diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..e43b0f988953ae3a84b00331d0ccf5f7d51cb3cf
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.DS_Store
diff --git a/Robotito/.gitignore b/Robotito/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..759fbd4d6f25f080a21da3b79ab248f978ee62cb
--- /dev/null
+++ b/Robotito/.gitignore
@@ -0,0 +1,10 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
+.pioenvs
+.piolibdeps
+.clang_complete
+.gcc-flags.json
+.pio
\ No newline at end of file
diff --git a/Robotito/.vscode/extensions.json b/Robotito/.vscode/extensions.json
new file mode 100644
index 0000000000000000000000000000000000000000..080e70d08b9811fa743afe5094658dba0ed6b7c2
--- /dev/null
+++ b/Robotito/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+ // See http://go.microsoft.com/fwlink/?LinkId=827846
+ // for the documentation about the extensions.json format
+ "recommendations": [
+ "platformio.platformio-ide"
+ ],
+ "unwantedRecommendations": [
+ "ms-vscode.cpptools-extension-pack"
+ ]
+}
diff --git a/Robotito/.vscode/settings.json b/Robotito/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d835da700b477f5072471e4e3e66c47d01872e
--- /dev/null
+++ b/Robotito/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+ "files.associations": {
+ "encoders.h": "c",
+ "motors.h": "c"
+ }
+}
\ No newline at end of file
diff --git a/Robotito/CMakeLists.txt b/Robotito/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd00ce1e5ad3ff8c7ab57daca7d9a4da3733d587
--- /dev/null
+++ b/Robotito/CMakeLists.txt
@@ -0,0 +1,3 @@
+cmake_minimum_required(VERSION 3.16.0)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(Robotito)
diff --git a/Robotito/include/README b/Robotito/include/README
new file mode 100644
index 0000000000000000000000000000000000000000..194dcd43252dcbeb2044ee38510415041a0e7b47
--- /dev/null
+++ b/Robotito/include/README
@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/Robotito/include/control.h b/Robotito/include/control.h
new file mode 100644
index 0000000000000000000000000000000000000000..8470f8cd76a5c39bd99b507e4090334f16fe1131
--- /dev/null
+++ b/Robotito/include/control.h
@@ -0,0 +1,84 @@
+#ifndef CONTROL_H
+#define CONTROL_H
+
+#include <stdint.h>
+#include "esp_err.h"
+#include "motors.h"
+#include "encoders.h"
+#include "hwTimer.h"
+#include "math_vector_operations.h"
+
+#define NMOTORS 3
+#define MOTOR_PINS {25,26, 27,28, 29,30}
+#define MOTOR_ENC {39,37, 38,36, 34,35}
+
+#define MOTOR_PWM_SUBUNIT_IO {MCPWM0A, MCPWM0B, MCPWM1A, MCPWM1B, MCPWM2A, MCPWM2B}
+#define MOTOR_PWM_SUBUNIT_TIMER {MCPWM_TIMER_0, MCPWM_TIMER_1, MCPWM_TIMER_2}
+#define MOTOR_PWM_UNIT MCPWM_UNIT_0
+#define OMNI_PID_NRO_TIMER 0
+#define OMNI_ODOM_NRO_TIMER 2
+
+#define OMNI_PID_CTRL_TIMER 0.05 // in seconds
+#define OMNI_ODOM_CTRL_TIMER 0.5 // in seconds
+
+#define MAX_OUTPUT 100.0
+#define WHEEL_DIAMETER 0.038 // in meters
+#define WHEEL_RADIUS WHEEL_DIAMETER/2// in meters
+#define ROBOT_RADIUS 0.0675 // in meters
+
+#define ENC_CPR 3 //counts per revolution
+#define MOTOR_REDUCTION 50
+#define TICS_PER_REVOLUTION ENC_CPR*MOTOR_REDUCTION
+#define RAD_PER_TICK 2*PI/TICS_PER_REVOLUTION
+#define M_PER_SEC_TO_TICS_PER_SEC 1/(RAD_PER_TICK*WHEEL_RADIUS)
+
+#define MAX_SPEED_POWER 90 // power % at which MAX_SPEED_TICS is obtained
+#define MAX_SPEED_TICS 1080 //tics/s at MAX_SPEED_POWER
+
+#define MAX_SPEED_RAD MAX_SPEED_TICS*RAD_PER_TICK // rad/s
+#define MAX_SPEED_LIN MAX_SPEED_RAD*WHEEL_DIAMETER / 2 // m/s
+
+#define TICS_TO_RAD_S RAD_PER_TICK/OMNI_ODOM_CTRL_TIMER
+
+#define KP 0.01
+#define KI 0.05
+#define KD 0.0
+#define KF MAX_SPEED_POWER/MAX_SPEED_TICS
+
+typedef struct {
+
+ motor_h_t *driver;
+ encoder_h_t *encoder;
+
+ int32_t vel_counter;
+ int32_t odom_counter;
+
+ float target_v;
+ float accum_error;
+ float prev_error;
+ float output;
+
+} servo_t;
+
+typedef struct {
+ float x;
+ float x_dot;
+ float y;
+ float y_dot;
+ float phi;
+ float phi_dot;
+
+} odom_t;
+
+
+
+static servo_t motors[NMOTORS];
+static odom_t odometry;
+
+esp_err_t omni_init();
+
+esp_err_t omni_set_enable(bool start);
+
+esp_err_t omni_drive(float x_dot ,float y_dot ,float w_dot ,float phi);
+
+#endif /* CONTROL_H */
\ No newline at end of file
diff --git a/Robotito/include/encoders.h b/Robotito/include/encoders.h
new file mode 100644
index 0000000000000000000000000000000000000000..1fe4f7670e3a9e300fbd1fc2b64e45f8312b5d4d
--- /dev/null
+++ b/Robotito/include/encoders.h
@@ -0,0 +1,35 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+
+#include <stdint.h>
+#include "esp_err.h"
+
+#define CONFIG_ENCODER_THREAD_STACK_SIZE 8192
+#define CONFIG_ENCODER_THREAD_PRIORITY 20
+#define CONFIG_ENCODER_CPU 0
+
+typedef void (*encoder_callback_t)(int, int8_t, uint32_t);
+
+typedef struct {
+ int8_t A; ///< A pin
+ int8_t B; ///< B pin
+ uint8_t state; ///< Current state's machine state
+ int32_t counter; ///< Current counter value
+ encoder_callback_t callback; ///< Callback function
+ int callback_id; ///< Callback id
+ uint8_t deferred; ///< Deferred callback?
+} encoder_h_t;
+
+typedef struct {
+ encoder_h_t *h;
+ int8_t dir;
+ uint32_t counter;
+} encoder_deferred_data_t;
+
+esp_err_t encoder_setup(int8_t a, int8_t b, encoder_h_t **h);
+esp_err_t encoder_unsetup(encoder_h_t *h);
+esp_err_t encoder_read(encoder_h_t *h, int32_t *val);
+esp_err_t encoder_write(encoder_h_t *h, int32_t val);
+esp_err_t encoder_register_callback(encoder_h_t *h, encoder_callback_t callback, int id, uint8_t deferred);
+
+#endif /* ENCODER_H */
\ No newline at end of file
diff --git a/Robotito/include/hwTimer.h b/Robotito/include/hwTimer.h
new file mode 100644
index 0000000000000000000000000000000000000000..99936eb973076f3168af44f998cd3eec25b43189
--- /dev/null
+++ b/Robotito/include/hwTimer.h
@@ -0,0 +1,130 @@
+#ifndef TIMER_H
+#define TIMER_H
+
+#include "driver/timer.h"
+#include <stdint.h>
+#include "esp_err.h"
+
+
+#define CONFIG_HWTIMER_THREAD_STACK_SIZE 8192
+#define CONFIG_HWTIMER_THREAD_PRIORITY 10
+#define CPU_LAST_TIMER 3
+#define CPU_FIRST_TIMER 0
+
+
+typedef struct{
+ int8_t unit;
+} tmr_alarm_t;
+
+typedef struct {
+ uint8_t setup;
+ void (*callback)(void *);
+ timer_isr_handle_t isrh;
+} tmr_t;
+
+typedef void(*tmr_isr_t)(void *);
+
+/**
+ * @brief Configures a timer. After timer is configured you must start timer using
+ * tmr_start function. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ * @param micros Period of timer, in microseconds.
+ * @param callback Callback function to call every micros period.
+ * @param deferred If 0, the callback are executed in the isr. If 1, the callback
+ * is deferred and is called outside the interrupt. Non deferred
+ * callbacks must reside in IRAM.
+ *
+ * @return 0 if success, -1 if error (memory error)
+ *
+ */
+int tmr_ll_setup(uint8_t unit, uint32_t micros, void(*callback)(void *));
+
+/**
+ * @brief Removes a timer and the resources that uses.
+ * tmr_start function. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ */
+void tmr_ll_unsetup(uint8_t unit);
+
+/**
+ * @brief Start a previous configured timer. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ */
+void tmr_ll_start(uint8_t unit);
+
+/**
+ * @brief Stop a previous configured timer. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ */
+void tmr_ll_stop(uint8_t unit);
+
+/**
+ * @brief Configures a timer. After timer is configured you must start timer using
+ * tmr_start function.
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ * @param micros Period of timer, in microseconds.
+ * @param callback Callback function to call every micros period.
+ * @param deferred If 0, the callback are executed in the isr. If 1, the callback
+ * is deferred and is called outside the interrupt. Non deferred
+ * callbacks must reside in IRAM.
+ *
+ * @return
+ * - NULL success
+ * - Pointer to driver_error_t if some error occurs.
+ *
+ * TIMER_ERR_INVALID_UNIT
+ * TIMER_ERR_INVALID_PERIOD
+ * SPI_ERR_DEVICE_IS_NOT_SELECTED
+ * SPI_ERR_NOT_ENOUGH_MEMORY
+ */
+esp_err_t tmr_setup(int8_t unit, uint32_t micros, void(*callback)(void *));
+
+/**
+ * @brief Removes a timer and the resources that uses.
+ * tmr_start function. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ *
+ * @return
+ * - NULL success
+ * - Pointer to driver_error_t if some error occurs.
+ *
+ * TIMER_ERR_INVALID_UNIT
+ */
+esp_err_t tmr_unsetup(int8_t unit);
+
+/**
+ * @brief Start a previous configured timer.
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ *
+ * @return
+ * - NULL success
+ * - Pointer to driver_error_t if some error occurs.
+ *
+ * TIMER_ERR_IS_NOT_SETUP
+ */
+esp_err_t tmr_start(int8_t unit);
+
+/**
+ * @brief Stop a previous configured timer.
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ *
+ * @return
+ * - NULL success
+ * - Pointer to driver_error_t if some error occurs.
+ *
+ * TIMER_ERR_IS_NOT_SETUP
+ */
+esp_err_t tmr_stop(int8_t unit);
+
+void get_group_idx(int8_t unit, int *groupn, int *idx);
+
+#endif /* TIMER_H */
+
diff --git a/Robotito/include/math_vector_operations.h b/Robotito/include/math_vector_operations.h
new file mode 100644
index 0000000000000000000000000000000000000000..bedbbd43fdbc64e78676a8819a003d2410274db6
--- /dev/null
+++ b/Robotito/include/math_vector_operations.h
@@ -0,0 +1,65 @@
+#ifndef VECTOR_MATH_H
+#define VECTOR_MATH_H
+
+#include "math.h"
+
+#define PI 3.1415926535897932384626433832795
+#define PIdiv180 (PI/180.0)
+#define SQR(x) (x*x)
+#define SGN(x) (x<0?-1:1)
+#define ABS(x) (x<0?-x:x)
+#define NULL_VECTOR F3dVector(0.0f,0.0f,0.0f)
+
+/////////////////////////////////
+//Note: All angles in degrees //
+/////////////////////////////////
+
+typedef struct {
+ float x,y,z;
+} sF3dVector_t;
+
+typedef struct {
+ float x1,y1,z1,x2,y2,z2,x3,y3,z3;
+} sF3dMatrix_t;
+
+
+float getLength(sF3dVector_t* v);
+void normalize(sF3dVector_t* v);
+
+
+/**
+ * v = v + v2
+**/
+void sum (sF3dVector_t* v, sF3dVector_t v2);
+
+/**
+ * v = v - v2
+**/
+
+void difference (sF3dVector_t* v, sF3dVector_t v2);
+
+/**
+ * v = v*r
+**/
+void float_mul (sF3dVector_t* v, float r);
+
+/**
+ * v = v/r
+**/
+void float_div (sF3dVector_t* v, float r);
+
+/**
+ * ret dot product
+**/
+float dotProduct (sF3dVector_t* v, sF3dVector_t v2);
+
+/**
+ * ret v = vectorial product
+**/
+void crossProduct (sF3dVector_t* v, sF3dVector_t v2);
+
+/**
+ * v = M*v
+**/
+void vector_mul (sF3dMatrix_t m, sF3dVector_t* v);
+#endif /* VECTOR_MATH_H */
\ No newline at end of file
diff --git a/Robotito/include/motors.h b/Robotito/include/motors.h
new file mode 100644
index 0000000000000000000000000000000000000000..b2bfbed2c40c089bd66e3f1a389c447dd9a0142a
--- /dev/null
+++ b/Robotito/include/motors.h
@@ -0,0 +1,31 @@
+/*
+Program: Motor Library
+
+File: Motor.h
+*/
+#ifndef DRV8833_h
+#define DRV8833_h
+
+#include <stdint.h>
+#include "esp_err.h"
+#include "driver/mcpwm.h"
+
+typedef struct {
+ int intSpeed;
+ int8_t pin1;
+ int8_t pin2;
+ char info; // bit0: isrunning, bit1: braked
+ double defaultDuty;
+ mcpwm_unit_t mcpwm_unit;
+ mcpwm_io_signals_t mcpwm_a;
+ mcpwm_io_signals_t mcpwm_b;
+ mcpwm_timer_t mcpwm_timer;
+} motor_h_t;
+
+
+esp_err_t motor_install(int8_t a, int8_t b, mcpwm_unit_t pwm_u, mcpwm_io_signals_t pwm1, mcpwm_io_signals_t pwm2, mcpwm_timer_t t, motor_h_t **m);
+esp_err_t motor_set_speed(motor_h_t *m, int intIn);
+esp_err_t motor_stop(motor_h_t *m);
+esp_err_t motor_start(motor_h_t *m);
+
+#endif /* DRV8833_h */
\ No newline at end of file
diff --git a/Robotito/lib/README b/Robotito/lib/README
new file mode 100644
index 0000000000000000000000000000000000000000..6debab1e8b4c3faa0d06f4ff44bce343ce2cdcbf
--- /dev/null
+++ b/Robotito/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+| |
+| |--Bar
+| | |--docs
+| | |--examples
+| | |--src
+| | |- Bar.c
+| | |- Bar.h
+| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+| |
+| |--Foo
+| | |- Foo.c
+| | |- Foo.h
+| |
+| |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+ |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+ ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/Robotito/platformio.ini b/Robotito/platformio.ini
new file mode 100644
index 0000000000000000000000000000000000000000..c312d732d1b2b13c2c472bdeee6031885a98f61f
--- /dev/null
+++ b/Robotito/platformio.ini
@@ -0,0 +1,14 @@
+; PlatformIO Project Configuration File
+;
+; Build options: build flags, source filter
+; Upload options: custom upload port, speed and extra flags
+; Library options: dependencies, extra library storages
+; Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32thing]
+platform = espressif32
+board = esp32thing
+framework = espidf
diff --git a/Robotito/sdkconfig.esp32thing b/Robotito/sdkconfig.esp32thing
new file mode 100644
index 0000000000000000000000000000000000000000..6cc543c6dbb7f1006c9abfaf3a8037d14efda1a4
--- /dev/null
+++ b/Robotito/sdkconfig.esp32thing
@@ -0,0 +1,1393 @@
+#
+# Automatically generated file. DO NOT EDIT.
+# Espressif IoT Development Framework (ESP-IDF) Project Configuration
+#
+CONFIG_IDF_CMAKE=y
+CONFIG_IDF_TARGET_ARCH_XTENSA=y
+CONFIG_IDF_TARGET="esp32"
+CONFIG_IDF_TARGET_ESP32=y
+CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000
+
+#
+# SDK tool configuration
+#
+CONFIG_SDK_TOOLPREFIX="xtensa-esp32-elf-"
+# CONFIG_SDK_TOOLCHAIN_SUPPORTS_TIME_WIDE_64_BITS is not set
+# end of SDK tool configuration
+
+#
+# Build type
+#
+CONFIG_APP_BUILD_TYPE_APP_2NDBOOT=y
+# CONFIG_APP_BUILD_TYPE_ELF_RAM is not set
+CONFIG_APP_BUILD_GENERATE_BINARIES=y
+CONFIG_APP_BUILD_BOOTLOADER=y
+CONFIG_APP_BUILD_USE_FLASH_SECTIONS=y
+# end of Build type
+
+#
+# Application manager
+#
+CONFIG_APP_COMPILE_TIME_DATE=y
+# CONFIG_APP_EXCLUDE_PROJECT_VER_VAR is not set
+# CONFIG_APP_EXCLUDE_PROJECT_NAME_VAR is not set
+# CONFIG_APP_PROJECT_VER_FROM_CONFIG is not set
+CONFIG_APP_RETRIEVE_LEN_ELF_SHA=16
+# end of Application manager
+
+#
+# Bootloader config
+#
+CONFIG_BOOTLOADER_OFFSET_IN_FLASH=0x1000
+CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y
+# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_DEBUG is not set
+# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_PERF is not set
+# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_NONE is not set
+# CONFIG_BOOTLOADER_LOG_LEVEL_NONE is not set
+# CONFIG_BOOTLOADER_LOG_LEVEL_ERROR is not set
+# CONFIG_BOOTLOADER_LOG_LEVEL_WARN is not set
+CONFIG_BOOTLOADER_LOG_LEVEL_INFO=y
+# CONFIG_BOOTLOADER_LOG_LEVEL_DEBUG is not set
+# CONFIG_BOOTLOADER_LOG_LEVEL_VERBOSE is not set
+CONFIG_BOOTLOADER_LOG_LEVEL=3
+# CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_8V is not set
+CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
+# CONFIG_BOOTLOADER_FACTORY_RESET is not set
+# CONFIG_BOOTLOADER_APP_TEST is not set
+CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y
+CONFIG_BOOTLOADER_WDT_ENABLE=y
+# CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set
+CONFIG_BOOTLOADER_WDT_TIME_MS=9000
+# CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set
+# CONFIG_BOOTLOADER_SKIP_VALIDATE_IN_DEEP_SLEEP is not set
+# CONFIG_BOOTLOADER_SKIP_VALIDATE_ON_POWER_ON is not set
+# CONFIG_BOOTLOADER_SKIP_VALIDATE_ALWAYS is not set
+CONFIG_BOOTLOADER_RESERVE_RTC_SIZE=0
+# CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC is not set
+CONFIG_BOOTLOADER_FLASH_XMC_SUPPORT=y
+# end of Bootloader config
+
+#
+# Security features
+#
+# CONFIG_SECURE_SIGNED_APPS_NO_SECURE_BOOT is not set
+# CONFIG_SECURE_BOOT is not set
+# CONFIG_SECURE_FLASH_ENC_ENABLED is not set
+# end of Security features
+
+#
+# Serial flasher config
+#
+CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200
+# CONFIG_ESPTOOLPY_NO_STUB is not set
+# CONFIG_ESPTOOLPY_FLASHMODE_QIO is not set
+# CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set
+CONFIG_ESPTOOLPY_FLASHMODE_DIO=y
+# CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set
+CONFIG_ESPTOOLPY_FLASH_SAMPLE_MODE_STR=y
+CONFIG_ESPTOOLPY_FLASHMODE="dio"
+# CONFIG_ESPTOOLPY_FLASHFREQ_80M is not set
+CONFIG_ESPTOOLPY_FLASHFREQ_40M=y
+# CONFIG_ESPTOOLPY_FLASHFREQ_26M is not set
+# CONFIG_ESPTOOLPY_FLASHFREQ_20M is not set
+CONFIG_ESPTOOLPY_FLASHFREQ="40m"
+# CONFIG_ESPTOOLPY_FLASHSIZE_1MB is not set
+CONFIG_ESPTOOLPY_FLASHSIZE_2MB=y
+# CONFIG_ESPTOOLPY_FLASHSIZE_4MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_32MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_64MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_128MB is not set
+CONFIG_ESPTOOLPY_FLASHSIZE="2MB"
+CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y
+CONFIG_ESPTOOLPY_BEFORE_RESET=y
+# CONFIG_ESPTOOLPY_BEFORE_NORESET is not set
+CONFIG_ESPTOOLPY_BEFORE="default_reset"
+CONFIG_ESPTOOLPY_AFTER_RESET=y
+# CONFIG_ESPTOOLPY_AFTER_NORESET is not set
+CONFIG_ESPTOOLPY_AFTER="hard_reset"
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_CONSOLE is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_9600B is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_57600B is not set
+CONFIG_ESPTOOLPY_MONITOR_BAUD_115200B=y
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_230400B is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_921600B is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_2MB is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER is not set
+CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER_VAL=115200
+CONFIG_ESPTOOLPY_MONITOR_BAUD=115200
+# end of Serial flasher config
+
+#
+# Partition Table
+#
+CONFIG_PARTITION_TABLE_SINGLE_APP=y
+# CONFIG_PARTITION_TABLE_SINGLE_APP_LARGE is not set
+# CONFIG_PARTITION_TABLE_TWO_OTA is not set
+# CONFIG_PARTITION_TABLE_CUSTOM is not set
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
+CONFIG_PARTITION_TABLE_FILENAME="partitions_singleapp.csv"
+CONFIG_PARTITION_TABLE_OFFSET=0x8000
+CONFIG_PARTITION_TABLE_MD5=y
+# end of Partition Table
+
+#
+# Compiler options
+#
+CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y
+# CONFIG_COMPILER_OPTIMIZATION_SIZE is not set
+# CONFIG_COMPILER_OPTIMIZATION_PERF is not set
+# CONFIG_COMPILER_OPTIMIZATION_NONE is not set
+CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE=y
+# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT is not set
+# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE is not set
+CONFIG_COMPILER_OPTIMIZATION_ASSERTION_LEVEL=2
+# CONFIG_COMPILER_OPTIMIZATION_CHECKS_SILENT is not set
+CONFIG_COMPILER_HIDE_PATHS_MACROS=y
+# CONFIG_COMPILER_CXX_EXCEPTIONS is not set
+# CONFIG_COMPILER_CXX_RTTI is not set
+CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y
+# CONFIG_COMPILER_STACK_CHECK_MODE_NORM is not set
+# CONFIG_COMPILER_STACK_CHECK_MODE_STRONG is not set
+# CONFIG_COMPILER_STACK_CHECK_MODE_ALL is not set
+# CONFIG_COMPILER_WARN_WRITE_STRINGS is not set
+# CONFIG_COMPILER_DISABLE_GCC8_WARNINGS is not set
+# CONFIG_COMPILER_DUMP_RTL_FILES is not set
+# end of Compiler options
+
+#
+# Component config
+#
+
+#
+# Application Level Tracing
+#
+# CONFIG_APPTRACE_DEST_JTAG is not set
+CONFIG_APPTRACE_DEST_NONE=y
+CONFIG_APPTRACE_LOCK_ENABLE=y
+# end of Application Level Tracing
+
+#
+# ESP-ASIO
+#
+# CONFIG_ASIO_SSL_SUPPORT is not set
+# end of ESP-ASIO
+
+#
+# Bluetooth
+#
+# CONFIG_BT_ENABLED is not set
+# end of Bluetooth
+
+#
+# CoAP Configuration
+#
+CONFIG_COAP_MBEDTLS_PSK=y
+# CONFIG_COAP_MBEDTLS_PKI is not set
+# CONFIG_COAP_MBEDTLS_DEBUG is not set
+CONFIG_COAP_LOG_DEFAULT_LEVEL=0
+# end of CoAP Configuration
+
+#
+# Driver configurations
+#
+
+#
+# ADC configuration
+#
+# CONFIG_ADC_FORCE_XPD_FSM is not set
+CONFIG_ADC_DISABLE_DAC=y
+# end of ADC configuration
+
+#
+# MCPWM configuration
+#
+# CONFIG_MCPWM_ISR_IN_IRAM is not set
+# end of MCPWM configuration
+
+#
+# SPI configuration
+#
+# CONFIG_SPI_MASTER_IN_IRAM is not set
+CONFIG_SPI_MASTER_ISR_IN_IRAM=y
+# CONFIG_SPI_SLAVE_IN_IRAM is not set
+CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
+# end of SPI configuration
+
+#
+# TWAI configuration
+#
+# CONFIG_TWAI_ISR_IN_IRAM is not set
+# CONFIG_TWAI_ERRATA_FIX_BUS_OFF_REC is not set
+# CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST is not set
+# CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID is not set
+# CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT is not set
+# end of TWAI configuration
+
+#
+# UART configuration
+#
+# CONFIG_UART_ISR_IN_IRAM is not set
+# end of UART configuration
+
+#
+# RTCIO configuration
+#
+# CONFIG_RTCIO_SUPPORT_RTC_GPIO_DESC is not set
+# end of RTCIO configuration
+
+#
+# GPIO Configuration
+#
+# CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL is not set
+# end of GPIO Configuration
+
+#
+# GDMA Configuration
+#
+# CONFIG_GDMA_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_GDMA_ISR_IRAM_SAFE is not set
+# end of GDMA Configuration
+# end of Driver configurations
+
+#
+# eFuse Bit Manager
+#
+# CONFIG_EFUSE_CUSTOM_TABLE is not set
+# CONFIG_EFUSE_VIRTUAL is not set
+# CONFIG_EFUSE_CODE_SCHEME_COMPAT_NONE is not set
+CONFIG_EFUSE_CODE_SCHEME_COMPAT_3_4=y
+# CONFIG_EFUSE_CODE_SCHEME_COMPAT_REPEAT is not set
+CONFIG_EFUSE_MAX_BLK_LEN=192
+# end of eFuse Bit Manager
+
+#
+# ESP-TLS
+#
+CONFIG_ESP_TLS_USING_MBEDTLS=y
+# CONFIG_ESP_TLS_USE_SECURE_ELEMENT is not set
+# CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set
+# CONFIG_ESP_TLS_SERVER is not set
+# CONFIG_ESP_TLS_PSK_VERIFICATION is not set
+# CONFIG_ESP_TLS_INSECURE is not set
+# end of ESP-TLS
+
+#
+# ESP32-specific
+#
+CONFIG_ESP32_REV_MIN_0=y
+# CONFIG_ESP32_REV_MIN_1 is not set
+# CONFIG_ESP32_REV_MIN_2 is not set
+# CONFIG_ESP32_REV_MIN_3 is not set
+CONFIG_ESP32_REV_MIN=0
+CONFIG_ESP32_DPORT_WORKAROUND=y
+# CONFIG_ESP32_DEFAULT_CPU_FREQ_80 is not set
+CONFIG_ESP32_DEFAULT_CPU_FREQ_160=y
+# CONFIG_ESP32_DEFAULT_CPU_FREQ_240 is not set
+CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=160
+# CONFIG_ESP32_SPIRAM_SUPPORT is not set
+# CONFIG_ESP32_TRAX is not set
+CONFIG_ESP32_TRACEMEM_RESERVE_DRAM=0x0
+# CONFIG_ESP32_ULP_COPROC_ENABLED is not set
+CONFIG_ESP32_ULP_COPROC_RESERVE_MEM=0
+CONFIG_ESP32_DEBUG_OCDAWARE=y
+CONFIG_ESP32_BROWNOUT_DET=y
+CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_0=y
+# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_1 is not set
+# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_2 is not set
+# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_3 is not set
+# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_4 is not set
+# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_5 is not set
+# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_6 is not set
+# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_7 is not set
+CONFIG_ESP32_BROWNOUT_DET_LVL=0
+CONFIG_ESP32_TIME_SYSCALL_USE_RTC_FRC1=y
+# CONFIG_ESP32_TIME_SYSCALL_USE_RTC is not set
+# CONFIG_ESP32_TIME_SYSCALL_USE_FRC1 is not set
+# CONFIG_ESP32_TIME_SYSCALL_USE_NONE is not set
+CONFIG_ESP32_RTC_CLK_SRC_INT_RC=y
+# CONFIG_ESP32_RTC_CLK_SRC_EXT_CRYS is not set
+# CONFIG_ESP32_RTC_CLK_SRC_EXT_OSC is not set
+# CONFIG_ESP32_RTC_CLK_SRC_INT_8MD256 is not set
+CONFIG_ESP32_RTC_CLK_CAL_CYCLES=1024
+CONFIG_ESP32_DEEP_SLEEP_WAKEUP_DELAY=2000
+CONFIG_ESP32_XTAL_FREQ_40=y
+# CONFIG_ESP32_XTAL_FREQ_26 is not set
+# CONFIG_ESP32_XTAL_FREQ_AUTO is not set
+CONFIG_ESP32_XTAL_FREQ=40
+# CONFIG_ESP32_DISABLE_BASIC_ROM_CONSOLE is not set
+# CONFIG_ESP32_NO_BLOBS is not set
+# CONFIG_ESP32_COMPATIBLE_PRE_V2_1_BOOTLOADERS is not set
+# CONFIG_ESP32_COMPATIBLE_PRE_V3_1_BOOTLOADERS is not set
+# CONFIG_ESP32_USE_FIXED_STATIC_RAM_SIZE is not set
+CONFIG_ESP32_DPORT_DIS_INTERRUPT_LVL=5
+# end of ESP32-specific
+
+#
+# ADC-Calibration
+#
+CONFIG_ADC_CAL_EFUSE_TP_ENABLE=y
+CONFIG_ADC_CAL_EFUSE_VREF_ENABLE=y
+CONFIG_ADC_CAL_LUT_ENABLE=y
+# end of ADC-Calibration
+
+#
+# Common ESP-related
+#
+CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
+# end of Common ESP-related
+
+#
+# Ethernet
+#
+CONFIG_ETH_ENABLED=y
+CONFIG_ETH_USE_ESP32_EMAC=y
+CONFIG_ETH_PHY_INTERFACE_RMII=y
+CONFIG_ETH_RMII_CLK_INPUT=y
+# CONFIG_ETH_RMII_CLK_OUTPUT is not set
+CONFIG_ETH_RMII_CLK_IN_GPIO=0
+CONFIG_ETH_DMA_BUFFER_SIZE=512
+CONFIG_ETH_DMA_RX_BUFFER_NUM=10
+CONFIG_ETH_DMA_TX_BUFFER_NUM=10
+CONFIG_ETH_USE_SPI_ETHERNET=y
+# CONFIG_ETH_SPI_ETHERNET_DM9051 is not set
+# CONFIG_ETH_SPI_ETHERNET_W5500 is not set
+# CONFIG_ETH_SPI_ETHERNET_KSZ8851SNL is not set
+# CONFIG_ETH_USE_OPENETH is not set
+# end of Ethernet
+
+#
+# Event Loop Library
+#
+# CONFIG_ESP_EVENT_LOOP_PROFILING is not set
+CONFIG_ESP_EVENT_POST_FROM_ISR=y
+CONFIG_ESP_EVENT_POST_FROM_IRAM_ISR=y
+# end of Event Loop Library
+
+#
+# GDB Stub
+#
+# end of GDB Stub
+
+#
+# ESP HTTP client
+#
+CONFIG_ESP_HTTP_CLIENT_ENABLE_HTTPS=y
+# CONFIG_ESP_HTTP_CLIENT_ENABLE_BASIC_AUTH is not set
+CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH=y
+# end of ESP HTTP client
+
+#
+# HTTP Server
+#
+CONFIG_HTTPD_MAX_REQ_HDR_LEN=512
+CONFIG_HTTPD_MAX_URI_LEN=512
+CONFIG_HTTPD_ERR_RESP_NO_DELAY=y
+CONFIG_HTTPD_PURGE_BUF_LEN=32
+# CONFIG_HTTPD_LOG_PURGE_DATA is not set
+# CONFIG_HTTPD_WS_SUPPORT is not set
+# end of HTTP Server
+
+#
+# ESP HTTPS OTA
+#
+# CONFIG_OTA_ALLOW_HTTP is not set
+# end of ESP HTTPS OTA
+
+#
+# ESP HTTPS server
+#
+# CONFIG_ESP_HTTPS_SERVER_ENABLE is not set
+# end of ESP HTTPS server
+
+#
+# Hardware Settings
+#
+
+#
+# MAC Config
+#
+CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_STA=y
+CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_AP=y
+CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
+CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
+# CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO is not set
+CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR=y
+CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=4
+# end of MAC Config
+
+#
+# Sleep Config
+#
+CONFIG_ESP_SLEEP_POWER_DOWN_FLASH=y
+CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y
+# CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND is not set
+# CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND is not set
+# end of Sleep Config
+
+#
+# RTC Clock Config
+#
+# end of RTC Clock Config
+# end of Hardware Settings
+
+#
+# IPC (Inter-Processor Call)
+#
+CONFIG_ESP_IPC_TASK_STACK_SIZE=1536
+CONFIG_ESP_IPC_USES_CALLERS_PRIORITY=y
+CONFIG_ESP_IPC_ISR_ENABLE=y
+# end of IPC (Inter-Processor Call)
+
+#
+# LCD and Touch Panel
+#
+
+#
+# LCD Peripheral Configuration
+#
+CONFIG_LCD_PANEL_IO_FORMAT_BUF_SIZE=32
+# end of LCD Peripheral Configuration
+# end of LCD and Touch Panel
+
+#
+# ESP NETIF Adapter
+#
+CONFIG_ESP_NETIF_IP_LOST_TIMER_INTERVAL=120
+CONFIG_ESP_NETIF_TCPIP_LWIP=y
+# CONFIG_ESP_NETIF_LOOPBACK is not set
+CONFIG_ESP_NETIF_TCPIP_ADAPTER_COMPATIBLE_LAYER=y
+# end of ESP NETIF Adapter
+
+#
+# PHY
+#
+CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
+# CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set
+CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
+CONFIG_ESP_PHY_MAX_TX_POWER=20
+CONFIG_ESP_PHY_REDUCE_TX_POWER=y
+# end of PHY
+
+#
+# Power Management
+#
+# CONFIG_PM_ENABLE is not set
+# end of Power Management
+
+#
+# ESP System Settings
+#
+# CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT is not set
+CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT=y
+# CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT is not set
+# CONFIG_ESP_SYSTEM_PANIC_GDBSTUB is not set
+# CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME is not set
+
+#
+# Memory protection
+#
+# end of Memory protection
+
+CONFIG_ESP_SYSTEM_EVENT_QUEUE_SIZE=32
+CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=2304
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=3584
+CONFIG_ESP_MAIN_TASK_AFFINITY_CPU0=y
+# CONFIG_ESP_MAIN_TASK_AFFINITY_CPU1 is not set
+# CONFIG_ESP_MAIN_TASK_AFFINITY_NO_AFFINITY is not set
+CONFIG_ESP_MAIN_TASK_AFFINITY=0x0
+CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE=2048
+CONFIG_ESP_CONSOLE_UART_DEFAULT=y
+# CONFIG_ESP_CONSOLE_UART_CUSTOM is not set
+# CONFIG_ESP_CONSOLE_NONE is not set
+CONFIG_ESP_CONSOLE_UART=y
+CONFIG_ESP_CONSOLE_MULTIPLE_UART=y
+CONFIG_ESP_CONSOLE_UART_NUM=0
+CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
+CONFIG_ESP_INT_WDT=y
+CONFIG_ESP_INT_WDT_TIMEOUT_MS=300
+CONFIG_ESP_INT_WDT_CHECK_CPU1=y
+CONFIG_ESP_TASK_WDT=y
+# CONFIG_ESP_TASK_WDT_PANIC is not set
+CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
+CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
+CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1=y
+# CONFIG_ESP_PANIC_HANDLER_IRAM is not set
+# CONFIG_ESP_DEBUG_STUBS_ENABLE is not set
+# CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_5 is not set
+CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_4=y
+# end of ESP System Settings
+
+#
+# High resolution timer (esp_timer)
+#
+# CONFIG_ESP_TIMER_PROFILING is not set
+CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER=y
+CONFIG_ESP_TIME_FUNCS_USE_ESP_TIMER=y
+CONFIG_ESP_TIMER_TASK_STACK_SIZE=3584
+CONFIG_ESP_TIMER_INTERRUPT_LEVEL=1
+# CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD is not set
+# CONFIG_ESP_TIMER_IMPL_FRC2 is not set
+CONFIG_ESP_TIMER_IMPL_TG0_LAC=y
+# end of High resolution timer (esp_timer)
+
+#
+# Wi-Fi
+#
+CONFIG_ESP32_WIFI_ENABLED=y
+CONFIG_ESP32_WIFI_STATIC_RX_BUFFER_NUM=10
+CONFIG_ESP32_WIFI_DYNAMIC_RX_BUFFER_NUM=32
+# CONFIG_ESP32_WIFI_STATIC_TX_BUFFER is not set
+CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER=y
+CONFIG_ESP32_WIFI_TX_BUFFER_TYPE=1
+CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER_NUM=32
+# CONFIG_ESP32_WIFI_CSI_ENABLED is not set
+CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED=y
+CONFIG_ESP32_WIFI_TX_BA_WIN=6
+CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED=y
+CONFIG_ESP32_WIFI_RX_BA_WIN=6
+CONFIG_ESP32_WIFI_NVS_ENABLED=y
+CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0=y
+# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1 is not set
+CONFIG_ESP32_WIFI_SOFTAP_BEACON_MAX_LEN=752
+CONFIG_ESP32_WIFI_MGMT_SBUF_NUM=32
+CONFIG_ESP32_WIFI_IRAM_OPT=y
+CONFIG_ESP32_WIFI_RX_IRAM_OPT=y
+CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
+# CONFIG_ESP_WIFI_SLP_IRAM_OPT is not set
+# CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE is not set
+# CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
+CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
+# end of Wi-Fi
+
+#
+# Core dump
+#
+# CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH is not set
+# CONFIG_ESP_COREDUMP_ENABLE_TO_UART is not set
+CONFIG_ESP_COREDUMP_ENABLE_TO_NONE=y
+# end of Core dump
+
+#
+# FAT Filesystem support
+#
+# CONFIG_FATFS_CODEPAGE_DYNAMIC is not set
+CONFIG_FATFS_CODEPAGE_437=y
+# CONFIG_FATFS_CODEPAGE_720 is not set
+# CONFIG_FATFS_CODEPAGE_737 is not set
+# CONFIG_FATFS_CODEPAGE_771 is not set
+# CONFIG_FATFS_CODEPAGE_775 is not set
+# CONFIG_FATFS_CODEPAGE_850 is not set
+# CONFIG_FATFS_CODEPAGE_852 is not set
+# CONFIG_FATFS_CODEPAGE_855 is not set
+# CONFIG_FATFS_CODEPAGE_857 is not set
+# CONFIG_FATFS_CODEPAGE_860 is not set
+# CONFIG_FATFS_CODEPAGE_861 is not set
+# CONFIG_FATFS_CODEPAGE_862 is not set
+# CONFIG_FATFS_CODEPAGE_863 is not set
+# CONFIG_FATFS_CODEPAGE_864 is not set
+# CONFIG_FATFS_CODEPAGE_865 is not set
+# CONFIG_FATFS_CODEPAGE_866 is not set
+# CONFIG_FATFS_CODEPAGE_869 is not set
+# CONFIG_FATFS_CODEPAGE_932 is not set
+# CONFIG_FATFS_CODEPAGE_936 is not set
+# CONFIG_FATFS_CODEPAGE_949 is not set
+# CONFIG_FATFS_CODEPAGE_950 is not set
+CONFIG_FATFS_CODEPAGE=437
+CONFIG_FATFS_LFN_NONE=y
+# CONFIG_FATFS_LFN_HEAP is not set
+# CONFIG_FATFS_LFN_STACK is not set
+CONFIG_FATFS_FS_LOCK=0
+CONFIG_FATFS_TIMEOUT_MS=10000
+CONFIG_FATFS_PER_FILE_CACHE=y
+# CONFIG_FATFS_USE_FASTSEEK is not set
+# end of FAT Filesystem support
+
+#
+# Modbus configuration
+#
+CONFIG_FMB_COMM_MODE_TCP_EN=y
+CONFIG_FMB_TCP_PORT_DEFAULT=502
+CONFIG_FMB_TCP_PORT_MAX_CONN=5
+CONFIG_FMB_TCP_CONNECTION_TOUT_SEC=20
+CONFIG_FMB_COMM_MODE_RTU_EN=y
+CONFIG_FMB_COMM_MODE_ASCII_EN=y
+CONFIG_FMB_MASTER_TIMEOUT_MS_RESPOND=150
+CONFIG_FMB_MASTER_DELAY_MS_CONVERT=200
+CONFIG_FMB_QUEUE_LENGTH=20
+CONFIG_FMB_PORT_TASK_STACK_SIZE=4096
+CONFIG_FMB_SERIAL_BUF_SIZE=256
+CONFIG_FMB_SERIAL_ASCII_BITS_PER_SYMB=8
+CONFIG_FMB_SERIAL_ASCII_TIMEOUT_RESPOND_MS=1000
+CONFIG_FMB_PORT_TASK_PRIO=10
+# CONFIG_FMB_PORT_TASK_AFFINITY_NO_AFFINITY is not set
+CONFIG_FMB_PORT_TASK_AFFINITY_CPU0=y
+# CONFIG_FMB_PORT_TASK_AFFINITY_CPU1 is not set
+CONFIG_FMB_PORT_TASK_AFFINITY=0x0
+CONFIG_FMB_CONTROLLER_SLAVE_ID_SUPPORT=y
+CONFIG_FMB_CONTROLLER_SLAVE_ID=0x00112233
+CONFIG_FMB_CONTROLLER_NOTIFY_TIMEOUT=20
+CONFIG_FMB_CONTROLLER_NOTIFY_QUEUE_SIZE=20
+CONFIG_FMB_CONTROLLER_STACK_SIZE=4096
+CONFIG_FMB_EVENT_QUEUE_TIMEOUT=20
+# CONFIG_FMB_TIMER_PORT_ENABLED is not set
+CONFIG_FMB_TIMER_GROUP=0
+CONFIG_FMB_TIMER_INDEX=0
+CONFIG_FMB_MASTER_TIMER_GROUP=0
+CONFIG_FMB_MASTER_TIMER_INDEX=0
+# CONFIG_FMB_TIMER_ISR_IN_IRAM is not set
+# end of Modbus configuration
+
+#
+# FreeRTOS
+#
+# CONFIG_FREERTOS_UNICORE is not set
+CONFIG_FREERTOS_NO_AFFINITY=0x7FFFFFFF
+CONFIG_FREERTOS_TICK_SUPPORT_CORETIMER=y
+CONFIG_FREERTOS_CORETIMER_0=y
+# CONFIG_FREERTOS_CORETIMER_1 is not set
+CONFIG_FREERTOS_SYSTICK_USES_CCOUNT=y
+CONFIG_FREERTOS_HZ=100
+CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
+# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
+# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
+CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y
+# CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set
+CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y
+CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1
+CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
+# CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set
+# CONFIG_FREERTOS_ASSERT_DISABLE is not set
+CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
+CONFIG_FREERTOS_ISR_STACKSIZE=1536
+# CONFIG_FREERTOS_LEGACY_HOOKS is not set
+CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
+CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
+# CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is not set
+CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048
+CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10
+CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0
+# CONFIG_FREERTOS_USE_TRACE_FACILITY is not set
+# CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set
+CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER=y
+CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER=y
+# CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE is not set
+# CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH is not set
+CONFIG_FREERTOS_DEBUG_OCDAWARE=y
+# CONFIG_FREERTOS_FPU_IN_ISR is not set
+CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y
+# CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH is not set
+# end of FreeRTOS
+
+#
+# Hardware Abstraction Layer (HAL) and Low Level (LL)
+#
+CONFIG_HAL_ASSERTION_EQUALS_SYSTEM=y
+# CONFIG_HAL_ASSERTION_DISABLE is not set
+# CONFIG_HAL_ASSERTION_SILIENT is not set
+# CONFIG_HAL_ASSERTION_ENABLE is not set
+CONFIG_HAL_DEFAULT_ASSERTION_LEVEL=2
+# end of Hardware Abstraction Layer (HAL) and Low Level (LL)
+
+#
+# Heap memory debugging
+#
+CONFIG_HEAP_POISONING_DISABLED=y
+# CONFIG_HEAP_POISONING_LIGHT is not set
+# CONFIG_HEAP_POISONING_COMPREHENSIVE is not set
+CONFIG_HEAP_TRACING_OFF=y
+# CONFIG_HEAP_TRACING_STANDALONE is not set
+# CONFIG_HEAP_TRACING_TOHOST is not set
+# CONFIG_HEAP_ABORT_WHEN_ALLOCATION_FAILS is not set
+# end of Heap memory debugging
+
+#
+# jsmn
+#
+# CONFIG_JSMN_PARENT_LINKS is not set
+# CONFIG_JSMN_STRICT is not set
+# end of jsmn
+
+#
+# libsodium
+#
+# end of libsodium
+
+#
+# Log output
+#
+# CONFIG_LOG_DEFAULT_LEVEL_NONE is not set
+# CONFIG_LOG_DEFAULT_LEVEL_ERROR is not set
+# CONFIG_LOG_DEFAULT_LEVEL_WARN is not set
+CONFIG_LOG_DEFAULT_LEVEL_INFO=y
+# CONFIG_LOG_DEFAULT_LEVEL_DEBUG is not set
+# CONFIG_LOG_DEFAULT_LEVEL_VERBOSE is not set
+CONFIG_LOG_DEFAULT_LEVEL=3
+CONFIG_LOG_MAXIMUM_EQUALS_DEFAULT=y
+# CONFIG_LOG_MAXIMUM_LEVEL_DEBUG is not set
+# CONFIG_LOG_MAXIMUM_LEVEL_VERBOSE is not set
+CONFIG_LOG_MAXIMUM_LEVEL=3
+CONFIG_LOG_COLORS=y
+CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
+# CONFIG_LOG_TIMESTAMP_SOURCE_SYSTEM is not set
+# end of Log output
+
+#
+# LWIP
+#
+CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
+# CONFIG_LWIP_NETIF_API is not set
+# CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
+CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
+# CONFIG_LWIP_L2_TO_L3_COPY is not set
+# CONFIG_LWIP_IRAM_OPTIMIZATION is not set
+CONFIG_LWIP_TIMERS_ONDEMAND=y
+CONFIG_LWIP_MAX_SOCKETS=10
+# CONFIG_LWIP_USE_ONLY_LWIP_SELECT is not set
+# CONFIG_LWIP_SO_LINGER is not set
+CONFIG_LWIP_SO_REUSE=y
+CONFIG_LWIP_SO_REUSE_RXTOALL=y
+# CONFIG_LWIP_SO_RCVBUF is not set
+# CONFIG_LWIP_NETBUF_RECVINFO is not set
+CONFIG_LWIP_IP4_FRAG=y
+CONFIG_LWIP_IP6_FRAG=y
+# CONFIG_LWIP_IP4_REASSEMBLY is not set
+# CONFIG_LWIP_IP6_REASSEMBLY is not set
+# CONFIG_LWIP_IP_FORWARD is not set
+# CONFIG_LWIP_STATS is not set
+# CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
+CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
+CONFIG_LWIP_GARP_TMR_INTERVAL=60
+CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
+CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
+# CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
+CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
+# CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
+CONFIG_LWIP_DHCP_OPTIONS_LEN=68
+
+#
+# DHCP server
+#
+CONFIG_LWIP_DHCPS=y
+CONFIG_LWIP_DHCPS_LEASE_UNIT=60
+CONFIG_LWIP_DHCPS_MAX_STATION_NUM=8
+# end of DHCP server
+
+# CONFIG_LWIP_AUTOIP is not set
+CONFIG_LWIP_IPV6=y
+# CONFIG_LWIP_IPV6_AUTOCONFIG is not set
+CONFIG_LWIP_IPV6_NUM_ADDRESSES=3
+# CONFIG_LWIP_IPV6_FORWARD is not set
+# CONFIG_LWIP_NETIF_STATUS_CALLBACK is not set
+CONFIG_LWIP_NETIF_LOOPBACK=y
+CONFIG_LWIP_LOOPBACK_MAX_PBUFS=8
+
+#
+# TCP
+#
+CONFIG_LWIP_MAX_ACTIVE_TCP=16
+CONFIG_LWIP_MAX_LISTENING_TCP=16
+CONFIG_LWIP_TCP_HIGH_SPEED_RETRANSMISSION=y
+CONFIG_LWIP_TCP_MAXRTX=12
+CONFIG_LWIP_TCP_SYNMAXRTX=12
+CONFIG_LWIP_TCP_MSS=1440
+CONFIG_LWIP_TCP_TMR_INTERVAL=250
+CONFIG_LWIP_TCP_MSL=60000
+CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
+CONFIG_LWIP_TCP_WND_DEFAULT=5744
+CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
+CONFIG_LWIP_TCP_QUEUE_OOSEQ=y
+# CONFIG_LWIP_TCP_SACK_OUT is not set
+# CONFIG_LWIP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES is not set
+CONFIG_LWIP_TCP_OVERSIZE_MSS=y
+# CONFIG_LWIP_TCP_OVERSIZE_QUARTER_MSS is not set
+# CONFIG_LWIP_TCP_OVERSIZE_DISABLE is not set
+CONFIG_LWIP_TCP_RTO_TIME=1500
+# end of TCP
+
+#
+# UDP
+#
+CONFIG_LWIP_MAX_UDP_PCBS=16
+CONFIG_LWIP_UDP_RECVMBOX_SIZE=6
+# end of UDP
+
+#
+# Checksums
+#
+# CONFIG_LWIP_CHECKSUM_CHECK_IP is not set
+# CONFIG_LWIP_CHECKSUM_CHECK_UDP is not set
+CONFIG_LWIP_CHECKSUM_CHECK_ICMP=y
+# end of Checksums
+
+CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=3072
+CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
+# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU0 is not set
+# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1 is not set
+CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x7FFFFFFF
+# CONFIG_LWIP_PPP_SUPPORT is not set
+CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3
+CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5
+# CONFIG_LWIP_SLIP_SUPPORT is not set
+
+#
+# ICMP
+#
+CONFIG_LWIP_ICMP=y
+# CONFIG_LWIP_MULTICAST_PING is not set
+# CONFIG_LWIP_BROADCAST_PING is not set
+# end of ICMP
+
+#
+# LWIP RAW API
+#
+CONFIG_LWIP_MAX_RAW_PCBS=16
+# end of LWIP RAW API
+
+#
+# SNTP
+#
+CONFIG_LWIP_SNTP_MAX_SERVERS=1
+# CONFIG_LWIP_DHCP_GET_NTP_SRV is not set
+CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000
+# end of SNTP
+
+CONFIG_LWIP_ESP_LWIP_ASSERT=y
+
+#
+# Hooks
+#
+# CONFIG_LWIP_HOOK_TCP_ISN_NONE is not set
+CONFIG_LWIP_HOOK_TCP_ISN_DEFAULT=y
+# CONFIG_LWIP_HOOK_TCP_ISN_CUSTOM is not set
+CONFIG_LWIP_HOOK_IP6_ROUTE_NONE=y
+# CONFIG_LWIP_HOOK_IP6_ROUTE_DEFAULT is not set
+# CONFIG_LWIP_HOOK_IP6_ROUTE_CUSTOM is not set
+CONFIG_LWIP_HOOK_ND6_GET_GW_NONE=y
+# CONFIG_LWIP_HOOK_ND6_GET_GW_DEFAULT is not set
+# CONFIG_LWIP_HOOK_ND6_GET_GW_CUSTOM is not set
+CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_NONE=y
+# CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_DEFAULT is not set
+# CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_CUSTOM is not set
+# end of Hooks
+
+# CONFIG_LWIP_DEBUG is not set
+# end of LWIP
+
+#
+# mbedTLS
+#
+CONFIG_MBEDTLS_INTERNAL_MEM_ALLOC=y
+# CONFIG_MBEDTLS_DEFAULT_MEM_ALLOC is not set
+# CONFIG_MBEDTLS_CUSTOM_MEM_ALLOC is not set
+CONFIG_MBEDTLS_ASYMMETRIC_CONTENT_LEN=y
+CONFIG_MBEDTLS_SSL_IN_CONTENT_LEN=16384
+CONFIG_MBEDTLS_SSL_OUT_CONTENT_LEN=4096
+# CONFIG_MBEDTLS_DYNAMIC_BUFFER is not set
+# CONFIG_MBEDTLS_DEBUG is not set
+
+#
+# mbedTLS v2.28.x related
+#
+# CONFIG_MBEDTLS_SSL_VARIABLE_BUFFER_LENGTH is not set
+# CONFIG_MBEDTLS_X509_TRUSTED_CERT_CALLBACK is not set
+# CONFIG_MBEDTLS_SSL_CONTEXT_SERIALIZATION is not set
+CONFIG_MBEDTLS_SSL_KEEP_PEER_CERTIFICATE=y
+# end of mbedTLS v2.28.x related
+
+#
+# Certificate Bundle
+#
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
+# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
+# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
+# CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
+# end of Certificate Bundle
+
+# CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
+# CONFIG_MBEDTLS_CMAC_C is not set
+CONFIG_MBEDTLS_HARDWARE_AES=y
+CONFIG_MBEDTLS_HARDWARE_MPI=y
+CONFIG_MBEDTLS_HARDWARE_SHA=y
+CONFIG_MBEDTLS_ROM_MD5=y
+# CONFIG_MBEDTLS_ATCA_HW_ECDSA_SIGN is not set
+# CONFIG_MBEDTLS_ATCA_HW_ECDSA_VERIFY is not set
+CONFIG_MBEDTLS_HAVE_TIME=y
+# CONFIG_MBEDTLS_HAVE_TIME_DATE is not set
+CONFIG_MBEDTLS_ECDSA_DETERMINISTIC=y
+CONFIG_MBEDTLS_SHA512_C=y
+CONFIG_MBEDTLS_TLS_SERVER_AND_CLIENT=y
+# CONFIG_MBEDTLS_TLS_SERVER_ONLY is not set
+# CONFIG_MBEDTLS_TLS_CLIENT_ONLY is not set
+# CONFIG_MBEDTLS_TLS_DISABLED is not set
+CONFIG_MBEDTLS_TLS_SERVER=y
+CONFIG_MBEDTLS_TLS_CLIENT=y
+CONFIG_MBEDTLS_TLS_ENABLED=y
+
+#
+# TLS Key Exchange Methods
+#
+# CONFIG_MBEDTLS_PSK_MODES is not set
+CONFIG_MBEDTLS_KEY_EXCHANGE_RSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_DHE_RSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ELLIPTIC_CURVE=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_RSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_ECDSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDH_ECDSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDH_RSA=y
+# end of TLS Key Exchange Methods
+
+CONFIG_MBEDTLS_SSL_RENEGOTIATION=y
+# CONFIG_MBEDTLS_SSL_PROTO_SSL3 is not set
+CONFIG_MBEDTLS_SSL_PROTO_TLS1=y
+CONFIG_MBEDTLS_SSL_PROTO_TLS1_1=y
+CONFIG_MBEDTLS_SSL_PROTO_TLS1_2=y
+# CONFIG_MBEDTLS_SSL_PROTO_GMTSSL1_1 is not set
+# CONFIG_MBEDTLS_SSL_PROTO_DTLS is not set
+CONFIG_MBEDTLS_SSL_ALPN=y
+CONFIG_MBEDTLS_CLIENT_SSL_SESSION_TICKETS=y
+CONFIG_MBEDTLS_X509_CHECK_KEY_USAGE=y
+CONFIG_MBEDTLS_X509_CHECK_EXTENDED_KEY_USAGE=y
+CONFIG_MBEDTLS_SERVER_SSL_SESSION_TICKETS=y
+
+#
+# Symmetric Ciphers
+#
+CONFIG_MBEDTLS_AES_C=y
+# CONFIG_MBEDTLS_CAMELLIA_C is not set
+# CONFIG_MBEDTLS_DES_C is not set
+CONFIG_MBEDTLS_RC4_DISABLED=y
+# CONFIG_MBEDTLS_RC4_ENABLED_NO_DEFAULT is not set
+# CONFIG_MBEDTLS_RC4_ENABLED is not set
+# CONFIG_MBEDTLS_BLOWFISH_C is not set
+# CONFIG_MBEDTLS_XTEA_C is not set
+CONFIG_MBEDTLS_CCM_C=y
+CONFIG_MBEDTLS_GCM_C=y
+# CONFIG_MBEDTLS_NIST_KW_C is not set
+# end of Symmetric Ciphers
+
+# CONFIG_MBEDTLS_RIPEMD160_C is not set
+
+#
+# Certificates
+#
+CONFIG_MBEDTLS_PEM_PARSE_C=y
+CONFIG_MBEDTLS_PEM_WRITE_C=y
+CONFIG_MBEDTLS_X509_CRL_PARSE_C=y
+CONFIG_MBEDTLS_X509_CSR_PARSE_C=y
+# end of Certificates
+
+CONFIG_MBEDTLS_ECP_C=y
+CONFIG_MBEDTLS_ECDH_C=y
+CONFIG_MBEDTLS_ECDSA_C=y
+# CONFIG_MBEDTLS_ECJPAKE_C is not set
+CONFIG_MBEDTLS_ECP_DP_SECP192R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP224R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP256R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP384R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP521R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP192K1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP224K1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP256K1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_BP256R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_BP384R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_BP512R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_CURVE25519_ENABLED=y
+CONFIG_MBEDTLS_ECP_NIST_OPTIM=y
+# CONFIG_MBEDTLS_POLY1305_C is not set
+# CONFIG_MBEDTLS_CHACHA20_C is not set
+# CONFIG_MBEDTLS_HKDF_C is not set
+# CONFIG_MBEDTLS_THREADING_C is not set
+# CONFIG_MBEDTLS_LARGE_KEY_SOFTWARE_MPI is not set
+# CONFIG_MBEDTLS_SECURITY_RISKS is not set
+# end of mbedTLS
+
+#
+# mDNS
+#
+CONFIG_MDNS_MAX_SERVICES=10
+CONFIG_MDNS_TASK_PRIORITY=1
+CONFIG_MDNS_TASK_STACK_SIZE=4096
+# CONFIG_MDNS_TASK_AFFINITY_NO_AFFINITY is not set
+CONFIG_MDNS_TASK_AFFINITY_CPU0=y
+# CONFIG_MDNS_TASK_AFFINITY_CPU1 is not set
+CONFIG_MDNS_TASK_AFFINITY=0x0
+CONFIG_MDNS_SERVICE_ADD_TIMEOUT_MS=2000
+# CONFIG_MDNS_STRICT_MODE is not set
+CONFIG_MDNS_TIMER_PERIOD_MS=100
+# CONFIG_MDNS_NETWORKING_SOCKET is not set
+CONFIG_MDNS_MULTIPLE_INSTANCE=y
+# end of mDNS
+
+#
+# ESP-MQTT Configurations
+#
+CONFIG_MQTT_PROTOCOL_311=y
+CONFIG_MQTT_TRANSPORT_SSL=y
+CONFIG_MQTT_TRANSPORT_WEBSOCKET=y
+CONFIG_MQTT_TRANSPORT_WEBSOCKET_SECURE=y
+# CONFIG_MQTT_MSG_ID_INCREMENTAL is not set
+# CONFIG_MQTT_SKIP_PUBLISH_IF_DISCONNECTED is not set
+# CONFIG_MQTT_REPORT_DELETED_MESSAGES is not set
+# CONFIG_MQTT_USE_CUSTOM_CONFIG is not set
+# CONFIG_MQTT_TASK_CORE_SELECTION_ENABLED is not set
+# CONFIG_MQTT_CUSTOM_OUTBOX is not set
+# end of ESP-MQTT Configurations
+
+#
+# Newlib
+#
+CONFIG_NEWLIB_STDOUT_LINE_ENDING_CRLF=y
+# CONFIG_NEWLIB_STDOUT_LINE_ENDING_LF is not set
+# CONFIG_NEWLIB_STDOUT_LINE_ENDING_CR is not set
+# CONFIG_NEWLIB_STDIN_LINE_ENDING_CRLF is not set
+# CONFIG_NEWLIB_STDIN_LINE_ENDING_LF is not set
+CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
+# CONFIG_NEWLIB_NANO_FORMAT is not set
+# end of Newlib
+
+#
+# NVS
+#
+# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
+# end of NVS
+
+#
+# OpenSSL
+#
+# CONFIG_OPENSSL_DEBUG is not set
+CONFIG_OPENSSL_ERROR_STACK=y
+# CONFIG_OPENSSL_ASSERT_DO_NOTHING is not set
+CONFIG_OPENSSL_ASSERT_EXIT=y
+# end of OpenSSL
+
+#
+# OpenThread
+#
+# CONFIG_OPENTHREAD_ENABLED is not set
+# end of OpenThread
+
+#
+# PThreads
+#
+CONFIG_PTHREAD_TASK_PRIO_DEFAULT=5
+CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072
+CONFIG_PTHREAD_STACK_MIN=768
+CONFIG_PTHREAD_DEFAULT_CORE_NO_AFFINITY=y
+# CONFIG_PTHREAD_DEFAULT_CORE_0 is not set
+# CONFIG_PTHREAD_DEFAULT_CORE_1 is not set
+CONFIG_PTHREAD_TASK_CORE_DEFAULT=-1
+CONFIG_PTHREAD_TASK_NAME_DEFAULT="pthread"
+# end of PThreads
+
+#
+# SPI Flash driver
+#
+# CONFIG_SPI_FLASH_VERIFY_WRITE is not set
+# CONFIG_SPI_FLASH_ENABLE_COUNTERS is not set
+CONFIG_SPI_FLASH_ROM_DRIVER_PATCH=y
+CONFIG_SPI_FLASH_DANGEROUS_WRITE_ABORTS=y
+# CONFIG_SPI_FLASH_DANGEROUS_WRITE_FAILS is not set
+# CONFIG_SPI_FLASH_DANGEROUS_WRITE_ALLOWED is not set
+# CONFIG_SPI_FLASH_USE_LEGACY_IMPL is not set
+# CONFIG_SPI_FLASH_SHARE_SPI1_BUS is not set
+# CONFIG_SPI_FLASH_BYPASS_BLOCK_ERASE is not set
+CONFIG_SPI_FLASH_YIELD_DURING_ERASE=y
+CONFIG_SPI_FLASH_ERASE_YIELD_DURATION_MS=20
+CONFIG_SPI_FLASH_ERASE_YIELD_TICKS=1
+CONFIG_SPI_FLASH_WRITE_CHUNK_SIZE=8192
+# CONFIG_SPI_FLASH_SIZE_OVERRIDE is not set
+# CONFIG_SPI_FLASH_CHECK_ERASE_TIMEOUT_DISABLED is not set
+# CONFIG_SPI_FLASH_OVERRIDE_CHIP_DRIVER_LIST is not set
+
+#
+# Auto-detect flash chips
+#
+CONFIG_SPI_FLASH_SUPPORT_ISSI_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_MXIC_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_GD_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_WINBOND_CHIP=y
+# CONFIG_SPI_FLASH_SUPPORT_BOYA_CHIP is not set
+# CONFIG_SPI_FLASH_SUPPORT_TH_CHIP is not set
+# end of Auto-detect flash chips
+
+CONFIG_SPI_FLASH_ENABLE_ENCRYPTED_READ_WRITE=y
+# end of SPI Flash driver
+
+#
+# SPIFFS Configuration
+#
+CONFIG_SPIFFS_MAX_PARTITIONS=3
+
+#
+# SPIFFS Cache Configuration
+#
+CONFIG_SPIFFS_CACHE=y
+CONFIG_SPIFFS_CACHE_WR=y
+# CONFIG_SPIFFS_CACHE_STATS is not set
+# end of SPIFFS Cache Configuration
+
+CONFIG_SPIFFS_PAGE_CHECK=y
+CONFIG_SPIFFS_GC_MAX_RUNS=10
+# CONFIG_SPIFFS_GC_STATS is not set
+CONFIG_SPIFFS_PAGE_SIZE=256
+CONFIG_SPIFFS_OBJ_NAME_LEN=32
+# CONFIG_SPIFFS_FOLLOW_SYMLINKS is not set
+CONFIG_SPIFFS_USE_MAGIC=y
+CONFIG_SPIFFS_USE_MAGIC_LENGTH=y
+CONFIG_SPIFFS_META_LENGTH=4
+CONFIG_SPIFFS_USE_MTIME=y
+
+#
+# Debug Configuration
+#
+# CONFIG_SPIFFS_DBG is not set
+# CONFIG_SPIFFS_API_DBG is not set
+# CONFIG_SPIFFS_GC_DBG is not set
+# CONFIG_SPIFFS_CACHE_DBG is not set
+# CONFIG_SPIFFS_CHECK_DBG is not set
+# CONFIG_SPIFFS_TEST_VISUALISATION is not set
+# end of Debug Configuration
+# end of SPIFFS Configuration
+
+#
+# TCP Transport
+#
+
+#
+# Websocket
+#
+CONFIG_WS_TRANSPORT=y
+CONFIG_WS_BUFFER_SIZE=1024
+# end of Websocket
+# end of TCP Transport
+
+#
+# Unity unit testing library
+#
+CONFIG_UNITY_ENABLE_FLOAT=y
+CONFIG_UNITY_ENABLE_DOUBLE=y
+# CONFIG_UNITY_ENABLE_64BIT is not set
+# CONFIG_UNITY_ENABLE_COLOR is not set
+CONFIG_UNITY_ENABLE_IDF_TEST_RUNNER=y
+# CONFIG_UNITY_ENABLE_FIXTURE is not set
+# CONFIG_UNITY_ENABLE_BACKTRACE_ON_FAIL is not set
+# end of Unity unit testing library
+
+#
+# Virtual file system
+#
+CONFIG_VFS_SUPPORT_IO=y
+CONFIG_VFS_SUPPORT_DIR=y
+CONFIG_VFS_SUPPORT_SELECT=y
+CONFIG_VFS_SUPPRESS_SELECT_DEBUG_OUTPUT=y
+CONFIG_VFS_SUPPORT_TERMIOS=y
+
+#
+# Host File System I/O (Semihosting)
+#
+CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+# end of Host File System I/O (Semihosting)
+# end of Virtual file system
+
+#
+# Wear Levelling
+#
+# CONFIG_WL_SECTOR_SIZE_512 is not set
+CONFIG_WL_SECTOR_SIZE_4096=y
+CONFIG_WL_SECTOR_SIZE=4096
+# end of Wear Levelling
+
+#
+# Wi-Fi Provisioning Manager
+#
+CONFIG_WIFI_PROV_SCAN_MAX_ENTRIES=16
+CONFIG_WIFI_PROV_AUTOSTOP_TIMEOUT=30
+CONFIG_WIFI_PROV_BLE_FORCE_ENCRYPTION=y
+# end of Wi-Fi Provisioning Manager
+
+#
+# Supplicant
+#
+CONFIG_WPA_MBEDTLS_CRYPTO=y
+# CONFIG_WPA_WAPI_PSK is not set
+# CONFIG_WPA_SUITE_B_192 is not set
+# CONFIG_WPA_DEBUG_PRINT is not set
+# CONFIG_WPA_TESTING_OPTIONS is not set
+# CONFIG_WPA_WPS_STRICT is not set
+# CONFIG_WPA_11KV_SUPPORT is not set
+# CONFIG_WPA_MBO_SUPPORT is not set
+# CONFIG_WPA_DPP_SUPPORT is not set
+# end of Supplicant
+# end of Component config
+
+#
+# Compatibility options
+#
+# CONFIG_LEGACY_INCLUDE_COMMON_HEADERS is not set
+# end of Compatibility options
+
+# Deprecated options for backward compatibility
+CONFIG_TOOLPREFIX="xtensa-esp32-elf-"
+# CONFIG_LOG_BOOTLOADER_LEVEL_NONE is not set
+# CONFIG_LOG_BOOTLOADER_LEVEL_ERROR is not set
+# CONFIG_LOG_BOOTLOADER_LEVEL_WARN is not set
+CONFIG_LOG_BOOTLOADER_LEVEL_INFO=y
+# CONFIG_LOG_BOOTLOADER_LEVEL_DEBUG is not set
+# CONFIG_LOG_BOOTLOADER_LEVEL_VERBOSE is not set
+CONFIG_LOG_BOOTLOADER_LEVEL=3
+# CONFIG_APP_ROLLBACK_ENABLE is not set
+# CONFIG_FLASH_ENCRYPTION_ENABLED is not set
+# CONFIG_FLASHMODE_QIO is not set
+# CONFIG_FLASHMODE_QOUT is not set
+CONFIG_FLASHMODE_DIO=y
+# CONFIG_FLASHMODE_DOUT is not set
+# CONFIG_MONITOR_BAUD_9600B is not set
+# CONFIG_MONITOR_BAUD_57600B is not set
+CONFIG_MONITOR_BAUD_115200B=y
+# CONFIG_MONITOR_BAUD_230400B is not set
+# CONFIG_MONITOR_BAUD_921600B is not set
+# CONFIG_MONITOR_BAUD_2MB is not set
+# CONFIG_MONITOR_BAUD_OTHER is not set
+CONFIG_MONITOR_BAUD_OTHER_VAL=115200
+CONFIG_MONITOR_BAUD=115200
+CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG=y
+# CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE is not set
+CONFIG_OPTIMIZATION_ASSERTIONS_ENABLED=y
+# CONFIG_OPTIMIZATION_ASSERTIONS_SILENT is not set
+# CONFIG_OPTIMIZATION_ASSERTIONS_DISABLED is not set
+CONFIG_OPTIMIZATION_ASSERTION_LEVEL=2
+# CONFIG_CXX_EXCEPTIONS is not set
+CONFIG_STACK_CHECK_NONE=y
+# CONFIG_STACK_CHECK_NORM is not set
+# CONFIG_STACK_CHECK_STRONG is not set
+# CONFIG_STACK_CHECK_ALL is not set
+# CONFIG_WARN_WRITE_STRINGS is not set
+# CONFIG_DISABLE_GCC8_WARNINGS is not set
+# CONFIG_ESP32_APPTRACE_DEST_TRAX is not set
+CONFIG_ESP32_APPTRACE_DEST_NONE=y
+CONFIG_ESP32_APPTRACE_LOCK_ENABLE=y
+CONFIG_ADC2_DISABLE_DAC=y
+# CONFIG_SPIRAM_SUPPORT is not set
+CONFIG_TRACEMEM_RESERVE_DRAM=0x0
+# CONFIG_ULP_COPROC_ENABLED is not set
+CONFIG_ULP_COPROC_RESERVE_MEM=0
+CONFIG_BROWNOUT_DET=y
+CONFIG_BROWNOUT_DET_LVL_SEL_0=y
+# CONFIG_BROWNOUT_DET_LVL_SEL_1 is not set
+# CONFIG_BROWNOUT_DET_LVL_SEL_2 is not set
+# CONFIG_BROWNOUT_DET_LVL_SEL_3 is not set
+# CONFIG_BROWNOUT_DET_LVL_SEL_4 is not set
+# CONFIG_BROWNOUT_DET_LVL_SEL_5 is not set
+# CONFIG_BROWNOUT_DET_LVL_SEL_6 is not set
+# CONFIG_BROWNOUT_DET_LVL_SEL_7 is not set
+CONFIG_BROWNOUT_DET_LVL=0
+CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_RC=y
+# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_CRYSTAL is not set
+# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_OSC is not set
+# CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_8MD256 is not set
+# CONFIG_DISABLE_BASIC_ROM_CONSOLE is not set
+# CONFIG_NO_BLOBS is not set
+# CONFIG_COMPATIBLE_PRE_V2_1_BOOTLOADERS is not set
+# CONFIG_EVENT_LOOP_PROFILING is not set
+CONFIG_POST_EVENTS_FROM_ISR=y
+CONFIG_POST_EVENTS_FROM_IRAM_ISR=y
+# CONFIG_TWO_UNIVERSAL_MAC_ADDRESS is not set
+CONFIG_FOUR_UNIVERSAL_MAC_ADDRESS=y
+CONFIG_NUMBER_OF_UNIVERSAL_MAC_ADDRESS=4
+CONFIG_ESP_SYSTEM_PD_FLASH=y
+# CONFIG_ESP32C3_LIGHTSLEEP_GPIO_RESET_WORKAROUND is not set
+CONFIG_IPC_TASK_STACK_SIZE=1536
+CONFIG_ESP32_PHY_CALIBRATION_AND_DATA_STORAGE=y
+# CONFIG_ESP32_PHY_INIT_DATA_IN_PARTITION is not set
+CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20
+CONFIG_ESP32_PHY_MAX_TX_POWER=20
+CONFIG_ESP32_REDUCE_PHY_TX_POWER=y
+# CONFIG_ESP32S2_PANIC_PRINT_HALT is not set
+CONFIG_ESP32S2_PANIC_PRINT_REBOOT=y
+# CONFIG_ESP32S2_PANIC_SILENT_REBOOT is not set
+# CONFIG_ESP32S2_PANIC_GDBSTUB is not set
+CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32
+CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2304
+CONFIG_MAIN_TASK_STACK_SIZE=3584
+CONFIG_CONSOLE_UART_DEFAULT=y
+# CONFIG_CONSOLE_UART_CUSTOM is not set
+# CONFIG_ESP_CONSOLE_UART_NONE is not set
+CONFIG_CONSOLE_UART=y
+CONFIG_CONSOLE_UART_NUM=0
+CONFIG_CONSOLE_UART_BAUDRATE=115200
+CONFIG_INT_WDT=y
+CONFIG_INT_WDT_TIMEOUT_MS=300
+CONFIG_INT_WDT_CHECK_CPU1=y
+CONFIG_TASK_WDT=y
+# CONFIG_TASK_WDT_PANIC is not set
+CONFIG_TASK_WDT_TIMEOUT_S=5
+CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
+CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1=y
+# CONFIG_ESP32_DEBUG_STUBS_ENABLE is not set
+CONFIG_TIMER_TASK_STACK_SIZE=3584
+# CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH is not set
+# CONFIG_ESP32_ENABLE_COREDUMP_TO_UART is not set
+CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE=y
+CONFIG_MB_MASTER_TIMEOUT_MS_RESPOND=150
+CONFIG_MB_MASTER_DELAY_MS_CONVERT=200
+CONFIG_MB_QUEUE_LENGTH=20
+CONFIG_MB_SERIAL_TASK_STACK_SIZE=4096
+CONFIG_MB_SERIAL_BUF_SIZE=256
+CONFIG_MB_SERIAL_TASK_PRIO=10
+CONFIG_MB_CONTROLLER_SLAVE_ID_SUPPORT=y
+CONFIG_MB_CONTROLLER_SLAVE_ID=0x00112233
+CONFIG_MB_CONTROLLER_NOTIFY_TIMEOUT=20
+CONFIG_MB_CONTROLLER_NOTIFY_QUEUE_SIZE=20
+CONFIG_MB_CONTROLLER_STACK_SIZE=4096
+CONFIG_MB_EVENT_QUEUE_TIMEOUT=20
+# CONFIG_MB_TIMER_PORT_ENABLED is not set
+CONFIG_MB_TIMER_GROUP=0
+CONFIG_MB_TIMER_INDEX=0
+# CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set
+CONFIG_TIMER_TASK_PRIORITY=1
+CONFIG_TIMER_TASK_STACK_DEPTH=2048
+CONFIG_TIMER_QUEUE_LENGTH=10
+# CONFIG_L2_TO_L3_COPY is not set
+# CONFIG_USE_ONLY_LWIP_SELECT is not set
+CONFIG_ESP_GRATUITOUS_ARP=y
+CONFIG_GARP_TMR_INTERVAL=60
+CONFIG_TCPIP_RECVMBOX_SIZE=32
+CONFIG_TCP_MAXRTX=12
+CONFIG_TCP_SYNMAXRTX=12
+CONFIG_TCP_MSS=1440
+CONFIG_TCP_MSL=60000
+CONFIG_TCP_SND_BUF_DEFAULT=5744
+CONFIG_TCP_WND_DEFAULT=5744
+CONFIG_TCP_RECVMBOX_SIZE=6
+CONFIG_TCP_QUEUE_OOSEQ=y
+# CONFIG_ESP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES is not set
+CONFIG_TCP_OVERSIZE_MSS=y
+# CONFIG_TCP_OVERSIZE_QUARTER_MSS is not set
+# CONFIG_TCP_OVERSIZE_DISABLE is not set
+CONFIG_UDP_RECVMBOX_SIZE=6
+CONFIG_TCPIP_TASK_STACK_SIZE=3072
+CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
+# CONFIG_TCPIP_TASK_AFFINITY_CPU0 is not set
+# CONFIG_TCPIP_TASK_AFFINITY_CPU1 is not set
+CONFIG_TCPIP_TASK_AFFINITY=0x7FFFFFFF
+# CONFIG_PPP_SUPPORT is not set
+CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT=5
+CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072
+CONFIG_ESP32_PTHREAD_STACK_MIN=768
+CONFIG_ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY=y
+# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_0 is not set
+# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_1 is not set
+CONFIG_ESP32_PTHREAD_TASK_CORE_DEFAULT=-1
+CONFIG_ESP32_PTHREAD_TASK_NAME_DEFAULT="pthread"
+CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
+# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_FAILS is not set
+# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ALLOWED is not set
+CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
+CONFIG_SUPPORT_TERMIOS=y
+CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+# End of deprecated options
diff --git a/Robotito/src/CMakeLists.txt b/Robotito/src/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..483bc0cfc50a380fbdaa854f4538109090940fa7
--- /dev/null
+++ b/Robotito/src/CMakeLists.txt
@@ -0,0 +1,6 @@
+# This file was automatically generated for projects
+# without default 'CMakeLists.txt' file.
+
+FILE(GLOB_RECURSE app_sources ${CMAKE_SOURCE_DIR}/src/*.*)
+
+idf_component_register(SRCS ${app_sources})
diff --git a/Robotito/src/control/CMakeLists.txt b/Robotito/src/control/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea4a9bd6231a454adfa35851eabdbc5f50765075
--- /dev/null
+++ b/Robotito/src/control/CMakeLists.txt
@@ -0,0 +1,3 @@
+idf_component_register(SRCS "control.c"
+ INCLUDE_DIRS "include"
+ REQUIRES motors encoders hwTimer math_vector_operations)
diff --git a/Robotito/src/control/control.c b/Robotito/src/control/control.c
new file mode 100644
index 0000000000000000000000000000000000000000..09219e61ef6a65b358a9abc44152d3d10bc2fb60
--- /dev/null
+++ b/Robotito/src/control/control.c
@@ -0,0 +1,221 @@
+#include <stdio.h>
+#include "control.h"
+
+/*
+ * Helper functions
+ */
+
+static void callback_enc_func(int i_callback, int8_t dir, uint32_t counter) {
+ motors[i_callback].vel_counter+=dir;
+ motors[i_callback].odom_counter+=dir;
+}
+
+static void getW(sF3dVector_t* v, float phi){
+
+ float pi_3 = PI/3;
+
+ sF3dMatrix_t m;
+ m.x1 = -sin(phi);
+ m.y1 = cos(phi);
+ m.z1 = ROBOT_RADIUS;
+ m.x2 = -sin(pi_3 - phi);
+ m.y2 = -cos(pi_3 - phi);
+ m.z2 = ROBOT_RADIUS;
+ m.x3 = sin(pi_3 + phi);
+ m.y3 = -cos(pi_3 + phi);
+ m.z3 = ROBOT_RADIUS;
+
+ vector_mul(m, v);
+}
+
+static void getInverseW(sF3dVector_t* v, float phi){
+
+ float pi_6 = PI/6;
+ float dostercios = 2.0/3;
+ float robot_r_3 = 1.0/(ROBOT_RADIUS*3);
+
+ sF3dMatrix_t m;
+ m.x1 = -sin(phi)*dostercios;
+ m.y1 = -cos(pi_6 + phi)*dostercios;
+ m.z1 = cos(phi - pi_6)*dostercios;
+ m.x2 = cos(phi)*dostercios;
+ m.y2 = -sin(pi_6 + phi)*dostercios;
+ m.z2 = sin(phi - pi_6)*dostercios;
+ m.x3 = robot_r_3;
+ m.y3 = robot_r_3;
+ m.z3 = robot_r_3;
+
+ vector_mul(m, v);
+
+}
+
+static void callback_motors_pid(){
+ for (int i=0; i<NMOTORS; i++) {
+ servo_t *m = &(motors[i]);
+
+ float current_v = m->vel_counter / OMNI_PID_CTRL_TIMER; // compute curren motor vel in tics/s
+ m->vel_counter = 0; // reset counter
+ //printf("motor %i, tics: %i, current_v: %f\n", i, m->counter, current_v);
+
+ float error = m->target_v - current_v; // compute error
+ float accum_error = m->accum_error+error; // accumulate error
+
+ m->output = KF * m->target_v; // compute PID output value
+ m->output += KP * error;
+ m->output += KI * accum_error;
+ m->output += KD * (error - m->prev_error);
+
+ if (m->output>MAX_OUTPUT) {
+ m->output=MAX_OUTPUT;
+ } else if (m->output<-MAX_OUTPUT) {
+ m->output=-MAX_OUTPUT;
+ } else {
+ m->accum_error = accum_error; // only here, for windup protection
+ }
+
+ m->prev_error = error; // save prev error
+ }
+
+ // set motors speeds
+ for (int i=0; i<NMOTORS; i++) {
+ motor_set_speed(motors[i].driver, motors[i].output);
+ }
+}
+
+static void callback_odometry(){
+ odom_t *o = &(odometry); // get odometry actual info
+
+ int32_t tics_motores[NMOTORS];
+ for (int i=0; i<NMOTORS; i++) {
+ servo_t *m = &(motors[i]);
+ tics_motores[i] = m->odom_counter; // get motors odomo counter
+ m->odom_counter = 0; // reset counter
+ }
+
+ sF3dVector_t *v = calloc(1, sizeof(sF3dVector_t));
+ v->x = tics_motores[0] * TICS_TO_RAD_S * WHEEL_RADIUS;
+ v->y = tics_motores[1] * TICS_TO_RAD_S * WHEEL_RADIUS;
+ v->z = tics_motores[2] * TICS_TO_RAD_S * WHEEL_RADIUS;
+
+ getInverseW(v, o->phi);
+
+ o->x += v->x;
+ o->x_dot = v->x;
+ o->y += v->y;
+ o->y_dot = v->y;
+ o->phi += v->z;
+ o->phi_dot = v->z;
+
+ free(v);
+}
+
+/*
+ * Operation functions
+ */
+
+esp_err_t omni_init(){
+
+ int8_t default_pins[] = MOTOR_PINS;
+ int8_t default_enc[] = MOTOR_ENC;
+ mcpwm_io_signals_t default_pwm_subunit_io[] = MOTOR_PWM_SUBUNIT_IO;
+ mcpwm_timer_t default_pwm_subunit_timer[] = MOTOR_PWM_SUBUNIT_TIMER;
+
+
+ for (int i=0; i<NMOTORS; i++) {
+
+ int8_t pin1 = default_pins[2*i];
+ int8_t pin2 = default_pins[2*i+1];
+ int8_t encA = default_enc[2*i];
+ int8_t encB = default_enc[2*i+1];
+ mcpwm_io_signals_t pwm_a = default_pwm_subunit_io[2*i];
+ mcpwm_io_signals_t pwm_b = default_pwm_subunit_io[2*i+1];
+ mcpwm_timer_t timer_unit = default_pwm_subunit_timer[i];
+
+ printf("Setting motor %d pins:%d,%d enc:%d,%d", i, pin1, pin2, encA, encB);
+
+ motor_h_t *m;
+ motor_install(pin1,pin2, MOTOR_PWM_UNIT, pwm_a, pwm_b, timer_unit, &m);
+
+ //saving servo structure
+ motors[i].driver= m;
+
+ //encoder
+ encoder_h_t *e;
+ encoder_setup(encA,encB,&e);
+ encoder_register_callback(e, callback_enc_func, i, 1);
+
+ //saving encoder structure
+ motors[i].encoder=e;
+
+ printf(" done\r\n");
+ motors[i].target_v=0;
+ }
+
+ odometry.x = 0;
+ odometry.x_dot = 0;
+ odometry.y = 0;
+ odometry.y_dot = 0;
+ odometry.phi = 0;
+ odometry.phi_dot = 0;
+
+ // SET TASK TO RUN ISR for motors pid and odometry.
+
+ if (tmr_setup(OMNI_PID_NRO_TIMER, 1000*1000*OMNI_PID_CTRL_TIMER, callback_motors_pid) != ESP_OK) {
+ return ESP_FAIL;
+ }
+
+ if (tmr_setup(OMNI_ODOM_NRO_TIMER, 1000*1000*OMNI_ODOM_CTRL_TIMER, callback_odometry) != ESP_OK) {
+ return ESP_FAIL;
+ }
+
+ return ESP_OK;
+};
+
+esp_err_t omni_set_enable(bool start){
+ if (start){
+ if ((tmr_start(OMNI_PID_NRO_TIMER) != ESP_OK)) {
+ return ESP_FAIL;
+ }
+ if ((tmr_start(OMNI_ODOM_NRO_TIMER) != ESP_OK)) {
+ return ESP_FAIL;
+ }
+ for (int i=0; i<NMOTORS; i++) {
+ motor_start(motors[i].driver);
+ motors[i].vel_counter = 0;
+ motors[i].odom_counter = 0;
+ }
+ }else{
+ if ((tmr_stop(OMNI_PID_NRO_TIMER) != ESP_OK)) {
+ return ESP_FAIL;
+ }
+ if ((tmr_stop(OMNI_ODOM_NRO_TIMER) != ESP_OK)) {
+ return ESP_FAIL;
+ }
+ for (int i=0; i<NMOTORS; i++) {
+ motor_stop(motors[i].driver);
+ }
+ }
+ return ESP_OK;
+}
+
+esp_err_t omni_drive(float x_dot ,float y_dot ,float w_dot ,float phi){
+
+ sF3dVector_t *v = calloc(1, sizeof(sF3dVector_t));
+ v->x = x_dot;
+ v->y = y_dot;
+ v->z = w_dot;
+
+ getW(v, phi);
+
+ motors[0].target_v = v->x * M_PER_SEC_TO_TICS_PER_SEC;
+ motors[1].target_v = v->y * M_PER_SEC_TO_TICS_PER_SEC;
+ motors[2].target_v = v->z * M_PER_SEC_TO_TICS_PER_SEC;
+
+ free(v);
+
+ motors[0].accum_error = 0;
+ motors[1].accum_error = 0;
+ motors[2].accum_error = 0;
+
+ return ESP_OK;
+}
diff --git a/Robotito/src/control/include/control.h b/Robotito/src/control/include/control.h
new file mode 100644
index 0000000000000000000000000000000000000000..8470f8cd76a5c39bd99b507e4090334f16fe1131
--- /dev/null
+++ b/Robotito/src/control/include/control.h
@@ -0,0 +1,84 @@
+#ifndef CONTROL_H
+#define CONTROL_H
+
+#include <stdint.h>
+#include "esp_err.h"
+#include "motors.h"
+#include "encoders.h"
+#include "hwTimer.h"
+#include "math_vector_operations.h"
+
+#define NMOTORS 3
+#define MOTOR_PINS {25,26, 27,28, 29,30}
+#define MOTOR_ENC {39,37, 38,36, 34,35}
+
+#define MOTOR_PWM_SUBUNIT_IO {MCPWM0A, MCPWM0B, MCPWM1A, MCPWM1B, MCPWM2A, MCPWM2B}
+#define MOTOR_PWM_SUBUNIT_TIMER {MCPWM_TIMER_0, MCPWM_TIMER_1, MCPWM_TIMER_2}
+#define MOTOR_PWM_UNIT MCPWM_UNIT_0
+#define OMNI_PID_NRO_TIMER 0
+#define OMNI_ODOM_NRO_TIMER 2
+
+#define OMNI_PID_CTRL_TIMER 0.05 // in seconds
+#define OMNI_ODOM_CTRL_TIMER 0.5 // in seconds
+
+#define MAX_OUTPUT 100.0
+#define WHEEL_DIAMETER 0.038 // in meters
+#define WHEEL_RADIUS WHEEL_DIAMETER/2// in meters
+#define ROBOT_RADIUS 0.0675 // in meters
+
+#define ENC_CPR 3 //counts per revolution
+#define MOTOR_REDUCTION 50
+#define TICS_PER_REVOLUTION ENC_CPR*MOTOR_REDUCTION
+#define RAD_PER_TICK 2*PI/TICS_PER_REVOLUTION
+#define M_PER_SEC_TO_TICS_PER_SEC 1/(RAD_PER_TICK*WHEEL_RADIUS)
+
+#define MAX_SPEED_POWER 90 // power % at which MAX_SPEED_TICS is obtained
+#define MAX_SPEED_TICS 1080 //tics/s at MAX_SPEED_POWER
+
+#define MAX_SPEED_RAD MAX_SPEED_TICS*RAD_PER_TICK // rad/s
+#define MAX_SPEED_LIN MAX_SPEED_RAD*WHEEL_DIAMETER / 2 // m/s
+
+#define TICS_TO_RAD_S RAD_PER_TICK/OMNI_ODOM_CTRL_TIMER
+
+#define KP 0.01
+#define KI 0.05
+#define KD 0.0
+#define KF MAX_SPEED_POWER/MAX_SPEED_TICS
+
+typedef struct {
+
+ motor_h_t *driver;
+ encoder_h_t *encoder;
+
+ int32_t vel_counter;
+ int32_t odom_counter;
+
+ float target_v;
+ float accum_error;
+ float prev_error;
+ float output;
+
+} servo_t;
+
+typedef struct {
+ float x;
+ float x_dot;
+ float y;
+ float y_dot;
+ float phi;
+ float phi_dot;
+
+} odom_t;
+
+
+
+static servo_t motors[NMOTORS];
+static odom_t odometry;
+
+esp_err_t omni_init();
+
+esp_err_t omni_set_enable(bool start);
+
+esp_err_t omni_drive(float x_dot ,float y_dot ,float w_dot ,float phi);
+
+#endif /* CONTROL_H */
\ No newline at end of file
diff --git a/Robotito/src/encoders/CMakeLists.txt b/Robotito/src/encoders/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed27a46e3271f5806058ed845e683ff596557cbc
--- /dev/null
+++ b/Robotito/src/encoders/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "encoders.c"
+ INCLUDE_DIRS "include")
diff --git a/Robotito/src/encoders/encoders.c b/Robotito/src/encoders/encoders.c
new file mode 100644
index 0000000000000000000000000000000000000000..c587bcef81f12abd067cebeec52a24c34cd91122
--- /dev/null
+++ b/Robotito/src/encoders/encoders.c
@@ -0,0 +1,319 @@
+/* Rotary encoder handler for arduino. v1.1
+ *
+ * Copyright 2011 Ben Buxton. Licenced under the GNU GPL Version 3.
+ * Contact: bb@cactii.net
+ *
+ * A typical mechanical rotary encoder emits a two bit gray code
+ * on 3 output pins. Every step in the output (often accompanied
+ * by a physical 'click') generates a specific sequence of output
+ * codes on the pins.
+ *
+ * There are 3 pins used for the rotary encoding - one common and
+ * two 'bit' pins.
+ *
+ * The following is the typical sequence of code on the output when
+ * moving from one step to the next:
+ *
+ * Position Bit1 Bit2
+ * ----------------------
+ * Step1 0 0
+ * 1/4 1 0
+ * 1/2 1 1
+ * 3/4 0 1
+ * Step2 0 0
+ *
+ * From this table, we can see that when moving from one 'click' to
+ * the next, there are 4 changes in the output code.
+ *
+ * - From an initial 0 - 0, Bit1 goes high, Bit0 stays low.
+ * - Then both bits are high, halfway through the step.
+ * - Then Bit1 goes low, but Bit2 stays high.
+ * - Finally at the end of the step, both bits return to 0.
+ *
+ * Detecting the direction is easy - the table simply goes in the other
+ * direction (read up instead of down).
+ *
+ * To decode this, we use a simple state machine. Every time the output
+ * code changes, it follows state, until finally a full steps worth of
+ * code is received (in the correct order). At the final 0-0, it returns
+ * a value indicating a step in one direction or the other.
+ *
+ * It's also possible to use 'half-step' mode. This just emits an event
+ * at both the 0-0 and 1-1 positions. This might be useful for some
+ * encoders where you want to detect all positions.
+ *
+ * If an invalid state happens (for example we go from '0-1' straight
+ * to '1-0'), the state machine resets to the start until 0-0 and the
+ * next valid codes occur.
+ *
+ * The biggest advantage of using a state machine over other algorithms
+ * is that this has inherent debounce built in. Other algorithms emit spurious
+ * output with switch bounce, but this one will simply flip between
+ * sub-states until the bounce settles, then continue along the state
+ * machine.
+ * A side effect of debounce is that fast rotations can cause steps to
+ * be skipped. By not requiring debounce, fast rotations can be accurately
+ * measured.
+ * Another advantage is the ability to properly handle bad state, such
+ * as due to EMI, etc.
+ * It is also a lot simpler than others - a static state table and less
+ * than 10 lines of logic.
+ */
+
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "esp_attr.h"
+#include "encoders.h"
+#include "driver/gpio.h"
+
+
+#include <stdio.h>
+#include <string.h>
+
+
+
+/*
+ * The below state table has, for each state (row), the new state
+ * to set based on the next encoder output. From left to right in,
+ * the table, the encoder outputs are 00, 01, 10, 11, and the value
+ * in that position is the new state to set.
+ */
+
+// Values returned by 'process'
+// No complete step yet.
+#define DIR_NONE 0x0
+// Clockwise step.
+#define DIR_CW 0x10
+// Anti-clockwise step.
+#define DIR_CCW 0x20
+#define R_START 0x0
+
+// Use the full-step state table (emits a code at 00 only)
+#define R_CW_FINAL 0x1
+#define R_CW_BEGIN 0x2
+#define R_CW_NEXT 0x3
+#define R_CCW_BEGIN 0x4
+#define R_CCW_FINAL 0x5
+#define R_CCW_NEXT 0x6
+
+#define GPIO_ALL_IN 0b1111111100001110111111111111111111111111ULL
+
+const uint8_t ttable[7][4] = {
+ // R_START
+ {R_START, R_CW_BEGIN, R_CCW_BEGIN, R_START},
+ // R_CW_FINAL
+ {R_CW_NEXT, R_START, R_CW_FINAL, R_START | DIR_CW},
+ // R_CW_BEGIN
+ {R_CW_NEXT, R_CW_BEGIN, R_START, R_START},
+ // R_CW_NEXT
+ {R_CW_NEXT, R_CW_BEGIN, R_CW_FINAL, R_START},
+ // R_CCW_BEGIN
+ {R_CCW_NEXT, R_START, R_CCW_BEGIN, R_START},
+ // R_CCW_FINAL
+ {R_CCW_NEXT, R_CCW_FINAL, R_START, R_START | DIR_CCW},
+ // R_CCW_NEXT
+ {R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, R_START},
+};
+
+static xQueueHandle queue = NULL;
+static TaskHandle_t task = NULL;
+static uint8_t attached = 0;
+
+/*
+ * Helper functions
+ */
+
+static void encoder_task(void *arg) {
+ encoder_deferred_data_t data;
+
+ for(;;) {
+ xQueueReceive(queue, &data, portMAX_DELAY);
+
+ if (data.h->callback) {
+ data.h->callback(data.h->callback_id, data.dir, data.counter);
+ }
+ }
+}
+
+static void IRAM_ATTR encoder_isr(void* arg) {
+
+ encoder_h_t *encoder = (encoder_h_t *)arg;
+ encoder_deferred_data_t data;
+ uint8_t result, has_data;
+ int8_t dir;
+
+ has_data = 0;
+ dir = 0;
+
+ uint8_t A = (uint8_t) gpio_get_level(encoder->A);
+ uint8_t B = (uint8_t) gpio_get_level(encoder->B);
+
+
+ // Grab state of input pins.
+ uint8_t pinstate = (A << 1) | B;
+
+ // Determine new state from the pins and state table.
+ encoder->state = ttable[encoder->state & 0xf][pinstate];
+ result = encoder->state & 0x30;
+
+ if (result == DIR_CW) {
+ encoder->counter++;
+ has_data = 1;
+ dir = 1;
+ } else if (result == DIR_CCW) {
+ encoder->counter--;
+ has_data = 1;
+ dir = -1;
+ }
+
+ if (has_data && encoder->callback) {
+ if (encoder->deferred) {
+ data.h = encoder;
+ data.counter = encoder->counter;
+ data.dir = dir;
+ xQueueSendFromISR(queue, &data, NULL);
+ } else {
+ encoder->callback(encoder->callback_id, dir, encoder->counter);
+ }
+ }
+}
+
+/*
+ * Operation functions
+ */
+
+esp_err_t encoder_setup(int8_t a, int8_t b, encoder_h_t **h) {
+ // Sanity checks
+ if ((!GPIO_IS_VALID_GPIO(a)) && ((GPIO_ALL_IN & (1ULL << a)))) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ if ((!GPIO_IS_VALID_GPIO(b)) && ((GPIO_ALL_IN & (1ULL << b)))) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ // Allocate space for the encoder
+ encoder_h_t *encoder = calloc(1, sizeof(encoder_h_t));
+ if (!encoder) {
+ return ESP_ERR_NO_MEM;
+ }
+
+ encoder->A = a;
+ encoder->B = b;
+ encoder->state = R_START;
+ encoder->counter = 0;
+
+ //gpio configuration encoder a
+ gpio_config_t io_conf;
+ io_conf.intr_type = GPIO_PIN_INTR_DISABLE;
+ io_conf.mode = GPIO_MODE_INPUT;
+ io_conf.pin_bit_mask = (1ULL << a);
+ io_conf.pull_down_en = 0;
+ io_conf.pull_up_en = 1;
+
+ gpio_config(&io_conf);
+
+ //gpio configuration encoder b
+ io_conf.pin_bit_mask = (1ULL << b);
+ gpio_config(&io_conf);
+
+ gpio_install_isr_service(0);
+
+ gpio_set_pull_mode(a, GPIO_PULLUP_ONLY);
+ gpio_set_intr_type(a, GPIO_INTR_ANYEDGE);
+ gpio_isr_handler_add(a, encoder_isr, (void *)encoder);
+
+ gpio_set_pull_mode(b, GPIO_PULLUP_ONLY);
+ gpio_set_intr_type(b, GPIO_INTR_ANYEDGE);
+ gpio_isr_handler_add(b, encoder_isr, (void *)encoder);
+
+
+ *h = encoder;
+
+ attached++;
+
+ return ESP_OK;
+}
+
+esp_err_t encoder_unsetup(encoder_h_t *h) {
+ portDISABLE_INTERRUPTS();
+
+ if (attached == 0) {
+ portENABLE_INTERRUPTS();
+ return ESP_OK;
+ }
+
+ // Remove interrupts
+ gpio_isr_handler_remove(h->A);
+ gpio_isr_handler_remove(h->B);
+
+ if (attached == 1) {
+ if (task) {
+ vTaskDelete(task);
+ task = NULL;
+ }
+
+ if (queue) {
+ vQueueDelete(queue);
+ queue = NULL;
+ }
+ }
+
+ attached--;
+
+ free(h);
+
+ portENABLE_INTERRUPTS();
+
+ return ESP_OK;
+}
+
+esp_err_t encoder_read(encoder_h_t *h, int32_t *val) {
+ portDISABLE_INTERRUPTS();
+ *val = h->counter;
+ portENABLE_INTERRUPTS();
+
+ return ESP_OK;
+}
+
+esp_err_t encoder_write(encoder_h_t *h, int32_t val) {
+ portDISABLE_INTERRUPTS();
+ h->counter = val;
+ portENABLE_INTERRUPTS();
+
+ return ESP_OK;
+}
+
+esp_err_t encoder_register_callback(encoder_h_t *h, encoder_callback_t callback, int callback_id, uint8_t deferred) {
+ portDISABLE_INTERRUPTS();
+
+ h->callback = callback;
+ h->callback_id = callback_id;
+ h->deferred = deferred;
+
+ if (deferred) {
+ if (!queue) {
+ queue = xQueueCreate(10, sizeof(encoder_deferred_data_t));
+ if (!queue) {
+ portENABLE_INTERRUPTS();
+ return ESP_ERR_NO_MEM;
+ }
+ }
+
+ if (!task) {
+ BaseType_t xReturn;
+
+ xReturn = xTaskCreatePinnedToCore(encoder_task, "encoder", CONFIG_ENCODER_THREAD_STACK_SIZE, NULL, CONFIG_ENCODER_THREAD_PRIORITY, &task, CONFIG_ENCODER_CPU);
+ if (xReturn != pdPASS) {
+ portENABLE_INTERRUPTS();
+ return ESP_ERR_NO_MEM;
+ }
+ }
+ }
+
+ portENABLE_INTERRUPTS();
+
+ return ESP_OK;
+}
diff --git a/Robotito/src/encoders/include/encoders.h b/Robotito/src/encoders/include/encoders.h
new file mode 100644
index 0000000000000000000000000000000000000000..1fe4f7670e3a9e300fbd1fc2b64e45f8312b5d4d
--- /dev/null
+++ b/Robotito/src/encoders/include/encoders.h
@@ -0,0 +1,35 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+
+#include <stdint.h>
+#include "esp_err.h"
+
+#define CONFIG_ENCODER_THREAD_STACK_SIZE 8192
+#define CONFIG_ENCODER_THREAD_PRIORITY 20
+#define CONFIG_ENCODER_CPU 0
+
+typedef void (*encoder_callback_t)(int, int8_t, uint32_t);
+
+typedef struct {
+ int8_t A; ///< A pin
+ int8_t B; ///< B pin
+ uint8_t state; ///< Current state's machine state
+ int32_t counter; ///< Current counter value
+ encoder_callback_t callback; ///< Callback function
+ int callback_id; ///< Callback id
+ uint8_t deferred; ///< Deferred callback?
+} encoder_h_t;
+
+typedef struct {
+ encoder_h_t *h;
+ int8_t dir;
+ uint32_t counter;
+} encoder_deferred_data_t;
+
+esp_err_t encoder_setup(int8_t a, int8_t b, encoder_h_t **h);
+esp_err_t encoder_unsetup(encoder_h_t *h);
+esp_err_t encoder_read(encoder_h_t *h, int32_t *val);
+esp_err_t encoder_write(encoder_h_t *h, int32_t val);
+esp_err_t encoder_register_callback(encoder_h_t *h, encoder_callback_t callback, int id, uint8_t deferred);
+
+#endif /* ENCODER_H */
\ No newline at end of file
diff --git a/Robotito/src/hwTimer/CMakeLists.txt b/Robotito/src/hwTimer/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e519eaaa50f8e68af0d2f5af0817c63af24e6791
--- /dev/null
+++ b/Robotito/src/hwTimer/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "hwTimer.c"
+ INCLUDE_DIRS "include")
diff --git a/Robotito/src/hwTimer/hwTimer.c b/Robotito/src/hwTimer/hwTimer.c
new file mode 100644
index 0000000000000000000000000000000000000000..a4f875d36c0fc2fdd2dd6ff15b0f8921c6f4d73f
--- /dev/null
+++ b/Robotito/src/hwTimer/hwTimer.c
@@ -0,0 +1,277 @@
+#include "sdkconfig.h"
+#include "hwTimer.h"
+#include "esp_attr.h"
+#include "driver/timer.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+#include <math.h>
+#include <string.h>
+
+typedef struct {
+ tmr_t timer[CPU_LAST_TIMER + 1]; ///< Timer array with needed information about timers
+ xQueueHandle queue; ///< Alarm queue for deferred callbacks
+ TaskHandle_t task; ///< Task handle for deferred callbacks
+} tmr_driver_t;
+
+// Driver info
+static tmr_driver_t *tmr = NULL;
+
+void IRAM_ATTR get_group_idx(int8_t unit, int *groupn, int *idx) {
+ switch (unit) {
+ case 0: *groupn = 0; *idx = 0; return;
+ case 1: *groupn = 0; *idx = 1; return;
+ case 2: *groupn = 1; *idx = 0; return;
+ case 3: *groupn = 1; *idx = 1; return;
+ }
+}
+
+static int have_timers(int8_t groupn) {
+ int i;
+
+ for(i=0; i < CPU_LAST_TIMER + 1;i++) {
+ if ((groupn == 0) && (i > 1)) {
+ continue;
+ }
+
+ if ((groupn == 1) && (i < 2)) {
+ continue;
+ }
+
+ if (tmr->timer[i].setup) return 1;
+ }
+
+ return 0;
+}
+
+static void alarm_task(void *arg) {
+ tmr_alarm_t alarm;
+
+ for(;;) {
+ xQueueReceive(tmr->queue, &alarm, portMAX_DELAY);
+
+ if (tmr->timer[alarm.unit].callback) {
+ tmr->timer[alarm.unit].callback((void *)((int)alarm.unit));
+ }
+ }
+}
+
+static void IRAM_ATTR isr(void *arg) {
+ int unit = (int) arg;
+ int groupn, idx;
+ portBASE_TYPE high_priority_task_awoken = 0;
+
+ // Get group number / idx
+ get_group_idx(unit, &groupn, &idx);
+
+ // Get timer group device
+ timg_dev_t *group = (groupn==0?&TIMERG0:&TIMERG1);
+
+ // Check that interrupt is for us
+ uint32_t intr_status = group->int_st_timers.val;
+
+ if (intr_status & BIT(idx)) {
+ // Reload alarm value
+ group->hw_timer[idx].update = 1;
+
+ // Clear inerrupt mask
+ if (idx == 0) {
+ group->int_clr_timers.t0 = 1;
+ } else {
+ group->int_clr_timers.t1 = 1;
+ }
+
+ // Queue alarm
+ tmr_alarm_t alarm;
+
+ alarm.unit = unit;
+
+ xQueueSendFromISR(tmr->queue, &alarm, &high_priority_task_awoken);
+
+ // Enable alarm again
+ group->hw_timer[idx].config.alarm_en = 1;
+ }
+
+ if (high_priority_task_awoken == pdTRUE) {
+ portYIELD_FROM_ISR();
+ }
+}
+
+/*
+ * Low-level functions
+ *
+ */
+int tmr_ll_setup(uint8_t unit, uint32_t micros, void(*callback)(void *)) {
+ int groupn, idx;
+
+ // Allocate space for driver info
+ if (!tmr) {
+ tmr = calloc(1, sizeof(tmr_driver_t));
+ if (!tmr) {
+ return -1;
+ }
+ }
+
+ if (tmr->timer[unit].setup) {
+ return 0;
+ }
+
+ // The ISR a message is queued to the queue and callback is
+ // executed from a task.
+ // Create queue if not created
+ if (!tmr->queue) {
+ tmr->queue = xQueueCreate(10, sizeof(tmr_alarm_t));
+ if (!tmr->queue) {
+ return -1;
+ }
+ }
+
+ // Create task if not created
+ if (!tmr->task) {
+ BaseType_t xReturn;
+
+ xReturn = xTaskCreatePinnedToCore(alarm_task, "tmral", CONFIG_HWTIMER_THREAD_STACK_SIZE, NULL, CONFIG_HWTIMER_THREAD_PRIORITY, &tmr->task, xPortGetCoreID());
+ if (xReturn != pdPASS) {
+ return -1;
+ }
+ }
+
+
+ get_group_idx(unit, &groupn, &idx);
+
+ // Configure time and stop
+ // Timer is configure for decrement every 1 usec, so
+ // alarm valus is exactly the period, expressed in usec
+ timer_config_t config;
+
+ config.alarm_en = 1;
+ config.auto_reload = 1;
+ config.counter_dir = TIMER_COUNT_UP;
+ config.divider = 80;
+ config.intr_type = TIMER_INTR_LEVEL;
+ config.counter_en = TIMER_PAUSE;
+
+ timer_init(groupn, idx, &config);
+ timer_pause(groupn, idx);
+
+ // Set timer at required frequency
+ timer_set_counter_value(groupn, idx, 0x00000000ULL);
+ timer_set_alarm_value(groupn, idx, micros);
+
+ // Enable timer interrupt
+ timer_enable_intr(groupn, idx);
+ timer_isr_register(groupn, idx, isr, (void *)((int)unit), ESP_INTR_FLAG_IRAM, &tmr->timer[unit].isrh);
+
+ tmr->timer[unit].setup = 1;
+ tmr->timer[unit].callback = callback;
+
+ return 0;
+}
+
+void tmr_ll_unsetup(uint8_t unit) {
+
+ if (!tmr->timer[unit].setup) {
+ return;
+ }
+
+ tmr->timer[unit].callback = NULL;
+ tmr->timer[unit].setup = 0;
+
+ // Stop timer
+ tmr_ll_stop(unit);
+
+ // Remove interrupt
+ esp_intr_free((intr_handle_t)tmr->timer[unit].isrh);
+
+ // If we not have timers destroy queue and task if
+ // allocated
+ if (!have_timers(-1)) {
+ if (tmr->task) {
+ vTaskDelete(tmr->task);
+ }
+
+ if (tmr->queue) {
+ vQueueDelete(tmr->queue);
+ }
+
+ free(tmr);
+ tmr = NULL;
+ }
+
+}
+
+void tmr_ll_start(uint8_t unit) {
+ int groupn, idx;
+ get_group_idx(unit, &groupn, &idx);
+ timer_start(groupn, idx);
+}
+
+void tmr_ll_stop(uint8_t unit) {
+ int groupn, idx;
+ get_group_idx(unit, &groupn, &idx);
+ timer_pause(groupn, idx);
+}
+
+/*
+ * Operation functions
+ */
+esp_err_t tmr_setup(int8_t unit, uint32_t micros, void(*callback)(void *)) {
+ // Sanity checks
+ if ((unit < CPU_FIRST_TIMER) || (unit > CPU_LAST_TIMER)) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ if (micros < 5) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ if (tmr_ll_setup(unit, micros, callback) < 0) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ return ESP_OK;
+}
+
+esp_err_t tmr_unsetup(int8_t unit) {
+ // Sanity checks
+ if ((unit < CPU_FIRST_TIMER) || (unit > CPU_LAST_TIMER)) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ tmr_ll_unsetup(unit);
+
+ return ESP_OK;
+}
+
+esp_err_t tmr_start(int8_t unit) {
+ // Sanity checks
+ if ((unit < CPU_FIRST_TIMER) || (unit > CPU_LAST_TIMER)) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ if (!tmr->timer[unit].setup) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ tmr_ll_start(unit);
+
+ return ESP_OK;
+}
+
+esp_err_t tmr_stop(int8_t unit) {
+ // Sanity checks
+ if ((unit < CPU_FIRST_TIMER) || (unit > CPU_LAST_TIMER)) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ if (!tmr->timer[unit].setup) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ tmr_ll_stop(unit);
+
+ return ESP_OK;
+}
+
diff --git a/Robotito/src/hwTimer/include/hwTimer.h b/Robotito/src/hwTimer/include/hwTimer.h
new file mode 100644
index 0000000000000000000000000000000000000000..99936eb973076f3168af44f998cd3eec25b43189
--- /dev/null
+++ b/Robotito/src/hwTimer/include/hwTimer.h
@@ -0,0 +1,130 @@
+#ifndef TIMER_H
+#define TIMER_H
+
+#include "driver/timer.h"
+#include <stdint.h>
+#include "esp_err.h"
+
+
+#define CONFIG_HWTIMER_THREAD_STACK_SIZE 8192
+#define CONFIG_HWTIMER_THREAD_PRIORITY 10
+#define CPU_LAST_TIMER 3
+#define CPU_FIRST_TIMER 0
+
+
+typedef struct{
+ int8_t unit;
+} tmr_alarm_t;
+
+typedef struct {
+ uint8_t setup;
+ void (*callback)(void *);
+ timer_isr_handle_t isrh;
+} tmr_t;
+
+typedef void(*tmr_isr_t)(void *);
+
+/**
+ * @brief Configures a timer. After timer is configured you must start timer using
+ * tmr_start function. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ * @param micros Period of timer, in microseconds.
+ * @param callback Callback function to call every micros period.
+ * @param deferred If 0, the callback are executed in the isr. If 1, the callback
+ * is deferred and is called outside the interrupt. Non deferred
+ * callbacks must reside in IRAM.
+ *
+ * @return 0 if success, -1 if error (memory error)
+ *
+ */
+int tmr_ll_setup(uint8_t unit, uint32_t micros, void(*callback)(void *));
+
+/**
+ * @brief Removes a timer and the resources that uses.
+ * tmr_start function. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ */
+void tmr_ll_unsetup(uint8_t unit);
+
+/**
+ * @brief Start a previous configured timer. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ */
+void tmr_ll_start(uint8_t unit);
+
+/**
+ * @brief Stop a previous configured timer. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ */
+void tmr_ll_stop(uint8_t unit);
+
+/**
+ * @brief Configures a timer. After timer is configured you must start timer using
+ * tmr_start function.
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ * @param micros Period of timer, in microseconds.
+ * @param callback Callback function to call every micros period.
+ * @param deferred If 0, the callback are executed in the isr. If 1, the callback
+ * is deferred and is called outside the interrupt. Non deferred
+ * callbacks must reside in IRAM.
+ *
+ * @return
+ * - NULL success
+ * - Pointer to driver_error_t if some error occurs.
+ *
+ * TIMER_ERR_INVALID_UNIT
+ * TIMER_ERR_INVALID_PERIOD
+ * SPI_ERR_DEVICE_IS_NOT_SELECTED
+ * SPI_ERR_NOT_ENOUGH_MEMORY
+ */
+esp_err_t tmr_setup(int8_t unit, uint32_t micros, void(*callback)(void *));
+
+/**
+ * @brief Removes a timer and the resources that uses.
+ * tmr_start function. No sanity checks are done (use only in driver develop).
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ *
+ * @return
+ * - NULL success
+ * - Pointer to driver_error_t if some error occurs.
+ *
+ * TIMER_ERR_INVALID_UNIT
+ */
+esp_err_t tmr_unsetup(int8_t unit);
+
+/**
+ * @brief Start a previous configured timer.
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ *
+ * @return
+ * - NULL success
+ * - Pointer to driver_error_t if some error occurs.
+ *
+ * TIMER_ERR_IS_NOT_SETUP
+ */
+esp_err_t tmr_start(int8_t unit);
+
+/**
+ * @brief Stop a previous configured timer.
+ *
+ * @param unit Hardware timer, from 0 to 3.
+ *
+ * @return
+ * - NULL success
+ * - Pointer to driver_error_t if some error occurs.
+ *
+ * TIMER_ERR_IS_NOT_SETUP
+ */
+esp_err_t tmr_stop(int8_t unit);
+
+void get_group_idx(int8_t unit, int *groupn, int *idx);
+
+#endif /* TIMER_H */
+
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
new file mode 100644
index 0000000000000000000000000000000000000000..359e9dc3b29d7e89606d2d7d7454229bcbff2b34
--- /dev/null
+++ b/Robotito/src/main.c
@@ -0,0 +1,113 @@
+/* GPIO Example
+
+ This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+ Unless required by applicable law or agreed to in writing, this
+ software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+ CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "driver/gpio.h"
+#include "motors.h"
+#include "encoders.h"
+#include "hwTimer.h"
+
+#define OMNI_CTRL_TIMER 0.05 // s
+#define MAX_OUTPUT 100.0
+#define NMOTORS 3
+#define OMNI_NRO_TIMER 0
+
+static void timer_func() {
+ printf("ECHO TIMER \n");
+}
+
+void app_main(void)
+{
+
+ //1. mcpwm gpio initialization
+ motor_h_t *mot;
+ motor_install(27,26, MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, &mot);
+
+ //2. initial mcpwm configuration
+ printf("Configuring Initial Parameters of mcpwm...\n");
+ motor_start(mot); //Configure PWM0A & PWM0B with above settings
+
+
+ int inc = 25;
+ while (1) {
+ if (inc == 20){
+ motor_start(mot);
+ }
+ printf("Vel %i\n", inc);
+ motor_set_speed(mot, inc);
+ vTaskDelay(2000 / portTICK_RATE_MS);
+ motor_set_speed(mot, -inc);
+ vTaskDelay(2000 / portTICK_RATE_MS);
+
+
+ inc++;
+ if (inc == 30){
+ motor_stop(mot);
+ inc = 20;
+ printf("Reseting vel ...\n");
+ }
+ }
+}
+
+
+
+/*
+static void callback_enc_func(int i_callback, int8_t dir, uint32_t counter) {
+ printf("motor %i, dir %i, counter %i\n", i_callback, dir, counter);
+}
+
+void app_main(void)
+{
+ encoder_h_t *encoder;
+ encoder_setup(37,39,&encoder);
+ encoder_register_callback(encoder, callback_enc_func, 0, 1);
+
+ int cnt = 0;
+ while(1) {
+ printf("cnt: %d\n", cnt++);
+ vTaskDelay(10000 / portTICK_RATE_MS);
+ if (!(cnt % 10)){
+ printf("Minimum free heap size: %d bytes\n", esp_get_minimum_free_heap_size());
+ }
+ }
+}
+
+static void mcpwm_example_brushed_motor_control(void *arg)
+{
+ //1. mcpwm gpio initialization
+ motor_h_t *mot;
+ motor_install(27,26, MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, &mot);
+
+ //2. initial mcpwm configuration
+ printf("Configuring Initial Parameters of mcpwm...\n");
+ motor_start(mot); //Configure PWM0A & PWM0B with above settings
+
+
+ int inc = 25;
+ while (1) {
+ printf("Vel %i\n", inc);
+ motor_set_speed(mot, inc);
+ vTaskDelay(2000 / portTICK_RATE_MS);
+ motor_set_speed(mot, -inc);
+ vTaskDelay(2000 / portTICK_RATE_MS);
+
+
+ inc++;
+ if (inc == 10){
+ inc = 0;
+ printf("Reseting vel ...\n");
+
+ }
+ }
+}
+*/
\ No newline at end of file
diff --git a/Robotito/src/math_vector_operations/CMakeLists.txt b/Robotito/src/math_vector_operations/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94d7c3608d99b445133d0de1ab64a3a98f593a11
--- /dev/null
+++ b/Robotito/src/math_vector_operations/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "math_vector_operations.c"
+ INCLUDE_DIRS "include")
diff --git a/Robotito/src/math_vector_operations/include/math_vector_operations.h b/Robotito/src/math_vector_operations/include/math_vector_operations.h
new file mode 100644
index 0000000000000000000000000000000000000000..bedbbd43fdbc64e78676a8819a003d2410274db6
--- /dev/null
+++ b/Robotito/src/math_vector_operations/include/math_vector_operations.h
@@ -0,0 +1,65 @@
+#ifndef VECTOR_MATH_H
+#define VECTOR_MATH_H
+
+#include "math.h"
+
+#define PI 3.1415926535897932384626433832795
+#define PIdiv180 (PI/180.0)
+#define SQR(x) (x*x)
+#define SGN(x) (x<0?-1:1)
+#define ABS(x) (x<0?-x:x)
+#define NULL_VECTOR F3dVector(0.0f,0.0f,0.0f)
+
+/////////////////////////////////
+//Note: All angles in degrees //
+/////////////////////////////////
+
+typedef struct {
+ float x,y,z;
+} sF3dVector_t;
+
+typedef struct {
+ float x1,y1,z1,x2,y2,z2,x3,y3,z3;
+} sF3dMatrix_t;
+
+
+float getLength(sF3dVector_t* v);
+void normalize(sF3dVector_t* v);
+
+
+/**
+ * v = v + v2
+**/
+void sum (sF3dVector_t* v, sF3dVector_t v2);
+
+/**
+ * v = v - v2
+**/
+
+void difference (sF3dVector_t* v, sF3dVector_t v2);
+
+/**
+ * v = v*r
+**/
+void float_mul (sF3dVector_t* v, float r);
+
+/**
+ * v = v/r
+**/
+void float_div (sF3dVector_t* v, float r);
+
+/**
+ * ret dot product
+**/
+float dotProduct (sF3dVector_t* v, sF3dVector_t v2);
+
+/**
+ * ret v = vectorial product
+**/
+void crossProduct (sF3dVector_t* v, sF3dVector_t v2);
+
+/**
+ * v = M*v
+**/
+void vector_mul (sF3dMatrix_t m, sF3dVector_t* v);
+#endif /* VECTOR_MATH_H */
\ No newline at end of file
diff --git a/Robotito/src/math_vector_operations/math_vector_operations.c b/Robotito/src/math_vector_operations/math_vector_operations.c
new file mode 100644
index 0000000000000000000000000000000000000000..96600a82024242057cfbf981056726bc09c4b98a
--- /dev/null
+++ b/Robotito/src/math_vector_operations/math_vector_operations.c
@@ -0,0 +1,71 @@
+#include <stdio.h>
+#include "math_vector_operations.h"
+
+float getLength(sF3dVector_t* v)
+{
+ return (float)(sqrt(SQR(v->x)+SQR(v->y)+SQR(v->z)));
+
+}
+
+void normalize(sF3dVector_t* v)
+{
+ float l = getLength(v);
+ if (l == 0.0f) {
+ v->x = v->y = v->z = 0.0;
+ return;
+ }
+ v->x = v->x / l;
+ v->y = v->y / l;
+ v->z = v->z / l;
+}
+
+void sum (sF3dVector_t* v, sF3dVector_t v2){
+
+ v->x = v->x + v2.x;
+ v->y = v->y + v2.y;
+ v->z = v->z + v2.z;
+
+}
+
+void difference (sF3dVector_t* v, sF3dVector_t v2){
+
+ v->x = v->x - v2.x;
+ v->y = v->y - v2.y;
+ v->z = v->z - v2.z;
+
+}
+
+void float_mul (sF3dVector_t* v, float r){
+
+ v->x = v->x * r;
+ v->y = v->y * r;
+ v->z = v->z * r;
+
+}
+void float_div (sF3dVector_t* v, float r){
+
+ v->x = v->x / r;
+ v->y = v->y / r;
+ v->z = v->z / r;
+
+}
+float dotProduct (sF3dVector_t* v, sF3dVector_t v2){
+ return v->x*v2.x + v->y*v2.y + v->z*v2.z;
+}
+
+void crossProduct (sF3dVector_t* v, sF3dVector_t v2){
+
+ v->x = v->y*v2.z - v->z*v2.y;
+ v->y = v->z*v2.x - v->x*v2.z;
+ v->z = v->x*v2.y - v->y*v2.x;
+
+}
+
+
+void vector_mul (sF3dMatrix_t m, sF3dVector_t* v){
+
+ v->x = m.x1*v->x + m.y1*v->y + m.z1*v->z;
+ v->y = m.x2*v->x + m.y2*v->y + m.z2*v->z;
+ v->z = m.x3*v->x + m.y3*v->y + m.z3*v->z;
+
+}
diff --git a/Robotito/src/motors/CMakeLists.txt b/Robotito/src/motors/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c7a30bc519ea24e11babba290b0e8aab99ddd5a
--- /dev/null
+++ b/Robotito/src/motors/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "motors.c"
+ INCLUDE_DIRS "include")
diff --git a/Robotito/src/motors/include/motors.h b/Robotito/src/motors/include/motors.h
new file mode 100644
index 0000000000000000000000000000000000000000..b2bfbed2c40c089bd66e3f1a389c447dd9a0142a
--- /dev/null
+++ b/Robotito/src/motors/include/motors.h
@@ -0,0 +1,31 @@
+/*
+Program: Motor Library
+
+File: Motor.h
+*/
+#ifndef DRV8833_h
+#define DRV8833_h
+
+#include <stdint.h>
+#include "esp_err.h"
+#include "driver/mcpwm.h"
+
+typedef struct {
+ int intSpeed;
+ int8_t pin1;
+ int8_t pin2;
+ char info; // bit0: isrunning, bit1: braked
+ double defaultDuty;
+ mcpwm_unit_t mcpwm_unit;
+ mcpwm_io_signals_t mcpwm_a;
+ mcpwm_io_signals_t mcpwm_b;
+ mcpwm_timer_t mcpwm_timer;
+} motor_h_t;
+
+
+esp_err_t motor_install(int8_t a, int8_t b, mcpwm_unit_t pwm_u, mcpwm_io_signals_t pwm1, mcpwm_io_signals_t pwm2, mcpwm_timer_t t, motor_h_t **m);
+esp_err_t motor_set_speed(motor_h_t *m, int intIn);
+esp_err_t motor_stop(motor_h_t *m);
+esp_err_t motor_start(motor_h_t *m);
+
+#endif /* DRV8833_h */
\ No newline at end of file
diff --git a/Robotito/src/motors/motors.c b/Robotito/src/motors/motors.c
new file mode 100644
index 0000000000000000000000000000000000000000..f55eba1483dcff2d0e0918f3783eb7d22185f87b
--- /dev/null
+++ b/Robotito/src/motors/motors.c
@@ -0,0 +1,117 @@
+#include <stdio.h>
+#include "motors.h"
+#include "driver/gpio.h"
+
+
+#define GPIO_ALL_OUT 0b0000001100001110111111111111111111111111ULL
+#define FRECUENCY 1
+
+esp_err_t motor_install(int8_t a, int8_t b, mcpwm_unit_t pwm_unit, mcpwm_io_signals_t pwm_a, mcpwm_io_signals_t pwm_b, mcpwm_timer_t t, motor_h_t **m)
+{
+
+ if ((!GPIO_IS_VALID_GPIO(a)) && ((GPIO_ALL_OUT & (1ULL << a)))) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ if ((!GPIO_IS_VALID_GPIO(b)) && ((GPIO_ALL_OUT & (1ULL << b)))) {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ motor_h_t *motor = calloc(1, sizeof(motor_h_t));
+
+ if (!motor) {
+ return ESP_ERR_NO_MEM;
+ }
+
+ motor->pin1 = a;
+ motor->pin2 = b;
+ motor->info = 0x00;
+ motor->intSpeed = 0;
+ motor->defaultDuty = 0;
+
+ motor->mcpwm_unit = pwm_unit;
+ motor->mcpwm_timer = t;
+ motor->mcpwm_a = pwm_a;
+ motor->mcpwm_b = pwm_b;
+
+ mcpwm_gpio_init(pwm_unit, pwm_a, a);
+ mcpwm_gpio_init(pwm_unit, pwm_b, b);
+
+ *m = motor;
+
+ return ESP_OK;
+}
+
+/**
+ * @brief motor moves in forward direction, with duty cycle = duty %
+ */
+void motor_forward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num , float duty_cycle)
+{
+ mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_B);
+ mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_A, duty_cycle);
+ mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_A, MCPWM_DUTY_MODE_0); //call this each time, if operator was previously in low/high state
+}
+
+/**
+ * @brief motor moves in backward direction, with duty cycle = duty %
+ */
+void motor_backward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num , float duty_cycle)
+{
+ mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_A);
+ mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_B, duty_cycle);
+ mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_B, MCPWM_DUTY_MODE_0); //call this each time, if operator was previously in low/high state
+}
+
+
+
+/**
+ * @brief set motor Speed with duty cycle = duty %
+ */
+esp_err_t motor_set_speed(motor_h_t *m, int intIn){
+
+ if (m->info & 0x01){
+ if ((intIn >= -100) && (intIn <= 100)) {
+ m->intSpeed = intIn;
+ }else {
+ return ESP_ERR_INVALID_ARG;
+ }
+
+ if (intIn >= 0){
+ motor_forward(m->mcpwm_unit, m->mcpwm_timer, (intIn*1.0));
+ }else{
+ motor_backward(m->mcpwm_unit, m->mcpwm_timer, (intIn*-1.0) );
+ }
+ }
+
+ return ESP_OK;
+}
+
+/**
+ * @brief motor stop
+ */
+esp_err_t motor_stop(motor_h_t *m)
+{
+ mcpwm_set_signal_low(m->mcpwm_unit, m->mcpwm_timer, MCPWM_OPR_A);
+ mcpwm_set_signal_low(m->mcpwm_unit, m->mcpwm_timer, MCPWM_OPR_B);
+
+ return ESP_OK;
+}
+
+/**
+ * @brief motor start
+ */
+esp_err_t motor_start(motor_h_t *m)
+{
+ mcpwm_config_t pwm_config;
+ pwm_config.frequency = 1000 * FRECUENCY; //frequency = 500Hz,
+ pwm_config.cmpr_a = 0; //duty cycle of PWMxA = 0
+ pwm_config.cmpr_b = 0; //duty cycle of PWMxb = 0
+ pwm_config.counter_mode = MCPWM_UP_COUNTER;
+ pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
+ mcpwm_init(m->mcpwm_unit, m->mcpwm_timer, &pwm_config); //Configure PWM0A & PWM0B with above settings
+
+ m->info = m->info | 0x01;
+
+ return ESP_OK;
+}
+
diff --git a/Robotito/test/README b/Robotito/test/README
new file mode 100644
index 0000000000000000000000000000000000000000..9b1e87bc67c90e7f09a92a3e855444b085c655a6
--- /dev/null
+++ b/Robotito/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html