TactilityProject · KenVanHoeylandt · Sep 12, 2026 · Sep 9, 2026 · Sep 9, 2026 · Sep 10, 2026
diff --git a/.github/actions/build-firmware/action.yml b/.github/actions/build-firmware/action.yml
@@ -20,7 +20,7 @@ runs:
     - name: 'Build'
       uses: espressif/esp-idf-ci-action@v1
       with:
-        esp_idf_version: v5.5.2
+        esp_idf_version: v6.1
         target: ${{ inputs.arch }}
         path: './'
     - name: 'Release'

diff --git a/.github/actions/build-sdk/action.yml b/.github/actions/build-sdk/action.yml
@@ -21,14 +21,14 @@ runs:
       uses: espressif/esp-idf-ci-action@v1
       with:
         # NOTE: Update with ESP-IDF!
-        esp_idf_version: v5.5.2
+        esp_idf_version: v6.1
         target: ${{ inputs.arch }}
         path: './'
     - name: 'Release'
       shell: bash
       env:
         # NOTE: Update with ESP-IDF!
-        ESP_IDF_VERSION: '5.5.2'
+        ESP_IDF_VERSION: '6.1'
       run: python Buildscripts/release-sdk-esp32.py release/TactilitySDK
     - name: 'Test Integration Prep'
       shell: bash
@@ -41,7 +41,7 @@ runs:
     - name: 'Test Integration'
       uses: espressif/esp-idf-ci-action@v1
       with:
-        esp_idf_version: v5.5.2
+        esp_idf_version: v6.1
         target: ${{ inputs.arch }}
         command: export TACTILITY_SDK_PATH=../../test_sdk && cd Tests/SdkIntegration && python tactility.py build -a ${{ inputs.arch }} --local-sdk
     - name: 'Upload Artifact'

diff --git a/.github/actions/build-simulator/action.yml b/.github/actions/build-simulator/action.yml
@@ -40,6 +40,13 @@ runs:
       uses: jwlawson/actions-setup-cmake@v2
       with:
         cmake-version: '3.31.x'
+    - name: Setup Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
+    - name: Install mbedtls codegen Python dependencies
+      shell: bash
+      run: pip install -r Libraries/mbedtls/scripts/driver.requirements.txt
     - name: "Prepare Project"
       shell: bash
       run: cmake -S ./ -B buildsim

diff --git a/Buildscripts/sdkconfig/default.properties b/Buildscripts/sdkconfig/default.properties
@@ -8,6 +8,19 @@ CONFIG_IDF_EXPERIMENTAL_FEATURES=y
 CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH=y
 CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH=y
 CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH=y
+# Wi-Fi hot-path code normally duplicated into IRAM for throughput/latency
+# Tactility's Wi-Fi usage (HTTP/NTP/ESP-NOW, not sustained high-throughput streaming) doesn't need it.
+# Frees >27KB IRAM across Wi-Fi-enabled boards.
+CONFIG_ESP_WIFI_IRAM_OPT=n
+CONFIG_ESP_WIFI_RX_IRAM_OPT=n
+CONFIG_ESP_WIFI_EXTRA_IRAM_OPT=n
+CONFIG_ESP_WIFI_SLP_IRAM_OPT=n
+CONFIG_WIFI_RMT_IRAM_OPT=n
+CONFIG_WIFI_RMT_EXTRA_IRAM_OPT=n
+CONFIG_WIFI_RMT_RX_IRAM_OPT=n
+CONFIG_WIFI_RMT_SLP_IRAM_OPT=n
+CONFIG_LIBC_OPTIMIZED_MISALIGNED_ACCESS=n
+CONFIG_LOG_IN_IRAM=n
 # EmbedTLS
 # Use TLS 1.2 because 1.3 conflicts with MbedTLS dynamic buffer
 CONFIG_MBEDTLS_SSL_PROTO_TLS1_2=y

diff --git a/Devices/btt-panda-touch/bigtreetech,panda-touch.dts b/Devices/btt-panda-touch/bigtreetech,panda-touch.dts
@@ -4,7 +4,7 @@
 #include <tactility/bindings/esp32_ble.h>
 #include <tactility/bindings/esp32_wifi_pinned.h>
 #include <tactility/bindings/esp32_gpio.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_usbhost.h>
 #include <tactility/bindings/esp32_pwm_ledc.h>
 #include <tactility/bindings/pwm_backlight.h>
@@ -30,7 +30,7 @@
 	};
 
 	i2c_internal: i2c0 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 2 GPIO_FLAG_NONE>;
@@ -47,7 +47,7 @@
 	};
 
 	i2c_external: i2c1 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 4 GPIO_FLAG_NONE>;

diff --git a/Devices/btt-panda-touch/source/module.cpp b/Devices/btt-panda-touch/source/module.cpp
@@ -3,7 +3,12 @@
 extern "C" {
 
 Module btt_panda_touch_module = {
-    .name = "btt-panda-touch"
+    .name = "btt-panda-touch",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
 };
 
 }
diff --git a/Devices/cl32/cl32.dts b/Devices/cl32/cl32.dts
@@ -3,7 +3,7 @@
 #include <tactility/bindings/root.h>
 #include <tactility/bindings/esp32_gpio.h>
 #include <tactility/bindings/esp32_grove.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_spi.h>
 #include <tactility/bindings/esp32_sdspi.h>
 #include <tactility/bindings/esp32_wifi.h>
@@ -29,7 +29,7 @@
 	// Top Stemma/Qwiic port 1 shares this bus with the keyboard and RTC (SDA: pin 1 <-> SCL: pin 2).
 	// External I2C devices on that port are reachable via i2c0.
 	i2c0 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <100000>;
 		pin-sda = <&gpio0 1 GPIO_FLAG_PULL_UP>;

diff --git a/Devices/cyd-2432s024c/cyd,2432s024c.dts b/Devices/cyd-2432s024c/cyd,2432s024c.dts
@@ -3,7 +3,7 @@
 #include <tactility/bindings/root.h>
 #include <tactility/bindings/esp32_wifi_pinned.h>
 #include <tactility/bindings/esp32_gpio.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_spi.h>
 #include <tactility/bindings/esp32_sdspi.h>
 #include <tactility/bindings/esp32_pwm_ledc.h>
@@ -26,7 +26,7 @@
 	};
 
 	i2c0 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 33 GPIO_FLAG_NONE>;

diff --git a/Devices/cyd-2432s024c/source/module.cpp b/Devices/cyd-2432s024c/source/module.cpp
@@ -4,6 +4,11 @@ extern "C" {
 
 Module cyd_2432s024c_module = {
     .name = "cyd-2432s024c",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
 };
 
 }
diff --git a/Devices/cyd-2432s024r/source/module.cpp b/Devices/cyd-2432s024r/source/module.cpp
@@ -3,7 +3,12 @@
 extern "C" {
 
 Module cyd_2432s024r_module = {
-    .name = "cyd-2432s024r"
+    .name = "cyd-2432s024r",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
 };
 
 }
diff --git a/Devices/cyd-2432s028r/cyd,2432s028r.dts b/Devices/cyd-2432s028r/cyd,2432s028r.dts
@@ -3,7 +3,7 @@
 #include <tactility/bindings/root.h>
 #include <tactility/bindings/esp32_wifi_pinned.h>
 #include <tactility/bindings/esp32_gpio.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_spi.h>
 #include <tactility/bindings/esp32_uart.h>
 #include <tactility/bindings/esp32_sdspi.h>
@@ -27,7 +27,7 @@
 	};
 
 	i2c_cn1 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 27 GPIO_FLAG_NONE>;

diff --git a/Devices/cyd-2432s028r/source/module.cpp b/Devices/cyd-2432s028r/source/module.cpp
@@ -3,7 +3,12 @@
 extern "C" {
 
 Module cyd_2432s028r_module = {
-    .name = "cyd-2432s028r"
+    .name = "cyd-2432s028r",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
 };
 
 }
diff --git a/Devices/cyd-2432s028rv3/cyd,2432s028rv3.dts b/Devices/cyd-2432s028rv3/cyd,2432s028rv3.dts
@@ -3,7 +3,7 @@
 #include <tactility/bindings/root.h>
 #include <tactility/bindings/esp32_wifi_pinned.h>
 #include <tactility/bindings/esp32_gpio.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_uart.h>
 #include <tactility/bindings/esp32_spi.h>
 #include <tactility/bindings/esp32_sdspi.h>
@@ -27,7 +27,7 @@
 	};
 
 	i2c_cn1 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 27 GPIO_FLAG_NONE>;

diff --git a/Devices/cyd-2432s028rv3/source/module.cpp b/Devices/cyd-2432s028rv3/source/module.cpp
@@ -3,7 +3,12 @@
 extern "C" {
 
 Module cyd_2432s028rv3_module = {
-    .name = "cyd-2432s028rv3"
+    .name = "cyd-2432s028rv3",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
 };
 
 }
diff --git a/Devices/cyd-2432s032c/cyd,2432s032c.dts b/Devices/cyd-2432s032c/cyd,2432s032c.dts
@@ -3,7 +3,7 @@
 #include <tactility/bindings/root.h>
 #include <tactility/bindings/esp32_wifi_pinned.h>
 #include <tactility/bindings/esp32_gpio.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_spi.h>
 #include <tactility/bindings/esp32_sdspi.h>
 #include <tactility/bindings/esp32_pwm_ledc.h>
@@ -26,7 +26,7 @@
 	};
 
 	i2c0 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 33 GPIO_FLAG_NONE>;

diff --git a/Devices/cyd-2432s032c/source/module.cpp b/Devices/cyd-2432s032c/source/module.cpp
@@ -3,7 +3,12 @@
 extern "C" {
 
 Module cyd_2432s032c_module = {
-    .name = "cyd-2432s032c"
+    .name = "cyd-2432s032c",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
 };
 
 }
diff --git a/Devices/cyd-3248s035c/cyd,3248s035c.dts b/Devices/cyd-3248s035c/cyd,3248s035c.dts
@@ -3,7 +3,7 @@
 #include <tactility/bindings/root.h>
 #include <tactility/bindings/esp32_wifi_pinned.h>
 #include <tactility/bindings/esp32_gpio.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_spi.h>
 #include <tactility/bindings/esp32_uart.h>
 #include <tactility/bindings/esp32_sdspi.h>
@@ -27,7 +27,7 @@
 	};
 
 	i2c_internal: i2c0 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 33 GPIO_FLAG_NONE>;
@@ -43,7 +43,7 @@
 
 	// CN1 header
 	i2c_external: i2c1 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 21 GPIO_FLAG_NONE>;

diff --git a/Devices/cyd-3248s035c/source/module.cpp b/Devices/cyd-3248s035c/source/module.cpp
@@ -1,9 +1,14 @@
-#include <tactility/module.h>
-
-extern "C" {
-
-Module cyd_3248s035c_module = {
-    .name = "cyd-3248s035c"
-};
-
-}
+#include <tactility/module.h>
+
+extern "C" {
+
+Module cyd_3248s035c_module = {
+    .name = "cyd-3248s035c",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
+};
+
+}
diff --git a/Devices/cyd-4848s040c/cyd,4848s040c.dts b/Devices/cyd-4848s040c/cyd,4848s040c.dts
@@ -4,7 +4,7 @@
 #include <tactility/bindings/esp32_ble.h>
 #include <tactility/bindings/esp32_wifi_pinned.h>
 #include <tactility/bindings/esp32_gpio.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_sdspi.h>
 #include <tactility/bindings/esp32_spi.h>
 #include <tactility/bindings/esp32_pwm_ledc.h>
@@ -30,7 +30,7 @@
 	};
 
 	i2c0 {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 19 GPIO_FLAG_NONE>;

diff --git a/Devices/cyd-4848s040c/source/module.cpp b/Devices/cyd-4848s040c/source/module.cpp
@@ -3,7 +3,12 @@
 extern "C" {
 
 Module cyd_4848s040c_module = {
-    .name = "cyd-4848s040c"
+    .name = "cyd-4848s040c",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
 };
 
 }
diff --git a/Devices/cyd-8048s043c/cyd,8048s043c.dts b/Devices/cyd-8048s043c/cyd,8048s043c.dts
@@ -4,7 +4,7 @@
 #include <tactility/bindings/esp32_ble.h>
 #include <tactility/bindings/esp32_wifi_pinned.h>
 #include <tactility/bindings/esp32_gpio.h>
-#include <tactility/bindings/esp32_i2c.h>
+#include <tactility/bindings/esp32_i2c_master.h>
 #include <tactility/bindings/esp32_uart.h>
 #include <tactility/bindings/esp32_spi.h>
 #include <tactility/bindings/esp32_sdspi.h>
@@ -31,7 +31,7 @@
 	};
 
 	i2c_internal {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 19 GPIO_FLAG_NONE>;
@@ -49,7 +49,7 @@
 	};
 
 	i2c_external {
-		compatible = "espressif,esp32-i2c";
+		compatible = "espressif,esp32-i2c-master";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
 		pin-sda = <&gpio0 17 GPIO_FLAG_NONE>;

diff --git a/Devices/cyd-8048s043c/source/module.cpp b/Devices/cyd-8048s043c/source/module.cpp
@@ -3,7 +3,12 @@
 extern "C" {
 
 Module cyd_8048s043c_module = {
-    .name = "cyd-8048s043c"
+    .name = "cyd-8048s043c",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
 };
 
 }