firmware/.cargo/config.toml

@@ -4,13 +4,24 @@ target = "xtensa-esp32-espidf"
 [target.xtensa-esp32-espidf]
 linker = "ldproxy"
 runner = "espflash flash --monitor"
+# Future - necessary for the experimental "native build" of esp-idf-sys with ESP32C3
+# See also https://github.com/ivmarkov/embuild/issues/16
 rustflags = ["--cfg", "espidf_time64"]
 
 [unstable]
 build-std = ["std", "panic_abort"]
 
 [env]
-MCU="esp32"
+# Enables the esp-idf-sys "native" build feature (`cargo build --features native`) to build against ESP-IDF (v5.3.2)
-# Note: this variable is not used by the pio builder (`cargo build --features pio`)
+ESP_IDF_VERSION = { value = "tag:v5.3.2" }
-ESP_IDF_VERSION = "v5.2.3"
 
+# These configurations will pick up your custom "sdkconfig.release", "sdkconfig.debug" or "sdkconfig.defaults[.*]" files
+# that you might put in the root of the project
+# The easiest way to generate a full "sdkconfig[.release|debug]" configuration (as opposed to manually enabling only the necessary flags via "sdkconfig.defaults[.*]"
+# is by running "cargo pio espidf menuconfig" (that is, if using the pio builder)
+#ESP_IDF_SDKCONFIG = { value = "./sdkconfig.release", relative = true }
+#ESP_IDF_SDKCONFIG = { value = "./sdkconfig.debug", relative = true }
+ESP_IDF_SDKCONFIG_DEFAULTS = { value = "./sdkconfig.defaults", relative = true }
+# ESP-IDF will be installed in ~/.espressif so it can be reused across the different examples.
+# See also https://github.com/esp-rs/esp-idf-sys/blob/master/BUILD-OPTIONS.md#esp_idf_tools_install_dir-esp_idf_tools_install_dir
+ESP_IDF_TOOLS_INSTALL_DIR = { value = "fromenv" }

firmware/.gitignore

@@ -1,4 +1,21 @@
-/.vscode
+# Generated by Cargo
-/.embuild
+# will have compiled files and executables
-/target
+debug/
-/Cargo.lock
+target/
+.vscode/
+
+# These are backup files generated by rustfmt
+**/*.rs.bk
+
+# MSVC Windows builds of rustc generate these, which store debugging information
+*.pdb
+
+# RustRover
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# esp-idf
+.embuild/

firmware/Cargo.lock

@@ -1,6 +1,6 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 
 [[package]]
 name = "aho-corasick"
@@ -163,9 +163,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.2.29"
+version = "1.2.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c1599538de2394445747c8cf7935946e3cc27e9625f889d979bfb2aaf569362"
+checksum = "d487aa071b5f64da6f19a3e848e3578944b726ee5a4854b82172f02aa876bfdc"
 dependencies = [
  "shlex",
 ]
@@ -621,9 +621,11 @@ dependencies = [
 name = "firmware"
 version = "0.1.0"
 dependencies = [
+ "anyhow",
  "embuild",
  "esp-idf-svc",
  "log",
+ "toml-cfg",
 ]
 
 [[package]]
@@ -1208,6 +1210,15 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serde_spanned"
+version = "0.6.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bf41e0cfaf7226dca15e8197172c295a782857fcb97fad1808a166870dee75a3"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "shlex"
 version = "1.3.0"
@@ -1339,11 +1350,40 @@ dependencies = [
  "syn 2.0.104",
 ]
 
+[[package]]
+name = "toml"
+version = "0.8.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc1beb996b9d83529a9e75c17a1686767d148d70663143c7854d8b4a09ced362"
+dependencies = [
+ "serde",
+ "serde_spanned",
+ "toml_datetime",
+ "toml_edit",
+]
+
+[[package]]
+name = "toml-cfg"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68c587298ddd135c156e92e8c3eae69614d6eecea8e2d8a09daab011e5e6a21d"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "serde",
+ "syn 2.0.104",
+ "toml",
+]
+
 [[package]]
 name = "toml_datetime"
 version = "0.6.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "22cddaf88f4fbc13c51aebbf5f8eceb5c7c5a9da2ac40a13519eb5b0a0e8f11c"
+dependencies = [
+ "serde",
+]
 
 [[package]]
 name = "toml_edit"
@@ -1352,10 +1392,19 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "41fe8c660ae4257887cf66394862d21dbca4a6ddd26f04a3560410406a2f819a"
 dependencies = [
  "indexmap",
+ "serde",
+ "serde_spanned",
  "toml_datetime",
+ "toml_write",
  "winnow",
 ]
 
+[[package]]
+name = "toml_write"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5d99f8c9a7727884afe522e9bd5edbfc91a3312b36a77b5fb8926e4c31a41801"
+
 [[package]]
 name = "uncased"
 version = "0.9.10"

firmware/Cargo.toml

@@ -1,14 +1,12 @@
 [package]
 name = "firmware"
 version = "0.1.0"
-authors = ["Clara Dautermann <git@cdaut.de>"]
+edition = "2024"
-edition = "2021"
 resolver = "2"
-rust-version = "1.77"
 
 [[bin]]
 name = "firmware"
-harness = false # do not use the built in cargo test harness -> resolve rust-analyzer errors
+harness = false # We can't use the default rust libtest harness for a crosscompile target
 
 [profile.release]
 opt-level = "s"
@@ -17,31 +15,12 @@ opt-level = "s"
 debug     = true # Symbols are nice and they don't increase the size on Flash
 opt-level = "z"
 
-[features]
-default = []
-
-experimental = ["esp-idf-svc/experimental"]
-
 [dependencies]
-log = "0.4"
+anyhow      = "1.0.98"
-esp-idf-svc = "0.51"
+esp-idf-svc = "0.51.0"
-
+log         = "=0.4.27"
-# --- Optional Embassy Integration ---
+toml-cfg    = "=0.2.0"
-# esp-idf-svc = { version = "0.51", features = ["critical-section", "embassy-time-driver", "embassy-sync"] }
-
-# If you enable embassy-time-driver, you MUST also add one of:
-
-# a) Standalone Embassy libs ( embassy-time, embassy-sync etc) with a foreign async runtime:
-# embassy-time = { version = "0.4.0", features = ["generic-queue-8"] } # NOTE: any generic-queue variant will work
-
-# b) With embassy-executor:
-# embassy-executor = { version = "0.7", features = ["executor-thread", "arch-std"] }
-
-# NOTE: if you use embassy-time with embassy-executor you don't need the generic-queue-8 feature
-
-# --- Temporary workaround for embassy-executor < 0.8 ---
-# esp-idf-svc = { version = "0.51", features = ["embassy-time-driver", "embassy-sync"] }
-# critical-section = { version = "1.1", features = ["std"], default-features = false }
 
 [build-dependencies]
-embuild = "0.33"
+embuild  = "=0.33.0"
+toml-cfg = "=0.2.0"

firmware/build.rs

@@ -1,3 +1,52 @@
 fn main() {
-    embuild::espidf::sysenv::output();
+    linker_be_nice();
+    // make sure linkall.x is the last linker script (otherwise might cause problems with flip-link)
+    println!("cargo:rustc-link-arg=-Tlinkall.x");
+}
+
+fn linker_be_nice() {
+    let args: Vec<String> = std::env::args().collect();
+    if args.len() > 1 {
+        let kind = &args[1];
+        let what = &args[2];
+
+        match kind.as_str() {
+            "undefined-symbol" => match what.as_str() {
+                "_defmt_timestamp" => {
+                    eprintln!();
+                    eprintln!("💡 `defmt` not found - make sure `defmt.x` is added as a linker script and you have included `use defmt_rtt as _;`");
+                    eprintln!();
+                }
+                "_stack_start" => {
+                    eprintln!();
+                    eprintln!("💡 Is the linker script `linkall.x` missing?");
+                    eprintln!();
+                }
+                "esp_wifi_preempt_enable"
+                | "esp_wifi_preempt_yield_task"
+                | "esp_wifi_preempt_task_create" => {
+                    eprintln!();
+                    eprintln!("💡 `esp-wifi` has no scheduler enabled. Make sure you have the `builtin-scheduler` feature enabled, or that you provide an external scheduler.");
+                    eprintln!();
+                }
+                "embedded_test_linker_file_not_added_to_rustflags" => {
+                    eprintln!();
+                    eprintln!("💡 `embedded-test` not found - make sure `embedded-test.x` is added as a linker script for tests");
+                    eprintln!();
+                }
+                _ => (),
+            },
+            // we don't have anything helpful for "missing-lib" yet
+            _ => {
+                std::process::exit(1);
+            }
+        }
+
+        std::process::exit(0);
+    }
+
+    println!(
+        "cargo:rustc-link-arg=-Wl,--error-handling-script={}",
+        std::env::current_exe().unwrap().display()
+    );
 }

firmware/rust-toolchain.toml

@@ -1,2 +1,3 @@
 [toolchain]
-channel = "esp"
+channel = "esp"           #nightly-2025-01-01
+components = ["rust-src"]

firmware/sdkconfig.defaults

@@ -1,10 +0,0 @@
-# Rust often needs a bit of an extra main task stack size compared to C (the default is 3K)
-CONFIG_ESP_MAIN_TASK_STACK_SIZE=8000
-
-# Use this to set FreeRTOS kernel tick frequency to 1000 Hz (100 Hz by default).
-# This allows to use 1 ms granularity for thread sleeps (10 ms by default).
-#CONFIG_FREERTOS_HZ=1000
-
-# Workaround for https://github.com/espressif/esp-idf/issues/7631
-#CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=n
-#CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=n

firmware/src/main.rs

@@ -1,10 +1,14 @@
-fn main() {
+use anyhow::{bail, Result};
-    // It is necessary to call this function once. Otherwise some patches to the runtime
+use esp_idf_svc::eventloop::EspSystemEventLoop;
-    // implemented by esp-idf-sys might not link properly. See https://github.com/esp-rs/esp-idf-template/issues/71
+use esp_idf_svc::hal::prelude::Peripherals;
-    esp_idf_svc::sys::link_patches();
+use log::info;
 
-    // Bind the log crate to the ESP Logging facilities
+fn main() -> Result<()> {
+    esp_idf_svc::sys::link_patches();
     esp_idf_svc::log::EspLogger::initialize_default();
 
-    log::info!("Hello, world!");
+    let peripherals = Peripherals::take().unwrap();
+    let sysloop = EspSystemEventLoop::take()?;
+
+    info!("Hello, world!");
 }

flake.nix

@@ -13,28 +13,13 @@
         # Optionally pin to a specific commit of `nixpkgs-esp-dev`.
         rev = "f37890edc9b327fcbc6d48c4cf174e65e4c0d148";
       };
-
+      forEachSupportedSystem = f: nixpkgs.lib.genAttrs supportedSystems (system: f {
-      forEachSupportedSystem = f: nixpkgs.lib.genAttrs supportedSystems (system:
-        let
         pkgs = import nixpkgs { inherit system; overlays = [ (import "${nixpkgs-esp-dev}/overlay.nix") ]; };
-
-          libxml2Shared = pkgs.libxml2.overrideAttrs (old: {
-            configureFlags = (old.configureFlags or [ ]) ++ [ "--enable-shared" ];
-
-            # cursed patch necessary to fix linking errors
-            postInstall = ''
-              ln -sf libxml2.so $out/lib/libxml2.so.2
-              ${old.postInstall or ""}
-            '';
       });
     in
-        f { inherit pkgs libxml2Shared; }
-      );
-
-    in
     {
       devShells = forEachSupportedSystem
-        ({ pkgs, libxml2Shared }: {
+        ({ pkgs }: {
           default = pkgs.mkShell
             {
               packages = with pkgs; [
@@ -42,23 +27,7 @@
                 espflash
                 cargo-espflash
                 espup
-
-                llvmPackages_16.libclang # Explicitly add libclang
-                llvmPackages_16.clang # Include clang/headers
-                pkg-config # Often needed for bindgen to find clang
-                glibc.dev # Needed for C headers
-                libxml2Shared.out
-                ldproxy
               ];
-
-              env = {
-                # Set LD_LIBRARY_PATH so libstdc++.so.6 zlib and libxml2 can be found
-                LD_LIBRARY_PATH = with pkgs; pkgs.lib.makeLibraryPath [
-                  gcc.cc.lib
-                  zlib
-                  libxml2Shared.out
-                ];
-              };
             };
         });
     };