Migration of ESP32 targets from idf 4.4 to 5.3:

- fixed GCC 13 (which is used by idf 5.3) compilation issues;
- fixed compatibility issues with idf 5.3 library;

libraries/AP_Filesystem/AP_Filesystem_ESP32.cpp

@@ -42,15 +42,15 @@ int AP_Filesystem_ESP32::close(int fd)
     return ::close(fd);
 }
 
-ssize_t AP_Filesystem_ESP32::read(int fd, void *buf, size_t count)
+int32_t AP_Filesystem_ESP32::read(int fd, void *buf, uint32_t count)
 {
 #if FSDEBUG
     printf("DO read \n");
 #endif
     return ::read(fd, buf, count);
 }
 
-ssize_t AP_Filesystem_ESP32::write(int fd, const void *buf, size_t count)
+int32_t AP_Filesystem_ESP32::write(int fd, const void *buf, uint32_t count)
 {
 #if FSDEBUG
     printf("DO write \n");

libraries/AP_HAL_ESP32/SPIDevice.cpp

@@ -60,7 +60,7 @@ SPIDevice::SPIDevice(SPIBus &_bus, SPIDeviceDesc &_device_desc)
     set_device_bus(bus.bus);
     set_device_address(_device_desc.device);
     set_speed(AP_HAL::Device::SPEED_LOW);
-    gpio_pad_select_gpio(device_desc.cs);
+    esp_rom_gpio_pad_select_gpio(device_desc.cs);
     gpio_set_direction(device_desc.cs, GPIO_MODE_OUTPUT);
     gpio_set_level(device_desc.cs, 1);
 

libraries/AP_HAL_ESP32/SdCard.cpp

@@ -32,8 +32,6 @@
 #include <sys/types.h>
 #include "SPIDevice.h"
 
-#include "soc/rtc_wdt.h"
-
 #ifdef HAL_ESP32_SDCARD
 
 #if CONFIG_IDF_TARGET_ESP32S2 ||CONFIG_IDF_TARGET_ESP32C3
@@ -254,8 +252,8 @@ void mount_sdcard()
 {
     mount_sdcard_spi();
 }
-#endif // end spi
 
+#endif // end spi
 
 bool sdcard_retry(void)
 {
@@ -265,16 +263,14 @@ bool sdcard_retry(void)
     return sdcard_running;
 }
 
-
 void unmount_sdcard()
 {
     if (card != nullptr) {
-        esp_vfs_fat_sdmmc_unmount();
+        esp_vfs_fat_sdcard_unmount( "/SDCARD", card);
     }
     sdcard_running = false;
 }
 
-
 #else
 // empty impl's
 void mount_sdcard()

libraries/AP_HAL_ESP32/Semaphores.cpp

@@ -106,7 +106,7 @@ void BinarySemaphore::signal_ISR()
 {
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
     xSemaphoreGiveFromISR(_sem, &xHigherPriorityTaskWoken);
-    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+    portYIELD_FROM_ISR_ARG(xHigherPriorityTaskWoken);
 }
 
 BinarySemaphore::~BinarySemaphore(void)

libraries/AP_HAL_ESP32/UARTDriver.cpp

@@ -55,7 +55,7 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
                          uart_desc[uart_num].rx,
                          UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
             //uart_driver_install(p, 2*UART_FIFO_LEN, 0, 0, nullptr, 0);
-            uart_driver_install(p, 2*UART_FIFO_LEN, 0, 0, nullptr, 0);
+            uart_driver_install(p, 2*UART_HW_FIFO_LEN(p), 0, 0, nullptr, 0);
             _readbuf.set_size(RX_BUF_SIZE);
             _writebuf.set_size(TX_BUF_SIZE);
 

libraries/AP_HAL_ESP32/Util.cpp

@@ -35,6 +35,7 @@
 #include "esp_heap_caps.h"
 #include <AP_Common/ExpandingString.h>
 
+#include "esp_mac.h"
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_HAL_ESP32/WiFiDriver.cpp

@@ -145,7 +145,7 @@ bool WiFiDriver::start_listen()
 bool WiFiDriver::try_accept()
 {
     struct sockaddr_in sourceAddr;
-    uint addrLen = sizeof(sourceAddr);
+    socklen_t addrLen = sizeof(sourceAddr);
     short i = available_socket();
     if (i != WIFI_MAX_CONNECTION) {
         socket_list[i] = accept(accept_socket, (struct sockaddr *)&sourceAddr, &addrLen);
@@ -246,7 +246,7 @@ static void _sta_event_handler(void* arg, esp_event_base_t event_base,
 void WiFiDriver::initialize_wifi()
 {
 #ifndef WIFI_PWD
-    #default WIFI_PWD "ardupilot1"
+    #define WIFI_PWD "ardupilot1"
 #endif
     //Initialize NVS
     esp_err_t ret = nvs_flash_init();

libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp

@@ -32,7 +32,7 @@
 #include "lwip/sys.h"
 #include "lwip/netdb.h"
 
-#include "soc/rtc_wdt.h"
+#include "freertos/idf_additions.h"
 
 using namespace ESP32;
 
@@ -215,7 +215,7 @@ static void _sta_event_handler(void* arg, esp_event_base_t event_base,
 void WiFiUdpDriver::initialize_wifi()
 {
 #ifndef WIFI_PWD
-    #default WIFI_PWD "ardupilot1"
+    #define WIFI_PWD "ardupilot1"
 #endif
     //Initialize NVS
     esp_err_t ret = nvs_flash_init();

libraries/AP_HAL_ESP32/i2c_sw.c

@@ -126,8 +126,9 @@ void i2c_init(_i2c_bus_t* bus)
         case 160: bus->delay = _i2c_delays[bus->speed][1]; break;
         case 240: bus->delay = _i2c_delays[bus->speed][2]; break;
         default : DEBUG("i2c I2C software implementation is not "
-                                      "supported for this CPU frequency: %d MHz\n",
-                               ets_get_cpu_frequency());
+                        "supported for this CPU frequency: %u MHz\n",
+                        (unsigned int)ets_get_cpu_frequency()
+                       );
             return;
     }
 

libraries/SITL/SIM_EFI_MegaSquirt.cpp

@@ -107,7 +107,7 @@ void EFI_MegaSquirt::update()
         if (crc == crc2) {
             send_table();
         } else {
-            printf("BAD EFI CRC: 0x%08x 0x%08x\n", crc, crc2);
+            printf("BAD EFI CRC: 0x%08x 0x%08x\n", (unsigned int)crc, (unsigned int)crc2);
         }
         ofs = 0;
     }