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<!--
SPDX-FileCopyrightText: 2025 Gunar Schorcht
SPDX-License-Identifier: LGPL-2.1-only
-->
@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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