Table Of Content

Page 1 Table of Contents Introduction................................................................................................................................48 Important Documentation Notes – ESP8266 and ESP32...........................................................49 Overview....................................................................................................................................49 The ESP32............................................................................................................................50 The ESP32 specification.......................................................................................................51 Modules.................................................................................................................................52 ESP-WROOM-32..............................................................................................................52 ESP32-DevKitC................................................................................................................53 ESP-WROVER-KIT..........................................................................................................55 The SparkFun ESP32 thing..............................................................................................60 Connecting to the ESP32...........................................................................................................61 Assembling circuits....................................................................................................................62 USB to UART converters.......................................................................................................63 Breadboards..........................................................................................................................64 Power....................................................................................................................................65 Multi-meter / Logic probe / Logic Analyzer.............................................................................66 Sundry components..............................................................................................................66 Physical construction.............................................................................................................66 Configuration for flashing the device.....................................................................................67 Programming for ESP32............................................................................................................68 Espressif IoT Development framework..................................................................................68 Application entry point......................................................................................................71 How ESP-IDF works.........................................................................................................72 Error handling...................................................................................................................75 The build environment menu configuration.......................................................................75 Adding a custom ESP-IDF component.............................................................................82 Working with memory.......................................................................................................85 Compiling..............................................................................................................................86 Compilation.......................................................................................................................87 Flashing............................................................................................................................89 Loading a program............................................................................................................91 Programming environments..............................................................................................93 Compilation tools..............................................................................................................93 xntensa-esp32-elf-ar....................................................................................................94 esptool.py.....................................................................................................................95 xtensa-esp32-elf-gcc....................................................................................................97 gen_appbin.py..............................................................................................................98 make............................................................................................................................99 xtensa-esp32-elf-strip...................................................................................................99 xtensa-esp32-elf-nm...................................................................................................100 Page 2 xtensa-esp32-elf-objcopy...........................................................................................100 xtensa-esp32-elf-objdump..........................................................................................100 xxd.............................................................................................................................100 Linking.................................................................................................................................101 Sizes of images..............................................................................................................104 Debugging...........................................................................................................................105 ESP-IDF logging.............................................................................................................105 Exception handling.........................................................................................................108 Address to source line....................................................................................................109 Core dump processing....................................................................................................110 Using a debugger (GDB).................................................................................................115 OpenOCD and JTAG......................................................................................................116 Using the ESP-WROVER-KIT for JTAG.....................................................................118 Dumping IP Addresses....................................................................................................119 Debugging and testing TCP and UDP connections.........................................................119 Android – Socket Protocol..........................................................................................119 Android – UDP Sender/Receiver................................................................................119 Windows – Hercules...................................................................................................120 SocketTest..................................................................................................................120 Linux – netcat (nc)......................................................................................................120 Curl............................................................................................................................120 Eclipse – TCP/MON...................................................................................................121 httpbin.org..................................................................................................................123 RequestBin.................................................................................................................123 tcpdump.....................................................................................................................124 ESP-IDF component debugging.....................................................................................124 LWIP..........................................................................................................................124 Run a Blinky....................................................................................................................124 WiFi subsystem........................................................................................................................125 WiFi Theory.........................................................................................................................125 Initializing the WiFi environment..........................................................................................127 Setting the operation mode.................................................................................................127 Scanning for access points..................................................................................................128 Handling WiFi events..........................................................................................................130 Station configuration............................................................................................................137 Starting up the WiFi environment........................................................................................138 Connecting to an access point............................................................................................138 Being an access point.........................................................................................................141 Working with connected stations.........................................................................................145 WiFi at boot time.................................................................................................................145 The DHCP client..................................................................................................................146 The DHCP server................................................................................................................146 Page 3 Current IP Address, netmask and gateway..........................................................................147 WiFi Protected Setup – WPS..............................................................................................147 Designs for bootstrapping WiFi...........................................................................................148 Working with TCP/IP................................................................................................................149 The Lightweight IP Stack – lwip...........................................................................................150 TCP.....................................................................................................................................151 TCP/IP Sockets...................................................................................................................152 Handling errors...............................................................................................................155 Configuration settings.....................................................................................................159 Using select()..................................................................................................................160 Differences from "standard" sockets...............................................................................160 UDP/IP Sockets...................................................................................................................160 TLS, SSL and security.........................................................................................................162 mbedTLS client app structure.........................................................................................164 mbedTLS client example................................................................................................166 mbedTLS server app structure.......................................................................................168 mbedTLS Debugging......................................................................................................170 OpenSSL........................................................................................................................171 RSA encryption/decryption..............................................................................................171 Name Service......................................................................................................................171 Multicast Domain Name Systems........................................................................................172 mDNS API programming.................................................................................................173 Installing Bonjour............................................................................................................174 Avahi...............................................................................................................................177 Working with SNTP.............................................................................................................178 Java Sockets.......................................................................................................................180 Bluetooth..................................................................................................................................183 Bluetooth specification........................................................................................................183 Bluetooth UUIDs.............................................................................................................186 Bluetooth GAP................................................................................................................186 Low level packet.........................................................................................................187 GAP Advertizing data.................................................................................................188 Advertisability – limited and general...........................................................................191 Directed advertising....................................................................................................191 Non-connectable advertising......................................................................................192 Filtering devices.........................................................................................................192 Performing a scan......................................................................................................192 Performing advertising...............................................................................................195 Bluetooth GATT..............................................................................................................196 GATT Characteristic...................................................................................................198 Being a GATT client...................................................................................................199 Being a GATT Server.................................................................................................201 Notifications and indications.......................................................................................201 GATT XML descriptions..............................................................................................202 Page 4 Service Discovery Protocol.............................................................................................202 ESP32 and Bluetooth..........................................................................................................203 GATT Server – Read request..........................................................................................204 Debugging ESP32 Bluetooth..........................................................................................205 Bluetooth C Programming in Linux......................................................................................205 hci_get_route..................................................................................................................205 hci_open_dev.................................................................................................................205 hci_inquiry......................................................................................................................206 hci_read_remote_name..................................................................................................207 str2ba..............................................................................................................................207 ba2str..............................................................................................................................207 Bluetooth programming in Node.js......................................................................................208 Using Noble....................................................................................................................208 Using Bleno....................................................................................................................213 Bluetooth Audio...................................................................................................................214 Bluetooth RFCOMM............................................................................................................215 Bluetooth tools.....................................................................................................................217 l2ping..............................................................................................................................217 rfcomm............................................................................................................................217 bluetoothctl.....................................................................................................................218 hciconfig.........................................................................................................................219 hcidump..........................................................................................................................220 hcitool.............................................................................................................................220 gatttool............................................................................................................................221 Bluetooth examples.............................................................................................................222 The iTag peripheral.........................................................................................................222 Smart Watch / The TW64 Band......................................................................................224 Web Bluetooth.....................................................................................................................226 The Physical Web...............................................................................................................233 BLE beacons.......................................................................................................................233 Hardware interfacing................................................................................................................233 GPIOs.................................................................................................................................234 Pull up and pull down settings........................................................................................236 GPIO Interrupt handling..................................................................................................236 Expanding the number of available GPIOs.....................................................................240 PCF8574....................................................................................................................240 PCF8575....................................................................................................................244 MCP23017.................................................................................................................245 Interrupt Service Routines – ISRs.......................................................................................250 Working with I2C.................................................................................................................252 Using the ESP-IDF I2C driver.........................................................................................254 Common I2C devices......................................................................................................257 Page 5 Working with SPI – Serial Peripheral Interface....................................................................257 Using the ESP-IDF SPI driver.........................................................................................260 The Arduino Hardware Abstraction Layer SPI.................................................................263 Common SPI devices.....................................................................................................265 Working with UART/serial....................................................................................................266 Using the VFS component with serial.............................................................................269 I2S Bus................................................................................................................................269 I2S – Camera..................................................................................................................270 I2S – LCD.......................................................................................................................270 I2S – DMA......................................................................................................................270 RMT – The Remote Peripheral............................................................................................275 Timers and time...................................................................................................................281 LEDC – Pulse Width Modulation – PWM.............................................................................284 Automated PWM fading..................................................................................................288 Analog to digital conversion.................................................................................................289 Sleep modes.......................................................................................................................292 Security...............................................................................................................................294 Working with flash memory.................................................................................................294 Working with RAM memory.................................................................................................295 RAM Utilization...............................................................................................................297 Heap diagnosis / memory leaks......................................................................................298 Heap corruption..........................................................................................................300 Using PSRAM.................................................................................................................303 EFUSE................................................................................................................................305 EFuse #3 – 0x6001a00c.................................................................................................306 Button press detection.........................................................................................................306 GPS....................................................................................................................................308 GPS decoding.................................................................................................................310 Temperature and pressure – BMP180.................................................................................311 Using the Arduino APIs...................................................................................................313 NeoPixels............................................................................................................................313 NeoPixel theory..............................................................................................................313 NeoPixels and the ESP32...............................................................................................316 APA102...........................................................................................................................317 LED 7-Segment displays.....................................................................................................317 MAX7219/MAX7221 – Serial interface, 8-digit, led display drivers..................................318 The U8g2 library..................................................................................................................322 LCD display – Nokia 5110 – PCD8544................................................................................323 OLED 128x32, 128x64 – SSD1306.....................................................................................325 TFT displays........................................................................................................................327 Ambient light level sensor – BH1750FVI.............................................................................328 Ambient light and proximity sensor......................................................................................330 Infrared receivers................................................................................................................331 RFID MFRC522...................................................................................................................333 Page 6 MFRC522 – Low levels...................................................................................................335 Initialization................................................................................................................338 AntennaOn.................................................................................................................339 Cameras..............................................................................................................................339 Ivan's sample..................................................................................................................339 OV7670..........................................................................................................................341 Accelerometer and Gyroscope – MPU-6050 (aka GY-521).................................................341 The math of accelerometers...........................................................................................347 Visualizing orientation.....................................................................................................348 Compass – HMC5883L (aka GY-271) (aka CJ-M49)...........................................................348 Tilt compensation of the compass...................................................................................354 Real time clocks..................................................................................................................355 Servos.................................................................................................................................358 The Mini/Micro SG90......................................................................................................360 Audio...................................................................................................................................360 PCM5102 – I2S DAC......................................................................................................360 Graphic Equalizer...........................................................................................................361 External networking.............................................................................................................364 The nRF24......................................................................................................................364 Using the Arduino APIs...............................................................................................370 Integrating the nRF24 with the ESP32.......................................................................377 Programming using Eclipse.....................................................................................................380 Installing the Eclipse Serial terminal....................................................................................390 Web development using Eclipse..........................................................................................395 Programming using the Arduino IDE........................................................................................396 Mapping from the Arduino to the ESP32.............................................................................397 Implications of Arduino IDE support.....................................................................................398 Installing the Arduino IDE with ESP32 support....................................................................399 Using the Arduino libraries as an ESP-IDF component.......................................................401 Tips for working in the Arduino environment........................................................................402 Initialize global classes in setup()....................................................................................402 Invoking Espressif SDK API from a sketch......................................................................402 Reasons to consider using Eclipse over Arduino IDE.....................................................403 Programming with JavaScript..................................................................................................403 Duktape...............................................................................................................................404 Compiling code...............................................................................................................405 Building for ESP32..........................................................................................................405 Integrating Duktape in an ESP32 application..................................................................405 The Duktape stack..........................................................................................................406 Working with object properties........................................................................................406 Calling C from a JavaScript program..............................................................................406 JerryScript...........................................................................................................................407 Page 7 Platform specific files......................................................................................................407 JerryScript life-cycle........................................................................................................408 Accessing the global environment..................................................................................408 The jerry_value_t............................................................................................................408 Handling errors...............................................................................................................409 Interfacing JerryScript with C..........................................................................................409 IoT.js....................................................................................................................................410 Programming with Python........................................................................................................410 Pycom Micropython.............................................................................................................410 Programming with Lua.............................................................................................................410 Lua-RTOS for ESP32..........................................................................................................410 Integration with Web Apps........................................................................................................411 HTTP Protocol.....................................................................................................................411 HTTP Headers................................................................................................................411 Accept header............................................................................................................411 Authorization header..................................................................................................411 Connection header.....................................................................................................412 Content-Length header..............................................................................................412 Content-Type header..................................................................................................412 Host header................................................................................................................412 User-Agent header.....................................................................................................412 Web Servers........................................................................................................................412 Mongoose networking library..........................................................................................413 Setting up Mongoose on an ESP32...........................................................................416 Sending a request from Mongoose............................................................................417 The Mongoose struct mg_connection........................................................................417 Handling file uploads..................................................................................................417 GoAhead Web Server.....................................................................................................418 JavaScript Webserver.....................................................................................................419 REST Services....................................................................................................................419 REST protocol................................................................................................................419 ESP32 as a REST client.................................................................................................420 Making a REST request using Curl............................................................................420 Making a REST request using Mongoose..................................................................425 ESP32 as a REST service provider................................................................................425 WebSockets........................................................................................................................425 A WebSocket browser app..............................................................................................426 Mongoose WebSocket....................................................................................................428 Other Websocket implementations.................................................................................429 Tasker..................................................................................................................................429 AutoRemote........................................................................................................................429 DuckDNS............................................................................................................................431 Networking protocols...............................................................................................................432 MQTT..................................................................................................................................432 Page 8 Mosquitto MQTT.............................................................................................................434 Installing on Windows.................................................................................................436 Writing ESP32 MQTT clients..........................................................................................438 Using Mongoose as an MQTT client..........................................................................438 Using Espruino as an MQTT client.............................................................................440 Writing non ESP32 MQTT clients...................................................................................440 Eclipse paho...............................................................................................................441 C – Mosquitto client library.........................................................................................442 Node.js JavaScript – MQTT.......................................................................................444 Browser JavaScript – MQTT......................................................................................445 CoAP – Constrained Application Protocol............................................................................447 FTP.....................................................................................................................................449 TFTP...................................................................................................................................449 Telnet...................................................................................................................................450 DNS Protocol......................................................................................................................452 Mobile apps.............................................................................................................................455 Blynk...................................................................................................................................455 Cloud environments.................................................................................................................459 IBM Bluemix........................................................................................................................459 If This Then That – IFTTT....................................................................................................460 Storage programming..............................................................................................................461 Partition table......................................................................................................................461 Non Volatile Storage............................................................................................................465 Virtual File System..............................................................................................................466 VFS Implementations......................................................................................................467 FATFS File System..............................................................................................................468 Spiffs File System................................................................................................................469 Building SPIFFs for the ESP32.......................................................................................471 mkspiffs tool....................................................................................................................471 The ESP File System – EspFs............................................................................................472 SD, MMC and SDIO interfacing...........................................................................................474 ZIP files...............................................................................................................................475 zlib..................................................................................................................................475 miniz...............................................................................................................................475 kuba--/zip........................................................................................................................476 Charting data...........................................................................................................................476 Kst.......................................................................................................................................477 Sample Snippets......................................................................................................................478 Sample applications.................................................................................................................478 Sample – Ultrasonic distance measurement.......................................................................479 Sample – WiFi Scanner.......................................................................................................482 Sample – A changeable mood light.....................................................................................482 Page 9 Using FreeRTOS.....................................................................................................................487 The architecture of a task in FreeRTOS..............................................................................488 Stacks and FreeRTOS tasks...........................................................................................490 Timers in FreeRTOS............................................................................................................493 Blocking and synchronization within FreeRTOS..................................................................493 Semaphores and Mutices within FreeRTOS........................................................................495 Queues within FreeRTOS...................................................................................................496 Ring buffer withing FreeRTOS.............................................................................................497 Working with queue sets.....................................................................................................498 Monitoring capabilities.........................................................................................................499 Running untested functions.................................................................................................500 The Serial AT command processor..........................................................................................500 Mongoose OS..........................................................................................................................501 The Mongoose OS file system............................................................................................503 Setting up Mongoose OS WiFi............................................................................................503 Building a Mongoose OS App..............................................................................................503 AWS IoT..................................................................................................................................503 The ESP-IDF aws_iot component.......................................................................................505 Using the TI CC2650 SensorTag..............................................................................................506 IR Temperature Sensor.......................................................................................................509 Humidity Service.................................................................................................................510 Ambient light sensor............................................................................................................510 Key Press............................................................................................................................510 Developing solutions on Linux..................................................................................................511 Building a Linux environment..........................................................................................512 Hardware architecture..............................................................................................................513 The CPU and cores.............................................................................................................513 Intrinsic data types..............................................................................................................513 Native byte order, endian and network byte order...............................................................513 Memory mapping and address spaces................................................................................515 Reading and writing registers..............................................................................................516 Pads and multiplexing.........................................................................................................517 Register based GPIO..........................................................................................................520 GPIO_OUT_REG...........................................................................................................522 GPIO_OUT_W1TS_REG................................................................................................522 GPIO_OUT_W1TC_REG...............................................................................................522 GPIO_OUT1_REG.........................................................................................................523 GPIO_OUT1_W1TS_REG..............................................................................................523 GPIO_OUT1_W1TC_REG.............................................................................................523 GPIO_ENABLE_REG.....................................................................................................523 GPIO_ENABLE_W1TS_REG.........................................................................................523 GPIO_ENABLE_W1TC_REG.........................................................................................523 GPIO_ENABLE1_REG...................................................................................................523 GPIO_ENABLE1_W1TS_REG.......................................................................................524 Page 10

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