README for the Expressif ESP32 Core board (V2) ============================================== The ESP32 is a dual-core system from Expressif with two Harvard architecture Xtensa LX6 CPUs. All embedded memory, external memory and peripherals are located on the data bus and/or the instruction bus of these CPUs. With some minor exceptions, the address mapping of two CPUs is symmetric, meaning they use the same addresses to access the same memory. Multiple peripherals in the system can access embedded memory via DMA. The two CPUs are named "PRO_CPU" and "APP_CPU" (for "protocol" and "application"), however for most purposes the two CPUs are interchangeable. Contents ======== o ESP32 Features o ESP32 Toolchain o Memory Map o Serial Console o Buttons and LEDs o SMP o OpenOCD for the ESP32 o Executing and Debugging from FLASH and IRAM o Configurations o Things to Do STATUS ====== Currently, the NuttX port depends on the bootloader to initialize hardware, including basic (slow) clocking. That is because the clock configuration logic is only available via an Espressif add-on library. Because of this, all board configurations require these settings: CONFIG_EXPERIMENTAL=y CONFIG_DEBUG_FEATURES=y CONFIG_SUPPRESS_CLOCK_CONFIG=y Some configurations may also require: CONFIG_SUPPRESS_UART_CONFIG=y ESP32 Features ============== * Address Space - Symmetric address mapping - 4 GB (32-bit) address space for both data bus and instruction bus - 1296 KB embedded memory address space - 19704 KB external memory address space - 512 KB peripheral address space - Some embedded and external memory regions can be accessed by either data bus or instruction bus - 328 KB DMA address space * Embedded Memory - 448 KB Internal ROM - 520 KB Internal SRAM - 8 KB RTC FAST Memory - 8 KB RTC SLOW Memory * External Memory Off-chip SPI memory can be mapped into the available address space as external memory. Parts of the embedded memory can be used as transparent cache for this external memory. - Supports up to 16 MB off-Chip SPI Flash. - Supports up to 8 MB off-Chip SPI SRAM. * Peripherals - 41 peripherals * DMA - 13 modules are capable of DMA operation ESP32 Toolchain =============== You must use the custom Xtensa toolchain in order to build the ESP32 Core BSP. The steps to build toolchain with crosstool-NG on Linux are as follows: git clone -b xtensa-1.22.x https://github.com/espressif/crosstool-NG.git cd crosstool-NG ./bootstrap && ./configure --prefix=$PWD && make install ./ct-ng xtensa-esp32-elf ./ct-ng build chmod -R u+w builds/xtensa-esp32-elf These steps are given in setup guide in ESP-IDF repository: https://github.com/espressif/esp-idf/blob/master/docs/linux-setup.rst#alternative-step-1-compile-the-toolchain-from-source-using-crosstool-ng NOTE: The xtensa-esp32-elf configuration is only available in the xtensa-1.22.x branch. Memory Map ========== Address Mapping ----------- ---------- ---------- --------------- --------------- BUS TYPE START LAST DESCRIPTION NOTES ----------- ---------- ---------- --------------- --------------- 0x00000000 0x3F3FFFFF Reserved Data 0x3F400000 0x3F7FFFFF External Memory Data 0x3F800000 0x3FBFFFFF External Memory 0x3FC00000 0x3FEFFFFF Reserved Data 0x3FF00000 0x3FF7FFFF Peripheral Data 0x3FF80000 0x3FFFFFFF Embedded Memory Instruction 0x40000000 0x400C1FFF Embedded Memory Instruction 0x400C2000 0x40BFFFFF External Memory 0x40C00000 0x4FFFFFFF Reserved Data / 0x50000000 0x50001FFF Embedded Memory Instruction 0x50002000 0xFFFFFFFF Reserved Embedded Memory ----------- ---------- ---------- --------------- --------------- BUS TYPE START LAST DESCRIPTION NOTES ----------- ---------- ---------- --------------- --------------- Data 0x3ff80000 0x3ff81fff RTC FAST Memory PRO_CPU Only 0x3ff82000 0x3ff8ffff Reserved Data 0x3ff90000 0x3ff9ffff Internal ROM 1 0x3ffa0000 0x3ffadfff Reserved Data 0x3ffae000 0x3ffdffff Internal SRAM 2 DMA Data 0x3ffe0000 0x3fffffff Internal SRAM 1 DMA Boundary Address ----------- ---------- ---------- --------------- --------------- BUS TYPE START LAST DESCRIPTION NOTES ----------- ---------- ---------- --------------- --------------- Instruction 0x40000000 0x40007fff Internal ROM 0 Remap Instruction 0x40008000 0x4005ffff Internal ROM 0 0x40060000 0x4006ffff Reserved Instruction 0x40070000 0x4007ffff Internal SRAM 0 Cache Instruction 0x40080000 0x4009ffff Internal SRAM 0 Instruction 0x400a0000 0x400affff Internal SRAM 1 Instruction 0x400b0000 0x400b7FFF Internal SRAM 1 Remap Instruction 0x400b8000 0x400bffff Internal SRAM 1 Instruction 0x400c0000 0x400c1FFF RTC FAST Memory PRO_CPU Only Data / 0x50000000 0x50001fff RTC SLOW Memory Instruction External Memory ----------- ---------- ---------- --------------- --------------- BUS TYPE START LAST DESCRIPTION NOTES ----------- ---------- ---------- --------------- --------------- Data 0x3f400000 0x3f7fffff External Flash Read Data 0x3f800000 0x3fbfffff External SRAM Read and Write Boundary Address ---------------- Instruction 0x400c2000 0x40bfffff 11512 KB External Flash Read Linker Segments ------------------ ---------- ---------- ---- ---------------------------- DESCRIPTION START END ATTR LINKER SEGMENT NAME ------------------ ---------- ---------- ---- ---------------------------- FLASH mapped data: 0x3f400010 0x3fc00010 R drom0_0_seg - .rodata - Constructors/destructors COMMON data RAM: 0x3ffb0000 0x40000000 RW dram0_0_seg (NOTE 1,2) - .bss/.data IRAM for PRO cpu: 0x40080000 0x400a0000 RX iram0_0_seg - Interrupt Vectors - Low level handlers - Xtensa/Expressif libraries RTC fast memory: 0x400c0000 0x400c2000 RWX rtc_iram_seg (PRO_CPU only) - .rtc.text (unused?) FLASH: 0x400d0018 0x40400018 RX iram0_2_seg (actually FLASH) - .text RTC slow memory: 0x50000000 0x50001000 RW rtc_slow_seg (NOTE 3) - .rtc.data/rodata (unused?) NOTE 1: Linker script will reserve space at the beginning of the segment for BT and at the end for trace memory. NOTE 2: Heap enads at the top of dram_0_seg NOTE 3: Linker script will reserve space at the beginning of the segment for co-processor reserve memory and at the end for ULP coprocessor reserve memory. Serial Console ============== UART0 is, by default, the serial console. It connects to the on-board CP2102 converter and is available on the USB connector USB CON8 (J1). It will show up as /dev/ttypUSB[n] where [n] will probably be 0 (is it 1 on my PC because I have a another device at ttyUSB0). Buttons and LEDs ================ Buttons ------- There are two buttons labeled Boot and EN. The EN button is not available to software. It pulls the chip enable line that doubles as a reset line. The BOOT button is connected to IO0. On reset it is used as a strapping pin to determine whether the chip boots normally or into the serial bootloader. After reset, however, the BOOT button can be used for software input. LEDs ---- There are several on-board LEDs for that indicate the presence of power and USB activity. None of these are available for use by sofware. SMP === The ESP32 has 2 CPUs. Support is included for testing an SMP configuration. That configuration is still not yet ready for usage but can be enabled with the following configuration settings: RTOS Features -> Tasks and Scheduling CONFIG_SPINLOCK=y CONFIG_SMP=y CONFIG_SMP_NCPUS=2 CONFIG_SMP_IDLETHREAD_STACKSIZE=3072 Debug Tip: During debug session, OpenOCD may mysteriously switch from one CPU to another. This behavior can be eliminated by uncommenting one of the following in scripts/esp32.cfg # Only configure the PRO CPU #set ESP32_ONLYCPU 1 # Only configure the APP CPU #set ESP32_ONLYCPU 2 Open Issues: 1. Cache Issues. I have not though about this yet, but certainly caching is an issue in an SMP system: - Cache coherency. Are there separate caches for each CPU? Or a single shared cache? If the are separate then keep the caches coherent will be an issue. - Caching MAY interfere with spinlocks as they are currently implemented. Waiting on a cached copy of the spinlock may result in a hang or a failure to wait. 2. Assertions. On a fatal assertions, other CPUs need to be stopped. OpenOCD for the ESP32 ===================== First you in need some debug environment which would be a JTAG emulator and the ESP32 OpenOCD software which is available here: https://github.com/espressif/openocd-esp32 OpenOCD Documentation --------------------- There is on overiew of the use of OpenOCD here: https://dl.espressif.com/doc/esp-idf/latest/openocd.html This document is also available in ESP-IDF source tree in docs directory (https://github.com/espressif/esp-idf). OpenOCD Configuration File -------------------------- A template ESP32 OpenOCD configuration file is provided in ESP-IDF docs directory (esp32.cfg). Since you are not using FreeRTOS, you will need to uncomment the line: set ESP32_RTOS none in the OpenOCD configuration file. You will also need to change the source line from: find interface/ftdi/tumpa.cfg to reflect the physical JTAG adapter connected. NOTE: A copy of this OpenOCD configuration file available in the NuttX source tree at nuttx/config/esp32-core/scripts/esp32.cfg.. It has these modifications: - The referenced "set ESP32_RTOS none" line has been uncommented - The "ind interface/ftdi/tumpa.cfg". This means that you will need to specify the interface configuration file on the OpenOCD command line. General OpenOCD build instructions ---------------------------------- Installing OpenOCD. The sources for the ESP32-enabled variant of OpenOCD are available from Espressifs Github. To download the source, use the following commands: git clone https://github.com/espressif/openocd-esp32.git cd openocd-esp32 git submodule init git submodule update Then look at the README and the docs/INSTALL.txt files in the openocd-esp32 directory for further instructions. There area separate README files for Linux/Cygwin, macOS, and Windows. Here is what I ended up doing (under Linux): cd openocd-esp32 ./bootstrap ./configure make If you do not do the install step, then you will have a localhost version of the OpenOCD binary at openocd-esp32/src. Starting the OpenOCD Server --------------------------- - cd to openocd-esp32 directory - copy the modified esp32.cfg script to this directory Then start OpenOCD by executing a command like the following. Here I assume that: - You did not install OpenOCD; binararies are avalable at openocd-esp32/src and interface scripts are in openocd-eps32/tcl/interface - I select the configuration for the Olimex ARM-USB-OCD debugger. Then the command to start OpenOCD is: sudo ./src/openocd -s ./tcl -f tcl/interface/ftdi/olimex-arm-usb-ocd.cfg -f ./esp32.cfg I then see: Open On-Chip Debugger 0.10.0-dev-g3098897 (2016-11-14-12:19) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html adapter speed: 200 kHz force hard breakpoints Info : clock speed 200 kHz Info : JTAG tap: esp32.cpu0 tap/device found: 0x120034e5 (mfg: 0x272 (Tensilica), part: 0x2003, ver: 0x1) Info : JTAG tap: esp32.cpu1 tap/device found: 0x120034e5 (mfg: 0x272 (Tensilica), part: 0x2003, ver: 0x1) Info : esp32.cpu0: Debug controller was reset (pwrstat=0x5F, after clear 0x0F). Info : esp32.cpu0: Core was reset (pwrstat=0x5F, after clear 0x0F). Connecting a debugger to OpenOCD -------------------------------- OpenOCD should now be ready to accept gdb connections. If you have compiled the ESP32 toolchain using Crosstool-NG, or if you have downloaded a precompiled toolchain from the Espressif website, you should already have xtensa-esp32-elf-gdb, a version of gdb that can be used for this First, make sure the project you want to debug is compiled and flashed into the ESP32’s SPI flash. Then, in a different console than OpenOCD is running in, invoke gdb. For example, for the template app, you would do this like such: cd nuttx xtensa-esp32-elf-gdb -ex 'target remote localhost:3333' nuttx This should give you a gdb prompt. Breakpoints ----------- You can set up to 2 hardware breakpoints, which can be anywhere in the address space. Also 2 hardware watchpoints. The openocd esp32.cfg file currently forces gdb to use hardware breakpoints, I believe because software breakpoints (or, at least, the memory map for automatically choosing them) aren't implemented yet (as of 2016-11-14). JTAG Emulator ------------- The documentation indicates that you need to use an external JTAG like the TIAO USB Multi-protocol Adapter and the Flyswatter2. The instructions at http://www.esp32.com/viewtopic.php?t=381 show use of an FTDI C232HM-DDHSL-0 USB 2.0 high speed to MPSSE cable. The ESP32 Core v2 board has no on board JTAG connector. It will be necessary to make a cable or some other board to connect a JTAG emulator. Refer to http://www.esp32.com/viewtopic.php?t=381 "How to debug ESP32 with JTAG / OpenOCD / GDB 1st part connect the hardware." Relevant pin-out: -------- ---------- PIN JTAG LABEL FUNCTION -------- ---------- IO14 TMS IO12 TDI GND GND IO13 TCK -------- ---------- IO15 TDO -------- ---------- You can find the mapping of JTAG signals to ESP32 GPIO numbers in "ESP32 Pin List" document found here: http://espressif.com/en/support/download/documents?keys=&field_type_tid%5B%5D=13 I put the ESP32 on a prototyping board and used a standard JTAG 20-pin connector with an older Olimex JTAG that I had. Here is how I wired the 20-pin connector: ----------------- ---------- 20-PIN JTAG ESP32 PIN CONNECTOR LABEL ----------------- ---------- 1 VREF INPUT 3V3 3 nTRST OUTPUT N/C 5 TDI OUTPUT IO12 7 TMS OUTPUT IO14 9 TCLK OUTPUT IO13 11 RTCK INPUT N/C 13 TDO INPUT IO15 15 RESET I/O N/C 17 DBGRQ OUTPUT N/C 19 5V OUTPUT N/C ------------ ---------- 2 VCC INPUT 3V3 4 GND N/A GND 6 GND N/A GND 8 GND N/A GND 10 GND N/A GND 12 GND N/A GND 14 GND N/A GND 16 GND N/A GND 18 GND N/A GND 20 GND N/A GND ------------ ---------- Executing and Debugging from FLASH and IRAM =========================================== Enable Debug Symbols -------------------- To debug with GDB, you will need to enable symbols in the build. You do this with 'make menuconfig' then selecting: - "Build Setup" -> "Debug Options" -> "Generate Debug Symbols" And, to make debugging easier, also disable optimizations. This will make your code a lot bigger: - "Build Setup" -> "Optimization Level" -> "Suppress Optimization" FLASH ----- OpenOCD currently doesn't have a FLASH driver for ESP32, so you can load code into IRAM only via JTAG. FLASH-resident sections like .FLASH.rodata will fail to load. The bootloader in ROM doesn't parse ELF, so any imag which is bootloaded from FLASH has to be converted into a custom image format first. The tool esp-idf uses for flashing is a command line Python tool called "esptool.py" which talks to a serial bootloader in ROM. A version is supplied in the esp-idf codebase in components/esptool_py/esptool, the "upstream" for that tool is here: https://github.com/espressif/esptool/pull/121 The master branch for esptool.py is currently ESP8266-only (as of 2016-11-14), this PR has the ESP32 support which still needs some final tidying up before it's merged. To FLASH an ELF via the command line is a two step process, something like this: esptool.py --chip esp32 elf2image --flash_mode dio --flash_size 4MB -o ./nuttx.bin nuttx esptool.py --chip esp32 --port COMx write_flash 0x1000 bootloader.bin 0x4000 partition_table.bin 0x10000 nuttx.bin The first step converts an ELF image into an ESP32-compatible binary image format, and the second step flashes it (along with bootloader image and partition table binary.) To put the ESP32 into serial flashing mode, it needs to be reset with IO0 held low. On the Core boards this can be accomplished by holding the button marked "Boot" and pressing then releasing the button marked "EN". Actually, esptool.py can enter bootloader mode automatically (via RTS/DTR control lines), but unfortunately a timing interaction between the Windows CP2012 driver and the hardware means this doesn't currently work on Windows. Secondary Boot Loader / Partition Table --------------------------------------- See https://github.com/espressif/esp-idf/tree/master/components/bootloader and https://github.com/espressif/esp-idf/tree/master/components/partition_table. Running from IRAM with OpenOCD ------------------------------ Running from IRAM is a good debug option. You should be able to load the ELF directly via JTAG in this case, and you may not need the bootloader. NuttX supports a configuration option, CONFIG_ESP32CORE_RUN_IRAM, that may be selected for execution from IRAM. This option simply selects the correct linker script for IRAM execution. Skipping the Secondary Bootloader --------------------------------- It is possible to skip the secondary bootloader and run out of IRAM using only the primary bootloader if your application of small enough (< 128KiB code, <180KiB data), then you can simplify initial bring-up by avoiding second stage bootloader. Your application will be loaded into IRAM using first stage bootloader present in ESP32 ROM. To achieve this, you need two things: 1. Have a linker script which places all code into IRAM and all data into IRAM/DRAM 2. Use "esptool.py" utility found in ESP-IDF to convert application .elf file into binary format which can be loaded by first stage bootloader. Again you would need to link the ELF file and convert it to binary format suitable for flashing into the board. The command should to convert ELF file to binary image looks as follows: python esp-idf/components/esptool_py/esptool/esptool.py --chip esp32 elf2image --flash_mode "dio" --flash_freq "40m" --flash_size "2MB" -o nuttx.bin nuttx To flash binary image to your development board, use the same esptool.py utility: python esp-idf/components/esptool_py/esptool/esptool.py --chip esp32 --port /dev/ttyUSB0 --baud 921600 write_flash -z --flash_mode dio --flash_freq 40m --flash_size 2MB 0x1000 nuttx.bin The argument before app.bin (0x1000) indicates the offset in flash where binary will be written. ROM bootloader expects to find an application (or second stage bootloader) image at offset 0x1000, so we are writing the binary there. Clocking -------- Right now, the NuttX port depends on the bootloader to initialize hardware, including basic (slow) clocking. If I had the clock configuration logic, would I be able to run directly out of IRAM without a bootloader? That might be a simpler bring-up. Sample OpenOCD Debug Steps -------------------------- I did the initial bring-up using the IRAM configuration and OpenOCD. Here is a synopsis of my debug steps: configs/esp32-core/nsh with CONFIG_DEBUG_ASSERTIONS=y CONFIG_DEBUG_FEATURES=y CONFIG_DEBUG_SYMBOLS=y CONFIG_ESP32CORE_RUN_IRAM=y I also made this change configuration which will eliminate all attempts to re-configure serial. It will just use the serial settings as they were left by the bootloader: CONFIG_SUPPRESS_UART_CONFIG=y Start OpenOCD: cd ../openocde-esp32 cp ../nuttx/configs/esp32-core/scripts/esp32.cfg . sudo ./src/openocd -s ./tcl/ -f tcl/interface/ftdi/olimex-arm-usb-ocd.cfg -f ./esp32.cfg Start GDB and load code: cd ../nuttx xtensa-esp32-elf-gdb -ex 'target remote localhost:3333' nuttx (gdb) load nuttx (gdb) mon reg pc [value report by load for entry point] (gdb) s Single stepping works fine for me as do breakpoints: Breakpoint 1, xtensa_timer_initialize () at chip/esp32_timerisr.c:172 72 { (gdb) n esp32.cpu0: Target halted, pc=0x400835BF 187 g_tick_divisor = divisor; (gdb) ... Configurations ============== Common Configuration Information -------------------------------- Each ESP32 core configuration is maintained in sub-directories and can be selected as follow: tools/configure.sh esp32-core/ make oldconfig Before building, make sure the PATH environment variable includes the correct path to the directory than holds your toolchain binaries. If this is a Windows native build, then configure.bat should be used instead of configure.sh: configure.bat esp32-core\ And then build NuttX by simply typing the following. At the conclusion of the make, the nuttx binary will reside in an ELF file called, simply, nuttx. make oldconfig make The that is provided above as an argument to the tools/configure.sh must be is one of the directories listed below. NOTES: 1. These configurations use the mconf-based configuration tool. To change any of these configurations using that tool, you should: a. Build and install the kconfig-mconf tool. See nuttx/README.txt see additional README.txt files in the NuttX tools repository. b. Execute 'make menuconfig' in nuttx/ in order to start the reconfiguration process. 2. Unless stated otherwise, all configurations generate console output on UART0 (see the "Serial Console" section above). 3. By default, these configurations assume a 40MHz crystal on- board: CONFIG_ESP32CORE_XTAL_40MZ=y # CONFIG_ESP32CORE_XTAL_26MHz is not set 4. Default configurations are set to run from FLASH. You will need to set CONFIG_ESP32CORE_RUN_IRAM=y for now (see the " Executing and Debugging from FLASH and IRAM" section above). To select this option, do 'make menuconfig'. Then you can find the selection under the "Board Selection" menu as "Run from IRAM". Configuration sub-directories ----------------------------- nsh: Configures the NuttShell (nsh) located at apps/examples/nsh. NOTES: 1. Uses the CP2102 USB/Serial converter for the serial console. 2. I have only tested this in IRAM with UART reconfiguration disabled. See "Sample Debug Steps". In that case, NuttX is started via GDB. It has, however, been reported to me that this configuration also runs when written to address 0x1000 of FLASH with the esptool.py (as described above). Then NuttX is started via the second level bootloader. I cannot vouch for that since I have never tried it. 3. There are open clocking issues. Currently clock configuration logic is disabled because I don't have the technical information to provide that logic -- hopefully that is coming. As a consequence, whatever clock setup was left when NuttX started is used. For the case of execution out of IRAM with GDB, the settings in configs/esp32-core/include/board.h work. To check the timing, I use a stop watch and: nsh> sleep 60 If the timing is correct in the board.h header file, the value timed with the stop watch should be about 60 seconds. If not, change the frequency in the board.h header file. smp: Another NSH configuration, similar to nsh, but also enables SMP operation. It differs from the nsh configuration only in these addtional settings: SMP is enabled: CONFIG_SMP=y CONFIG_SMP_IDLETHREAD_STACKSIZE=3072 CONFIG_SMP_NCPUS=2 CONFIG_SPINLOCK=y The apps/examples/smp test is included: CONFIG_EXAMPLES_SMP=y CONFIG_EXAMPLES_SMP_NBARRIER_THREADS=8 CONFIG_EXAMPLES_SMP_PRIORITY=100 CONFIG_EXAMPLES_SMP_STACKSIZE=2048 NOTES: 1. See NOTES for the nsh configuration. ostest: This is the NuttX test at apps/examples/ostest that is run against all new architecture ports to assure a correct implementation of the OS. The default version is for a single CPU but can be modified for an SMP test by adding: CONFIG_SMP=y CONFIG_SMP_IDLETHREAD_STACKSIZE=2048 CONFIG_SMP_NCPUS=2 CONFIG_SPINLOCK=y NOTES: 1. See NOTES for the nsh configuration. 2. 2016-12-23: Test appears to be fully functional in the single CPU mode. 3. 2016-12-24: But when SMP is enabled, there is a consistent, repeatable crash in the waitpid() test. At the time of the crash, there is extensive memory corruption and a user exception occurrs (cause=28). Things to Do ============ 1. There is no support for an interrupt stack yet. 2. There is no clock intialization logic in place. This depends on logic in Expressif libriaries. The board comes up using that basic 40 Mhz crystal for clocking. Getting to 80 MHz will require clocking initialization in esp32_clockconfig.c. 3. I did not implement the lazy co-processor save logic supported by Xtensa. That logic works like this: a. CPENABLE is set to zero on each context switch, disabling all co- processors. b. If/when the task attempts to use the disabled co-processor, an exception occurs c. The co-processor exception handler re-enables the co-processor. Instead, the NuttX logic saves and restores CPENABLE on each context switch. This has disadvantages in that (1) co-processor context will be saved and restored even if the co-processor was never used, and (2) tasks must explicitly enable and disable co-processors. 4. Currently the Xtensa port copies register state save information from the stack into the TCB. A more efficient alternative would be to just save a pointer to a register state save area in the TCB. This would add some complexity to signal handling and also also the up_initialstate(). But the performance improvement might be worth the effort. 5. See SMP-related issues above 6. See OpenOCD for the ESP32 above 7. Currently will not boot unless serial port initialization is disabled. This will use the serial port settings as left by the preceding bootloader: I also made this change configuration which will eliminate all attempts to re-configure serial. It will just use the serial settings as they were left by the bootloader: CONFIG_SUPPRESS_UART_CONFIG=y I have not debugged this in detail, but this appears to be an issue with the impelentation of esp32_configgpio() and/or gpio_matrix_out() when called from the setup logic in arch/xtensa/src/esp32/esp32_serial.c. I am not inclined to invest a lot in driver debug until the clock configuration is finalized. UPDATE: This may have been fixed with PR 457: https://bitbucket.org/nuttx/nuttx/pull-requests/457/ fix-esp32-gpio-enable-reg-and-default-uart/diff That has not yet been verified.