ESP-WROVER-KIT V3

Caution

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Tip

When using this board with RIOT, set the BOARD variable to esp32-wrover-kit in your Makefile. If you follow the standard RIOT project structure, your Makefile should look like this:

./Makefile

# name of your application
APPLICATION = hello-world

# Change this to your board if you want to build for a different board
BOARD ?= esp32-wrover-kit

# This has to be the absolute path to the RIOT base directory:
RIOTBASE ?= $(CURDIR)/RIOT

include $(RIOTBASE)/Makefile.include

Support for for Espressif ESP-WROVER-KIT V3 @author Gunar Schorcht gunar@schorcht.net

\section esp32_wrover_kit ESP-WROVER-KIT V3

Table of Contents

1. Overview
2. Hardware
   1. MCU
   2. Board Configuration
   3. Board Pinout
   4. Optional Hardware Configurations
3. Flashing the Device
4. On-Chip Debugging with the device
5. Other Documentation Resources

Overview

The Espressif ESP-WROVER-KIT is a development board that uses the ESP32-WROVER module which includes a built-in 4 MByte SPI RAM. Most important features of the board are

• Micro-SD card interface
• OV7670 camera interface
• 3.2” SPI LCD panel
• RGB LED
• USB bridge with JTAG interface
• external 32.768 kHz crystal for RTC

Furthermore, many GPIOs are broken out for extension. The USB bridge based on FDI FT2232HL provides a JTAG interface for OCD debugging through the USB interface.

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Hardware

This section describes

• the MCU,
• the default board configuration,
• optional hardware configurations,
• the board pinout.

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MCU

Most features of the board are provided by the ESP32 SoC. For detailed information about the ESP32, see section esp32_mcu_esp32 “MCU ESP32”.

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Board Configuration

ESP-WROVER-KIT has the following on-board components

• Micro-SD card interface
• OV7670 camera interface
• 3.2” SPI LCD panel
• RGB LED
• USB bridge with JTAG interface
• external 32.768 kHz crystal for RTC

The following table shows the default board configuration sorted according to the defined functionality of GPIOs for different hardware options. This configuration can be overridden by esp32_application_specific_configurations .

These abbreviations are used in subsequent tables:

SDC = SD-Card interface is used (module periph_sdmmc is enabled)\n CAM = Camera is plugged in/used

Function	None	SDC	CAM	SDC + CAM	Remarks	Configuration
ADC_LINE(0)	GPIO34	GPIO34	-	-	CAMERA_D6	esp32_adc_channels
ADC_LINE(1)	GPIO35	GPIO35	-	-	CAMERA_D7	esp32_adc_channels
ADC_LINE(2)	GPIO36	GPIO36	-	-	CAMERA_D4	esp32_adc_channels
ADC_LINE(3)	GPIO39	GPIO39	-	-	CAMERA_D5	esp32_adc_channels
PWM_DEV(0):0 / LED0	GPIO0	GPIO0	-	-	LED_RED / CAMERA_RESET	esp32_pwm_channels
PWM_DEV(0):1 / LED2	GPIO4	GPIO4	-	-	LED_BLUE / CAMERA_D0	esp32_pwm_channels
LED1	GPIO2	GPIO2	GPIO2	GPIO2	LED_GREEN
I2C_DEV(0):SCL	GPIO27	GPIO27	GPIO27	GPIO27	CAMERA_SIO_C	esp32_i2c_interfaces
I2C_DEV(0):SDA	GPIO26	GPIO26	GPIO26	GPIO26	CAMERA_SIO_D	esp32_i2c_interfaces
UART_DEV(0):TX	GPIO1	GPIO1	GPIO1	GPIO1		esp32_uart_interfaces
UART_DEV(0):RX	GPIO3	GPIO3	GPIO3	GPIO3		esp32_uart_interfaces
SDMMC_DEV(0):CLK	GPIO14	GPIO14	-	-	SD-Card	esp32_sdmmc_interfaces
SDMMC_DEV(0):CMD	GPIO15	GPIO	-	-	SD-Card	esp32_sdmmc_interfaces
SDMMC_DEV(0):DAT0	GPIO2	GPIO2	-	-	SD-Card	esp32_sdmmc_interfaces
SDMMC_DEV(0):DAT1	GPIO4	GPIO4	-	-	SD-Card	esp32_sdmmc_interfaces
SDMMC_DEV(0):DAT2	GPIO12	GPIO	-	-	SD-Card	esp32_sdmmc_interfaces
SDMMC_DEV(0):DAT3	GPIO13	GPIO	-	-	SD-Card	esp32_sdmmc_interfaces
SPI_DEV(0):SCK	GPIO14	GPIO14	GPIO14	GPIO14	HSPI: SD-Card / Peripherals	esp32_spi_interfaces
SPI_DEV(0):MOSI	GPIO15	GPIO15	GPIO15	GPIO15	HSPI: SD-Card / Peripherals	esp32_spi_interfaces
SPI_DEV(0):CS0	GPIO13	GPIO13	GPIO13	GPIO13	HSPI: SD-Card CS	esp32_spi_interfaces
SPI_DEV(1)/LCD:SCK	GPIO19	GPIO19	-	-	VSPI: LCD / CAMERA_D3	esp32_spi_interfaces
SPI_DEV(1)/LCD:MOSI	GPIO23	GPIO23	-	-	VSPI: LCD / CAMERA_HREF	esp32_spi_interfaces
SPI_DEV(1)/LCD:MISO	GPIO25	GPIO25	-	-	VSPI: LCD / CAMERA_VSYNC	esp32_spi_interfaces
SPI_DEV(1)/LCD:CS0	GPIO22	GPIO22	-	-	VSPI: LCD / CAMERA_PCLK	esp32_spi_interfaces
LCD_LED	GPIO5	GPIO5	-	-	CAMERA_D1
LCD_SCL	GPIO19	GPIO19	-	-	CAMERA_D3
LCD_MOSI	GPIO23	GPIO23	-	-	CAMERA_HREF
LCD_MISO	GPIO25	GPIO25	-	-	CAMERA_VSYNC
LCD_CS	GPIO22	GPIO22	-	-	CAMERA_PCLK
LCD_D/C	GPIO21	GPIO21	-	-	CAMERA_XCLK
LCD_RESET	GPIO18	GPIO18	-	-	CAMERA_D2
CAMERA_D0	-	-	GPIO4	GPIO4
CAMERA_D1	-	-	GPIO5	GPIO5
CAMERA_D2	-	-	GPIO18	GPIO18
CAMERA_D3	-	-	GPIO19	GPIO19
CAMERA_D4	-	-	GPIO36	GPIO36
CAMERA_D5	-	-	GPIO39	GPIO39
CAMERA_D6	-	-	GPIO34	GPIO34
CAMERA_D7	-	-	GPIO35	GPIO35
CAMERA_XCLK	-	-	GPIO21	GPIO21
CAMERA_PCLK	-	-	GPIO22	GPIO22
CAMERA_HREF	-	-	GPIO23	GPIO23
CAMERA_VSYNC	-	-	GPIO25	GPIO25
CAMERA_SIO_D	-	-	GPIO26	GPIO26
CAMERA_SIO_C	-	-	GPIO27	GPIO27
CAMERA_RESET	-	-	GPIO0	GPIO0

Following table shows the default board configuration sorted by GPIOs depending on used hardware.

Pin	None	SDC 4-bit	CAM	SDC 1-bit + CAM	Remarks
GPIO0	PWM_DEV(0):0 / LED0	PWM_DEV(0):0 / LED0	CAMERA_RESET	CAMERA_RESET
GPIO1	UART_DEV(0):TX	UART_DEV(0):TX	UART_DEV(0):TX	UART_DEV(0):TX
GPIO2	SPI_DEV(0):MISO / LED1	SDMMC_DEV(0):DAT0	SPI_DEV(0):MISO	SDMMC_DEV(0):DAT0	HSPI
GPIO3	UART_DEV(0):RX	UART_DEV(0):RX	UART_DEV(0):RX	UART_DEV(0):RX
GPIO4	PWM_DEV(0):1 / LED2	SDMMC_DEV(0):DAT1	CAMERA_D0	CAMERA_D0
GPIO5	LCD LED	LCD_LED	CAMERA_D1	CAMERA_D1
GPIO6	Flash CLK	Flash CLK	Flash CLK	Flash CLK
GPIO7	Flash SD0	Flash SD0	Flash SD0	Flash SD0
GPIO8	Flash SD1	Flash SD1	Flash SD1	Flash SD1
GPIO9
GPIO10
GPIO11	Flash CMD	Flash CMD	Flash CMD	Flash CMD
GPIO12		SDMMC_DEV(0):DAT2
GPIO13	SPI_DEV(0):CS0	SDMMC_DEV(0):DAT3	SPI_DEV(0):CS0		HSPI / SPI SD-Card CS
GPIO14	SPI_DEV(0):SCK	SDMMC_DEV(0):CLK	SPI_DEV(0):SCK		HSPI
GPIO15	SPI_DEV(0):MOSI	SDMMC_DEV(0):CMD	SPI_DEV(0):MOSI		HSPI
GPIO16	N/A	N/A	N/A	N/A	see below
GPIO17	N/A	N/A	N/A	N/A	see below
GPIO18	LCD_RESET	LCD_RESET	LCD_RESET	CAMERA_D2
GPIO19	SPI_DEV(1)/LCD:SCK	SPI_DEV(1)/LCD:SCK	SPI_DEV(1)/LCD:SCK	CAMERA_D3	VSPI
GPIO21	LCD_D/C	LCD_D/C	LCD_D/C	CAMERA_XCLK
GPIO22	SPI_DEV(1)/LCD:CS	SPI_DEV(1)/LCD:CS0	SPI_DEV(1)/LCD:CS0	CAMERA_PCLK	VSPI
GPIO23	SPI_DEV(1)/LCD:MOSI	SPI_DEV(1)/LCD:MOSI	SPI_DEV(1)/LCD:MOSI	CAMERA_HREF	VSPI
GPIO25	SPI_DEV(1)/LCD:MISO	SPI_DEV(1)/LCD:MISO	SPI_DEV(1)/LCD:MISO	CAMERA_VSYNC	VSPI
GPIO26	I2C_DEV(0):SDA	I2C_DEV(0):SDA	I2C_DEV(0):SDA	I2C_DEV(0)/CAMERASIO_D:SDA
GPIO27	I2C_DEV(0):SCL	I2C_DEV(0):SCL	I2C_DEV(0):SCL	I2C_DEV(0)/CAMERASIO_C:SCL
GPIO32	N/A	N/A	N/A	N/A	see below
GPIO33	N/A	N/A	N/A	N/A	see below
GPIO34	ADC_LINE(0)	ADC_LINE(0)	ADC_LINE(0)	CAMERA_D6
GPIO35	ADC_LINE(1)	ADC_LINE(1)	ADC_LINE(1)	CAMERA_D7
GPIO36	ADC_LINE(2)	ADC_LINE(2)	ADC_LINE(2)	CAMERA_D4
GPIO39	ADC_LINE(3)	ADC_LINE(3)	ADC_LINE(3)	CAMERA_D5
\n

@note

• SPI_DEV(0) uses the HSPI interface with the GPIO2 pin as the MISO signal. Since GPIO2 has bootstrapping functionality, it might be necessary to to press the Boot button for flashing RIOT when the SD card or the peripheral hardware is attached to this SPI interface.
• GPIO0 cannot be used as SPI CS signal for external hardware connected to SPI_DEV(0). The reason for this is that the LEDs on this board are high-active and the default state of the LEDs after power-up causes a low level on the corresponding GPIO outputs.
• GPIO2 cannot be used as PWM_DEV(0) channel 1 / LED0 when SPI_DEV(0) is used in any way. Reason is that GPIO2 is the MISO signal when SPI_DEV(0) is used and is therefore an input. PWM channels are outputs.
• It might be necessary to remove the SD card or the peripheral hardware attached to the SPI_DEV(0) interface for flashing RIOT. Reason is that the SPI_DEV(0) interface uses the HSPI interface with the GPIO2 pin as the MISO signal, which has bootstrapping functionality.
• GPIO16 and GPIO17 are used for the built-in SPI RAM and are not available on the I/O expansion connector, even though they are labeled there.
• GPIO32 and GPIO33 are attached to a 32 kHz crystal by default. To make them available as a GPIO on the I/O expansion connector, SMD resistors would need to be removed and soldered. Module esp_rtc_timer_32k is enabled by default.

For detailed information about the configuration of ESP32 boards, see section Peripherals in esp32_riot.

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Optional Hardware Configurations

MRF24J40-based IEEE 802.15.4 radio modules and ENC28J60-based Ethernet network interface modules have been tested with the board. You could use the following code in your esp32_application_specific_configurations “application-specific configuration” to use such modules:

#ifdef BOARD_ESP32_WROVER_KIT

#if MODULE_MRF24J40
#define MRF24J40_PARAM_CS       GPIO9       /* MRF24J40 CS signal    */
#define MRF24J40_PARAM_INT      GPIO10      /* MRF24J40 INT signal   */
#define MRF24J40_PARAM_RESET    GPIO12      /* MRF24J40 RESET signal */
#endif

#if MODULE_ENC28J80
#define ENC28J80_PARAM_CS       GPIO9       /* ENC28J80 CS signal    */
#define ENC28J80_PARAM_INT      GPIO10      /* ENC28J80 INT signal   */
#define ENC28J80_PARAM_RESET    GPIO12      /* ENC28J80 RESET signal */
#endif

#endif

For other parameters, the default values defined by the drivers can be used.

@note

• Only a few GPIOs are available for external hardware on ESP-WROVER-KIT boards. Therefore, MRF24J40 and ENC28J60 based modules use the same GPIOs and only one of these modules can be used simultaneously.
• The RESET signal of MRF24J40 and ENC28J60 based modules can also be connected to the RST pin of the board (see esp32_wrover_kit_pinout “pinout”) to keep the configured GPIO free for other purposes.

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Board Pinout

The following picture shows the pinout of the ESP-WROVER-KIT V3 boards as defined by the default board configuration. The light green GPIOs are not used by configured on-board hardware components and can be used for any purpose. However, if optional off-board hardware modules are used, these GPIOs may also be occupied, see section esp32_wrover_kit_board_configuration for more information.

The corresponding board schematic can be found here.

Flashing the Device

Flashing RIOT is quite straight forward. The board has a Micro-USB connector with reset/boot/flash logic. Just connect the board using the programming port to your host computer and type:

make flash BOARD=esp32-wrover-kit ...

The USB bridge is based on FDI FT2232HL and offers two USB interfaces:

• the first interface is the JTAG interface for On-Chip debugging
• the second interface is the console interface, which is also used for flashing

Therefore, you have to declare the USB interface in the make command. For example, if the ESP32-WROVER-KIT is connected to the host computer through the USB interfaces /dev/ttyUSB0 and /dev/ttyUSB1, the make command would be used as following:

make flash BOARD=esp32-wrover-kit PORT=/dev/ttyUSB1 ...

For detailed information about ESP32 as well as configuring and compiling RIOT for ESP32 boards, see esp32_riot.

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On-Chip Debugging with the Device

Since the USB bridge based on FDI FT2232HL provides a JTAG interface for debugging through an USB interface, using ESP-WROVER-Kit V3 is the easiest and most convenient way for On-Chip debugging. Please refer the ESP-IDF Programming Guide for details on how to setup and how to use ESP-WROVER-Kit V3 and OpenOCD.

To use the JTAG interface, the esp_jtag module has to be enabled for compilation.

USEMODULE=esp_jtag make flash BOARD=esp32-wrover-kit ...

To flash and debug using OpenOCD, the precompiled version of OpenOCD for ESP32 has to be installed using the install script while being in RIOT’s root directory, see also section Using Local Toolchain Installation.

dist/tools/esptool/install.sh openocd

Before OpenOCD can then be used, the PATH variable has to be set correctly and the OPENOCD variable has to be exported using the following command.

. dist/tools/esptool/export.sh openocd

Once the PATH variable and the OPENOCD variable are set, OpenOCD can be used

• to flash the application using command

  PROGRAMMER=openocd USEMODULE=esp_jtag make flash BOARD=esp32-wrover-kit ...

• to start a debugging session (the board will be reset, but not flashed) using command

  PROGRAMMER=openocd USEMODULE=esp_jtag make debug BOARD=esp32-wrover-kit ...

by setting the PROGRAMMER variable to openocd.

Note: Even if the JTAG interface is used for debugging, the ESP32 standard method for flashing with esptool.py can still be used. In that case, the flash target is made without setting the PROGRAMMER variable.

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Other Documentation Resources

There is a comprehensive Getting Started Guide for the ESP-WROVER-KIT with a lot information about hardware configuration.