Fix ESP-IDF v6.0 API compatibility

.github/workflows/ci.yml

@@ -33,6 +33,7 @@ jobs:
           - v5.3.4
           - v5.4.3
           - v5.5.3
+          - v6.0
     steps:
       - name: Setup | Checkout
         uses: actions/checkout@v3
@@ -59,31 +60,31 @@ jobs:
         env:
           ESP_IDF_VERSION: ${{ matrix.idf-version }}
           ESP_IDF_SDKCONFIG_DEFAULTS: "${{ github.workspace }}/.github/configs/sdkconfig.defaults"
-          RUSTFLAGS: "${{ matrix.idf-version != 'release/v4.4' && '--cfg espidf_time64' || matrix.idf-version == 'release/v4.4' && '--cfg espidf_time32' }}"
+          RUSTFLAGS: "${{ startsWith(matrix.idf-version, 'v4') && '--cfg espidf_time32' || '--cfg espidf_time64' }}"
         run: cargo clippy --features experimental --no-deps --target ${{ matrix.target }} -Zbuild-std=std,panic_abort -- -Dwarnings
 
       - name: Build | Compile, all
         if: matrix.target != 'riscv32imac-esp-espidf' || matrix.idf-version != 'release/v4.4'
         env:
           ESP_IDF_VERSION: ${{ matrix.idf-version }}
           ESP_IDF_SDKCONFIG_DEFAULTS: "${{ github.workspace }}/.github/configs/sdkconfig.defaults"
-          RUSTFLAGS: "${{ matrix.idf-version != 'release/v4.4' && '--cfg espidf_time64' || matrix.idf-version == 'release/v4.4' && '--cfg espidf_time32' }}"
+          RUSTFLAGS: "${{ startsWith(matrix.idf-version, 'v4') && '--cfg espidf_time32' || '--cfg espidf_time64' }}"
         run: cargo build --target ${{ matrix.target }} --features nightly,experimental,critical-section,embassy-sync -Zbuild-std=std,panic_abort
 
       - name: Build | Compile, no_std
         if: matrix.target != 'riscv32imac-esp-espidf' || matrix.idf-version != 'release/v4.4'
         env:
           ESP_IDF_VERSION: ${{ matrix.idf-version }}
           ESP_IDF_SDKCONFIG_DEFAULTS: "${{ github.workspace }}/.github/configs/sdkconfig.defaults"
-          RUSTFLAGS: "${{ matrix.idf-version != 'release/v4.4' && '--cfg espidf_time64' || matrix.idf-version == 'release/v4.4' && '--cfg espidf_time32' }}"
+          RUSTFLAGS: "${{ startsWith(matrix.idf-version, 'v4') && '--cfg espidf_time32' || '--cfg espidf_time64' }}"
         run: cargo build --no-default-features --features experimental --target ${{ matrix.target }} -Zbuild-std=std,panic_abort
 
       - name: Build | Compile, no_std, alloc
         if: matrix.target != 'riscv32imac-esp-espidf' || matrix.idf-version != 'release/v4.4'
         env:
           ESP_IDF_VERSION: ${{ matrix.idf-version }}
           ESP_IDF_SDKCONFIG_DEFAULTS: "${{ github.workspace }}/.github/configs/sdkconfig.defaults"
-          RUSTFLAGS: "${{ matrix.idf-version != 'release/v4.4' && '--cfg espidf_time64' || matrix.idf-version == 'release/v4.4' && '--cfg espidf_time32' }}"
+          RUSTFLAGS: "${{ startsWith(matrix.idf-version, 'v4') && '--cfg espidf_time32' || '--cfg espidf_time64' }}"
         run: cargo build --features alloc --no-default-features --features experimental --target ${{ matrix.target }} -Zbuild-std=std,panic_abort
 
       - name: Setup | ldproxy
@@ -98,13 +99,13 @@ jobs:
         env:
           ESP_IDF_VERSION: ${{ matrix.idf-version }}
           ESP_IDF_SDKCONFIG_DEFAULTS: "${{ github.workspace }}/.github/configs/sdkconfig.defaults"
-          RUSTFLAGS: "${{ matrix.idf-version != 'release/v4.4' && '--cfg espidf_time64' || matrix.idf-version == 'release/v4.4' && '--cfg espidf_time32' }}"
+          RUSTFLAGS: "${{ startsWith(matrix.idf-version, 'v4') && '--cfg espidf_time32' || '--cfg espidf_time64' }}"
         run: cargo clippy --examples --target ${{ matrix.target }} -Zbuild-std=std,panic_abort -- -Dwarnings
 
       - name: Build | Examples
         if: matrix.target != 'riscv32imac-esp-espidf' || matrix.idf-version != 'release/v4.4'
         env:
           ESP_IDF_VERSION: ${{ matrix.idf-version }}
           ESP_IDF_SDKCONFIG_DEFAULTS: "${{ github.workspace }}/.github/configs/sdkconfig.defaults"
-          RUSTFLAGS: "${{ matrix.idf-version != 'release/v4.4' && '--cfg espidf_time64' || matrix.idf-version == 'release/v4.4' && '--cfg espidf_time32' }}"
+          RUSTFLAGS: "${{ startsWith(matrix.idf-version, 'v4') && '--cfg espidf_time32' || '--cfg espidf_time64' }}"
         run: cargo build --examples --target ${{ matrix.target }} -Zbuild-std=std,panic_abort

CHANGELOG.md

@@ -5,6 +5,14 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [master] - 2026-03-26
+
+### Breaking
+ - Dropped support for RGB/BGR666 format on ESP-IDF 6.0.
+
+### Added
+- Basic compatibility for ESP-IDF release 6.0.
+
 ## [0.46.2] - 2026-03-10
 
 ### Fixed

Cargo.toml

@@ -70,6 +70,9 @@ atomic-waker = { version = "1.1.1", default-features = false }
 embassy-sync = "0.7"
 embedded-graphics-core = { version = "0.4", optional = true }
 
+[patch.crates-io]
+esp-idf-sys = { git = "https://github.com/mh0pe/esp-idf-sys", branch = "esp-idf-v6-support" }
+
 [build-dependencies]
 embuild = "0.33"
 

src/lcd.rs

@@ -113,6 +113,10 @@ pub mod config {
         pub(crate) dbi_config: esp_lcd_dbi_io_config_t,
         pub(crate) dpi_config: esp_lcd_dpi_panel_config_t,
         pixel_format: PixelFormat,
+        // In IDF >=6.0, use_dma2d was removed from dpi_config.flags; we store it here
+        // and call esp_lcd_dpi_panel_enable_dma2d() after panel creation instead.
+        #[cfg(esp_idf_version_at_least_6_0_0)]
+        pub(super) use_dma2d: bool,
     }
 
     impl LcdConfig {
@@ -150,10 +154,13 @@ pub mod config {
 
             let color_format: lcd_color_format_t = pixel_format.to_color_format();
             let esp_timing: esp_lcd_video_timing_t = video_timing.into();
+            let use_dma2d = true;
 
+            #[cfg_attr(esp_idf_version_at_least_6_0_0, allow(unused_mut))]
             let mut dpi_config = esp_lcd_dpi_panel_config_t {
                 virtual_channel: 0,
                 dpi_clk_src: soc_periph_mipi_dsi_dpi_clk_src_t_MIPI_DSI_DPI_CLK_SRC_DEFAULT,
+                #[cfg(not(esp_idf_version_at_least_6_0_0))]
                 pixel_format: pixel_format.to_rgb_pixel_format(),
                 in_color_format: color_format,
                 out_color_format: color_format,
@@ -162,13 +169,16 @@ pub mod config {
                 dpi_clock_freq_mhz: dpi_clock_freq_mhz as _,
                 ..unsafe { core::mem::zeroed() }
             };
-            dpi_config.flags.set_use_dma2d(1);
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
+            dpi_config.flags.set_use_dma2d(use_dma2d as u32);
 
             Self {
                 bus_config,
                 dbi_config,
                 dpi_config,
                 pixel_format,
+                #[cfg(esp_idf_version_at_least_6_0_0)]
+                use_dma2d,
             }
         }
 
@@ -229,7 +239,15 @@ pub mod config {
         /// Enable or disable DMA2D for pixel data transfer (default: enabled)
         #[must_use]
         pub fn use_dma2d(mut self, use_dma2d: bool) -> Self {
-            self.dpi_config.flags.set_use_dma2d(use_dma2d as u32);
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
+            {
+                self.dpi_config.flags.set_use_dma2d(use_dma2d as u32);
+            }
+            #[cfg(esp_idf_version_at_least_6_0_0)]
+            {
+                self.use_dma2d = use_dma2d;
+            }
+
             self
         }
 
@@ -263,6 +281,8 @@ pub mod config {
                 dbi_config: self.dbi_config,
                 dpi_config: self.dpi_config,
                 pixel_format: self.pixel_format,
+                #[cfg(esp_idf_version_at_least_6_0_0)]
+                use_dma2d: self.use_dma2d,
             }
         }
     }
@@ -288,7 +308,14 @@ pub mod config {
             let mut panel_config: esp_lcd_panel_dev_config_t = unsafe { core::mem::zeroed() };
 
             panel_config.bits_per_pixel = bits_per_pixel;
-            panel_config.__bindgen_anon_1.rgb_ele_order = rgb_order.into();
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
+            {
+                panel_config.__bindgen_anon_1.rgb_ele_order = rgb_order.into();
+            }
+            #[cfg(esp_idf_version_at_least_6_0_0)]
+            {
+                panel_config.rgb_ele_order = rgb_order.into();
+            }
 
             panel_config
         }
@@ -389,9 +416,11 @@ pub mod config {
         Rgb565,
         /// 16-bit RGB format with BGR component order
         Bgr565,
-        /// 18-bit RGB format with RGB component order
+        /// 18-bit RGB format with RGB component order (IDF < 6.0 only)
+        #[cfg(not(esp_idf_version_at_least_6_0_0))]
         Rgb666,
-        /// 18-bit RGB format with BGR component order
+        /// 18-bit RGB format with BGR component order (IDF < 6.0 only)
+        #[cfg(not(esp_idf_version_at_least_6_0_0))]
         Bgr666,
     }
 
@@ -401,34 +430,35 @@ pub mod config {
             match self {
                 PixelFormat::Rgb888 | PixelFormat::Bgr888 => 24,
                 PixelFormat::Rgb565 | PixelFormat::Bgr565 => 16,
+                #[cfg(not(esp_idf_version_at_least_6_0_0))]
                 PixelFormat::Rgb666 | PixelFormat::Bgr666 => 18,
             }
         }
 
         /// Get the bytes per pixel for this format
         pub const fn bytes_per_pixel(&self) -> usize {
             match self {
-                PixelFormat::Rgb888
-                | PixelFormat::Bgr888
-                | PixelFormat::Rgb666
-                | PixelFormat::Bgr666 => 3,
+                PixelFormat::Rgb888 | PixelFormat::Bgr888 => 3,
                 PixelFormat::Rgb565 | PixelFormat::Bgr565 => 2,
+                #[cfg(not(esp_idf_version_at_least_6_0_0))]
+                PixelFormat::Rgb666 | PixelFormat::Bgr666 => 3,
             }
         }
 
         /// Get the RGB element order for this format
         pub const fn rgb_element_order(&self) -> RgbElementOrder {
             match self {
-                PixelFormat::Rgb888 | PixelFormat::Rgb565 | PixelFormat::Rgb666 => {
-                    RgbElementOrder::Rgb
-                }
-                PixelFormat::Bgr888 | PixelFormat::Bgr565 | PixelFormat::Bgr666 => {
-                    RgbElementOrder::Bgr
-                }
+                PixelFormat::Rgb888 | PixelFormat::Rgb565 => RgbElementOrder::Rgb,
+                PixelFormat::Bgr888 | PixelFormat::Bgr565 => RgbElementOrder::Bgr,
+                #[cfg(not(esp_idf_version_at_least_6_0_0))]
+                PixelFormat::Rgb666 => RgbElementOrder::Rgb,
+                #[cfg(not(esp_idf_version_at_least_6_0_0))]
+                PixelFormat::Bgr666 => RgbElementOrder::Bgr,
             }
         }
 
-        /// Convert to `lcd_color_rgb_pixel_format_t`
+        /// Convert to `lcd_color_rgb_pixel_format_t` (IDF < 6.0 only)
+        #[cfg(not(esp_idf_version_at_least_6_0_0))]
         pub fn to_rgb_pixel_format(&self) -> lcd_color_rgb_pixel_format_t {
             match self {
                 PixelFormat::Rgb888 | PixelFormat::Bgr888 => {
@@ -452,6 +482,7 @@ pub mod config {
                 PixelFormat::Rgb565 | PixelFormat::Bgr565 => {
                     lcd_color_format_t_LCD_COLOR_FMT_RGB565
                 }
+                #[cfg(not(esp_idf_version_at_least_6_0_0))]
                 PixelFormat::Rgb666 | PixelFormat::Bgr666 => {
                     lcd_color_format_t_LCD_COLOR_FMT_RGB666
                 }
@@ -821,7 +852,10 @@ impl<'d, S: DpiPanelState> LcdDriver<'d, S> {
     /// Requires that `set_control_panel()` has been called first.
     pub fn set_display_off(&self, off: bool) -> Result<(), EspError> {
         let panel = self.require_control_panel()?;
-        unsafe { esp!(esp_lcd_panel_disp_off(panel, off)) }
+        #[cfg(not(esp_idf_version_at_least_6_0_0))]
+        return unsafe { esp!(esp_lcd_panel_disp_off(panel, off)) };
+        #[cfg(esp_idf_version_at_least_6_0_0)]
+        return unsafe { esp!(esp_lcd_panel_disp_on_off(panel, !off)) };
     }
 
     /// Enter or exit sleep mode (low power mode)
@@ -935,6 +969,16 @@ impl<'d> LcdDriver<'d, NoDpiPanel> {
                 // self drops here, cleaning up bus + DBI IO + control panel
             }
 
+            // In IDF 6.0, use_dma2d was removed from dpi_config flags; call API instead
+            #[cfg(esp_idf_version_at_least_6_0_0)]
+            if self.config.use_dma2d {
+                if let Err(e) = esp!(esp_lcd_dpi_panel_enable_dma2d(panel_handle)) {
+                    let _ = esp_lcd_panel_del(panel_handle);
+                    let _ = Box::from_raw(dpi_config_ptr);
+                    return Err(e);
+                }
+            }
+
             let handle = match NonNull::new(panel_handle as *mut c_void) {
                 Some(h) => h,
                 None => {

src/pcnt.rs

@@ -55,6 +55,11 @@
 //! - Maximum number of units: [`SOC_PCNT_UNITS_PER_GROUP`]
 //! - Maximum number of channels per unit: [`SOC_PCNT_CHANNELS_PER_UNIT`]
 //! - Maximum number of extra watchpoints: [`SOC_PCNT_THRES_POINT_PER_UNIT`]
+//!
+//! These 3 constants disappeared in ESP-IDF 6.0, as they were required by the
+//! pcnt-legacy API which was removed.
+//! The API rejects additional `new_*` calls beyond the maximum number of supported
+//! channels. We do hardcode the maximum to 2 if alloc is not enabled, though.
 
 use core::marker::PhantomData;
 #[cfg(feature = "alloc")]
@@ -63,10 +68,20 @@ use core::ptr;
 
 #[cfg(feature = "alloc")]
 use alloc::boxed::Box;
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
+#[cfg(not(feature = "alloc"))]
 use heapless::Vec;
 
 use esp_idf_sys::*;
 
+// SOC_PCNT_CHANNELS_PER_UNIT was removed in IDF 6.0; the value is 2 for all supported chips,
+// and we support more channels in the alloc case.
+#[cfg(esp_idf_version_at_least_6_0_0)]
+const PCNT_CHANNELS_PER_UNIT: usize = 2;
+#[cfg(not(esp_idf_version_at_least_6_0_0))]
+const PCNT_CHANNELS_PER_UNIT: usize = SOC_PCNT_CHANNELS_PER_UNIT as usize;
+
 use crate::gpio::InputPin;
 #[cfg(feature = "alloc")]
 use crate::interrupt;
@@ -166,6 +181,11 @@ pub mod config {
     impl From<&UnitConfig> for pcnt_unit_config_t {
         fn from(value: &UnitConfig) -> Self {
             pcnt_unit_config_t {
+                // TODO: Do we want to make this configurable?
+                // Most chips have only 1 option (APB==DEFAULT), but
+                // esp32h4 supports XTAL(==DEFAULT) or RC_FAST.
+                #[cfg(esp_idf_version_at_least_6_0_0)]
+                clk_src: soc_periph_pcnt_clk_src_t_PCNT_CLK_SRC_DEFAULT,
                 low_limit: value.low_limit,
                 high_limit: value.high_limit,
                 intr_priority: value.intr_priority,
@@ -573,7 +593,10 @@ struct DelegateUserData<'d> {
 /// that have to be added with [`PcntUnitDriver::add_channel`].
 pub struct PcntUnitDriver<'d> {
     handle: pcnt_unit_handle_t,
-    channels: Vec<PcntChannel<'d>, { SOC_PCNT_CHANNELS_PER_UNIT as usize }>,
+    #[cfg(feature = "alloc")]
+    channels: alloc::vec::Vec<PcntChannel<'d>>,
+    #[cfg(not(feature = "alloc"))]
+    channels: Vec<PcntChannel<'d>, PCNT_CHANNELS_PER_UNIT>,
     #[cfg(feature = "alloc")]
     user_data: Option<Pin<Box<DelegateUserData<'d>>>>,
     _p: PhantomData<&'d mut ()>,
@@ -596,6 +619,9 @@ impl<'d> PcntUnitDriver<'d> {
 
         Ok(Self {
             handle,
+            #[cfg(feature = "alloc")] // Pre-allocate to usual maximum size
+            channels: Vec::with_capacity(PCNT_CHANNELS_PER_UNIT),
+            #[cfg(not(feature = "alloc"))] // Fixed size
             channels: Vec::new(),
             #[cfg(feature = "alloc")]
             user_data: None,
@@ -785,6 +811,10 @@ impl<'d> PcntUnitDriver<'d> {
         level_pin: Option<impl InputPin + 'd>,
         config: &ChannelConfig,
     ) -> Result<&mut PcntChannel<'d>, EspError> {
+        #[cfg(feature = "alloc")]
+        self.channels
+            .push(unsafe { PcntChannel::new(self.handle, edge_pin, level_pin, config)? });
+        #[cfg(not(feature = "alloc"))]
         self.channels
             .push(unsafe { PcntChannel::new(self.handle, edge_pin, level_pin, config)? })
             .expect("Not enough channels available.");

src/sleep.rs

@@ -135,10 +135,19 @@ pub mod gpio {
     pub fn configure_deep(pin: PinId, level: Level) -> Result<(), EspError> {
         let mask = 1 << pin;
         let mode = match level {
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
             Level::Low => esp_deepsleep_gpio_wake_up_mode_t_ESP_GPIO_WAKEUP_GPIO_LOW,
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
             Level::High => esp_deepsleep_gpio_wake_up_mode_t_ESP_GPIO_WAKEUP_GPIO_HIGH,
+            #[cfg(esp_idf_version_at_least_6_0_0)]
+            Level::Low => esp_sleep_gpio_wake_up_mode_t_ESP_GPIO_WAKEUP_GPIO_LOW,
+            #[cfg(esp_idf_version_at_least_6_0_0)]
+            Level::High => esp_sleep_gpio_wake_up_mode_t_ESP_GPIO_WAKEUP_GPIO_HIGH,
         };
-        esp!(unsafe { esp_deep_sleep_enable_gpio_wakeup(mask, mode) })
+        #[cfg(not(esp_idf_version_at_least_6_0_0))]
+        return esp!(unsafe { esp_deep_sleep_enable_gpio_wakeup(mask, mode) });
+        #[cfg(esp_idf_version_at_least_6_0_0)]
+        return esp!(unsafe { esp_sleep_enable_gpio_wakeup_on_hp_periph_powerdown(mask, mode) });
     }
 }
 

src/timer.rs

@@ -282,10 +282,10 @@ impl<'d> TimerDriver<'d> {
                     {
                         config.allow_pd as _
                     },
-                    // The `backup_before_sleep` field is deprecated, and will be removed in 6.1
+                    // The `backup_before_sleep` field was removed in IDF 6.0
                     #[cfg(all(
                         esp_idf_version_at_least_5_3_0,
-                        not(esp_idf_version_at_least_6_1_0)
+                        not(esp_idf_version_at_least_6_0_0)
                     ))]
                     {
                         false as _