLI) | |
| 5V in (*) | 5V | G | GND | |
| GND | G | USB connectors | G | GND |
(*) 5V input via diode from BEC. Without a diode take care not connect USB and the battery at the same time!
Setup ESP32-S3 in the Arduino IDE
In the Aduino IDE select board: "ESP32S3 Dev Module" and set the following options in the Tools menu:
- Flash Mode: see table below
- Flash Size: see x in table below
- PSRAM: see table below
| ESP32-S3 module | Flash Mode | PSRAM | Notes |
|---|---|---|---|
| ESP32-S3-WROOM-1-Nx | Quad 80MHz | - | x = 4/8/16 |
| ESP32-S3-WROOM-1-Hx | Quad 80MHz | - | High temperature version |
| ESP32-S3-WROOM-1-NxR2 | Quad 80MHz | Quad PSRAM | |
| ESP32-S3-WROOM-1-NxR8 | Quad 80MHz | Octal PSRAM | pins IO35, IO36, and IO37 are connected to the Octal SPI PSRAM and are not available for other uses. |
| ESP32-S3-WROOM-1-NxR16V | Quad 80MHz | Octal PSRAM | 1.8V SPI, pins IO35, IO36, and IO37 are connected to the Octal SPI PSRAM and are not available for other uses. |
| ESP32-S3-WROOM-2-NxR8V | Octal 80MHz | Octal PSRAM | 120MHz SPI, 1.8V SPI, pins IO35, IO36, and IO37 are connected to the Octal SPI PSRAM and are not available for other uses. |
Setup Serial Port / Programming Interface
- USB CDC On Boot: Disabled
- Upload Mode: UART0 / Hardware CDC
This creates 3 serial ports (Serial, Serial1 and Serial2), where Serial connected to "USB-UART", and Serial0 not connected (gives error 'Serial0' was not declared).
Programming is via the "USB-UART" usb port, and programming works without pressing boot/reset buttons.
Alternate Setup Serial Port / Programming Interface
- USB CDC On Boot: Enabled
- USB DFU On Boot: Disabled
- USB Mode: USB-OTG (TinyUSB)
- Upload Mode: USB-OTG CDC (TinyUSB)
This creates 4 serial ports (Serial, Serial0, Serial1 and Serial2), Serial connected to "USB-OTG", Serial0 connected to "USB-UART"
Programming is via the "USB-OTG" usb port, but you need to press the boot/reset buttons (For programming: press boot, press+release reset, release boot, then upload; For serial monitor: press+release reset, then open serial monitor)
Pinout ESP32 DevKitC
This is the default pinout for ESP32. It is optimized for the Espressiv ESP32 DevKitC (38 pin) board. This pinout is defined in madflight_board__ESP32.h, but can be modified with madflight pin_xxx configuration settings in your program.
Many clones of this board exist, which might have different ESP32 modules and/or different on-board hardware (LED, RGB LED, SDCARD, etc.) Set Arduino IDE Board settings and madflight pin_xxx configurations accordingly.
| Function | GPIO | Board | GPIO | Function |
|---|---|---|---|---|
| 3V3 out | 3V3 | Antenna side | GND | GND |
| reset button | EN | 23 | pin_i2c0_sda (connect to sda pins of barometer, magnetometer, etc.) | |
| pin_spi0_miso (connect to SPI gyro miso) | 36 (VP) input only | 22 | pin_i2c0_scl (connect to scl pins of barometer, magnetometer, etc.) | |
| pin_imu_int (connect to SPI/I2C gyro interrupt) | 39 (VN) input only | (TX) 1 | Serial USB UART port (used for programming / CLI) | |
| pin_bat_v (connect to battery voltage divider) | 34 input only | (RX) 3 | Serial USB UART port (used for programming / CLI) | |
| pin_ser0_rx (connect to radio tx) | 35 input only | 21 | pin_spi0_mosi (connect to SPI gyro mosi) | |
| pin_ser0_tx (connect to radio rx) | 32 | GND | GND | |
| pin_out0 (connect to motor/servo1) | 33 | 19 | pin_spi0_sclk (connect to SPI gyro sclk) | |
| pin_out1 (connect to motor/servo2) | 25 | 18 | pin_imu_cs (connect to SPI gyro cs) | |
| pin_out2 (connect to motor/servo3) | 26 | strap 5 | pin_ser1_tx (connect to gps rx) | |
| pin_out3 (connect to motor/servo4) | 27 | 17 | pin_ser1_rx (connect to gps tx) | |
| pin_out4 (connect to motor/servo5) | 14 | 16 | pin_i2c1_scl (connect to I2C gyro scl) | |
| pin_out5 (connect to motor/servo6) | 12 | strap 4 | pin_i2c1_sda (connect to I2C gyro sda) | |
| GND | GND | boot 0 | free for future use | |
| free for future use | 13 | strap 2 | pin_led (LED not present on all boards) | |
| do not use | 9 (D2) flash | strap 15 | free for future use | |
| do not use | 10 (D3) flash | flash (D1) 8 | do not use | |
| do not use | 11 (CMD) flash | flash (D0) 7 | do not use | |
| 5V input (*) | 5V | USB connector | flash (CLK) 6 | do not use |
(*) 5V input via diode from BEC. Without a diode take care not connect USB and the battery at the same time!
Note: During boot the input voltage levels (pull up/pull down) on strap pins have a configuration function, therefor these pins are used as output only.
ESP32 has 6 strapping pins: - GPIO0: internal pull-up (boot button) - GPIO2: internal pull-down - GPIO4: internal pull-down - GPIO5: internal pull-up - GPIO12: internal pull-down - GPIO15: internal pull-up
ESP32-S3/ESP32 Hardware
ESP32-S3 and ESP32 are very similar chips. The ESP32-S3 is more recent: it has more pins, USB-OTG (3 UARTs plus 1 USB-OTG CDC UART), improved single block RAM structure. The ESP32 is better if you need a lot of PWM channels, it has 16 PWM (LEDC) outputs, versus 8 on ESP32-S3.
ESP32 and ESP32-S3 both have dual core CPU, but single core FPU. ESP-IDF implementation limits float usage to a single core, and float can not be used in interrupts.
madflight uses float and is therefor limited to single core operation. The IMU loop runs as a high priorty task, triggered by the IMU interrupt.
FreeRTOS is always enabled and a watchdog limits interrupt execution time.
madflight Limitiations
- BBX: ESP32 SDCARD only with SPI interface (ESP32-S3 has MMC and SPI)
- CLI: no
ps(because FreeRTOS TRACE not enabled in arduino-ESP32, and enabling it is not trivial) - I2C: Issues with timeouts in the ESP-IDF I2C drivers, supposedly fixed but not confirmed