Remove additional url to install esp32-core from arduino-cli config

.github/workflows/build.yml

@@ -29,13 +29,6 @@ jobs:
       run: sed -i 's/^#define WIFI_ENABLED 1$/#define WIFI_ENABLED 0/' flix/flix.ino && make
     - name: Check c_cpp_properties.json
       run: tools/check_c_cpp_properties.py
-    - name: Build for Black Pill F411CE (STM32)
-      run: |
-        arduino-cli config set board_manager.additional_urls https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
-        arduino-cli core install STMicroelectronics:stm32
-        arduino-cli board listall STMicroelectronics:stm32
-        arduino-cli lib install "Preferences"
-        make BOARD=STMicroelectronics:stm32:GenF4:pnum=BLACKPILL_F411CE
 
   build_macos:
     runs-on: macos-latest

arduino-cli.yaml

@@ -1,5 +1,2 @@
-board_manager:
-  additional_urls:
-    - https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
 network:
   connection_timeout: 1h

flix/motors.ino

@@ -25,32 +25,30 @@ const int MOTOR_FRONT_LEFT = 3;
 
 void setupMotors() {
 	print("Setup Motors\n");
-#ifdef ESP32
+
+	// configure pins
 	ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
 	ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
 	ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
 	ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-#else
-	analogWriteResolution(PWM_RESOLUTION);
-	analogWriteFrequency(PWM_FREQUENCY);
-#endif
+
 	sendMotors();
 	print("Motors initialized\n");
 }
 
 int getDutyCycle(float value) {
 	value = constrain(value, 0, 1);
-	float pwm = mapf(value, 0, 1, PWM_MIN, PWM_MAX);
+	float pwm = mapff(value, 0, 1, PWM_MIN, PWM_MAX);
 	if (value == 0) pwm = PWM_STOP;
-	float duty = mapf(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
+	float duty = mapff(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
 	return round(duty);
 }
 
 void sendMotors() {
-	analogWrite(MOTOR_0_PIN, getDutyCycle(motors[0]));
-	analogWrite(MOTOR_1_PIN, getDutyCycle(motors[1]));
-	analogWrite(MOTOR_2_PIN, getDutyCycle(motors[2]));
-	analogWrite(MOTOR_3_PIN, getDutyCycle(motors[3]));
+	ledcWrite(MOTOR_0_PIN, getDutyCycle(motors[0]));
+	ledcWrite(MOTOR_1_PIN, getDutyCycle(motors[1]));
+	ledcWrite(MOTOR_2_PIN, getDutyCycle(motors[2]));
+	ledcWrite(MOTOR_3_PIN, getDutyCycle(motors[3]));
 }
 
 bool motorsActive() {

flix/util.h

@@ -6,15 +6,17 @@
 #pragma once
 
 #include <math.h>
-#ifdef ESP32
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
-#endif
 
 const float ONE_G = 9.80665;
 extern float t;
 
-float mapf(float x, float in_min, float in_max, float out_min, float out_max) {
+float mapf(long x, long in_min, long in_max, float out_min, float out_max) {
+	return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
+}
+
+float mapff(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
@@ -39,9 +41,7 @@ float wrapAngle(float angle) {
 
 // Disable reset on low voltage
 void disableBrownOut() {
-#ifdef ESP32
 	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA);
-#endif
 }
 
 // Trim and split string by spaces