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Add ESP-IDF v6.0 support #409

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ivmarkov merged 3 commits into from
Mar 29, 2026
Merged

Add ESP-IDF v6.0 support #409

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dde1f36
bindings: fix v6.0 header issues and add new driver bindings
mh0pe Mar 26, 2026
187c8c7
CI: enable full version matrix with exclusions, add deprecation suppr…
mh0pe Mar 26, 2026
f220717
bindings: fix uart_vfs.h and mbedtls guards for v4.4/v5.0 compatibility
mh0pe Mar 26, 2026
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5 changes: 5 additions & 0 deletions .github/configs/sdkconfig.defaults
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Original file line number Diff line number Diff line change
Expand Up @@ -7,3 +7,8 @@ CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=4096

# OpenThread support
CONFIG_OPENTHREAD_ENABLED=y

# Suppress deprecation warnings for legacy drivers still included in bindings

@drinkcat drinkcat Mar 26, 2026

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I like this, I wonder if we should actually build the bindings with -Werror so that we're aware of those.

@drinkcat drinkcat Mar 29, 2026

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(I quickly tried, maybe not worth it)

CONFIG_I2C_SUPPRESS_DEPRECATE_WARN=y
CONFIG_TWAI_SUPPRESS_DEPRECATE_WARN=y
CONFIG_TOUCH_SUPPRESS_DEPRECATE_WARN=y
23 changes: 19 additions & 4 deletions .github/workflows/ci.yml
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Expand Up @@ -28,14 +28,29 @@ jobs:
- xtensa-esp32s2-espidf
- xtensa-esp32s3-espidf
idf-version:
# - v4.4.8
# - v5.0.9
# - v5.1.6
# - v5.2.5
- v4.4.8
- v5.0.9
- v5.1.6
- v5.2.5
- v5.3.4
- v5.4.3
- v5.5.3
- v6.0
exclude:
# ESP32-C6/H2 (riscv32imac) not supported before v5.1
- target: riscv32imac-esp-espidf
idf-version: v4.4.8
- target: riscv32imac-esp-espidf
idf-version: v5.0.9
# ESP32-P4 (riscv32imafc) not supported before v5.3
- target: riscv32imafc-esp-espidf
idf-version: v4.4.8
- target: riscv32imafc-esp-espidf
idf-version: v5.0.9
- target: riscv32imafc-esp-espidf
idf-version: v5.1.6
- target: riscv32imafc-esp-espidf
idf-version: v5.2.5
steps:
- name: Setup | Checkout
uses: actions/checkout@v3
Expand Down
81 changes: 73 additions & 8 deletions src/include/esp-idf/bindings.h
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Expand Up @@ -82,7 +82,7 @@
#include "esp_spi_flash.h"
#endif
#endif
#ifdef ESP_IDF_COMP_ESP_PARTITION
#ifdef ESP_IDF_COMP_ESP_PARTITION_ENABLED

@drinkcat drinkcat Mar 26, 2026

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Not sure to understand this one

@ivmarkov ivmarkov Mar 26, 2026

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This is valid. There is likely no ESP_IDF_COMP_ESP_PARTITION. The correct name is ESP_IDF_COMP_ESP_PARTITION_ENABLED

#include "esp_partition.h"
#endif
#else
Expand Down Expand Up @@ -251,7 +251,9 @@

#ifdef ESP_IDF_COMP_VFS_ENABLED
#include "esp_vfs.h"
#if ESP_IDF_VERSION_MAJOR < 6
#include "esp_vfs_cdcacm.h"
#endif
#include "esp_vfs_dev.h"
#include "esp_vfs_semihost.h"
#ifdef SOC_USB_SERIAL_JTAG_SUPPORTED
Expand Down Expand Up @@ -291,9 +293,15 @@
#endif
#endif

#ifdef ESP_IDF_COMP_ESP_USB_CDC_ROM_CONSOLE_ENABLED
#include "esp_vfs_cdcacm.h"
#endif

#ifdef ESP_IDF_COMP_LWIP_ENABLED
#include "lwip/dns.h"
#if ESP_IDF_VERSION_MAJOR < 6
#include "lwip/lwip_napt.h"
#endif
#include "lwip/netdb.h"
#include "lwip/sockets.h"
#if ESP_IDF_VERSION_MAJOR > 4
Expand All @@ -309,9 +317,8 @@
#endif

#ifdef ESP_IDF_COMP_MBEDTLS_ENABLED
#include "mbedtls/build_info.h"
#include "mbedtls/ssl.h"
#if MBEDTLS_VERSION_MAJOR < 4
#if ESP_IDF_VERSION_MAJOR < 6
#include "mbedtls/aes.h"
#include "mbedtls/cipher.h"
#include "mbedtls/entropy.h"
Expand Down Expand Up @@ -423,6 +430,11 @@
#if OLD_DRIVER_COMP_TWAI || defined(ESP_IDF_COMP_ESP_DRIVER_TWAI_ENABLED)
#include "driver/twai.h"
#endif
#if ESP_IDF_VERSION_MAJOR > 5 && defined(ESP_IDF_COMP_ESP_DRIVER_TWAI_ENABLED)

@drinkcat drinkcat Mar 26, 2026

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I guess this is worth it, maybe not terribly useful if we don't have a driver yet -- but doesn't hurt.

@ivmarkov ivmarkov Mar 26, 2026

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TWAI = CAN. We do have a driver for that? Or do you mean there is a new twai/can driver? I might have forgotten that...

Also, getting as many raw bindings included (even of we don't have type-safe Rust drivers for those) in general IS useful, as then the user could just call the unsafe C bindings to work with the ESP-IDF drivers.

If the drivers are not even included in the bindings, then there is no escape hatch, which is pretty bad.

With that said, I'm not sure I understand this change...

@drinkcat drinkcat Mar 26, 2026

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Oh I didn't even know what TWAI is ,-P

More generally talking about adding new header files to the bindings -- I assumed a new header means a new esp-idf driver, so no support on the Rust side (yet). Understood it makes sense to add them.

#include "esp_twai.h"
#include "esp_twai_types.h"
#include "esp_twai_onchip.h"
#endif

// DAC
#if OLD_DRIVER_COMP || defined(ESP_IDF_COMP_ESP_DRIVER_DAC_ENABLED)
Expand Down Expand Up @@ -553,10 +565,13 @@
#include "sdmmc_cmd.h"
#endif

// Sigma-delta
// Sigma-delta / SDM
#if ESP_IDF_VERSION_MAJOR < 6
#include "driver/sigmadelta.h"
#endif
#ifdef ESP_IDF_COMP_ESP_DRIVER_SDM_ENABLED
#include "driver/sdm.h"
#endif

@drinkcat drinkcat Mar 26, 2026

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ditto, probably worth adding


// SPI
#if OLD_DRIVER_COMP || defined(ESP_IDF_COMP_ESP_DRIVER_SPI_ENABLED)
Expand All @@ -576,7 +591,7 @@
#if OLD_DRIVER_COMP || defined(ESP_IDF_COMP_ESP_DRIVER_UART_ENABLED)
#include "driver/uart.h"
#include "driver/uart_select.h"
#if ESP_IDF_VERSION_MAJOR >= 5 && defined(ESP_IDF_COMP_VFS_ENABLED)
#if defined(ESP_IDF_COMP_VFS_ENABLED) && (ESP_IDF_VERSION_MAJOR > 5 || (ESP_IDF_VERSION_MAJOR == 5 && ESP_IDF_VERSION_MINOR >= 3))
#include "driver/uart_vfs.h"
#endif
#endif
Expand All @@ -588,6 +603,58 @@
#endif
#endif

// New drivers (ESP-IDF v6.0+)

@drinkcat drinkcat Mar 26, 2026

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and ditto

#if ESP_IDF_VERSION_MAJOR > 5

#ifdef ESP_IDF_COMP_ESP_DRIVER_CAM_ENABLED
#include "esp_cam_ctlr.h"
#include "esp_cam_ctlr_types.h"
#ifdef SOC_MIPI_CSI_SUPPORTED
#include "esp_cam_ctlr_csi.h"
#endif
#endif

#ifdef ESP_IDF_COMP_ESP_DRIVER_ISP_ENABLED
#ifdef SOC_ISP_SUPPORTED
#include "driver/isp.h"
#include "driver/isp_core.h"
#include "driver/isp_types.h"
#include "driver/isp_af.h"
#include "driver/isp_ae.h"
#include "driver/isp_awb.h"
#include "driver/isp_bf.h"
#include "driver/isp_ccm.h"
#include "driver/isp_gamma.h"
#include "driver/isp_hist.h"
#include "driver/isp_sharpen.h"
#endif
#endif

#ifdef ESP_IDF_COMP_ESP_DRIVER_JPEG_ENABLED
#ifdef SOC_JPEG_CODEC_SUPPORTED
#include "driver/jpeg_types.h"
#ifdef SOC_JPEG_DECODE_SUPPORTED
#include "driver/jpeg_decode.h"
#endif
#ifdef SOC_JPEG_ENCODE_SUPPORTED
#include "driver/jpeg_encode.h"
#endif
#endif
#endif

#ifdef ESP_IDF_COMP_ESP_DRIVER_ANA_CMPR_ENABLED
#include "driver/ana_cmpr.h"
#include "driver/ana_cmpr_types.h"
#endif

#ifdef ESP_IDF_COMP_ESP_DRIVER_PARLIO_ENABLED
#include "driver/parlio_types.h"
#include "driver/parlio_tx.h"
#include "driver/parlio_rx.h"
#endif

#endif // ESP_IDF_VERSION_MAJOR > 5

#ifdef ESP_IDF_COMP_ESPCOREDUMP_ENABLED
#ifdef CONFIG_ESP_COREDUMP_ENABLE
#include "esp_core_dump.h"
Expand Down Expand Up @@ -749,10 +816,8 @@
#include "esp_lcd_types.h"
#include "esp_lcd_panel_interface.h"
#include "esp_lcd_panel_io_interface.h"
#if ESP_IDF_VERSION_MAJOR < 6
#if ESP_IDF_VERSION_MAJOR == 4 && ESP_IDF_VERSION_MINOR >= 4 || (ESP_IDF_VERSION_MAJOR >= 5 && ESP_IDF_VERSION_MINOR <= 2 || SOC_LCD_RGB_SUPPORTED)
#if (ESP_IDF_VERSION_MAJOR == 4 && ESP_IDF_VERSION_MINOR >= 4) || (ESP_IDF_VERSION_MAJOR == 5 && ESP_IDF_VERSION_MINOR <= 2) || defined(SOC_LCD_RGB_SUPPORTED)
#include "esp_lcd_panel_rgb.h"
#endif //(ESP_IDF_VERSION_MAJOR == 4 && ESP_IDF_VERSION_MINOR >= 4) || ((ESP_IDF_VERSION_MAJOR >= 5 && ESP_IDF_VERSION_MINOR <= 2) || SOC_LCD_RGB_SUPPORTED)
#endif
#if ESP_IDF_VERSION_MAJOR > 5 || ESP_IDF_VERSION_MAJOR == 5 && ESP_IDF_VERSION_MINOR >= 3
#include "esp_lcd_panel_dev.h"
Expand Down
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