================== ESP32-C6-DevKitC-1 ================== ESP32-C6-DevKitC-1 is an entry-level development board based on ESP32-C6-WROOM-1(U), a general-purpose module with a 8 MB SPI flash. This board integrates complete Wi-Fi, Bluetooth LE, Zigbee, and Thread functions. You can find the board schematic `here `_. Most of the I/O pins are broken out to the pin headers on both sides for easy interfacing. Developers can either connect peripherals with jumper wires or mount ESP32-C6-DevKitC-1 on a breadboard. .. figure:: esp32-c6-devkitc-1-isometric_v1.2.png :alt: ESP32-C6-DevKitC-1 Board Layout :figclass: align-center ESP32-C6-DevKitC-1 Board Layout The block diagram below presents main components of the ESP32-C6-DevKitC-1. .. figure:: esp32-c6-devkitc-1-v1.2-block-diagram.png :alt: ESP32-C6-DevKitC-1 Electrical Block Diagram :figclass: align-center ESP32-C6-DevKitC-1 Electrical Block Diagram Hardware Components ------------------- .. figure:: esp32-c6-devkitc-1-v1.2-annotated-photo.png :alt: ESP32-C6-DevKitC-1 Hardware Components :figclass: align-center ESP32-C6-DevKitC-1 Hardware Components Buttons and LEDs ================ Board Buttons -------------- There are two buttons labeled Boot and RST. The RST button is not available to software. It pulls the chip enable line that doubles as a reset line. The BOOT button is connected to IO9. On reset it is used as a strapping pin to determine whether the chip boots normally or into the serial bootloader. After reset, however, the BOOT button can be used for software input. Board LEDs ---------- There is one on-board LED that indicates the presence of power. Another WS2812 LED is connected to GPIO8 and is available for software. Current Measurement =================== The J5 headers on the ESP32-C6-DevKitC-1 can be used for measuring the current drawn by the ESP32-C6-WROOM-1(U) module: - Remove the jumper: Power supply between the module and peripherals on the board is cut off. To measure the module's current, connect the board with an ammeter via J5 headers; - Apply the jumper (factory default): Restore the board's normal functionality. .. note:: When using 3V3 and GND pin headers to power the board, please remove the J5 jumper, and connect an ammeter in series to the external circuit to measure the module's current. Pin Mapping =========== .. figure:: esp32-c6-devkitc-1-pin-layout.png :alt: ESP32-C6-DevKitC pin layout :figclass: align-center ESP32-C6-DevKitC-1 Pin Layout Configurations ============== All of the configurations presented below can be tested by running the following commands:: $ ./tools/configure.sh esp32c6-devkitc: $ make flash ESPTOOL_PORT=/dev/ttyUSB0 -j Where is the name of board configuration you want to use, i.e.: nsh, buttons, wifi... Then use a serial console terminal like ``picocom`` configured to 115200 8N1. adc --- The ``adc`` configuration enables the ADC driver and the ADC example application. ADC Unit 1 is registered to ``/dev/adc0`` with channels 0, 1, 2 and 3 enabled by default. Currently, the ADC operates in oneshot mode. More ADC channels can be enabled or disabled in ``ADC Configuration`` menu. This example shows channels 0 and 1 connected to 3.3 V and channels 2 and 3 to GND (all readings show in units of mV):: nsh> adc -n 1 adc_main: g_adcstate.count: 1 adc_main: Hardware initialized. Opening the ADC device: /dev/adc0 Sample: 1: channel: 0 value: 3611 2: channel: 1 value: 3611 3: channel: 2 value: 103 4: channel: 3 value: 104 bmp180 ------ This configuration enables the use of the BMP180 pressure sensor over I2C. You can check that the sensor is working by using the ``bmp180`` application:: nsh> bmp180 Pressure value = 91531 Pressure value = 91526 Pressure value = 91525 buttons ------- This configuration shows the use of the buttons subsystem. It can be used by executing the ``buttons`` application and pressing the ``BOOT`` button on the board:: nsh> buttons buttons_main: Starting the button_daemon buttons_main: button_daemon started button_daemon: Running button_daemon: Opening /dev/buttons button_daemon: Supported BUTTONs 0x01 nsh> Sample = 1 Sample = 0 capture -------- The capture configuration enables the capture driver and the capture example, allowing the user to measure duty cycle and frequency of a signal. Default pin is GPIO 18 with an internal pull-up resistor enabled. When connecting a 50 Hz pulse with 50% duty cycle, the following output is expected:: nsh> cap cap_main: Hardware initialized. Opening the capture device: /dev/capture0 cap_main: Number of samples: 0 pwm duty cycle: 50 % pwm frequency: 50 Hz pwm duty cycle: 50 % pwm frequency: 50 Hz coremark -------- This configuration sets the CoreMark benchmark up for running on the maximum number of cores for this system. It also enables some optimization flags and disables the NuttShell to get the best possible score. .. note:: As the NSH is disabled, the application will start as soon as the system is turned on. crypto ------ This configuration enables support for the cryptographic hardware and the ``/dev/crypto`` device file. Currently, we are supporting SHA-1, SHA-224 and SHA-256 algorithms using hardware. To test hardware acceleration, you can use `hmac` example and following output should look like this:: nsh> hmac ... hmac sha1 success hmac sha1 success hmac sha1 success hmac sha256 success hmac sha256 success hmac sha256 success efuse ----- This configuration demonstrates the use of the eFuse driver. It can be accessed through the ``/dev/efuse`` device file. Virtual eFuse mode can be used by enabling `CONFIG_ESPRESSIF_EFUSE_VIRTUAL` option to prevent possible damages on chip. The following snippet demonstrates how to read MAC address: .. code-block:: C int fd; int ret; uint8_t mac[6]; struct efuse_param_s param; struct efuse_desc_s mac_addr = { .bit_offset = 1, .bit_count = 48 }; const efuse_desc_t* desc[] = { &mac_addr, NULL }; param.field = desc; param.size = 48; param.data = mac; fd = open("/dev/efuse", O_RDONLY); ret = ioctl(fd, EFUSEIOC_READ_FIELD, ¶m); To find offset and count variables for related eFuse, please refer to Espressif's Technical Reference Manuals. gpio ---- This is a test for the GPIO driver. It uses GPIO1 and GPIO2 as outputs and GPIO9 as an interrupt pin. At the nsh, we can turn the outputs on and off with the following:: nsh> gpio -o 1 /dev/gpio0 nsh> gpio -o 1 /dev/gpio1 nsh> gpio -o 0 /dev/gpio0 nsh> gpio -o 0 /dev/gpio1 We can use the interrupt pin to send a signal when the interrupt fires:: nsh> gpio -w 14 /dev/gpio2 The pin is configured as a rising edge interrupt, so after issuing the above command, connect it to 3.3V. To use dedicated gpio for controlling multiple gpio pin at the same time or having better response time, you need to enable `CONFIG_ESPRESSIF_DEDICATED_GPIO` option. Dedicated GPIO is suitable for faster response times required applications like simulate serial/parallel interfaces in a bit-banging way. After this option enabled GPIO4 and GPIO5 pins are ready to used as dedicated GPIO pins as input/output mode. These pins are for example, you can use any pin up to 8 pins for input and 8 pins for output for dedicated gpio. To write and read data from dedicated gpio, you need to use `write` and `read` calls. The following snippet demonstrates how to read/write to dedicated GPIO pins: .. code-block:: C int fd; = open("/dev/dedic_gpio0", O_RDWR); int rd_val = 0; int wr_mask = 0xffff; int wr_val = 3; while(1) { write(fd, &wr_val, wr_mask); if (wr_val == 0) { wr_val = 3; } else { wr_val = 0; } read(fd, &rd_val, sizeof(uint32_t)); printf("rd_val: %d", rd_val); } i2c --- This configuration can be used to scan and manipulate I2C devices. You can scan for all I2C devices using the following command:: nsh> i2c dev 0x00 0x7f To use LP_I2C, you can enable `ESPRESSIF_LP_I2C0` option. When this option is enabled, LP_I2C operates on GPIO7 as SCL and GPIO6 as SDA. These pins are fixed and cannot be changed. Also enabling LP_I2C will change the default pins of I2C0 due to LP_I2C pin limitation. The default I2C0 pins will be remapped to GPIO23 for SCL and GPIO5 for SDA. To use slave mode, you can enable `ESPRESSIF_I2C0_SLAVE_MODE` option. To use slave mode driver following snippet demonstrates how write to i2c bus using slave driver: .. code-block:: C #define ESP_I2C_SLAVE_PATH "/dev/i2cslv0" int main(int argc, char *argv[]) { int i2c_slave_fd; int ret; uint8_t buffer[5] = {0xAA}; i2c_slave_fd = open(ESP_I2C_SLAVE_PATH, O_RDWR); ret = write(i2c_slave_fd, buffer, 5); close(i2c_slave_fd); } i2schar ------- This configuration enables the I2S character device and the i2schar example app, which provides an easy-to-use way of testing the I2S peripheral, enabling both the TX and the RX for those peripherals. **I2S pinout** ============ ========== ========================================= ESP32-C3 Pin Signal Pin Description ============ ========== ========================================= 0 MCLK Master Clock 4 SCLK Bit Clock (SCLK) 5 LRCK Word Select (LRCLK) 18 DOUT Data Out 19 DIN Data In ============ ========== ========================================= After successfully built and flashed, run on the boards's terminal:: nsh> i2schar motor ------- The motor configuration enables the MCPWM peripheral with support to brushed DC motor control. It creates a ``/dev/motor0`` device with speed and direction control capabilities by using two GPIOs (GPIO21 and GPIO22) for PWM output. PWM frequency is configurable from 25 Hz to 3 kHz, however it defaults to 1 kHz. There is also support for an optional fault GPIO (defaults to GPIO9), which can be used for quick motor braking. All GPIOs are configurable in ``menuconfig``. mcuboot_nsh ----------- This configuration is the same as the ``nsh`` configuration, but it generates the application image in a format that can be used by MCUboot. It also makes the ``make bootloader`` command to build the MCUboot bootloader image using the Espressif HAL. mcuboot_update_agent -------------------- This configuration is used to represent an MCUboot image that contains an update agent to perform over-the-air (OTA) updates. Wi-Fi settings are already enabled and image confirmation program is included. Follow the instructions in the :ref:`MCUBoot and OTA Update ` section to execute OTA update. nsh --- Basic configuration to run the NuttShell (nsh). oa_tc6 ------ This configuration features the network driver for 10BASE-T1S and 10BASE-T1L SPI MAC-PHYs that follow the `OPEN Alliance 10BASE-T1x MAC-PHY Serial Interface` specification (OA-TC6). Among such MAC-PHYs are e.g. Microchip LAN865x, Onsemi NCV7410 (NCN26010), Analog Devices ADIN1110. See the build configuration utility (e.g. ``make menuconfig``) to find out which ones are currently supported. The OA-TC6 defines a 5 signal connection between the MAC-PHY and the host MCU. These are 4 lines for the standard SPI and 1 line for the interrupt signal from the MAC-PHY to the MCU. **Default pinout** ============ ========== ========================================= ESP32-C6 Pin Signal Pin Description ============ ========== ========================================= 0 CS SPI Chip Select 2 MISO SPI Master In Slave Out 5 INT MAC-PHY interrupt signal 6 CLK SPI Clock 7 MOSI SPI Master Out Slave In ============ ========== ========================================= The ``oa_tc6`` configuration is additionally equipped with the ``plcatool`` utility. This allows configuration of the Physical Layer Collision Avoidance (PLCA) functionality in 10BASE-T1S PHYs. ostest ------ This is the NuttX test at ``apps/testing/ostest`` that is run against all new architecture ports to assure a correct implementation of the OS. pm ------- This config demonstrate the use of power management. You can use the ``pmconfig`` command to check current power state and time spent in other power states. Also you can define time will spend in standby and sleep modes:: $ make menuconfig -> Board Selection -> (15) PM_STANDBY delay (seconds) (0) PM_STANDBY delay (nanoseconds) (20) PM_SLEEP delay (seconds) (0) PM_SLEEP delay (nanoseconds) Timer wakeup is not only way to wake up the chip. Other wakeup modes include: - EXT1 wakeup mode: Uses RTC GPIO pins to wake up the chip. Enabled with ``CONFIG_PM_EXT1_WAKEUP`` option. - ULP coprocessor wakeup mode: Uses ULP co-processor to wake up the chip. Enabled with ``CONFIG_PM_ULP_WAKEUP`` option. - GPIO wakeup mode: Uses GPIO pins to wakeup the chip. Only wakes up the chip from ``PM_STANDBY`` mode and requires ``CONFIG_PM_GPIO_WAKEUP``. - UART wakeup mode: Uses UART to wakeup the chip. Only wakes up the chip from ``PM_STANDBY`` mode and requires ``CONFIG_PM_GPIO_WAKEUP``. Before switching PM status, you need to query the current PM status to call correct number of relax command to correct modes:: nsh> pmconfig Last state 0, Next state 0 /proc/pm/state0: DOMAIN0 WAKE SLEEP TOTAL normal 0s 00% 0s 00% 0s 00% idle 0s 00% 0s 00% 0s 00% standby 0s 00% 0s 00% 0s 00% sleep 0s 00% 0s 00% 0s 00% /proc/pm/wakelock0: DOMAIN0 STATE COUNT TIME system normal 2 1s system idle 1 1s system standby 1 1s system sleep 1 1s In this case, needed commands to switch the system into PM idle mode:: nsh> pmconfig relax normal nsh> pmconfig relax normal In this case, needed commands to switch the system into PM standby mode:: nsh> pmconfig relax idle nsh> pmconfig relax normal nsh> pmconfig relax normal System switch to the PM sleep mode, you need to enter:: nsh> pmconfig relax standby nsh> pmconfig relax idle nsh> pmconfig relax normal nsh> pmconfig relax normal Note: When normal mode COUNT is 0, it will switch to the next PM state where COUNT is not 0. Note: During light sleep, overall current consumption of board should drop from 22mA (without any system load) to 1.3 mA on ESP32-C6 DevkitC-1. During deep sleep, current consumption of module (ESP32-C6-WROOM-1) should drop from 22mA (without any system load) to 48 μA. pwm --- This configuration demonstrates the use of PWM through a LED connected to GPIO8. To test it, just execute the ``pwm`` application:: nsh> pwm pwm_main: starting output with frequency: 10000 duty: 00008000 pwm_main: stopping output qencoder --- This configuration demonstrates the use of Quadrature Encoder connected to pins GPIO10 and GPIO11. You can start measurement of pulses using the following command (by default, it will open ``\dev\qe0`` device and print 20 samples using 1 second delay):: nsh> qe rmt --- This configuration configures the transmitter and the receiver of the Remote Control Transceiver (RMT) peripheral on the ESP32-C6 using GPIOs 8 and 2, respectively. The RMT peripheral is better explained `here `__, in the ESP-IDF documentation. The minimal data unit in the frame is called the RMT symbol, which is represented by ``rmt_item32_t`` in the driver: .. figure:: rmt_symbol.png :align: center The example ``rmtchar`` can be used to test the RMT peripheral. Connecting these pins externally to each other will make the transmitter send RMT items and demonstrates the usage of the RMT peripheral:: nsh> rmtchar **WS2812 addressable RGB LEDs** This same configuration enables the usage of the RMT peripheral and the example ``ws2812`` to drive addressable RGB LEDs:: nsh> ws2812 Please note that this board contains an on-board WS2812 LED connected to GPIO8 and, by default, this config configures the RMT transmitter in the same pin. romfs ----- This configuration demonstrates the use of ROMFS (Read-Only Memory File System) to provide automated system initialization and startup scripts. ROMFS allows embedding a read-only filesystem directly into the NuttX binary, which is mounted at ``/etc`` during system startup. **What ROMFS provides:** * **System initialization script** (``/etc/init.d/rc.sysinit``): Executed after board bring-up * **Startup script** (``/etc/init.d/rcS``): Executed after system init, typically used to start applications **Default behavior:** When this configuration is used, NuttX will: 1. Create a read-only RAM disk containing the ROMFS filesystem 2. Mount the ROMFS at ``/etc`` 3. Execute ``/etc/init.d/rc.sysinit`` during system initialization 4. Execute ``/etc/init.d/rcS`` for application startup **Customizing startup scripts:** The startup scripts are located in: ``boards/risc-v/esp32c6/common/src/etc/init.d/`` * ``rc.sysinit`` - System initialization script * ``rcS`` - Application startup script To customize these scripts: 1. **Edit the script files** in ``boards/risc-v/esp32c6/common/src/etc/init.d/`` 2. **Add your initialization commands** using any NSH-compatible commands **Example customizations:** * **rc.sysinit** - Set up system services, mount additional filesystems, configure network. * **rcS** - Start your application, launch daemons, configure peripherals. This is executed after the rc.sysinit script. Example output:: *** Booting NuttX *** [...] rc.sysinit is called! rcS file is called! NuttShell (NSH) NuttX-12.8.0 nsh> ls /etc/init.d /etc/init.d: . .. rc.sysinit rcS rtc --- This configuration demonstrates the use of the RTC driver through alarms. You can set an alarm, check its progress and receive a notification after it expires:: nsh> alarm 10 alarm_daemon started alarm_daemon: Running Opening /dev/rtc0 Alarm 0 set in 10 seconds nsh> alarm -r Opening /dev/rtc0 Alarm 0 is active with 10 seconds to expiration nsh> alarm_daemon: alarm 0 received sdm --- This configuration enables the support for the Sigma-Delta Modulation (SDM) driver which can be used for LED dimming, simple dac with help of an low pass filter either active or passive and so on. ESP32-C6 supports 1 group of SDM up to 4 channels with any GPIO up to user. This configuration enables 1 channel of SDM on GPIO5. You can test DAC feature with following command with connecting simple LED on GPIO5 nsh> dac -d 100 -s 10 test After this command you will see LED will light up in different brightness. spi -------- This configuration enables the support for the SPI driver. You can test it by connecting MOSI and MISO pins which are GPIO7 and GPIO2 by default to each other and running the ``spi`` example:: nsh> spi exch -b 2 "AB" Sending: AB Received: AB If SPI peripherals are already in use you can also use bitbang driver which is a software implemented SPI peripheral by enabling `CONFIG_ESPRESSIF_SPI_BITBANG` option. sdmmc_spi --------- This configuration is used to mount a FAT/FAT32 SD Card into the OS' filesystem. It uses SPI to communicate with the SD Card, defaulting to SPI2. The SD slot number, SPI port number and minor number can be modified in ``Application Configuration → NSH Library``. To access the card's files, make sure ``/dev/mmcsd0`` exists and then execute the following commands:: nsh> ls /dev /dev: console mmcsd0 null ttyS0 zero nsh> mount -t vfat /dev/mmcsd0 /mnt This will mount the SD Card to ``/mnt``. Now, you can use the SD Card as a normal filesystem. For example, you can read a file and write to it:: nsh> ls /mnt /mnt: hello.txt nsh> cat /mnt/hello.txt Hello World nsh> echo 'NuttX RTOS' >> /mnt/hello.txt nsh> cat /mnt/hello.txt Hello World! NuttX RTOS nsh> spiflash -------- This config tests the external SPI that comes with the ESP32-C6 module connected through SPI1. By default a SmartFS file system is selected. Once booted you can use the following commands to mount the file system:: nsh> mksmartfs /dev/smart0 nsh> mount -t smartfs /dev/smart0 /mnt sta_softap ---------- With this configuration you can run these commands to be able to connect your smartphone or laptop to your board:: nsh> ifup wlan1 nsh> dhcpd_start wlan1 nsh> wapi psk wlan1 mypasswd 3 nsh> wapi essid wlan1 nuttxap 1 In this case, you are creating the access point ``nuttxapp`` in your board and to connect to it on your smartphone you will be required to type the password ``mypasswd`` using WPA2. .. tip:: Please refer to :ref:`ESP32 Wi-Fi SoftAP Mode ` for more information. The ``dhcpd_start`` is necessary to let your board to associate an IP to your smartphone. timer ----- This config test the general use purpose timers. It includes the 4 timers, adds driver support, registers the timers as devices and includes the timer example. To test it, just run the following:: nsh> timer -d /dev/timerx Where x in the timer instance. twai ---- This configuration enables the support for the TWAI (Two-Wire Automotive Interface) driver. You can test it by connecting TWAI RX and TWAI TX pins which are GPIO0 and GPIO2 by default to an external transceiver or connecting TWAI RX to TWAI TX pin by enabling the `CONFIG_CAN_LOOPBACK` option (``Device Drivers -> CAN Driver Support -> CAN loopback mode``) and running the ``can`` example:: nsh> can nmsgs: 0 min ID: 1 max ID: 2047 Bit timing: Baud: 1000000 TSEG1: 15 TSEG2: 4 SJW: 3 ID: 1 DLC: 1 ulp --- This configuration enables the support for the ULP LP core (Low-power core) coprocessor. To get more information about LP Core please check :ref:`ULP LP Core Coprocessor docs. ` Configuration uses a pre-built binary in ``Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/ulp_blink.bin`` which is a blink example for GPIO0. After flashing operation, GPIO0 pin will blink. Prebuild binary runs this code: .. code-block:: C #include #include #include "ulp_lp_core_gpio.h" #define GPIO_PIN 0 #define nop() __asm__ __volatile__ ("nop") bool gpio_level_previous = true; int main (void) { while (1) { ulp_lp_core_gpio_set_level(GPIO_PIN, gpio_level_previous); gpio_level_previous = !gpio_level_previous; for (int i = 0; i < 10000; i++) { nop(); } } return 0; } usbconsole ---------- This configuration tests the built-in USB-to-serial converter found in ESP32-C6. ``esptool`` can be used to check the version of the chip and if this feature is supported. Running ``esptool.py -p chip_id`` should have ``Chip is ESP32-C6`` in its output. When connecting the board a new device should appear, a ``/dev/ttyACMX`` on Linux or a ``/dev/cu.usbmodemXXX`` om macOS. This can be used to flash and monitor the device with the usual commands:: make download ESPTOOL_PORT=/dev/ttyACM0 minicom -D /dev/ttyACM0 watchdog -------- This configuration tests the watchdog timers. It includes the 1 MWDTS, adds driver support, registers the WDTs as devices and includes the watchdog example application. To test it, just run the following command:: nsh> wdog -i /dev/watchdogX Where X is the watchdog instance. wifi ---- Enables Wi-Fi support. You can define your credentials this way:: $ make menuconfig -> Application Configuration -> Network Utilities -> Network initialization (NETUTILS_NETINIT [=y]) -> WAPI Configuration Or if you don't want to keep it saved in the firmware you can do it at runtime:: nsh> wapi psk wlan0 mypasswd 3 nsh> wapi essid wlan0 myssid 1 nsh> renew wlan0 .. tip:: Please refer to :ref:`ESP32 Wi-Fi Station Mode ` for more information.