Add Kconfig for IDF and option to disable HAL mutexes

IDF Options:
- Autostart Arduino (implements app_main)
- Disable HAL locks
- Set HAL debug level
- Auto-connect STA if configured (else will connect after WiFi.begin())

Kconfig

+menu "Arduino Configuration"
+
+config AUTOSTART_ARDUINO
+    bool "Autostart Arduino setup and loop on boot"
+    default "n"
+    help
+        Enabling this option will implement app_main and start Arduino.
+        All you need to implement in your main.cpp is setup() and loop()
+        and include Arduino.h
+        If disabled, you can call initArduino() to run any preparations
+        required by the framework
+
+config DISABLE_HAL_LOCKS
+    bool "Disable mutex locks for HAL"
+    default "n"
+    help
+        Enabling this option will run all hardware abstraction without locks.
+        While communication with external hardware will be faster, you need to
+        make sure that there is no option to use the same bus from another thread
+        or interrupt at the same time. Option is best used with Arduino enabled
+        and code implemented only in setup/loop and Arduino callbacks
+
+menu "Debug Log Configuration"
+choice ARDUHAL_LOG_DEFAULT_LEVEL
+    bool "Default log level"
+    default ARDUHAL_LOG_DEFAULT_LEVEL_ERROR
+    help
+        Specify how much output to see in logs by default.
+
+config ARDUHAL_LOG_DEFAULT_LEVEL_NONE
+    bool "No output"
+config ARDUHAL_LOG_DEFAULT_LEVEL_ERROR
+    bool "Error"
+config ARDUHAL_LOG_DEFAULT_LEVEL_WARN
+    bool "Warning"
+config ARDUHAL_LOG_DEFAULT_LEVEL_INFO
+    bool "Info"
+config ARDUHAL_LOG_DEFAULT_LEVEL_DEBUG
+    bool "Debug"
+config ARDUHAL_LOG_DEFAULT_LEVEL_VERBOSE
+    bool "Verbose"
+endchoice
+
+config ARDUHAL_LOG_DEFAULT_LEVEL
+    int
+    default 0 if ARDUHAL_LOG_DEFAULT_LEVEL_NONE
+    default 1 if ARDUHAL_LOG_DEFAULT_LEVEL_ERROR
+    default 2 if ARDUHAL_LOG_DEFAULT_LEVEL_WARN
+    default 3 if ARDUHAL_LOG_DEFAULT_LEVEL_INFO
+    default 4 if ARDUHAL_LOG_DEFAULT_LEVEL_DEBUG
+    default 5 if ARDUHAL_LOG_DEFAULT_LEVEL_VERBOSE
+
+config ARDUHAL_LOG_COLORS
+    bool "Use ANSI terminal colors in log output"
+    default "n"
+    help
+        Enable ANSI terminal color codes in bootloader output.
+        In order to view these, your terminal program must support ANSI color codes.
+
+endmenu
+
+config AUTOCONNECT_WIFI
+    bool "Autoconnect WiFi on boot"
+    default "n"
+    depends on AUTOSTART_ARDUINO
+    help
+        If enabled, WiFi will connect to the last used SSID (if station was enabled),
+        else connection will be started only after calling WiFi.begin(ssid, password)
+
+endmenu

component.mk

 COMPONENT_ADD_INCLUDEDIRS := cores/esp32 variants/esp32 libraries/WiFi/src libraries/SPI/src libraries/Wire/src
 COMPONENT_PRIV_INCLUDEDIRS := cores/esp32/libb64
 COMPONENT_SRCDIRS := cores/esp32/libb64 cores/esp32 variants/esp32 libraries/WiFi/src libraries/SPI/src libraries/Wire/src
-include $(IDF_PATH)/make/component_common.mk
 CXXFLAGS += -fno-rtti

cores/esp32/esp32-hal-i2c.c

@@ -30,7 +30,9 @@
 
 struct i2c_struct_t {
     i2c_dev_t * dev;
+#if !CONFIG_DISABLE_HAL_LOCKS
     xSemaphoreHandle lock;
+#endif
     uint8_t num;
 };
 
@@ -42,6 +44,15 @@ enum {
     I2C_CMD_END
 };
 
+#if CONFIG_DISABLE_HAL_LOCKS
+#define I2C_MUTEX_LOCK()
+#define I2C_MUTEX_UNLOCK()
+
+static i2c_t _i2c_bus_array[2] = {
+    {(volatile i2c_dev_t *)(DR_REG_I2C_EXT_BASE), 0},
+    {(volatile i2c_dev_t *)(DR_REG_I2C1_EXT_BASE), 1}
+};
+#else
 #define I2C_MUTEX_LOCK()    do {} while (xSemaphoreTake(i2c->lock, portMAX_DELAY) != pdPASS)
 #define I2C_MUTEX_UNLOCK()  xSemaphoreGive(i2c->lock)
 
@@ -49,6 +60,7 @@ static i2c_t _i2c_bus_array[2] = {
     {(volatile i2c_dev_t *)(DR_REG_I2C_EXT_BASE), NULL, 0},
     {(volatile i2c_dev_t *)(DR_REG_I2C1_EXT_BASE), NULL, 1}
 };
+#endif
 
 i2c_err_t i2cAttachSCL(i2c_t * i2c, int8_t scl)
 {
@@ -353,12 +365,14 @@ i2c_t * i2cInit(uint8_t i2c_num, uint16_t slave_addr, bool addr_10bit_en)
 
     i2c_t * i2c = &_i2c_bus_array[i2c_num];
 
+#if !CONFIG_DISABLE_HAL_LOCKS
     if(i2c->lock == NULL){
         i2c->lock = xSemaphoreCreateMutex();
         if(i2c->lock == NULL) {
             return NULL;
         }
     }
+#endif
 
     if(i2c_num == 0) {
         SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG,DPORT_I2C_EXT0_CLK_EN);

cores/esp32/esp32-hal-ledc.c

@@ -22,11 +22,14 @@
 #include "soc/ledc_reg.h"
 #include "soc/ledc_struct.h"
 
-xSemaphoreHandle _ledc_sys_lock;
-
-
+#if CONFIG_DISABLE_HAL_LOCKS
+#define LEDC_MUTEX_LOCK()
+#define LEDC_MUTEX_UNLOCK()
+#else
 #define LEDC_MUTEX_LOCK()    do {} while (xSemaphoreTake(_ledc_sys_lock, portMAX_DELAY) != pdPASS)
 #define LEDC_MUTEX_UNLOCK()  xSemaphoreGive(_ledc_sys_lock)
+xSemaphoreHandle _ledc_sys_lock;
+#endif
 
 /*
  * LEDC Chan to Group/Channel/Timer Mapping
@@ -59,7 +62,9 @@ void ledcSetupTimer(uint8_t chan, uint32_t div_num, uint8_t bit_num, bool apb_cl
         SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_LEDC_CLK_EN);
         CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_LEDC_RST);
         ledc_dev->conf.apb_clk_sel = 1;//LS use apb clock
+#if !CONFIG_DISABLE_HAL_LOCKS
         _ledc_sys_lock = xSemaphoreCreateMutex();
+#endif
     }
     LEDC_MUTEX_LOCK();
     ledc_dev->timer_group[group].timer[timer].conf.div_num = div_num;//18 bit (10.8) This register is used to configure parameter for divider in timer the least significant eight bits represent the decimal part.

cores/esp32/esp32-hal-misc.c

@@ -47,6 +47,21 @@ void delayMicroseconds(uint32_t us)
     }
 }
 
+void initVariant() __attribute__((weak));
+void initVariant() {}
+
+void init() __attribute__((weak));
+void init() {}
+
+void initWiFi() __attribute__((weak));
+void initWiFi() {}
+
+void initArduino(){
+    init();
+    initVariant();
+    initWiFi();
+}
+
 //used by hal log
 const char * IRAM_ATTR pathToFileName(const char * path){
     size_t i = 0;

cores/esp32/esp32-hal-sd.c

@@ -21,11 +21,15 @@
 #include "soc/gpio_sd_reg.h"
 #include "soc/gpio_sd_struct.h"
 
-xSemaphoreHandle _sd_sys_lock;
 
+#if CONFIG_DISABLE_HAL_LOCKS
+#define SD_MUTEX_LOCK()
+#define SD_MUTEX_UNLOCK()
+#else
 #define SD_MUTEX_LOCK()    do {} while (xSemaphoreTake(_sd_sys_lock, portMAX_DELAY) != pdPASS)
 #define SD_MUTEX_UNLOCK()  xSemaphoreGive(_sd_sys_lock)
-
+xSemaphoreHandle _sd_sys_lock;
+#endif
 
 uint32_t sdSetup(uint8_t channel, uint32_t freq) //chan 0-7 freq 1220-312500
 {
@@ -35,7 +39,9 @@ uint32_t sdSetup(uint8_t channel, uint32_t freq) //chan 0-7 freq 1220-312500
     static bool tHasStarted = false;
     if(!tHasStarted) {
         tHasStarted = true;
+#if !CONFIG_DISABLE_HAL_LOCKS
         _sd_sys_lock = xSemaphoreCreateMutex();
+#endif
     }
     gpio_sd_dev_t * gpio_sd_dev = (volatile gpio_sd_dev_t *)(DR_REG_GPIO_SD_BASE);
     uint32_t prescale = (10000000/(freq*32)) - 1;

cores/esp32/esp32-hal-spi.c

@@ -41,10 +41,23 @@
 
 struct spi_struct_t {
     spi_dev_t * dev;
+#if !CONFIG_DISABLE_HAL_LOCKS
     xSemaphoreHandle lock;
+#endif
     uint8_t num;
 };
 
+#if CONFIG_DISABLE_HAL_LOCKS
+#define SPI_MUTEX_LOCK()
+#define SPI_MUTEX_UNLOCK()
+
+static spi_t _spi_bus_array[4] = {
+    {(volatile spi_dev_t *)(DR_REG_SPI0_BASE), 0},
+    {(volatile spi_dev_t *)(DR_REG_SPI1_BASE), 1},
+    {(volatile spi_dev_t *)(DR_REG_SPI2_BASE), 2},
+    {(volatile spi_dev_t *)(DR_REG_SPI3_BASE), 3}
+};
+#else
 #define SPI_MUTEX_LOCK()    do {} while (xSemaphoreTake(spi->lock, portMAX_DELAY) != pdPASS)
 #define SPI_MUTEX_UNLOCK()  xSemaphoreGive(spi->lock)
 
@@ -54,6 +67,7 @@ static spi_t _spi_bus_array[4] = {
     {(volatile spi_dev_t *)(DR_REG_SPI2_BASE), NULL, 2},
     {(volatile spi_dev_t *)(DR_REG_SPI3_BASE), NULL, 3}
 };
+#endif
 
 void spiAttachSCK(spi_t * spi, int8_t sck)
 {
@@ -383,12 +397,14 @@ spi_t * spiStartBus(uint8_t spi_num, uint32_t clockDiv, uint8_t dataMode, uint8_
 
     spi_t * spi = &_spi_bus_array[spi_num];
 
+#if !CONFIG_DISABLE_HAL_LOCKS
     if(spi->lock == NULL){
         spi->lock = xSemaphoreCreateMutex();
         if(spi->lock == NULL) {
             return NULL;
         }
     }
+#endif
 
     if(spi_num == HSPI) {
         SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_SPI_CLK_EN_1);

cores/esp32/esp32-hal-uart.c

@@ -40,11 +40,23 @@ static int s_uart_debug_nr = 0;
 
 struct uart_struct_t {
     uart_dev_t * dev;
+#if !CONFIG_DISABLE_HAL_LOCKS
     xSemaphoreHandle lock;
+#endif
     uint8_t num;
     xQueueHandle queue;
 };
 
+#if CONFIG_DISABLE_HAL_LOCKS
+#define UART_MUTEX_LOCK()
+#define UART_MUTEX_UNLOCK()
+
+static uart_t _uart_bus_array[3] = {
+    {(volatile uart_dev_t *)(DR_REG_UART_BASE), 0, NULL},
+    {(volatile uart_dev_t *)(DR_REG_UART1_BASE), 1, NULL},
+    {(volatile uart_dev_t *)(DR_REG_UART2_BASE), 2, NULL}
+};
+#else
 #define UART_MUTEX_LOCK()    do {} while (xSemaphoreTake(uart->lock, portMAX_DELAY) != pdPASS)
 #define UART_MUTEX_UNLOCK()  xSemaphoreGive(uart->lock)
 
@@ -53,6 +65,7 @@ static uart_t _uart_bus_array[3] = {
     {(volatile uart_dev_t *)(DR_REG_UART1_BASE), NULL, 1, NULL},
     {(volatile uart_dev_t *)(DR_REG_UART2_BASE), NULL, 2, NULL}
 };
+#endif
 
 static void IRAM_ATTR _uart_isr(void *arg)
 {
@@ -163,12 +176,14 @@ uart_t* uartBegin(uint8_t uart_nr, uint32_t baudrate, uint32_t config, int8_t rx
 
     uart_t* uart = &_uart_bus_array[uart_nr];
 
+#if !CONFIG_DISABLE_HAL_LOCKS
     if(uart->lock == NULL) {
         uart->lock = xSemaphoreCreateMutex();
         if(uart->lock == NULL) {
             return NULL;
         }
     }
+#endif
 
     if(queueLen && uart->queue == NULL) {
         uart->queue = xQueueCreate(queueLen, sizeof(uint8_t)); //initialize the queue
@@ -379,6 +394,7 @@ int log_printf(const char *format, ...)
         }
     }
     vsnprintf(temp, len+1, format, arg);
+#if !CONFIG_DISABLE_HAL_LOCKS
     if(_uart_bus_array[s_uart_debug_nr].lock){
         while (xSemaphoreTake(_uart_bus_array[s_uart_debug_nr].lock, portMAX_DELAY) != pdPASS);
         ets_printf("%s", temp);
@@ -386,6 +402,9 @@ int log_printf(const char *format, ...)
     } else {
         ets_printf("%s", temp);
     }
+#else
+    ets_printf("%s", temp);
+#endif
     va_end(arg);
     if(len > 64){
         free(temp);

cores/esp32/esp32-hal.h

@@ -33,6 +33,14 @@ extern "C" {
 #include <string.h>
 #include <math.h>
 
+#ifndef CONFIG_DISABLE_HAL_LOCKS
+#define CONFIG_DISABLE_HAL_LOCKS 0
+#endif
+
+#ifndef CONFIG_AUTOSTART_ARDUINO
+#define CONFIG_AUTOSTART_ARDUINO 1
+#endif
+
 //forward declaration from freertos/portmacro.h
 void vPortYield( void );
 #define yield() vPortYield()
@@ -56,6 +64,10 @@ uint32_t millis();
 void delay(uint32_t);
 void delayMicroseconds(uint32_t us);
 
+#if !CONFIG_AUTOSTART_ARDUINO
+void initArduino();
+#endif
+
 #ifdef __cplusplus
 }
 #endif

cores/esp32/main.cpp

 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "esp32-hal.h"
 
-void initVariant() __attribute__((weak));
-void initVariant() {}
+#if CONFIG_AUTOSTART_ARDUINO
 
-void init() __attribute__((weak));
-void init() {}
+extern "C" void initArduino();
+extern void loop();
+extern void setup();
 
 void startWiFi() __attribute__((weak));
 void startWiFi() {}
 
-void initWiFi() __attribute__((weak));
-void initWiFi() {}
-
-extern void loop();
-extern void setup();
-
 void loopTask(void *pvParameters)
 {
     bool setup_done = false;
@@ -31,9 +26,8 @@ void loopTask(void *pvParameters)
 
 extern "C" void app_main()
 {
-    init();
-    initVariant();
-    initWiFi();
+    initArduino();
     xTaskCreatePinnedToCore(loopTask, "loopTask", 4096, NULL, 1, NULL, 1);
 }
 
+#endif

libraries/WiFi/src/WiFiGeneric.cpp

@@ -282,7 +282,7 @@ void wifi_dns_found_callback(const char *name, const ip_addr_t *ipaddr, void *ca
  * */
 #include "nvs_flash.h"
 
-void initWiFi()
+extern "C" void initWiFi()
 {
     wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
     nvs_flash_init();
@@ -294,14 +294,15 @@ void initWiFi()
 void startWiFi()
 {
     esp_err_t err;
-    wifi_mode_t mode = WIFI_MODE_NULL;
-    bool auto_connect = false;
 
     err = esp_wifi_start();
     if (err != ESP_OK) {
         log_e("esp_wifi_start: %d", err);
         return;
     }
+#if CONFIG_AUTOCONNECT_WIFI
+    wifi_mode_t mode = WIFI_MODE_NULL;
+    bool auto_connect = false;
 
     err = esp_wifi_get_mode(&mode);
     if (err != ESP_OK) {
@@ -316,5 +317,6 @@ void startWiFi()
             log_e("esp_wifi_connect: %d", err);
         }
     }
+#endif
 }