Got controller connected and working, buttons broken

Minor mods
fixed unconnected grounds, removed solder mask for high current traces, fixed silkscreen
2026-05-15 16:38:57 +12:00 · 2026-05-12 09:55:39 +12:00 · 2026-05-11 23:50:46 +12:00 · 2026-05-11 21:22:06 +12:00 · 2026-05-11 21:21:45 +12:00 · 2026-05-10 19:57:44 +12:00
29 changed files with 59533 additions and 42836 deletions
--- a/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym
+++ b/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym
@@ -1,7 +1,7 @@
 (kicad_symbol_lib
-	(version 20241209)
+	(version 20251024)
 	(generator "kicad_symbol_editor")
-	(generator_version "9.0")
+	(generator_version "10.0")
 	(symbol "DOZ50N03"
 		(pin_names
 			(offset 0)
@@ -10,8 +10,12 @@
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
 		(in_pos_files yes)
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@@ -21,6 +25,8 @@
 		)
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@@ -30,74 +36,90 @@
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@@ -268,6 +290,62 @@
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@@ -289,62 +367,6 @@
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@@ -367,8 +389,12 @@
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@@ -377,6 +403,8 @@
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@@ -385,31 +413,37 @@
 		)
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 			(at 9.398 -30.734 0)
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@@ -424,6 +458,24 @@
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@@ -478,17 +530,35 @@
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--- a/hardware/esp32-racer/MCU.kicad_sch
+++ b/hardware/esp32-racer/MCU.kicad_sch
@@ -5,6 +5,129 @@
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@@ -4575,14 +4698,6 @@
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--- a/hardware/esp32-racer/MOTOR_DRIVER.kicad_sch
+++ b/hardware/esp32-racer/MOTOR_DRIVER.kicad_sch
@@ -1168,7 +1168,7 @@
 			)
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--- a/hardware/esp32-racer/POWER.kicad_sch
+++ b/hardware/esp32-racer/POWER.kicad_sch
@@ -4654,16 +4654,6 @@
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--- a/hardware/esp32-racer/POWER_CONNECTORS.kicad_sc.kicad_sch
+++ b/hardware/esp32-racer/POWER_CONNECTORS.kicad_sc.kicad_sch
@@ -3084,7 +3084,7 @@
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 				)
 				(pin passive line
-					(at 2.54 5.08 270)
+					(at 2.54 -5.08 90)
 					(length 2.54)
 					(hide yes)
 					(name "D"
@@ -3121,7 +3121,7 @@
 					)
 				)
 				(pin passive line
-					(at 2.54 5.08 270)
+					(at 2.54 -5.08 90)
 					(length 2.54)
 					(hide yes)
 					(name "D"
@@ -3158,7 +3158,7 @@
 					)
 				)
 				(pin passive line
-					(at 2.54 -5.08 90)
+					(at 2.54 5.08 270)
 					(length 2.54)
 					(name "S"
 						(effects
--- a/hardware/esp32-racer/esp32-racer.kicad_pcb
+++ b/hardware/esp32-racer/esp32-racer.kicad_pcb
--- a/hardware/esp32-racer/esp32-racer.kicad_prl
+++ b/hardware/esp32-racer/esp32-racer.kicad_prl
@@ -1,6 +1,6 @@
 {
  "board": {
-    "active_layer": 5,
+    "active_layer": 0,
    "active_layer_preset": "",
    "auto_track_width": true,
    "hidden_netclasses": [],
--- a/hardware/esp32-racer/esp32-racer.kicad_pro
+++ b/hardware/esp32-racer/esp32-racer.kicad_pro
@@ -769,7 +769,7 @@
        "uuid": "1d580319-54a9-438f-a4a3-ea2f61f357b8"
      }
    ],
-    "used_designators": "",
+    "used_designators": "R65,TP1-2",
    "variants": []
  },
  "sheets": [
--- a/software/lsm6dso_example/CMakeLists.txt
+++ b/software/lsm6dso_example/CMakeLists.txt
@@ -0,0 +1,22 @@
 # The following lines of boilerplate have to be in your project's CMakeLists
 # in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.20)
 set(ENV{IDF_COMPONENT_MANAGER} "0")
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 # add the component directories that we want to use
 set(EXTRA_COMPONENT_DIRS
  "components/"
 )
 set(
  COMPONENTS
  "main esptool_py i2c lsm6dso filters"
  CACHE STRING
  "List of components to include"
  )
 project(lsm6dso_example)
 set(CMAKE_CXX_STANDARD 20)
--- a/software/lsm6dso_example/README.md
+++ b/software/lsm6dso_example/README.md
@@ -0,0 +1,50 @@
 # LSM6DSO Example
 This example demonstrates how to use the espp LSM6DSO 6-axis IMU driver with the
 ESP-IDF. The example is modeled after the ICM42607 example and shows how to
 configure the IMU, read accelerometer and gyroscope data, and use orientation
 filtering (e.g., Madgwick filter).
 ![CleanShot 2025-06-18 at 14 16 01](https://github.com/user-attachments/assets/10b15539-688b-4711-b1ce-e7bb33f7e343)
 ## Features
 - I2C communication with the LSM6DSO
 - Configurable accelerometer and gyroscope range and output data rate
 - Periodic reading of accelerometer, gyroscope, and temperature data
 - Orientation filtering using Madgwick filter
 ## Usage
 - Configure the I2C pins and address in `sdkconfig` or via Kconfig options
 - Build and flash the example to your ESP32/ESP-IDF target
 - The example will print IMU data and orientation to the serial console
 ### Build and Flash
 Build the project and flash it to the board, then run monitor tool to view
 serial output:
 ```
 idf.py -p PORT flash monitor
 ```
 (Replace PORT with the name of the serial port to use.)
 (To exit the serial monitor, type ``Ctrl-]``.)
 See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
 ## Example Output
 ![CleanShot 2025-06-18 at 14 15 13](https://github.com/user-attachments/assets/26b07fa0-4e4a-4025-a5a7-135322da8d3b)
 ![CleanShot 2025-06-18 at 14 16 01](https://github.com/user-attachments/assets/10b15539-688b-4711-b1ce-e7bb33f7e343)
 ## Example Code
 See `main/lsm6dso_example.cpp` for the full example source code.
 ## Configuration
 - Default I2C address: 0x6A (can be changed in Kconfig or via config struct)
 - Example I2C pins: SDA = 21, SCL = 22
 ## Documentation
 See the [documentation](https://esp-cpp.github.io/espp/imu/lsm6dso.html) for
 full API details.
--- a/software/lsm6dso_example/main/CMakeLists.txt
+++ b/software/lsm6dso_example/main/CMakeLists.txt
@@ -0,0 +1,2 @@
 idf_component_register(SRC_DIRS "."
                       INCLUDE_DIRS ".")
--- a/software/lsm6dso_example/main/Kconfig.projbuild
+++ b/software/lsm6dso_example/main/Kconfig.projbuild
@@ -0,0 +1,46 @@
 menu "Example Configuration"
 choice EXAMPLE_HARDWARE
  prompt "Hardware"
  default EXAMPLE_HARDWARE_QTPYPICO
  help
    Select the hardware to run this example on.
 config EXAMPLE_HARDWARE_QTPYPICO
  depends on IDF_TARGET_ESP32
  bool "Qt Py PICO"
 config EXAMPLE_HARDWARE_QTPYS3
  depends on IDF_TARGET_ESP32S3
  bool "Qt Py S3"
 config EXAMPLE_HARDWARE_CUSTOM
  bool "Custom"
 endchoice
 config EXAMPLE_I2C_SCL_GPIO
  int "SCL GPIO Num"
  range 0 50
  default 19 if EXAMPLE_HARDWARE_QTPYPICO
  default 40 if EXAMPLE_HARDWARE_QTPYS3
  default 19 if EXAMPLE_HARDWARE_CUSTOM
  help
    GPIO number for I2C Master clock line.
 config EXAMPLE_I2C_SDA_GPIO
  int "SDA GPIO Num"
  range 0 50
  default 22 if EXAMPLE_HARDWARE_QTPYPICO
  default 41 if EXAMPLE_HARDWARE_QTPYS3
  default 22 if EXAMPLE_HARDWARE_CUSTOM
  help
    GPIO number for I2C Master data line.
 config EXAMPLE_I2C_CLOCK_SPEED_HZ
  int "I2C Clock Speed"
  range 100 1000000
  default 400000
  help
    I2C clock speed in Hz.
 endmenu
--- a/software/lsm6dso_example/main/lsm6dso_example.cpp
+++ b/software/lsm6dso_example/main/lsm6dso_example.cpp
@@ -0,0 +1,199 @@
 #include <chrono>
 #include <cmath>
 #include <vector>
 #include "i2c.hpp"
 #include "kalman_filter.hpp"
 #include "logger.hpp"
 #include "lsm6dso.hpp"
 #include "madgwick_filter.hpp"
 using namespace std::chrono_literals;
 extern "C" void app_main(void) {
  espp::Logger logger({.tag = "LSM6DSO Example", .level = espp::Logger::Verbosity::INFO});
  logger.info("Starting LSM6DSO example!");
  //! [lsm6dso example]
  using Imu = espp::Lsm6dso<espp::lsm6dso::Interface::I2C>;
  // I2C config (customize as needed)
  static constexpr auto i2c_port = I2C_NUM_0;
  static constexpr auto i2c_clock_speed = CONFIG_EXAMPLE_I2C_CLOCK_SPEED_HZ;     // Set in sdkconfig
  static constexpr gpio_num_t i2c_sda = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO; // Set in sdkconfig
  static constexpr gpio_num_t i2c_scl = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO; // Set in sdkconfig
  espp::I2c i2c({.port = i2c_port,
                 .sda_io_num = i2c_sda,
                 .scl_io_num = i2c_scl,
                 .sda_pullup_en = GPIO_PULLUP_ENABLE,
                 .scl_pullup_en = GPIO_PULLUP_ENABLE,
                 .clk_speed = i2c_clock_speed});
  // make the orientation filter to compute orientation from accel + gyro
  static constexpr float angle_noise = 0.001f;
  static constexpr float rate_noise = 0.1f;
  static espp::KalmanFilter<2> kf;
  kf.set_process_noise(rate_noise);
  kf.set_measurement_noise(angle_noise);
  auto kalman_filter_fn = [](float dt, const Imu::Value &accel,
                             const Imu::Value &gyro) -> Imu::Value {
    // Apply Kalman filter
    float accelRoll = atan2(accel.y, accel.z);
    float accelPitch = atan2(-accel.x, sqrt(accel.y * accel.y + accel.z * accel.z));
    kf.predict({espp::deg_to_rad(gyro.x), espp::deg_to_rad(gyro.y)}, dt);
    kf.update({accelRoll, accelPitch});
    float roll, pitch;
    std::tie(roll, pitch) = kf.get_state();
    // return the computed orientation
    Imu::Value orientation{};
    orientation.roll = roll;
    orientation.pitch = pitch;
    orientation.yaw = 0.0f;
    return orientation;
  };
  // Madgwick filter for orientation
  static constexpr float beta = 0.1f;
  static espp::MadgwickFilter madgwick(beta);
  auto madgwick_filter_fn = [](float dt, const Imu::Value &accel,
                               const Imu::Value &gyro) -> Imu::Value {
    madgwick.update(dt, accel.x, accel.y, accel.z, espp::deg_to_rad(gyro.x),
                    espp::deg_to_rad(gyro.y), espp::deg_to_rad(gyro.z));
    float roll, pitch, yaw;
    madgwick.get_euler(roll, pitch, yaw);
    Imu::Value orientation{};
    orientation.roll = espp::deg_to_rad(roll);
    orientation.pitch = espp::deg_to_rad(pitch);
    orientation.yaw = espp::deg_to_rad(yaw);
    return orientation;
  };
  // IMU config
  Imu::Config config{
      .device_address = Imu::DEFAULT_I2C_ADDRESS,
      .write = std::bind(&espp::I2c::write, &i2c, std::placeholders::_1, std::placeholders::_2,
                         std::placeholders::_3),
      .read = std::bind(&espp::I2c::read, &i2c, std::placeholders::_1, std::placeholders::_2,
                        std::placeholders::_3),
      .imu_config =
          {
              .accel_range = Imu::AccelRange::RANGE_2G,
              .accel_odr = Imu::AccelODR::ODR_416_HZ,
              .gyro_range = Imu::GyroRange::DPS_2000,
              .gyro_odr = Imu::GyroODR::ODR_416_HZ,
          },
      .orientation_filter = kalman_filter_fn,
      .auto_init = true,
      .log_level = espp::Logger::Verbosity::INFO,
  };
  logger.info("Creating LSM6DSO IMU");
  Imu imu(config);
  std::error_code ec;
  // set the accel / gyro on-chip filters
  static constexpr uint8_t accel_filter_bandwidth = 0b001; // ODR / 10
  static constexpr uint8_t gyro_lpf_bandwidth = 0b001;     // ODR / 3
  static constexpr bool gyro_hpf_enabled = false;          // disable high-pass filter on gyro
  static constexpr auto gyro_hpf_bandwidth = Imu::GyroHPF::HPF_0_26_HZ; // 0.26Hz
  if (!imu.set_accelerometer_filter(accel_filter_bandwidth, Imu::AccelFilter::LOWPASS, ec)) {
    logger.error("Failed to set accelerometer filter: {}", ec.message());
  }
  // set the gyroscope filter to have lowpass
  if (!imu.set_gyroscope_filter(gyro_lpf_bandwidth, gyro_hpf_enabled, gyro_hpf_bandwidth, ec)) {
    logger.error("Failed to set gyroscope filter: {}", ec.message());
  }
  // make a task to read out the IMU data and print it to console
  espp::Task imu_task({.callback = [&](std::mutex &m, std::condition_variable &cv) -> bool {
                         static auto start = std::chrono::steady_clock::now();
                         auto now = esp_timer_get_time(); // time in microseconds
                         static auto t0 = now;
                         auto t1 = now;
                         float dt = (t1 - t0) / 1'000'000.0f; // convert us to s
                         t0 = t1;
                         std::error_code ec;
                         // update the imu data
                         if (!imu.update(dt, ec)) {
                           return false;
                         }
                         // get accel
                         auto accel = imu.get_accelerometer();
                         auto gyro = imu.get_gyroscope();
                         auto temp = imu.get_temperature();
                         auto orientation = imu.get_orientation();
                         auto gravity_vector = imu.get_gravity_vector();
                         [[maybe_unused]] auto t2 = esp_timer_get_time(); // time in microseconds
                         auto madgwick_orientation = madgwick_filter_fn(dt, accel, gyro);
                         float roll = madgwick_orientation.roll;
                         float pitch = madgwick_orientation.pitch;
                         float yaw = madgwick_orientation.yaw;
                         float vx = sin(pitch);
                         float vy = -cos(pitch) * sin(roll);
                         float vz = -cos(pitch) * cos(roll);
                         // print time and raw IMU data
                         std::string text = "";
                         text += fmt::format("{:.3f},", now / 1'000'000.0f);
                         text += fmt::format("{:02.3f},{:02.3f},{:02.3f},", (float)accel.x,
                                             (float)accel.y, (float)accel.z);
                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)gyro.x,
                                             (float)gyro.y, (float)gyro.z);
                         text += fmt::format("{:02.1f},", temp);
                         // print kalman filter outputs
                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)orientation.x,
                                             (float)orientation.y, (float)orientation.z);
                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)gravity_vector.x,
                                             (float)gravity_vector.y, (float)gravity_vector.z);
                         // print madgwick filter outputs
                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", roll, pitch, yaw);
                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f}", vx, vy, vz);
                         fmt::print("{}\n", text);
                         // fmt::print("IMU update took {:.3f} ms\n", (t2 - t0) / 1000.0f);
                         // sleep first in case we don't get IMU data and need to exit early
                         {
                           std::unique_lock<std::mutex> lock(m);
                           cv.wait_until(lock, start + 10ms);
                         }
                         return false;
                       },
                       .task_config = {
                           .name = "IMU",
                           .stack_size_bytes = 6 * 1024,
                           .priority = 10,
                           .core_id = 0,
                       }});
  // print the header for the IMU data (for plotting)
  fmt::print("% Time (s), "
             // raw IMU data (accel, gyro, temp)
             "Accel X (m/s^2), Accel Y (m/s^2), Accel Z (m/s^2), "
             "Gyro X (rad/s), Gyro Y (rad/s), Gyro Z (rad/s), "
             "Temp (C), "
             // kalman filter outputs
             "Kalman Roll (rad), Kalman Pitch (rad), Kalman Yaw (rad), "
             "Kalman Gravity X, Kalman Gravity Y, Kalman Gravity Z, "
             // madgwick filter outputs
             "Madgwick Roll (rad), Madgwick Pitch (rad), Madgwick Yaw (rad), "
             "Madgwick Gravity X, Madgwick Gravity Y, Madgwick Gravity Z\n");
  logger.info("Starting IMU task");
  imu_task.start();
  // loop forever
  while (true) {
    std::this_thread::sleep_for(1s);
  }
  //! [lsm6dso example]
 }
--- a/software/lsm6dso_example/sdkconfig
+++ b/software/lsm6dso_example/sdkconfig
--- a/software/lsm6dso_example/sdkconfig.defaults
+++ b/software/lsm6dso_example/sdkconfig.defaults
@@ -0,0 +1,20 @@
 CONFIG_FREERTOS_HZ=1000
 # set compiler optimization level to -O2 (compile for performance)
 CONFIG_COMPILER_OPTIMIZATION_PERF=y
 # ESP32-specific
 #
 CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
 CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240
 # Common ESP-related
 #
 CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384
 # Set esp-timer task stack size to 6KB
 CONFIG_ESP_TIMER_TASK_STACK_SIZE=6144
 # set the functions into IRAM
 CONFIG_SPI_MASTER_IN_IRAM=y
--- a/software/lsm6dso_example/sdkconfig.old
+++ b/software/lsm6dso_example/sdkconfig.old
--- a/software/wacky_bully/CMakeLists.txt
+++ b/software/wacky_bully/CMakeLists.txt
@@ -0,0 +1,6 @@
 # The following five lines of boilerplate have to be in your project's
 # CMakeLists in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.22)
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(wacky_bully)
--- a/software/wacky_bully/components/drv8701/CMakeLists.txt
+++ b/software/wacky_bully/components/drv8701/CMakeLists.txt
@@ -0,0 +1,3 @@
 idf_component_register(SRCS "drv8701.c"
                    INCLUDE_DIRS "include"
                    REQUIRES esp_driver_mcpwm esp_driver_gpio)
--- a/software/wacky_bully/components/drv8701/drv8701.c
+++ b/software/wacky_bully/components/drv8701/drv8701.c
@@ -0,0 +1,105 @@
 #include <math.h>
 #include <stdio.h>
 #include "drv8701.h"
 #include "driver/mcpwm_cmpr.h"
 #include "driver/mcpwm_gen.h"
 #include "driver/mcpwm_oper.h"
 #include "driver/mcpwm_timer.h"
 #include "driver/mcpwm_types.h"
 #include "driver/gpio.h"
 #include "esp_err.h"
 #include "freertos/idf_additions.h"
 #include "hal/gpio_types.h"
 #include "portmacro.h"
 #define PWM_RESOLUTION_HZ 2000000
 #define PWM_TIMEBASE_PERIOD PWM_RESOLUTION_HZ/20000
 void drv8701_task(void *args) {
    drv8701_task_config_t *motor_cfg = ((drv8701_task_config_t *)args);
    motor_cfg->in_ctrl_queue = xQueueCreate(3, sizeof(float));
    motor_cfg->current_mutex = xSemaphoreCreateMutex();
    // --------------------- Configure PWM -------------------------
    mcpwm_timer_handle_t timer = NULL;
    mcpwm_timer_config_t timer_cfg = {
        .group_id = motor_cfg->pwm_group_num,
        .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
        .resolution_hz = PWM_RESOLUTION_HZ,
        .count_mode = MCPWM_TIMER_COUNT_MODE_UP,
        .period_ticks = PWM_TIMEBASE_PERIOD,
    };
    ESP_ERROR_CHECK(mcpwm_new_timer(&timer_cfg, &timer));
    mcpwm_oper_handle_t oper = NULL;
    mcpwm_operator_config_t oper_cfg = {
        .group_id = motor_cfg->pwm_group_num,
    };
    ESP_ERROR_CHECK(mcpwm_new_operator(&oper_cfg, &oper));
    ESP_ERROR_CHECK(mcpwm_operator_connect_timer(oper, timer));
    mcpwm_cmpr_handle_t cmpr = NULL;
    mcpwm_comparator_config_t cmpr_cfg = {
        .flags.update_cmp_on_tep = true,
    };
    ESP_ERROR_CHECK(mcpwm_new_comparator(oper, &cmpr_cfg, &cmpr));
    mcpwm_gen_handle_t gen = NULL;
    mcpwm_generator_config_t gen_cfg = {
        .gen_gpio_num = motor_cfg->en_pin,
    };
    ESP_ERROR_CHECK(mcpwm_new_generator(oper, &gen_cfg, &gen));
    ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(cmpr, 0));
    ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(gen,
                    MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
    ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gen,
                    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpr, MCPWM_GEN_ACTION_LOW)));
    ESP_ERROR_CHECK(mcpwm_timer_enable(timer));
    ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
    // --------------------- Configure Direction -------------------------
    printf("Configuring Direction\n");
    gpio_config_t phase_cfg = {
        .pin_bit_mask = 1ULL << motor_cfg->ph_pin,
        .intr_type = GPIO_INTR_DISABLE,
        .mode = GPIO_MODE_OUTPUT,
        .pull_down_en = GPIO_PULLDOWN_DISABLE,
        .pull_up_en = GPIO_PULLUP_DISABLE
    };
    gpio_config(&phase_cfg);
    // Main Loop
    float target_velocity = 0.0;
    while(1) {
        // Get new velocity if it has changed
        if(xQueueReceive(motor_cfg->in_ctrl_queue, &target_velocity, 0)){
            target_velocity = fmaxf(-1.0, fminf(1.0, target_velocity));
        }
        uint32_t abs_scaled_vel = (uint32_t) (fabsf(target_velocity) * ((float)PWM_TIMEBASE_PERIOD));
        mcpwm_comparator_set_compare_value(cmpr, abs_scaled_vel);
        if (target_velocity > 0.0) {
            gpio_set_level(motor_cfg->ph_pin, 1); 
        }
        else {
            gpio_set_level(motor_cfg->ph_pin, 0); 
        }
        vTaskDelay(50 / portTICK_PERIOD_MS);
    }
 }
 void set_motor_vel(drv8701_task_config_t *motor_cfg, float velocity) {
    xQueueSend(motor_cfg->in_ctrl_queue, &velocity, 0);
 }
--- a/software/wacky_bully/components/drv8701/include/drv8701.h
+++ b/software/wacky_bully/components/drv8701/include/drv8701.h
@@ -0,0 +1,38 @@
 #ifndef DRV8701_H
 #define DRV8701_H
 #include "freertos/idf_additions.h"
 // Enable PWM for speed control
 // Phase chooses direction
 typedef struct {
    uint8_t en_pin;
    uint8_t ph_pin;
    uint8_t pwm_group_num; 
    // Do not populate, done as part of task creation
    QueueHandle_t in_ctrl_queue;
    SemaphoreHandle_t current_mutex; 
 } drv8701_task_config_t;
 /**
 * @brief Launch the motor driver task
 *
 * @param motor_cfg The configuration for the motor driver
 */
 void drv8701_task(void *args);
 /**
 * @brief Set the velocity of a specific motor driver  
 *
 * @param motor_cfg The configuration for the specific motor driver
 * @param velocity -1.0 to 1.0
 */
 void set_motor_vel(drv8701_task_config_t *motor_cfg, float velocity);
 #endif
--- a/software/wacky_bully/components/xbox_controller/CMakeLists.txt
+++ b/software/wacky_bully/components/xbox_controller/CMakeLists.txt
@@ -0,0 +1,3 @@
 idf_component_register(SRCS "xbox_controller.c"
                    PRIV_REQUIRES bt esp_hid driver mbedtls nvs_flash
                    INCLUDE_DIRS "include")
--- a/software/wacky_bully/components/xbox_controller/include/xbox_controller.h
+++ b/software/wacky_bully/components/xbox_controller/include/xbox_controller.h
@@ -0,0 +1,7 @@
 #ifndef XBOX_CONTROLLER_H
 #define XBOX_CONTROLLER_H
 void init_controller(void);
 void print_state(void);
 #endif
--- a/software/wacky_bully/components/xbox_controller/xbox_controller.c
+++ b/software/wacky_bully/components/xbox_controller/xbox_controller.c
@@ -0,0 +1,673 @@
 #include <stdio.h>
 #include <stdint.h>
 #include "xbox_controller.h"
 #include "nvs_flash.h"
 #include "esp_err.h"
 #include "esp_hidh.h"
 #include "esp_hid_common.h"
 #include "esp_gattc_api.h"
 #include "esp_bt_main.h"
 #include "esp_bt.h" 
 #include "esp_log.h"
 #include "esp_gap_ble_api.h"
 #include "freertos/idf_additions.h"
 #define HIDH_IDLE_MODE 0x00
 #define HIDH_BLE_MODE 0x01
 #define HIDH_BT_MODE 0x02
 #define HIDH_BTDM_MODE 0x03
 #define XBOX_CONTROLLER_INDEX_BUTTONS_DIR 12
 #define XBOX_CONTROLLER_INDEX_BUTTONS_MAIN 13
 #define XBOX_CONTROLLER_INDEX_BUTTONS_CENTER 14
 #define XBOX_CONTROLLER_INDEX_BUTTONS_SHARE 15
 typedef struct {
    bool A;
    bool B;
    bool X;
    bool Y;
    bool UP;
    bool DOWN;
    bool LEFT;
    bool RIGHT;
    bool RB;
    bool LB;
    bool START;
    bool SELECT;
    bool XBOX_BUT;
    bool RS;
    bool LS;
    uint16_t joyLX;
    uint16_t joyLY;
    uint16_t joyRX;
    uint16_t joyRY;
    uint16_t trigL;
    uint16_t trigR;
 }controller_state_t;
 controller_state_t xbox_state;
 void print_state(void) {
    ESP_LOGI("xbox_ctrl_output", "A:%1d,B:%1d,X:%1d,Y:%1d,U:%1d,D:%1d,L%1d,R:%1d\n", 
            xbox_state.A, xbox_state.B, xbox_state.X, xbox_state.Y,
            xbox_state.UP, xbox_state.DOWN, xbox_state.LEFT, xbox_state.RIGHT);
    ESP_LOGI("xbox_ctrl_output", "RB:%1d,LB:%1d,RS:%1d,LS:%1d,START:%1d,SELECT:%1d,XBOX:%1d", 
            xbox_state.RB, xbox_state.LB, xbox_state.RS, xbox_state.LS,
            xbox_state.START, xbox_state.SELECT, xbox_state.XBOX_BUT);
    ESP_LOGI("xbox_ctrl_output", "jLX:%5d,jLY:%5d,jRX:%5d,jRY:%5d,tL:%5d,tR:%5d",
            xbox_state.joyLX, xbox_state.joyLY, xbox_state.joyRX, xbox_state.joyRY,
            xbox_state.trigL, xbox_state.trigR);
 }
 const char *esp_ble_key_type_str(esp_ble_key_type_t key_type)
 {
    const char *key_str = NULL;
    switch (key_type) {
    case ESP_LE_KEY_NONE:
        key_str = "ESP_LE_KEY_NONE";
        break;
    case ESP_LE_KEY_PENC:
        key_str = "ESP_LE_KEY_PENC";
        break;
    case ESP_LE_KEY_PID:
        key_str = "ESP_LE_KEY_PID";
        break;
    case ESP_LE_KEY_PCSRK:
        key_str = "ESP_LE_KEY_PCSRK";
        break;
    case ESP_LE_KEY_PLK:
        key_str = "ESP_LE_KEY_PLK";
        break;
    case ESP_LE_KEY_LLK:
        key_str = "ESP_LE_KEY_LLK";
        break;
    case ESP_LE_KEY_LENC:
        key_str = "ESP_LE_KEY_LENC";
        break;
    case ESP_LE_KEY_LID:
        key_str = "ESP_LE_KEY_LID";
        break;
    case ESP_LE_KEY_LCSRK:
        key_str = "ESP_LE_KEY_LCSRK";
        break;
    default:
        key_str = "INVALID BLE KEY TYPE";
        break;
    }
    return key_str;
 }
 void controller_msg_callback(void *handler_args, esp_event_base_t base, int32_t id, void *event_data) {
    esp_hidh_event_t event = (esp_hidh_event_t)id;
    esp_hidh_event_data_t *param = (esp_hidh_event_data_t *) event_data;
    switch (event)
    {
        case ESP_HIDH_OPEN_EVENT:
        {
            if (param->open.status == ESP_OK)
            {
                const uint8_t *bda = esp_hidh_dev_bda_get(param->open.dev);
                ESP_LOGI("xbox_ctrl", ESP_BD_ADDR_STR " OPEN: %s", ESP_BD_ADDR_HEX(bda), esp_hidh_dev_name_get(param->open.dev));
                esp_hidh_dev_dump(param->open.dev, stdout);
            }
            else
            {
                ESP_LOGE("xbox_ctrl", " OPEN failed!");
            }
            break;
        }
        case ESP_HIDH_BATTERY_EVENT:
        {
            const uint8_t *bda = esp_hidh_dev_bda_get(param->battery.dev);
            ESP_LOGI("xbox_ctrl", ESP_BD_ADDR_STR " BATTERY: %d%%", ESP_BD_ADDR_HEX(bda), param->battery.level);
            break;
        }
        case ESP_HIDH_INPUT_EVENT:
        {
            uint8_t btnBits;
            btnBits = param->input.data[XBOX_CONTROLLER_INDEX_BUTTONS_MAIN];
            xbox_state.A  = (btnBits & (1 << 0) << 0); 
            xbox_state.B  = (btnBits & (1 << 1) << 1); 
            xbox_state.X  = (btnBits & (1 << 2) << 2); 
            xbox_state.Y  = (btnBits & (1 << 3) << 3); 
            xbox_state.LB = (btnBits & (1 << 6) << 6); 
            xbox_state.RB = (btnBits & (1 << 7) << 7); 
            btnBits = param->input.data[XBOX_CONTROLLER_INDEX_BUTTONS_CENTER];
            xbox_state.SELECT   = (btnBits & (1 << 2) << 2); 
            xbox_state.START    = (btnBits & (1 << 3) << 3); 
            xbox_state.XBOX_BUT = (btnBits & (1 << 4) << 4); 
            xbox_state.LS       = (btnBits & (1 << 5) << 5); 
            xbox_state.RS       = (btnBits & (1 << 6) << 6); 
            btnBits = param->input.data[XBOX_CONTROLLER_INDEX_BUTTONS_DIR];
            xbox_state.UP       = btnBits == 1 || btnBits == 2 || btnBits == 8;
            xbox_state.RIGHT    = 2 <= btnBits && btnBits <= 4;
            xbox_state.DOWN     = 4 <= btnBits && btnBits <= 6;
            xbox_state.LEFT     = 6 <= btnBits && btnBits <= 8;
            xbox_state.joyLX    = (uint16_t)param->input.data[0] | ((uint16_t)param->input.data[1] << 8); // 0-65535
            xbox_state.joyLY    = (uint16_t)param->input.data[2] | ((uint16_t)param->input.data[3] << 8);
            xbox_state.joyRX    = (uint16_t)param->input.data[4] | ((uint16_t)param->input.data[5] << 8);
            xbox_state.joyRY    = (uint16_t)param->input.data[6] | ((uint16_t)param->input.data[7] << 8);
            xbox_state.trigL    = (uint16_t)param->input.data[8] | ((uint16_t)param->input.data[9] << 8); // 0-1024
            xbox_state.trigR    = (uint16_t)param->input.data[10] | ((uint16_t)param->input.data[11] << 8);
            break;
        }
        case ESP_HIDH_FEATURE_EVENT:
        {
            const uint8_t *bda = esp_hidh_dev_bda_get(param->feature.dev);
            ESP_LOGI("xbox_ctrl", ESP_BD_ADDR_STR " FEATURE: %8s, MAP: %2u, ID: %3u, Len: %d", ESP_BD_ADDR_HEX(bda),
                     esp_hid_usage_str(param->feature.usage), param->feature.map_index, param->feature.report_id,
                     param->feature.length);
            ESP_LOG_BUFFER_HEX("xbox_ctrl", param->feature.data, param->feature.length);
            break;
        }
        case ESP_HIDH_CLOSE_EVENT:
        {
            const uint8_t *bda = esp_hidh_dev_bda_get(param->close.dev);
            ESP_LOGI("xbox_ctrl", ESP_BD_ADDR_STR " CLOSE: %s", ESP_BD_ADDR_HEX(bda), esp_hidh_dev_name_get(param->close.dev));
            break;
        }
        default:
            ESP_LOGI("xbox_ctrl", "EVENT: %d", event);
            break;
    }
 }
 static const char *ble_addr_type_names[] = {"PUBLIC", "RANDOM", "RPA_PUBLIC", "RPA_RANDOM"};
 typedef struct esp_hidh_scan_result_s {
    struct esp_hidh_scan_result_s *next;
    esp_bd_addr_t bda;
    const char *name;
    int8_t rssi;
    esp_hid_usage_t usage;
    esp_hid_transport_t transport; //BT, BLE or USB
    union {
        struct {
            esp_bt_uuid_t uuid;
        } bt;
        struct {
            esp_ble_addr_type_t addr_type;
            uint16_t appearance;
        } ble;
    };
 } esp_hid_scan_result_t;
 static esp_hid_scan_result_t *bt_scan_results = NULL;
 static size_t num_bt_scan_results = 0;
 static esp_hid_scan_result_t *ble_scan_results = NULL;
 static size_t num_ble_scan_results = 0;
 static SemaphoreHandle_t bt_hidh_cb_semaphore = NULL;
 #define WAIT_BT_CB() xSemaphoreTake(bt_hidh_cb_semaphore, portMAX_DELAY)
 #define SEND_BT_CB() xSemaphoreGive(bt_hidh_cb_semaphore)
 static SemaphoreHandle_t ble_hidh_cb_semaphore = NULL;
 #define WAIT_BLE_CB() xSemaphoreTake(ble_hidh_cb_semaphore, portMAX_DELAY)
 #define SEND_BLE_CB() xSemaphoreGive(ble_hidh_cb_semaphore)
 #define SIZEOF_ARRAY(a) (sizeof(a)/sizeof(*a))
 static esp_ble_scan_params_t hid_scan_params = {
    .scan_type              = BLE_SCAN_TYPE_ACTIVE,
    .own_addr_type          = BLE_ADDR_TYPE_PUBLIC,
    .scan_filter_policy     = BLE_SCAN_FILTER_ALLOW_ALL,
    .scan_interval          = 0x50,
    .scan_window            = 0x30,
    .scan_duplicate         = BLE_SCAN_DUPLICATE_ENABLE,
 };
 static esp_err_t start_ble_scan(uint32_t seconds)
 {
    esp_err_t ret = ESP_OK;
    if ((ret = esp_ble_gap_set_scan_params(&hid_scan_params)) != ESP_OK) {
        ESP_LOGE("xbox_ctrl", "esp_ble_gap_set_scan_params failed: %d", ret);
        return ret;
    }
    WAIT_BLE_CB();
    if ((ret = esp_ble_gap_start_scanning(seconds)) != ESP_OK) {
        ESP_LOGE("xbox_ctrl", "esp_ble_gap_start_scanning failed: %d", ret);
        return ret;
    }
    return ret;
 }
 esp_err_t esp_hid_scan(uint32_t seconds, size_t *num_results, esp_hid_scan_result_t **results)
 {
    if (num_bt_scan_results || bt_scan_results || num_ble_scan_results || ble_scan_results) {
        ESP_LOGE("xbox_ctrl", "There are old scan results. Free them first!");
        return ESP_FAIL;
    }
    if (start_ble_scan(seconds) == ESP_OK) {
        WAIT_BLE_CB();
    } else {
        return ESP_FAIL;
    }
    *num_results = num_bt_scan_results + num_ble_scan_results;
    *results = bt_scan_results;
    if (num_bt_scan_results) {
        while (bt_scan_results->next != NULL) {
            bt_scan_results = bt_scan_results->next;
        }
        bt_scan_results->next = ble_scan_results;
    } else {
        *results = ble_scan_results;
    }
    num_bt_scan_results = 0;
    bt_scan_results = NULL;
    num_ble_scan_results = 0;
    ble_scan_results = NULL;
    return ESP_OK;
 }
 const char *ble_addr_type_str(esp_ble_addr_type_t ble_addr_type)
 {
    if (ble_addr_type > BLE_ADDR_TYPE_RPA_RANDOM) {
        return "UNKNOWN";
    }
    return ble_addr_type_names[ble_addr_type];
 }
 void esp_hid_scan_results_free(esp_hid_scan_result_t *results)
 {
    esp_hid_scan_result_t *r = NULL;
    while (results) {
        r = results;
        results = results->next;
        if (r->name != NULL) {
            free((char *)r->name);
        }
        free(r);
    }
 }
 #define SCAN_DURATION_SECONDS 10
 void hid_task(void *pvParameters)
 {
    size_t results_len = 0;
    esp_hid_scan_result_t *results = NULL;
    ESP_LOGI("xbox_ctrl", "SCAN...");
    // start scan for HID devices
    esp_hid_scan(SCAN_DURATION_SECONDS, &results_len, &results);
    ESP_LOGI("xbox_ctrl", "SCAN: %u results", results_len);
    if (results_len)
    {
        esp_hid_scan_result_t *r = results;
        esp_hid_scan_result_t *cr = NULL;
        while (r)
        {
            printf("  %s: " ESP_BD_ADDR_STR ", ", (r->transport == ESP_HID_TRANSPORT_BLE) ? "BLE" : "BT ", ESP_BD_ADDR_HEX(r->bda));
            printf("RSSI: %d, ", r->rssi);
            printf("USAGE: %s, ", esp_hid_usage_str(r->usage));
            if (r->transport == ESP_HID_TRANSPORT_BLE)
            {
                if (r->ble.appearance == 0x03c4)
                    cr = r;
                printf("APPEARANCE: 0x%04x, ", r->ble.appearance);
                printf("ADDR_TYPE: '%s', ", ble_addr_type_str(r->ble.addr_type));
            }
            printf("NAME: %s ", r->name ? r->name : "");
            printf("\n");
            r = r->next;
        }
        if (cr)
        {
            // open the last result
            esp_hidh_dev_open(cr->bda, cr->transport, cr->ble.addr_type);
        }
        // free the results
        esp_hid_scan_results_free(results);
    }
    vTaskDelete(NULL);
 }
 #define GAP_DBG_PRINTF(...) printf(__VA_ARGS__)
 static esp_hid_scan_result_t *find_scan_result(esp_bd_addr_t bda, esp_hid_scan_result_t *results)
 {
    esp_hid_scan_result_t *r = results;
    while (r) {
        if (memcmp(bda, r->bda, sizeof(esp_bd_addr_t)) == 0) {
            return r;
        }
        r = r->next;
    }
    return NULL;
 }
 static void add_ble_scan_result(esp_bd_addr_t bda, esp_ble_addr_type_t addr_type, uint16_t appearance, uint8_t *name, uint8_t name_len, int rssi)
 {
    if (find_scan_result(bda, ble_scan_results)) {
        ESP_LOGW("xbox_controller", "Result already exists!");
        return;
    }
    esp_hid_scan_result_t *r = (esp_hid_scan_result_t *)malloc(sizeof(esp_hid_scan_result_t));
    if (r == NULL) {
        ESP_LOGE("xbox_controller", "Malloc ble_hidh_scan_result_t failed!");
        return;
    }
    r->transport = ESP_HID_TRANSPORT_BLE;
    memcpy(r->bda, bda, sizeof(esp_bd_addr_t));
    r->ble.appearance = appearance;
    r->ble.addr_type = addr_type;
    r->usage = esp_hid_usage_from_appearance(appearance);
    r->rssi = rssi;
    r->name = NULL;
    if (name_len && name) {
        char *name_s = (char *)malloc(name_len + 1);
        if (name_s == NULL) {
            free(r);
            ESP_LOGE("xbox_controller", "Malloc result name failed!");
            return;
        }
        memcpy(name_s, name, name_len);
        name_s[name_len] = 0;
        r->name = (const char *)name_s;
    }
    r->next = ble_scan_results;
    ble_scan_results = r;
    num_ble_scan_results++;
 }
 static void handle_ble_device_result(struct ble_scan_result_evt_param *scan_rst)
 {
    uint16_t uuid = 0;
    uint16_t appearance = 0;
    char name[64] = {0};
    uint8_t uuid_len = 0;
    uint8_t *uuid_d = esp_ble_resolve_adv_data(scan_rst->ble_adv, ESP_BLE_AD_TYPE_16SRV_CMPL, &uuid_len);
    if (uuid_d != NULL && uuid_len) {
        uuid = uuid_d[0] + (uuid_d[1] << 8);
    }
    uint8_t appearance_len = 0;
    uint8_t *appearance_d = esp_ble_resolve_adv_data(scan_rst->ble_adv, ESP_BLE_AD_TYPE_APPEARANCE, &appearance_len);
    if (appearance_d != NULL && appearance_len) {
        appearance = appearance_d[0] + (appearance_d[1] << 8);
    }
    uint8_t adv_name_len = 0;
    uint8_t *adv_name = esp_ble_resolve_adv_data(scan_rst->ble_adv, ESP_BLE_AD_TYPE_NAME_CMPL, &adv_name_len);
    if (adv_name == NULL) {
        adv_name = esp_ble_resolve_adv_data(scan_rst->ble_adv, ESP_BLE_AD_TYPE_NAME_SHORT, &adv_name_len);
    }
    if (adv_name != NULL && adv_name_len) {
        memcpy(name, adv_name, adv_name_len);
        name[adv_name_len] = 0;
    }
    GAP_DBG_PRINTF("BLE: " ESP_BD_ADDR_STR ", ", ESP_BD_ADDR_HEX(scan_rst->bda));
    GAP_DBG_PRINTF("RSSI: %d, ", scan_rst->rssi);
    GAP_DBG_PRINTF("UUID: 0x%04x, ", uuid);
    GAP_DBG_PRINTF("APPEARANCE: 0x%04x, ", appearance);
    GAP_DBG_PRINTF("ADDR_TYPE: '%s'", ble_addr_type_str(scan_rst->ble_addr_type));
    if (adv_name_len) {
        GAP_DBG_PRINTF(", NAME: '%s'", name);
    }
    GAP_DBG_PRINTF("\n");
    if (uuid == ESP_GATT_UUID_HID_SVC) {
        add_ble_scan_result(scan_rst->bda, scan_rst->ble_addr_type, appearance, adv_name, adv_name_len, scan_rst->rssi);
    }
 }
 static const char *ble_gap_evt_names[] = { "ADV_DATA_SET_COMPLETE", "SCAN_RSP_DATA_SET_COMPLETE", "SCAN_PARAM_SET_COMPLETE", "SCAN_RESULT", "ADV_DATA_RAW_SET_COMPLETE", "SCAN_RSP_DATA_RAW_SET_COMPLETE", "ADV_START_COMPLETE", "SCAN_START_COMPLETE", "AUTH_CMPL", "KEY", "SEC_REQ", "PASSKEY_NOTIF", "PASSKEY_REQ", "OOB_REQ", "LOCAL_IR", "LOCAL_ER", "NC_REQ", "ADV_STOP_COMPLETE", "SCAN_STOP_COMPLETE", "SET_STATIC_RAND_ADDR", "UPDATE_CONN_PARAMS", "SET_PKT_LENGTH_COMPLETE", "SET_LOCAL_PRIVACY_COMPLETE", "REMOVE_BOND_DEV_COMPLETE", "CLEAR_BOND_DEV_COMPLETE", "GET_BOND_DEV_COMPLETE", "READ_RSSI_COMPLETE", "UPDATE_WHITELIST_COMPLETE"};
 const char *ble_gap_evt_str(uint8_t event)
 {
    if (event >= SIZEOF_ARRAY(ble_gap_evt_names)) {
        return "UNKNOWN";
    }
    return ble_gap_evt_names[event];
 }
 static void ble_gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param)
 {
    switch (event) {
    /*
     * SCAN
     * */
    case ESP_GAP_BLE_SCAN_PARAM_SET_COMPLETE_EVT: {
        ESP_LOGV("xbox_controller", "BLE GAP EVENT SCAN_PARAM_SET_COMPLETE");
        SEND_BLE_CB();
        break;
    }
    case ESP_GAP_BLE_SCAN_RESULT_EVT: {
        esp_ble_gap_cb_param_t *scan_result = (esp_ble_gap_cb_param_t *)param;
        switch (scan_result->scan_rst.search_evt) {
        case ESP_GAP_SEARCH_INQ_RES_EVT: {
            handle_ble_device_result(&scan_result->scan_rst);
            break;
        }
        case ESP_GAP_SEARCH_INQ_CMPL_EVT:
            ESP_LOGV("xbox_controller", "BLE GAP EVENT SCAN DONE: %d", scan_result->scan_rst.num_resps);
            SEND_BLE_CB();
            break;
        default:
            break;
        }
        break;
    }
    case ESP_GAP_BLE_SCAN_STOP_COMPLETE_EVT: {
        ESP_LOGV("xbox_controller", "BLE GAP EVENT SCAN CANCELED");
        break;
    }
    /*
     * ADVERTISEMENT
     * */
    case ESP_GAP_BLE_ADV_DATA_SET_COMPLETE_EVT:
        ESP_LOGV("xbox_controller", "BLE GAP ADV_DATA_SET_COMPLETE");
        break;
    case ESP_GAP_BLE_ADV_START_COMPLETE_EVT:
        ESP_LOGV("xbox_controller", "BLE GAP ADV_START_COMPLETE");
        break;
    /*
     * AUTHENTICATION
     * */
    case ESP_GAP_BLE_AUTH_CMPL_EVT:
        if (!param->ble_security.auth_cmpl.success) {
            ESP_LOGE("xbox_controller", "BLE GAP AUTH ERROR: 0x%x", param->ble_security.auth_cmpl.fail_reason);
        } else {
            ESP_LOGI("xbox_controller", "BLE GAP AUTH SUCCESS");
        }
        break;
    case ESP_GAP_BLE_KEY_EVT: //shows the ble key info share with peer device to the user.
        ESP_LOGI("xbox_controller", "BLE GAP KEY type = %s", esp_ble_key_type_str(param->ble_security.ble_key.key_type));
        break;
    case ESP_GAP_BLE_PASSKEY_NOTIF_EVT: // ESP_IO_CAP_OUT
        // The app will receive this evt when the IO has Output capability and the peer device IO has Input capability.
        // Show the passkey number to the user to input it in the peer device.
        ESP_LOGI("xbox_controller", "BLE GAP PASSKEY_NOTIF passkey:%"PRIu32, param->ble_security.key_notif.passkey);
        break;
    case ESP_GAP_BLE_NC_REQ_EVT: // ESP_IO_CAP_IO
        // The app will receive this event when the IO has DisplayYesNO capability and the peer device IO also has DisplayYesNo capability.
        // show the passkey number to the user to confirm it with the number displayed by peer device.
        ESP_LOGI("xbox_controller", "BLE GAP NC_REQ passkey:%"PRIu32, param->ble_security.key_notif.passkey);
        esp_ble_confirm_reply(param->ble_security.key_notif.bd_addr, true);
        break;
    case ESP_GAP_BLE_PASSKEY_REQ_EVT: // ESP_IO_CAP_IN
        // The app will receive this evt when the IO has Input capability and the peer device IO has Output capability.
        // See the passkey number on the peer device and send it back.
        ESP_LOGI("xbox_controller", "BLE GAP PASSKEY_REQ");
        //esp_ble_passkey_reply(param->ble_security.ble_req.bd_addr, true, 1234);
        break;
    case ESP_GAP_BLE_SEC_REQ_EVT:
        ESP_LOGI("xbox_controller", "BLE GAP SEC_REQ");
        // Send the positive(true) security response to the peer device to accept the security request.
        // If not accept the security request, should send the security response with negative(false) accept value.
        esp_ble_gap_security_rsp(param->ble_security.ble_req.bd_addr, true);
        break;
    default:
        ESP_LOGV("xbox_controller", "BLE GAP EVENT %s", ble_gap_evt_str(event));
        break;
    }
 }
 static esp_err_t init_ble_gap(void)
 {
    esp_err_t ret;
    if ((ret = esp_ble_gap_register_callback(ble_gap_event_handler)) != ESP_OK) {
        ESP_LOGE("xbox_controller", "esp_ble_gap_register_callback failed: %d", ret);
        return ret;
    }
    return ret;
 }
 static esp_err_t init_low_level(uint8_t mode)
 {
    esp_err_t ret;
    esp_bt_controller_config_t bt_cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT();
    {
        ret = esp_bt_controller_mem_release(ESP_BT_MODE_CLASSIC_BT);
        if (ret) {
            ESP_LOGE("xbox_controller", "esp_bt_controller_mem_release failed: %d", ret);
            return ret;
        }
    }
    ret = esp_bt_controller_init(&bt_cfg);
    if (ret) {
        ESP_LOGE("xbox_controller", "esp_bt_controller_init failed: %d", ret);
        return ret;
    }
    ret = esp_bt_controller_enable(mode);
    if (ret) {
        ESP_LOGE("xbox_controller", "esp_bt_controller_enable failed: %d", ret);
        return ret;
    }
    ret = esp_bluedroid_init();
    if (ret) {
        ESP_LOGE("xbox_controller", "esp_bluedroid_init failed: %d", ret);
        return ret;
    }
    ret = esp_bluedroid_enable();
    if (ret) {
        ESP_LOGE("xbox_controller", "esp_bluedroid_enable failed: %d", ret);
        return ret;
    }
    if (mode & ESP_BT_MODE_BLE) {
        ret = init_ble_gap();
        if (ret) {
            return ret;
        }
    }
    return ret;
 }
 esp_err_t esp_hid_gap_init(uint8_t mode)
 {
    esp_err_t ret;
    if (!mode || mode > ESP_BT_MODE_BTDM) {
        ESP_LOGE("xbox_controller", "Invalid mode given!");
        return ESP_FAIL;
    }
    if (bt_hidh_cb_semaphore != NULL) {
        ESP_LOGE("xbox_controller", "Already initialised");
        return ESP_FAIL;
    }
    bt_hidh_cb_semaphore = xSemaphoreCreateBinary();
    if (bt_hidh_cb_semaphore == NULL) {
        ESP_LOGE("xbox_controller", "xSemaphoreCreateMutex failed!");
        return ESP_FAIL;
    }
    ble_hidh_cb_semaphore = xSemaphoreCreateBinary();
    if (ble_hidh_cb_semaphore == NULL) {
        ESP_LOGE("xbox_controller", "xSemaphoreCreateMutex failed!");
        vSemaphoreDelete(bt_hidh_cb_semaphore);
        bt_hidh_cb_semaphore = NULL;
        return ESP_FAIL;
    }
    ret = init_low_level(mode);
    if (ret != ESP_OK) {
        vSemaphoreDelete(bt_hidh_cb_semaphore);
        bt_hidh_cb_semaphore = NULL;
        vSemaphoreDelete(ble_hidh_cb_semaphore);
        ble_hidh_cb_semaphore = NULL;
        return ret;
    }
    return ESP_OK;
 }
 void init_controller(void)
 {
        esp_err_t ret;
    ret = nvs_flash_init();
    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND)
    {
        ESP_ERROR_CHECK(nvs_flash_erase());
        ret = nvs_flash_init();
    }
    ESP_ERROR_CHECK(ret);
    ESP_ERROR_CHECK(esp_hid_gap_init(HIDH_BLE_MODE));
    ble_hidh_cb_semaphore = xSemaphoreCreateBinary();
    ESP_ERROR_CHECK(esp_ble_gattc_register_callback(esp_hidh_gattc_event_handler));
    esp_hidh_config_t cfg = {
        .callback = controller_msg_callback,
        .event_stack_size = 4096,
        .callback_arg = NULL
    };
    ESP_ERROR_CHECK(esp_hidh_init(&cfg));
    xTaskCreate(&hid_task, "hid_task", 6 * 1024, NULL, 2, NULL);
 }
--- a/software/wacky_bully/dependencies.lock
+++ b/software/wacky_bully/dependencies.lock
@@ -0,0 +1,10 @@
 dependencies:
  idf:
    source:
      type: idf
    version: 6.1.0
 direct_dependencies:
 - idf
 manifest_hash: e44bf68eca6b7b264ddae08cd014cd3294c0473230381b6d6f88ed18ec879038
 target: esp32s3
 version: 3.0.0
--- a/software/wacky_bully/main/CMakeLists.txt
+++ b/software/wacky_bully/main/CMakeLists.txt
@@ -0,0 +1,3 @@
 idf_component_register(SRCS "wacky_bully.c"
                    REQUIRES bt "drv8701" freertos xbox_controller
                    INCLUDE_DIRS ".")
--- a/software/wacky_bully/main/idf_component.yml
+++ b/software/wacky_bully/main/idf_component.yml
@@ -0,0 +1,16 @@
 ## IDF Component Manager Manifest File
 dependencies:
  ## Required IDF version
  idf:
    version: ">=4.1.0"
  # # Put list of dependencies here
  # # For components maintained by Espressif:
  # component: "~1.0.0"
  # # For 3rd party components:
  # username/component: ">=1.0.0,<2.0.0"
  # username2/component2:
  #   version: "~1.0.0"
  #   # For transient dependencies `public` flag can be set.
  #   # `public` flag doesn't have an effect dependencies of the `main` component.
  #   # All dependencies of `main` are public by default.
  #   public: true
--- a/software/wacky_bully/main/wacky_bully.c
+++ b/software/wacky_bully/main/wacky_bully.c
@@ -0,0 +1,55 @@
 #include <stdio.h>
 #include "drv8701.h"
 #include "freertos/idf_additions.h"
 #include "portmacro.h"
 #include "soc/gpio_num.h"
 #include "xbox_controller.h"
 drv8701_task_config_t motor1 = {
    .ph_pin = GPIO_NUM_13,
    .en_pin = GPIO_NUM_14,
    .pwm_group_num = 0,
 };
 drv8701_task_config_t motor2 = {
    .ph_pin = GPIO_NUM_21,
    .en_pin = GPIO_NUM_45,
    .pwm_group_num = 0,
 };
 drv8701_task_config_t motor3 = {
    .ph_pin = GPIO_NUM_9,
    .en_pin = GPIO_NUM_10,
    .pwm_group_num = 1,
 };
 drv8701_task_config_t motor4 = {
    .ph_pin = GPIO_NUM_11,
    .en_pin = GPIO_NUM_12,
    .pwm_group_num = 1,
 };
 void app_main(void)
 {
    printf("Starting\n");
    init_controller();
    xTaskCreate(drv8701_task, "Motor1 Task", 2048, (void *)&motor1, 4, NULL);
    xTaskCreate(drv8701_task, "Motor2 Task", 2048, (void *)&motor2, 4, NULL);
    xTaskCreate(drv8701_task, "Motor3 Task", 2048, (void *)&motor3, 4, NULL);
    xTaskCreate(drv8701_task, "Motor4 Task", 2048, (void *)&motor4, 4, NULL);
    vTaskDelay(500 / portTICK_PERIOD_MS);
    float motor1_vel = 0.0;
    while(true) {
        print_state();
        motor1_vel = motor1_vel + 0.1;
        if (motor1_vel > 1.0)
            motor1_vel = -1.0;
        printf("Motor1 velocity: %0.2f\n", motor1_vel);
        set_motor_vel(&motor1, motor1_vel);
        set_motor_vel(&motor2, motor1_vel);
        set_motor_vel(&motor3, motor1_vel);
        set_motor_vel(&motor4, motor1_vel);
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
 }
--- a/software/wacky_bully/sdkconfig
+++ b/software/wacky_bully/sdkconfig
--- a/software/wacky_bully/sdkconfig.old
+++ b/software/wacky_bully/sdkconfig.old
Author	SHA1	Message	Date
Zekkos	4a06855f4e	Got controller connected and working, buttons broken	2026-05-15 16:38:57 +12:00
Zekkos	1ff9b657a1	Minor mods	2026-05-12 09:55:39 +12:00
sirlilpanda	5c45a3313f	fixed unconnected grounds, removed solder mask for high current traces, fixed silkscreen	2026-05-11 23:50:46 +12:00
Zekkos	e239240178	Fixed mistakes with mosfets on PCB my bad UwU	2026-05-11 21:22:06 +12:00
Zekkos	3f4bef7cbf	Added exmaple code of lsm6do to quickly test imu	2026-05-11 21:21:45 +12:00
sirlilpanda	4d334124a7	fixed #7 and #8	2026-05-10 19:57:44 +12:00
Zekkos	baf2f0be9e	Created wacky_bully project + a bit of work towards implementing motor drivers	2026-05-08 16:38:10 +12:00
		`@@ -0,0 +1,2 @@`
							`idf_component_register(SRC_DIRS "."`
							`INCLUDE_DIRS ".")`