choco-technologies · Copilot · May 11, 2026 · May 11, 2026 · May 15, 2026 · May 15, 2026
diff --git a/Docker/Dockerfile.env b/Docker/Dockerfile.env
@@ -3,7 +3,7 @@ FROM ubuntu:20.04
 ENV DEBIAN_FRONTEND=noninteractive
 
 # This line installs wget tool - you don't need to use it if you already have it
-RUN apt-get update && apt-get install -y wget gcc g++ make git jq zip unzip libcurl4-openssl-dev gcovr openocd libusb-1.0-0 ca-certificates xz-utils
+RUN apt-get update && apt-get install -y wget gcc g++ make git jq zip unzip libcurl4-openssl-dev gcovr openocd libusb-1.0-0 ca-certificates xz-utils python3 python3-pip python3-venv ninja-build
 
 # This downloads an installation script and run it 
 RUN wget -O - https://raw.githubusercontent.com/JohnAmadis/choco-scripts/refs/heads/master/install-choco-scripts.sh | bash
@@ -38,7 +38,7 @@ ENV XTENSA_ESP_FILE_PATH=$TOOLS_DIR/$XTENSA_ESP_FILE_NAME
 WORKDIR /tools
 RUN wget https://github.com/espressif/crosstool-NG/releases/download/esp-$XTENSA_ESP_VERSION/$XTENSA_ESP_FILE_NAME
 
-# Installs Xtensa tools (generic ESP toolchain, exposed as xtensa-esp32s3-elf- for Dmod)
+# Installs Xtensa tools (ESP toolchain; includes xtensa-esp32s3-elf-* binaries natively)
 WORKDIR /tools
 RUN tar xf $XTENSA_ESP_FILE_PATH
 RUN rm -f $XTENSA_ESP_FILE_PATH
@@ -47,15 +47,17 @@ RUN XTENSA_ESP_SRC_DIR="$(find $TOOLS_DIR -maxdepth 1 -mindepth 1 -type d \( -na
 	test -n "$XTENSA_ESP_SRC_DIR" && \
 	if [ "$XTENSA_ESP_SRC_DIR" != "$XTENSA_ESP_DIR_PATH" ]; then mv "$XTENSA_ESP_SRC_DIR" "$XTENSA_ESP_DIR_PATH"; fi
 ENV XTENSA_ESP_BIN_DIR_PATH=$XTENSA_ESP_DIR_PATH/bin
-RUN ln -sf $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp-elf-gcc $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp32s3-elf-gcc && \
-	ln -sf $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp-elf-g++ $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp32s3-elf-g++ && \
-	ln -sf $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp-elf-ld $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp32s3-elf-ld && \
-	ln -sf $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp-elf-objdump $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp32s3-elf-objdump && \
-	ln -sf $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp-elf-objcopy $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp32s3-elf-objcopy && \
-	ln -sf $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp-elf-ar $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp32s3-elf-ar && \
-	ln -sf $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp-elf-size $XTENSA_ESP_BIN_DIR_PATH/xtensa-esp32s3-elf-size
 ENV PATH=$PATH:$XTENSA_ESP_BIN_DIR_PATH
 
+# Installs ESP-IDF
+ENV ESP_IDF_VERSION=v5.2.2
+ENV IDF_TOOLS_PATH=/tools/.espressif
+ENV IDF_PATH=/tools/esp-idf
+WORKDIR /tools
+RUN git clone --recursive --branch $ESP_IDF_VERSION https://github.com/espressif/esp-idf.git $IDF_PATH
+RUN $IDF_PATH/install.sh esp32s3
+RUN echo '. $IDF_PATH/export.sh >/dev/null 2>&1' >> /etc/bash.bashrc
+
 # Installs cmake from the repository
 ENV CMAKE_VERSION=3.31.3
 ENV CMAKE_URL=https://github.com/Kitware/CMake/releases/download/v$CMAKE_VERSION/cmake-$CMAKE_VERSION-linux-x86_64.sh

diff --git a/configs/arch/xtensa/esp32s3/tools-cfg.cmake b/configs/arch/xtensa/esp32s3/tools-cfg.cmake
@@ -67,10 +67,36 @@ endif()
 # ==============================================================================
 set(DMOD_ARCH "xtensa-esp32s3" CACHE STRING "Target architecture")
 set(DMOD_CPU "esp32s3" CACHE STRING "Target CPU")
+
+if(NOT DEFINED IDF_PATH)
+    if(DEFINED ENV{IDF_PATH} AND NOT "$ENV{IDF_PATH}" STREQUAL "")
+        set(IDF_PATH "$ENV{IDF_PATH}" CACHE PATH "ESP-IDF path")
+    else()
+        set(IDF_PATH "/tools/esp-idf" CACHE PATH "ESP-IDF path")
+    endif()
+endif()
+
+set(ESP_IDF_INCLUDE_FLAGS "")
+if(EXISTS "${IDF_PATH}")
+    file(GLOB_RECURSE ESP_IDF_INCLUDE_DIRS LIST_DIRECTORIES true
+        "${IDF_PATH}/components/*/include"
+        "${IDF_PATH}/components/*/*/include"
+        "${IDF_PATH}/components/*/*/*/include"
+    )
+    list(APPEND ESP_IDF_INCLUDE_DIRS "${IDF_PATH}/components/esp_hw_support/include")
+    list(REMOVE_DUPLICATES ESP_IDF_INCLUDE_DIRS)
+
+    foreach(ESP_IDF_INCLUDE_DIR ${ESP_IDF_INCLUDE_DIRS})
+        string(APPEND ESP_IDF_INCLUDE_FLAGS " -I${ESP_IDF_INCLUDE_DIR}")
+    endforeach()
+else()
+    message(WARNING "ESP-IDF directory not found: ${IDF_PATH}. ESP-IDF headers will not be available.")
+endif()
+
 set(COMMON_DEFINE_FLAGS "-DDMOD_ARCH=\\\"${DMOD_ARCH}\\\" -DDMOD_CPU=\\\"${DMOD_CPU}\\\"")
-set(CPUCONFIG_CFLAGS "-mlongcalls -mtext-section-literals -fstrict-volatile-bitfields -Wno-frame-address ${COMMON_DEFINE_FLAGS}" CACHE STRING "C compiler flags")
-set(CPUCONFIG_CXXFLAGS "-mlongcalls -mtext-section-literals -fstrict-volatile-bitfields -Wno-frame-address ${COMMON_DEFINE_FLAGS}" CACHE STRING "C++ compiler flags")
-set(CPUCONFIG_ASMFLAGS "-mlongcalls -mtext-section-literals -fstrict-volatile-bitfields -Wno-frame-address ${COMMON_DEFINE_FLAGS}" CACHE STRING "ASM compiler flags")
+set(CPUCONFIG_CFLAGS "-mlongcalls -mtext-section-literals -fstrict-volatile-bitfields -Wno-frame-address ${COMMON_DEFINE_FLAGS}${ESP_IDF_INCLUDE_FLAGS}" CACHE STRING "C compiler flags")
+set(CPUCONFIG_CXXFLAGS "-mlongcalls -mtext-section-literals -fstrict-volatile-bitfields -Wno-frame-address ${COMMON_DEFINE_FLAGS}${ESP_IDF_INCLUDE_FLAGS}" CACHE STRING "C++ compiler flags")
+set(CPUCONFIG_ASMFLAGS "-mlongcalls -mtext-section-literals -fstrict-volatile-bitfields -Wno-frame-address ${COMMON_DEFINE_FLAGS}${ESP_IDF_INCLUDE_FLAGS}" CACHE STRING "ASM compiler flags")
 set(CPUCONFIG_LDFLAGS "-Wl,--gc-sections -Wl,-static -mlongcalls -mtext-section-literals" CACHE STRING "Linker flags")
 set(CMAKE_C_COMPILER "${ESP32S3_GCC}" CACHE STRING "C compiler")
 set(CMAKE_CXX_COMPILER "${ESP32S3_GXX}" CACHE STRING "C++ compiler")

diff --git a/docs/tools-installation.md b/docs/tools-installation.md
@@ -343,14 +343,16 @@ The DMOD framework is available as a ready-to-use Docker image that contains all
 The Docker image contains:
 
 - **DMOD Tools:** dmf-get, todmm, todmfc, todmp, todmd, whereisdmf, mkdmrpkg
-- **Compiler:** GCC arm-none-eabi (version 10.3-2021.10)
+- **Compilers:**
+  - GCC arm-none-eabi (version 10.3-2021.10) — for ARM Cortex-M targets
+  - Xtensa ESP toolchain (version 14.2.0_20260121) — for ESP32/ESP32-S3/ESP32-S2 targets (`xtensa-esp32s3-elf-gcc`, `xtensa-esp-elf-gcc`, etc.)
 - **Build system:** CMake (version 3.31.3), Make
 - **Development tools:** OpenOCD, gcovr, git, jq, zip/unzip
 - **Libraries:** libcurl, libusb
 - **Configured environment variables:**
   - `DMOD_DMF_DIR=/tools/dmf`
   - `DMOD_DMFC_DIR=/tools/dmfc`
-  - `PATH` includes `/usr/local/bin` with DMOD tools
+  - `PATH` includes `/usr/local/bin` with DMOD tools, `/tools/gcc-arm-none-eabi/bin`, and `/tools/xtensa-esp-elf/bin`
 
 ### Using the Docker Image
 
@@ -374,13 +376,21 @@ docker run --rm -v $(pwd):/workspace -w /workspace \
     chocotechnologies/dmod:1.0.4 dmf-get mymodule
 ```
 
-**Build project in container:**
+**Build project in container (x86_64):**
 ```bash
 # Mount project directory and build
 docker run --rm -v $(pwd):/project -w /project \
     chocotechnologies/dmod:1.0.4 bash -c "cmake -B build && cmake --build build"
 ```
 
+**Build project in container (ESP32-S3 / Xtensa):**
+```bash
+# Mount project directory and build for ESP32-S3
+docker run --rm -v $(pwd):/project -w /project \
+    chocotechnologies/dmod:1.0.4 bash -c \
+    "mkdir -p build && cd build && cmake .. -DDMOD_TOOLS_NAME=arch/xtensa/esp32s3 && cmake --build ."
+```
+
 ### Customizing the Image
 
 You can extend the Docker image with additional tools: