Esp idf 6 support

.github/workflows/build-and-test-macos.yaml

@@ -40,7 +40,7 @@ jobs:
       matrix:
         os: ["macos-14", "macos-15", "macos-15-intel", "macos-26"]
         otp: ["26", "27", "28"]
-        mbedtls: ["mbedtls@3"]
+        mbedtls: ["mbedtls@3", "mbedtls@4"]
         cmake_opts_other: [""]
 
         include:

.github/workflows/build-and-test-on-freebsd.yaml

@@ -35,7 +35,7 @@ concurrency:
 jobs:
   build-and-test-on-freebsd:
     runs-on: ubuntu-24.04
-    name: Build and test AtomVM on FreeBSD
+    name: Build and test AtomVM on FreeBSD ${{ matrix.os_release }} (${{ matrix.mbedtls }})
     env:
       ATOMVM_EXAMPLE: "atomvm-example"
 
@@ -44,6 +44,10 @@ jobs:
 
       matrix:
         os_release: ["13.5", "14.3", "15.0"]
+        mbedtls: ["mbedtls@3"]
+        include:
+          - os_release: "14.3"
+            mbedtls: "mbedtls@4"
 
     steps:
 
@@ -60,10 +64,25 @@ jobs:
         sync: rsync
         copyback: false
 
+    - name: "Use latest pkg repo for MbedTLS 4"
+      if: matrix.mbedtls == 'mbedtls@4'
+      shell: freebsd {0}
+      run: |
+        mkdir -p /usr/local/etc/pkg/repos
+        echo 'FreeBSD: { url: "pkg+https://pkg.FreeBSD.org/${ABI}/latest" }' > /usr/local/etc/pkg/repos/FreeBSD.conf
+        pkg update -f
+
     - name: "Install deps"
+      if: matrix.mbedtls == 'mbedtls@3'
+      shell: freebsd {0}
+      run: |
+        pkg install -y curl cmake gperf erlang elixir rebar3 ninja mbedtls3
+
+    - name: "Install deps (MbedTLS 4)"
+      if: matrix.mbedtls == 'mbedtls@4'
       shell: freebsd {0}
       run: |
-        pkg install -y curl cmake gperf erlang elixir rebar3 mbedtls3 ninja
+        pkg install -y curl cmake gperf erlang elixir rebar3 ninja mbedtls4
 
     - name: "Add hostname to /etc/hosts for distribution tests"
       shell: freebsd {0}
@@ -102,6 +121,15 @@ jobs:
         mkdir build
 
     - name: "Build: run cmake"
+      if: matrix.mbedtls == 'mbedtls@3'
+      shell: freebsd {0}
+      run: |
+        cd $GITHUB_WORKSPACE;
+        cd build
+        cmake .. -DAVM_WARNINGS_ARE_ERRORS=ON
+
+    - name: "Build: run cmake (MbedTLS 4)"
+      if: matrix.mbedtls == 'mbedtls@4'
       shell: freebsd {0}
       run: |
         cd $GITHUB_WORKSPACE;

.github/workflows/build-and-test.yaml

@@ -59,6 +59,7 @@ jobs:
         # We only test several OTP versions with default compilers for supported OSes (gcc 11, gcc 13, clang 14, clang 18)
         cc: ["gcc-11", "gcc-13", "clang-14", "clang-18"]
         otp: ["26", "27", "28"]
+        mbedtls: ["default"]
 
         include:
         ### gcc
@@ -159,6 +160,12 @@ jobs:
           otp: "master"
           elixir_version: "main"
 
+        # Additional mbedtls@4 coverage with the default Linux toolchain
+        - cc: "cc"
+          cxx: "c++"
+          otp: "28"
+          mbedtls: "mbedtls@4"
+
         # Additional latest & -Os compiler builds
         - cc: "gcc-14"
           cxx: "g++-14"
@@ -494,13 +501,26 @@ jobs:
       run: sudo apt update -y
 
     - name: "Install deps"
-      if: matrix.container != ''
-      run: sudo apt install -y ${{ matrix.compiler_pkgs}} cmake gperf zlib1g-dev doxygen valgrind libmbedtls-dev
+      if: matrix.container != '' && matrix.mbedtls != 'mbedtls@4'
+      run: |
+        sudo apt install -y ${{ matrix.compiler_pkgs}} cmake gperf zlib1g-dev doxygen valgrind libmbedtls-dev
+
+    - name: "Install deps (MbedTLS 4)"
+      if: matrix.container != '' && matrix.mbedtls == 'mbedtls@4'
+      run: |
+        sudo apt install -y ${{ matrix.compiler_pkgs}} cmake gperf zlib1g-dev doxygen valgrind
 
     - name: "Install deps"
-      if: matrix.container == ''
+      if: matrix.container == '' && matrix.mbedtls != 'mbedtls@4'
+      run: |
+        sudo apt install -y ${{ matrix.compiler_pkgs}} cmake gperf zlib1g-dev doxygen libc6-dbg libmbedtls-dev
+        # Get a more recent valgrind
+        sudo snap install valgrind --classic
+
+    - name: "Install deps (MbedTLS 4)"
+      if: matrix.container == '' && matrix.mbedtls == 'mbedtls@4'
       run: |
-        sudo apt install -y ${{ matrix.compiler_pkgs}} cmake gperf zlib1g-dev doxygen libmbedtls-dev libc6-dbg
+        sudo apt install -y ${{ matrix.compiler_pkgs}} cmake gperf zlib1g-dev doxygen libc6-dbg
         # Get a more recent valgrind
         sudo snap install valgrind --classic
 
@@ -536,6 +556,19 @@ jobs:
           https://repo.hex.pm
           https://cdn.jsdelivr.net/hex
 
+    - name: "Install specific MbedTLS version"
+      if: matrix.mbedtls == 'mbedtls@4'
+      run: |
+        git clone --depth 1 --branch mbedtls-4.0.0 --recurse-submodules https://github.com/Mbed-TLS/mbedtls
+        cd mbedtls
+        mkdir build
+        cd build
+        cmake -DENABLE_TESTING=OFF -DUSE_SHARED_MBEDTLS_LIBRARY=On -DCMAKE_INSTALL_PREFIX=/usr/local ..
+        make -j$(nproc)
+        sudo make install
+        sudo ldconfig
+        echo "MBEDTLS_ROOT_DIR=/usr/local" >> $GITHUB_ENV
+
     # Builder info
     - name: "System info"
       run: |
@@ -566,13 +599,23 @@ jobs:
         key: ${{ matrix.otp || env.DEFAULT_OTP_VERSION }}-${{ hashFiles('**/build-and-test.yaml', 'tests/**/*.erl', 'tests/**/*.hrl', 'tests/**/*.ex') }}-${{ matrix.jit_target_arch || 'nojit' }}-${{ contains(matrix.cmake_opts_other, 'AVM_DISABLE_JIT_DWARF=OFF') && 'dwarf' || 'nodwarf' }}
 
     - name: "Build: run cmake"
+      if: matrix.mbedtls != 'mbedtls@4'
       working-directory: build
       run: |
         cmake ${{ matrix.cmake_opts_fp }} ${{ matrix.cmake_opts_smp }} ${{ matrix.cmake_opts_other || env.DEFAULT_CMAKE_OPTS_OTHER }} ..
         # git clone will use more recent timestamps than cached beam files
         # touch them so we can benefit from the cache and avoid costly beam file rebuild.
         find . -name '*.beam' -exec touch {} \;
 
+    - name: "Build: run cmake (MbedTLS 4)"
+      if: matrix.mbedtls == 'mbedtls@4'
+      working-directory: build
+      run: |
+        cmake -DMBEDTLS_ROOT_DIR=/usr/local ${{ matrix.cmake_opts_fp }} ${{ matrix.cmake_opts_smp }} ${{ matrix.cmake_opts_other || env.DEFAULT_CMAKE_OPTS_OTHER }} ..
+        # git clone will use more recent timestamps than cached beam files
+        # touch them so we can benefit from the cache and avoid costly beam file rebuild.
+        find . -name '*.beam' -exec touch {} \;
+
     - name: "Build: run make"
       working-directory: build
       run: make -j3

.github/workflows/build-libraries.yaml

@@ -19,6 +19,8 @@ jobs:
     runs-on: "ubuntu-22.04"
     strategy:
       fail-fast: false
+      matrix:
+        mbedtls: ["default", "mbedtls@4"]
 
     steps:
     - name: "Checkout repo"
@@ -36,10 +38,26 @@ jobs:
 
     - name: "Install deps"
       run: |
-        sudo apt install -y build-essential cmake gperf zlib1g-dev libmbedtls-dev
+        sudo apt install -y build-essential cmake gperf zlib1g-dev
+        if [[ "${{ matrix.mbedtls }}" == "default" ]]; then
+            sudo apt install -y libmbedtls-dev
+        fi
         # Get a more recent valgrind
         sudo snap install valgrind --classic
 
+    - name: "Install specific MbedTLS version"
+      if: matrix.mbedtls == 'mbedtls@4'
+      run: |
+        git clone --depth 1 --branch mbedtls-4.0.0 --recurse-submodules https://github.com/Mbed-TLS/mbedtls
+        cd mbedtls
+        mkdir build
+        cd build
+        cmake -DENABLE_TESTING=OFF -DUSE_SHARED_MBEDTLS_LIBRARY=On -DCMAKE_INSTALL_PREFIX=/usr/local ..
+        make -j$(nproc)
+        sudo make install
+        sudo ldconfig
+        echo "MBEDTLS_ROOT_DIR=/usr/local" >> $GITHUB_ENV
+
     # Builder info
     - name: "System info"
       run: |
@@ -64,7 +82,7 @@ jobs:
     - name: "Build: run cmake"
       working-directory: build
       run: |
-        cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
+        cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ${MBEDTLS_ROOT_DIR:+-DMBEDTLS_ROOT_DIR=$MBEDTLS_ROOT_DIR} ..
 
     - name: "Build: run make"
       working-directory: build
@@ -124,7 +142,7 @@ jobs:
 
     - name: Release
       uses: softprops/action-gh-release@v1
-      if: startsWith(github.ref, 'refs/tags/')
+      if: startsWith(github.ref, 'refs/tags/') && matrix.mbedtls == 'default'
       with:
         draft: true
         fail_on_unmatched_files: true

.github/workflows/esp32-build.yaml

@@ -51,6 +51,7 @@ jobs:
          - 'v5.3.4'
          - 'v5.4.3'
          - 'v5.5.3'
+         - 'v6.0'
 
         include:
         - esp-idf-target: "esp32p4"

.github/workflows/esp32-simtest.yaml

@@ -98,6 +98,10 @@ jobs:
             idf-version: "v5.5.3"
           - esp-idf-target: "esp32c61"
             idf-version: "v5.5.3"
+          - esp-idf-target: "esp32"
+            idf-version: "v6.0"
+          - esp-idf-target: "esp32s3"
+            idf-version: "v6.0"
 
     steps:
       - name: Checkout repo

doc/src/programmers-guide.md

@@ -1400,7 +1400,7 @@ Use the [`esp:deep_sleep/1`](./apidocs/erlang/eavmlib/esp.md#deep_sleep1) functi
 esp:deep_sleep(60*1000).
 ```
 
-Use the [`esp:sleep_get_wakeup_cause/0`](./apidocs/erlang/eavmlib/esp.md#sleep_get_wakeup_cause0) function to inspect the reason for a wakeup.  Possible return values include:
+For ESP-IDF 5.5 compatibility, use [`esp:sleep_get_wakeup_cause/0`](./apidocs/erlang/eavmlib/esp.md#sleep_get_wakeup_cause0) to inspect a single wakeup reason. Possible values include:
 
 * `sleep_wakeup_ext0`
 * `sleep_wakeup_ext1`
@@ -1411,7 +1411,7 @@ Use the [`esp:sleep_get_wakeup_cause/0`](./apidocs/erlang/eavmlib/esp.md#sleep_g
 * `sleep_wakeup_uart`
 * `sleep_wakeup_wifi`
 * `sleep_wakeup_cocpu`
-* `sleep_wakeup_cocpu_trag_trig`
+* `sleep_wakeup_cocpu_trap_trig`
 * `sleep_wakeup_bt`
 * `undefined` (no sleep wakeup)
 * `error` (unknown other reason)
@@ -1431,6 +1431,20 @@ case esp:sleep_get_wakeup_cause() of
 end.
 ```
 
+For ESP-IDF 6+, use [`esp:sleep_get_wakeup_causes/0`](./apidocs/erlang/eavmlib/esp.md#sleep_get_wakeup_causes0) to inspect all wakeup reasons. This function returns a list, since a wakeup may have multiple causes.
+
+The values match the semantics of [`esp_sleep_get_wakeup_causes`](https://docs.espressif.com/projects/esp-idf/en/release-v6.0/esp32/api-reference/system/sleep_modes.html).
+
+```erlang
+WakeupCauses = esp:sleep_get_wakeup_causes(),
+case WakeupCauses of
+    [] ->
+        io:format("No wakeup cause available~n");
+    _ ->
+        io:format("Wakeup causes: ~p~n", [WakeupCauses])
+end.
+```
+
 Use the [`esp:sleep_enable_ext0_wakeup/2`](./apidocs/erlang/eavmlib/esp.md#sleep_enable_ext0_wakeup2) and [`esp:sleep_enable_ext1_wakeup/2`](./apidocs/erlang/eavmlib/esp.md#sleep_enable_ext1_wakeup2) functions to configure ext0 and ext1 wakeup mechanisms. They follow the semantics of [`esp_sleep_enable_ext0_wakeup`](https://docs.espressif.com/projects/esp-idf/en/release-v5.5/esp32/api-reference/system/sleep_modes.html#_CPPv428esp_sleep_enable_ext0_wakeup10gpio_num_ti) and [`esp_sleep_enable_ext1_wakeup`](https://docs.espressif.com/projects/esp-idf/en/release-v5.5/esp32/api-reference/system/sleep_modes.html#_CPPv428esp_sleep_enable_ext1_wakeup8uint64_t28esp_sleep_ext1_wakeup_mode_t).
 
 ```erlang

libs/avm_esp32/src/esp.erl

@@ -30,6 +30,7 @@
     restart/0,
     reset_reason/0,
     sleep_get_wakeup_cause/0,
+    sleep_get_wakeup_causes/0,
     sleep_enable_ext0_wakeup/2,
     sleep_enable_ext1_wakeup/2,
     sleep_enable_ext1_wakeup_io/2,
@@ -174,6 +175,15 @@ reset_reason() ->
 sleep_get_wakeup_cause() ->
     erlang:nif_error(undefined).
 
+%%-----------------------------------------------------------------------------
+%% @returns wakeup causes for the previous sleep operation
+%% @doc     Returns all causes for the wakeup
+%% @end
+%%-----------------------------------------------------------------------------
+-spec sleep_get_wakeup_causes() -> [esp_wakeup_cause()].
+sleep_get_wakeup_causes() ->
+    erlang:nif_error(undefined).
+
 %%-----------------------------------------------------------------------------
 %% @doc Configure gpio wakeup from deep sleep.
 %% Implemented for SOCs that support it (ESP32, ESP32S2, ESP32S3)