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RIOT/cpu/esp32/doc_esp32c6.doc.md
Gunar Schorcht 43d94de504 cpu/esp32: add ESP32-C6 doc
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<!--
Copyright (C) 2025 Gunar Schorcht
This file is subject to the terms and conditions of the GNU Lesser
General Public License v2.1. See the file LICENSE in the top level
directory for more details.
-->
@defgroup cpu_esp32_esp32c6 ESP32-C6 family
@ingroup cpu_esp32
@brief Specific properties of ESP32-C6 variant (family)
@author Gunar Schorcht <gunar@schorcht.net>
\section esp32_riot_esp32c6 Specific properties of ESP32-C6 variant (family)
## GPIO pins {#esp32_gpio_pins_esp32c6}
ESP32-C6 has 19 broken-out GPIO pins, where a subset can be used as ADC channel
and as low-power digital inputs/outputs in deep-sleep mode, the so-called
LP GPIOs. Some of them are used by special SoC components. The following
table gives a short overview.
<center>
Pin | Type | ADC / LP | PU / PD | Special function | Remarks
-------|:-------|:--------:|:-------:|------------------|--------
GPIO0 | In/Out | ADC / LP | yes | XTAL_32K_P | -
GPIO1 | In/Out | ADC / LP | yes | XTAL_32K_N | -
GPIO2 | In/Out | ADC / LP | yes | | FSPIQ
GPIO3 | In/Out | ADC / LP | yes | | -
GPIO4 | In/Out | ADC / LP | yes | MTMS | FSPIWP
GPIO5 | In/Out | ADC / LP | yes | MTDI | FSPIHD
GPIO6 | In/Out | ADC / LP | yes | MTCK | FSPICLK
GPIO7 | In/Out | LP | yes | MTDO | FSPID
GPIO8 | In/Out | | yes | | Bootstrapping
GPIO9 | In/Out | | yes | | Bootstrapping, pulled up
GPIO10 | In/Out | | yes | | N/A on chips with in-package flash
GPIO11 | In/Out | | yes | | N/A on chips with in-package flash
GPIO12 | In/Out | | yes | USB D- | USB Serial / JTAG interface
GPIO13 | In/Out | | yes | USB D+ | USB Serial / JTAG interface
GPIO14 | In/Out | | yes | | N/A on chips w/o in-package flash
GPIO15 | In/Out | | yes | | Bootstrapping
GPIO16 | In/Out | | yes | UART0 TX | FSPICS0
GPIO17 | In/Out | | yes | UART0 RX | FSPICS1
GPIO18 | In/Out | | yes | UART0 RX | FSPICS2
GPIO19 | In/Out | | yes | | FSPICS3
GPIO20 | In/Out | | yes | | FSPICS4
GPIO21 | In/Out | | yes | | FSPICS5
GPIO22 | In/Out | | yes | | -
GPIO23 | In/Out | | yes | | -
GPIO24 | In/Out | | yes | SPICS0 | N/A on chips with in-package flash
GPIO25 | In/Out | | yes | SPIQ | N/A on chips with in-package flash
GPIO26 | In/Out | | yes | SPIWP | N/A on chips with in-package flash
GPIO27 | In/Out | | yes | VDD_SPI | N/A on chips with in-package flash
GPIO28 | In/Out | | yes | SPIHD | N/A on chips with in-package flash
GPIO29 | In/Out | | yes | SPICLK | N/A on chips with in-package flash
GPIO30 | In/Out | | yes | SPID | N/A on chips with in-package flash
</center><br>
<b>ADC:</b> these pins can be used as ADC inputs<br>
<b>LP:</b> these pins are LP GPIOs and can be used in deep-sleep mode<br>
<b>PU/PD:</b> these pins have software configurable pull-up/pull-down functionality.<br>
GPIO8 and GPIO9 are bootstrapping pins which are used to boot
ESP32-C6 in different modes:
<center>
GPIO9 | GPIO8 | Mode
:----:|:-----:|:------------------------------------------------------------
1 | X | SPI Boot mode to boot the firmware from flash (default mode)
0 | 1 | SPI Download Boot mode
Other combinations are invalid.
</center><br>
## ADC Channels {#esp32_adc_channels_esp32c6}
ESP32-C6 integrates one 12-bit ADC with 7 channels in
total: GPIO0, GPIO1, GPIO2, GPIO3, GPIO4, GPIO5 and GPIO6
The maximum number of ADC channels #ADC_NUMOF_MAX is 7.
## I2C Interfaces {#esp32_i2c_interfaces_esp32c6}
ESP32-C6 has two built-in I2C interfaces.
The following table shows the default configuration of I2C interfaces
used for ESP32-C6 boards. It can be overridden by
[application-specific configurations](#esp32_application_specific_configurations).
<center>
Device | Signal | Pin | Symbol | Remarks
:----------|:-------|:-------|:--------------|:----------------
I2C_DEV(0) | | | `I2C0_SPEED` | default is `I2C_SPEED_FAST`
I2C_DEV(0) | SCL | GPIO5 | `I2C0_SCL` | -
I2C_DEV(0) | SDA | GPIO4 | `I2C0_SDA` | -
</center><br>
## PWM Channels {#esp32_pwm_channels_esp32c6}
The ESP32-C6 LEDC module has 1 channel group with 6 channels. Each of
these channels can be clocked by one of the 4 timers. This means that
it is possible to define up to 4 PWM devices with different frequencies
and resolutions and a total of 6 PWM channels.
## SPI Interfaces {#esp32_spi_interfaces_esp32c6}
ESP32-C6 has three SPI controllers where SPI0 and SPI1 share the same bus.
They are used as interface for external memory and can only operate in memory
mode:
- Controller SPI0 is reserved for caching external memory like Flash
- Controller SPI1 is reserved for external memory like PSRAM
- Controller SPI2 can be used as general purpose SPI (also called FSPI)
Thus, only SPI2 (FSPI) can be used as general purpose SPI in RIOT as
SPI_DEV(0).
The following table shows the pin configuration used for most boards, even
though it **can vary** from board to board.
<center>
Device | Signal | Pin | Symbol | Remarks
:-------------|:------:|:-------|:-----------:|:---------------------------
SPI_DEV(0) | SCK | GPIO6 |`SPI0_SCK` | `SPI2_HOST` (`FSPI`)
SPI_DEV(0) | MOSI | GPIO7 |`SPI0_MOSI` | `SPI2_HOST` (`FSPI`)
SPI_DEV(0) | MISO | GPIO2 |`SPI0_MISO` | `SPI2_HOST` (`FSPI`)
SPI_DEV(0) | CS0 | GPIO18 |`SPI0_CS0` | `SPI2_HOST` (`FSPI`)
</center><br>
## Timers {#esp32_timers_esp32c6}
ESP32-C6 has two timer groups with one timer each, resulting in a total of
two timers. Thus one timer with one channel can be used in RIOT
as timer device TIMER_DEV(0), because the other timer is used as system timer.
ESP32-C6 do not have CCOMPARE registers. The counter implementation can not
be used.
## UART Interfaces {#esp32_uart_interfaces_esp32c6}
ESP32-C6 integrates three UART interfaces, two in the high-power domain and
one in the low-power domain. The low-power UART interface is not yet supported.
The following default pin configuration of UART interfaces as used by a most
boards can be overridden by the application, see section
[Application-Specific Configurations](#esp32_application_specific_configurations).
<center>
Device |Signal|Pin |Symbol |Remarks
:-----------|:-----|:-------|:-----------|:----------------
UART_DEV(0) | TxD | GPIO16 |`UART0_TXD` | cannot be changed
UART_DEV(0) | RxD | GPIO17 |`UART0_RXD` | cannot be changed
UART_DEV(1) | TxD | |`UART1_TXD` | optional, can be configured
UART_DEV(1) | RxD | |`UART1_RXD` | optional, can be configured
</center><br>
## JTAG Interface {#esp32_jtag_interface_esp32c6}
There are two options on how to use the JTAG interface on ESP32-C6:
1. Using the built-in USB-to-JTAG bridge connected to an USB cable as follows:
<center>
USB Signal | ESP32-C6 Pin
:--------------|:-----------
D- (white) | GPIO12
D+ (green) | GPIO13
V_Bus (red) | 5V
Ground (black) | GND
</center><br>
2. Using an external JTAG adapter connected to the JTAG interface exposed
to GPIOs as follows:
<center>
JTAG Signal | ESP32-C6 Pin
:-----------|:-----------
TRST_N | CHIP_PU
TDO | GPIO7 (MTDO)
TDI | GPIO5 (MTDI)
TCK | GPIO6 (MTCK)
TMS | GPIO4 (MTMS)
GND | GND
</center><br>
Using the built-in USB-to-JTAG bridge is the default option, i.e. the JTAG
interface of the ESP32-C6 is connected to the built-in USB-to-JTAG bridge.
To use an external JTAG adapter, the JTAG interface of the ESP32-C6 has to
be connected to the GPIOs as shown above. For this purpose eFuses have to be
burned with the following command:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
espefuse.py burn_efuse JTAG_SEL_ENABLE --port /dev/ttyUSB0
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@warning Burning eFuses is an irreversible operation.
Once the eFuses are burned with this command and option `JTAG_SEL_ENABLE`,
GPIO15 is used as a bootstrapping pin to choose between the two options.
If GPIO15 is HIGH when ESP32-C6 is reset, the JTAG interface is connected
to the built-in USB to JTAG bridge and the USB cable can be used for on-chip
debugging. Otherwise, the JTAG interface is exposed to GPIO4 ... GPIO7
and an external JTAG adapter has to be used.
Alternatively, the integrated USB-to-JTAG bridge can be permanently disabled
with the following command:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
espefuse.py burn_efuse DIS_USB_JTAG --port /dev/ttyUSB0
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@warning Burning eFuses is an irreversible operation.
Once the eFuses are burned with this command and option `DIS_USB_JTAG`,
the JTAG interface is always exposed to GPIO4 ... GPIO7 and an external
JTAG adapter has to be used.
For more information about JTAG configuration for ESP32-C6, refer to the
section [Configure Other JTAG Interface]
(https://docs.espressif.com/projects/esp-idf/en/latest/esp32c6/api-guides/jtag-debugging/configure-other-jtag.html)
in the ESP-IDF documentation.
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