Compatibility with ESP-IDF 5.4.x, 5.5.x and master (#541)

* Compatibility with ESP-IDF 4.x, 5.x and master

* Run main CI againzst released ESP-IDF

.cargo/config.toml

@@ -24,7 +24,7 @@ rustflags = ["--cfg", "espidf_time64"]
 
 [env]
 ESP_IDF_SDKCONFIG_DEFAULTS = ".github/configs/sdkconfig.defaults"
-ESP_IDF_VERSION = "v5.3.2"
+ESP_IDF_VERSION = "v5.4.2"
 
 [unstable]
 build-std = ["std", "panic_abort"]

.github/workflows/ci.yml

@@ -27,9 +27,11 @@ jobs:
           - xtensa-esp32s2-espidf
           - xtensa-esp32s3-espidf
         idf-version:
-          - release/v4.4
+          - v5.1.6
-          - release/v5.2
+          - v5.2.5
           - v5.3.3
+          - v5.4.2
+          - v5.5
     steps:
       - name: Setup | Checkout
         uses: actions/checkout@v3

examples/blinky_async.rs

@@ -5,12 +5,20 @@
 //! If your board doesn't have on-board LEDs don't forget to add an appropriate resistor.
 //!
 
-use esp_idf_hal::gpio::*;
+#![allow(unexpected_cfgs)]
-use esp_idf_hal::peripherals::Peripherals;
-use esp_idf_hal::task::*;
-use esp_idf_hal::timer::*;
 
+#[cfg(esp_idf_version_at_least_6_0_0)]
+fn main() {
+    panic!("Timer not yet available when building against ESP-IDF 6.0+")
+}
+
+#[cfg(not(esp_idf_version_at_least_6_0_0))]
 fn main() -> anyhow::Result<()> {
+    use esp_idf_hal::gpio::*;
+    use esp_idf_hal::peripherals::Peripherals;
+    use esp_idf_hal::task::*;
+    use esp_idf_hal::timer::*;
+
     esp_idf_hal::sys::link_patches();
 
     let peripherals = Peripherals::take()?;

examples/timer_async.rs

@@ -1,9 +1,16 @@
-use esp_idf_hal::peripherals::*;
+#![allow(unexpected_cfgs)]
-use esp_idf_hal::sys::EspError;
+
-use esp_idf_hal::task::*;
+#[cfg(esp_idf_version_at_least_6_0_0)]
-use esp_idf_hal::timer::*;
+fn main() {
+    panic!("Timer not yet available when building against ESP-IDF 6.0+")
+}
+
+#[cfg(not(esp_idf_version_at_least_6_0_0))]
+fn main() -> Result<(), esp_idf_hal::sys::EspError> {
+    use esp_idf_hal::peripherals::*;
+    use esp_idf_hal::task::*;
+    use esp_idf_hal::timer::*;
 
-fn main() -> Result<(), EspError> {
     // It is necessary to call this function once. Otherwise some patches to the runtime
     // implemented by esp-idf-sys might not link properly. See https://github.com/esp-rs/esp-idf-template/issues/71
     esp_idf_hal::sys::link_patches();

examples/timer_notify.rs

@@ -1,11 +1,18 @@
-use std::num::NonZeroU32;
+#![allow(unexpected_cfgs)]
 
-use esp_idf_hal::peripherals::*;
+#[cfg(esp_idf_version_at_least_6_0_0)]
-use esp_idf_hal::sys::EspError;
+fn main() {
-use esp_idf_hal::task::notification::Notification;
+    panic!("Timer not yet available when building against ESP-IDF 6.0+")
-use esp_idf_hal::timer::*;
+}
+
+#[cfg(not(esp_idf_version_at_least_6_0_0))]
+fn main() -> Result<(), esp_idf_hal::sys::EspError> {
+    use std::num::NonZeroU32;
+
+    use esp_idf_hal::peripherals::*;
+    use esp_idf_hal::task::notification::Notification;
+    use esp_idf_hal::timer::*;
 
-fn main() -> Result<(), EspError> {
     // It is necessary to call this function once. Otherwise some patches to the runtime
     // implemented by esp-idf-sys might not link properly. See https://github.com/esp-rs/esp-idf-template/issues/71
     esp_idf_hal::sys::link_patches();

src/adc.rs

@@ -27,11 +27,22 @@ pub trait Adc: Send {
 // NOTE: Will be changed to an enum once C-style enums are usable as const generics
 pub mod attenuation {
     pub use esp_idf_sys::{
-        adc_atten_t, adc_atten_t_ADC_ATTEN_DB_0, adc_atten_t_ADC_ATTEN_DB_11,
+        adc_atten_t, adc_atten_t_ADC_ATTEN_DB_0, adc_atten_t_ADC_ATTEN_DB_2_5,
-        adc_atten_t_ADC_ATTEN_DB_11 as adc_atten_t_ADC_ATTEN_DB_12, adc_atten_t_ADC_ATTEN_DB_2_5,
         adc_atten_t_ADC_ATTEN_DB_6,
     };
 
+    #[cfg(esp_idf_version_at_least_6_0_0)]
+    pub use esp_idf_sys::adc_atten_t_ADC_ATTEN_DB_12;
+    #[cfg(esp_idf_version_at_least_6_0_0)]
+    #[allow(non_upper_case_globals)]
+    pub const adc_atten_t_ADC_ATTEN_DB_11: adc_atten_t = adc_atten_t_ADC_ATTEN_DB_12;
+
+    #[cfg(not(esp_idf_version_at_least_6_0_0))]
+    pub use esp_idf_sys::adc_atten_t_ADC_ATTEN_DB_11;
+    #[cfg(not(esp_idf_version_at_least_6_0_0))]
+    #[allow(non_upper_case_globals)]
+    pub const adc_atten_t_ADC_ATTEN_DB_12: adc_atten_t = adc_atten_t_ADC_ATTEN_DB_11;
+
     pub const NONE: adc_atten_t = adc_atten_t_ADC_ATTEN_DB_0;
     pub const DB_2_5: adc_atten_t = adc_atten_t_ADC_ATTEN_DB_2_5;
     pub const DB_6: adc_atten_t = adc_atten_t_ADC_ATTEN_DB_6;
@@ -73,6 +84,25 @@ impl Default for Resolution {
     }
 }
 
+#[cfg(esp_idf_version_at_least_6_0_0)]
+impl From<Resolution> for adc_bitwidth_t {
+    fn from(resolution: Resolution) -> Self {
+        match resolution {
+            #[cfg(esp32)]
+            Resolution::Resolution9Bit => adc_bitwidth_t_ADC_BITWIDTH_9,
+            #[cfg(esp32)]
+            Resolution::Resolution10Bit => adc_bitwidth_t_ADC_BITWIDTH_10,
+            #[cfg(esp32)]
+            Resolution::Resolution11Bit => adc_bitwidth_t_ADC_BITWIDTH_11,
+            #[cfg(any(esp32, esp32s3, esp32c3, esp32c2, esp32h2, esp32c5, esp32c6, esp32p4))]
+            Resolution::Resolution12Bit => adc_bitwidth_t_ADC_BITWIDTH_12,
+            #[cfg(esp32s2)]
+            Resolution::Resolution13Bit => adc_bitwidth_t_ADC_BITWIDTH_13,
+        }
+    }
+}
+
+#[cfg(not(esp_idf_version_at_least_6_0_0))]
 impl From<Resolution> for adc_bits_width_t {
     fn from(resolution: Resolution) -> Self {
         match resolution {
@@ -464,19 +494,19 @@ impl DirectConverter {
 
         #[cfg(any(esp32c3, esp32s2, esp32c2, esp32h2, esp32c5, esp32c6, esp32p4))]
         let mv = match attenuation {
-            adc_atten_t_ADC_ATTEN_DB_0 => 750,
+            attenuation::NONE => 750,
-            adc_atten_t_ADC_ATTEN_DB_2_5 => 1050,
+            attenuation::DB_2_5 => 1050,
-            adc_atten_t_ADC_ATTEN_DB_6 => 1300,
+            attenuation::DB_6 => 1300,
-            adc_atten_t_ADC_ATTEN_DB_11 => 2500,
+            attenuation::DB_12 => 2500,
             other => panic!("Unknown attenuation: {other}"),
         };
 
         #[cfg(esp32s3)]
         let mv = match attenuation {
-            adc_atten_t_ADC_ATTEN_DB_0 => 950,
+            attenuation::NONE => 950,
-            adc_atten_t_ADC_ATTEN_DB_2_5 => 1250,
+            attenuation::DB_2_5 => 1250,
-            adc_atten_t_ADC_ATTEN_DB_6 => 1750,
+            attenuation::DB_6 => 1750,
-            adc_atten_t_ADC_ATTEN_DB_11 => 3100,
+            attenuation::DB_12 => 3100,
             other => panic!("Unknown attenuation: {other}"),
         };
 
@@ -609,7 +639,8 @@ pub mod oneshot {
             unit_id: u8,
             chan: adc_channel_t,
             atten: adc_atten_t,
-            bitwidth: adc_bits_width_t,
+            #[cfg(esp_idf_version_at_least_6_0_0)] bitwidth: adc_bitwidth_t,
+            #[cfg(not(esp_idf_version_at_least_6_0_0))] bitwidth: adc_bits_width_t,
             calibration: config::Calibration,
         ) -> Result<Self, EspError> {
             match calibration {
@@ -634,11 +665,7 @@ pub mod oneshot {
                     // then we wouuld not need the ugliness for the esp32c6
                     let cal_config = adc_cali_curve_fitting_config_t {
                         unit_id: unit_id as u32,
-                        #[cfg(all(
+                        #[cfg(esp_idf_version_at_least_5_1_1)]
-                            esp_idf_version_major = "5",
-                            not(esp_idf_version_minor = "0"),
-                            not(all(esp_idf_version_minor = "1", esp_idf_version_patch = "0"))
-                        ))]
                         chan,
                         atten,
                         bitwidth,

src/can.rs

@@ -157,24 +157,7 @@ pub mod config {
                     tseg_1: timing_segment_1,
                     tseg_2: timing_segment_2,
                     sjw: synchronization_jump_width,
-                    #[cfg(any(
-                        esp_idf_version_major = "4",
-                        esp_idf_version = "5.0",
-                        esp_idf_version = "5.1",
-                        esp_idf_version = "5.2",
-                        esp_idf_version = "5.3",
-                        esp_idf_version = "5.4"
-                    ))]
                     triple_sampling,
-                    #[cfg(not(any(
-                        esp_idf_version_major = "4",
-                        esp_idf_version = "5.0",
-                        esp_idf_version = "5.1",
-                        esp_idf_version = "5.2",
-                        esp_idf_version = "5.3",
-                        esp_idf_version = "5.4"
-                    )))]
-                    __bindgen_anon_1: twai_timing_config_t__bindgen_ty_1 { triple_sampling },
                     ..Default::default()
                 },
             }

src/i2c.rs

@@ -26,9 +26,14 @@ const APB_TICK_PERIOD_NS: u32 = 1_000_000_000 / 80_000_000;
 const XTAL_TICK_PERIOD_NS: u32 = 1_000_000_000 / 40_000_000;
 #[cfg(all(esp32c2, esp_idf_xtal_freq_26))]
 const XTAL_TICK_PERIOD_NS: u32 = 1_000_000_000 / 26_000_000;
-
+#[cfg(not(esp_idf_version_at_least_6_0_0))]
 #[cfg(not(any(esp32, esp32s2, esp32c2)))]
 const XTAL_TICK_PERIOD_NS: u32 = 1_000_000_000 / XTAL_CLK_FREQ;
+// TODO: Below is probably not correct
+#[cfg(esp_idf_version_at_least_6_0_0)]
+#[cfg(not(any(esp32, esp32s2, esp32c2)))]
+const XTAL_TICK_PERIOD_NS: u32 = 1_000_000_000 / 40_000_000;
+
 #[derive(Copy, Clone, Debug)]
 pub struct APBTickType(::core::ffi::c_int);
 impl From<Duration> for APBTickType {

src/i2s/tdm.rs

@@ -119,7 +119,7 @@ pub(super) mod config {
 
         /// The division from MCLK to BCLK. This is used only in I2S target (slave) mode. This should not be smaller
         /// than TDM_BCLK_DIV_MIN (8). Increase this field if the target device is not able to transmit data in time.
-        #[cfg(all(esp_idf_version_major = "5", not(esp_idf_version_minor = "0")))]
+        #[cfg(esp_idf_version_at_least_5_1_0)]
         bclk_div: u32,
     }
 
@@ -129,10 +129,7 @@ pub(super) mod config {
     impl TdmClkConfig {
         /// Create a TDM clock configuration with the specified rate (in Hz), clock source, and MCLK multiple of
         /// the sample rate.
-        #[cfg(any(
+        #[cfg(not(esp_idf_version_at_least_5_1_0))]
-            esp_idf_version_major = "4",
-            all(esp_idf_version_major = "5", esp_idf_version_minor = "0")
-        ))]
         #[inline(always)]
         pub fn new(sample_rate_hz: u32, clk_src: ClockSource, mclk_multiple: MclkMultiple) -> Self {
             Self {
@@ -144,7 +141,7 @@ pub(super) mod config {
 
         /// Create a TDM clock configuration with the specified rate (in Hz), clock source, and MCLK multiple of
         /// the sample rate.
-        #[cfg(all(esp_idf_version_major = "5", not(esp_idf_version_minor = "0")))]
+        #[cfg(esp_idf_version_at_least_5_1_0)]
         #[inline(always)]
         pub fn new(sample_rate_hz: u32, clk_src: ClockSource, mclk_multiple: MclkMultiple) -> Self {
             Self {
@@ -161,10 +158,7 @@ pub(super) mod config {
         /// # Note
         /// Set the mclk_multiple to [`MclkMultiple::M384`] when using 24-bit data width. Otherwise, the sample rate
         /// might be imprecise since the BCLK division is not an integer.
-        #[cfg(any(
+        #[cfg(not(esp_idf_version_at_least_5_1_0))]
-            esp_idf_version_major = "4",
-            all(esp_idf_version_major = "5", esp_idf_version_minor = "0")
-        ))]
         #[inline(always)]
         pub fn from_sample_rate_hz(rate: u32) -> Self {
             Self {
@@ -180,7 +174,7 @@ pub(super) mod config {
         /// # Note
         /// Set the mclk_multiple to [MclkMultiple::M384] when using 24-bit data width. Otherwise, the sample rate
         /// might be imprecise since the BCLK division is not an integer.
-        #[cfg(all(esp_idf_version_major = "5", not(esp_idf_version_minor = "0")))]
+        #[cfg(esp_idf_version_at_least_5_1_0)]
         #[inline(always)]
         pub fn from_sample_rate_hz(rate: u32) -> Self {
             Self {
@@ -206,7 +200,7 @@ pub(super) mod config {
         }
 
         /// Set the MCLK to BCLK division on this TDM clock configuration.
-        #[cfg(all(esp_idf_version_major = "5", not(esp_idf_version_minor = "0")))]
+        #[cfg(esp_idf_version_at_least_5_1_0)]
         #[inline(always)]
         pub fn bclk_div(mut self, bclk_div: u32) -> Self {
             self.bclk_div = bclk_div;
@@ -214,7 +208,7 @@ pub(super) mod config {
         }
 
         /// Convert to the ESP-IDF SDK `i2s_tdm_clk_config_t` representation.
-        #[cfg(all(esp_idf_version_major = "5", esp_idf_version_minor = "0"))]
+        #[cfg(not(esp_idf_version_at_least_5_1_0))]
         #[inline(always)]
         pub(crate) fn as_sdk(&self) -> i2s_tdm_clk_config_t {
             i2s_tdm_clk_config_t {
@@ -225,7 +219,7 @@ pub(super) mod config {
         }
 
         /// Convert to the ESP-IDF SDK `i2s_tdm_clk_config_t` representation.
-        #[cfg(all(esp_idf_version_major = "5", not(esp_idf_version_minor = "0")))]
+        #[cfg(esp_idf_version_at_least_5_1_0)]
         #[allow(clippy::needless_update)]
         #[inline(always)]
         pub(crate) fn as_sdk(&self) -> i2s_tdm_clk_config_t {

src/ledc.rs

@@ -119,9 +119,9 @@ where
             #[cfg(not(esp_idf_version_major = "4"))]
             duty_resolution: config.resolution.timer_bits(),
             freq_hz: config.frequency.into(),
-            #[cfg(any(esp_idf_version_major = "4", esp_idf_version_minor = "0"))]
+            #[cfg(not(esp_idf_version_at_least_5_1_0))]
             clk_cfg: ledc_clk_cfg_t_LEDC_AUTO_CLK,
-            #[cfg(not(any(esp_idf_version_major = "4", esp_idf_version_minor = "0")))]
+            #[cfg(esp_idf_version_at_least_5_1_0)]
             clk_cfg: soc_periph_ledc_clk_src_legacy_t_LEDC_AUTO_CLK,
             #[cfg(not(any(
                 esp_idf_version_major = "4",

src/lib.rs

@@ -64,6 +64,7 @@ pub mod sys;
 pub mod task;
 #[cfg(all(esp_idf_soc_temp_sensor_supported, esp_idf_version_major = "5"))]
 pub mod temp_sensor;
+#[cfg(not(esp_idf_version_at_least_6_0_0))]
 pub mod timer;
 pub mod uart;
 #[cfg(all(

src/peripherals.rs

@@ -24,6 +24,7 @@ use crate::spi;
 use crate::task::watchdog;
 #[cfg(all(esp_idf_soc_temp_sensor_supported, esp_idf_version_major = "5"))]
 use crate::temp_sensor;
+#[cfg(not(esp_idf_version_at_least_6_0_0))]
 use crate::timer;
 use crate::uart;
 #[cfg(all(
@@ -93,11 +94,15 @@ pub struct Peripherals {
     #[cfg(all(esp_idf_soc_temp_sensor_supported, esp_idf_version_major = "5"))]
     pub temp_sensor: temp_sensor::TempSensor,
     // TODO: Check the timer story for c2, h2, c5, c6, and p4
+    #[cfg(not(esp_idf_version_at_least_6_0_0))]
     pub timer00: timer::TIMER00,
+    #[cfg(not(esp_idf_version_at_least_6_0_0))]
     #[cfg(any(esp32, esp32s2, esp32s3))]
     pub timer01: timer::TIMER01,
+    #[cfg(not(esp_idf_version_at_least_6_0_0))]
     #[cfg(not(esp32c2))]
     pub timer10: timer::TIMER10,
+    #[cfg(not(esp_idf_version_at_least_6_0_0))]
     #[cfg(any(esp32, esp32s2, esp32s3))]
     pub timer11: timer::TIMER11,
     #[cfg(any(
@@ -197,11 +202,15 @@ impl Peripherals {
             sdmmc1: sd::mmc::SDMMC1::new(),
             #[cfg(all(esp_idf_soc_temp_sensor_supported, esp_idf_version_major = "5"))]
             temp_sensor: temp_sensor::TempSensor::new(),
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
             timer00: timer::TIMER00::new(),
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
             #[cfg(any(esp32, esp32s2, esp32s3))]
             timer01: timer::TIMER01::new(),
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
             #[cfg(not(esp32c2))]
             timer10: timer::TIMER10::new(),
+            #[cfg(not(esp_idf_version_at_least_6_0_0))]
             #[cfg(any(esp32, esp32s2, esp32s3))]
             timer11: timer::TIMER11::new(),
             #[cfg(any(

src/reset.rs

@@ -102,7 +102,7 @@ impl From<esp_reset_reason_t> for ResetReason {
             esp_reset_reason_t_ESP_RST_USB => Self::USBPeripheral,
             #[cfg(not(any(
                 esp_idf_version_major = "4",
-                all(esp_idf_version_major = "5", esp_idf_version_minor = "0"),
+                esp_idf_version = "5.0",
                 esp_idf_version_full = "5.1.0",
                 esp_idf_version_full = "5.1.1",
                 esp_idf_version_full = "5.1.2",
@@ -111,24 +111,24 @@ impl From<esp_reset_reason_t> for ResetReason {
             esp_reset_reason_t_ESP_RST_JTAG => Self::JTAG,
             #[cfg(not(any(
                 esp_idf_version_major = "4",
-                all(esp_idf_version_major = "5", esp_idf_version_minor = "0"),
+                esp_idf_version = "5.0",
-                all(esp_idf_version_major = "5", esp_idf_version_minor = "1"),
+                esp_idf_version = "5.1",
                 esp_idf_version_full = "5.2.0",
                 esp_idf_version_full = "5.2.1",
             )))]
             esp_reset_reason_t_ESP_RST_EFUSE => Self::EfuseError,
             #[cfg(not(any(
                 esp_idf_version_major = "4",
-                all(esp_idf_version_major = "5", esp_idf_version_minor = "0"),
+                esp_idf_version = "5.0",
-                all(esp_idf_version_major = "5", esp_idf_version_minor = "1"),
+                esp_idf_version = "5.1",
                 esp_idf_version_full = "5.2.0",
                 esp_idf_version_full = "5.2.1",
             )))]
             esp_reset_reason_t_ESP_RST_PWR_GLITCH => Self::PowerGlitch,
             #[cfg(not(any(
                 esp_idf_version_major = "4",
-                all(esp_idf_version_major = "5", esp_idf_version_minor = "0"),
+                esp_idf_version = "5.0",
-                all(esp_idf_version_major = "5", esp_idf_version_minor = "1"),
+                esp_idf_version = "5.1",
                 esp_idf_version_full = "5.2.0",
                 esp_idf_version_full = "5.2.1",
             )))]

src/sd.rs

@@ -275,6 +275,8 @@ mod sdcard {
                     all(esp_idf_version_major = "5", esp_idf_version_minor = "1"),
                 )))]   // For ESP-IDF v5.2 and later
                 set_input_delay: None,
+                #[cfg(esp_idf_version_at_least_6_0_0)]
+                set_input_delayline: None,
                 command_timeout_ms: configuration.command_timeout_ms as _,
                 #[cfg(not(any(
                     esp_idf_version_major = "4",
@@ -283,12 +285,7 @@ mod sdcard {
                     all(esp_idf_version_major = "5", esp_idf_version_minor = "2"),
                 )))]   // For ESP-IDF v5.3 and later
                 dma_aligned_buffer: core::ptr::null_mut(),
-                #[cfg(not(any(
+                #[cfg(all(esp_idf_version_at_least_5_3_0, not(esp_idf_version_at_least_6_0_0)))] // For ESP-IDF v5.3 until v6.0
-                    esp_idf_version_major = "4",
-                    all(esp_idf_version_major = "5", esp_idf_version_minor = "0"),
-                    all(esp_idf_version_major = "5", esp_idf_version_minor = "1"),
-                    all(esp_idf_version_major = "5", esp_idf_version_minor = "2"),
-                )))]   // For ESP-IDF v5.3 and later
                 get_dma_info: Some(sdspi_host_get_dma_info),
                 #[cfg(not(any(
                     esp_idf_version_major = "4",

src/spi.rs

@@ -575,6 +575,7 @@ impl<'d> SpiDriver<'d> {
         let max_transfer_sz = config.dma.max_transfer_size();
         let dma_chan: spi_dma_chan_t = config.dma.into();
 
+        #[cfg(not(esp_idf_version_at_least_6_0_0))]
         #[allow(clippy::needless_update)]
         let bus_config = spi_bus_config_t {
             flags: SPICOMMON_BUSFLAG_MASTER,
@@ -605,6 +606,41 @@ impl<'d> SpiDriver<'d> {
             ..Default::default()
         };
 
+        #[cfg(esp_idf_version_at_least_6_0_0)]
+        #[allow(clippy::needless_update)]
+        let bus_config = spi_bus_config_t {
+            __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1 {
+                __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1__bindgen_ty_1 {
+                    sclk_io_num: sclk.unwrap_or(-1),
+                    data4_io_num: -1,
+                    data5_io_num: -1,
+                    data6_io_num: -1,
+                    data7_io_num: -1,
+                    __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_1 {
+                        mosi_io_num: sdo.unwrap_or(-1),
+                        //data0_io_num: -1,
+                    },
+                    __bindgen_anon_2: spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_2 {
+                        miso_io_num: sdi.unwrap_or(-1),
+                        //data1_io_num: -1,
+                    },
+                    __bindgen_anon_3: spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_3 {
+                        quadwp_io_num: data2.unwrap_or(-1),
+                        //data2_io_num: -1,
+                    },
+                    __bindgen_anon_4: spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_4 {
+                        quadhd_io_num: data3.unwrap_or(-1),
+                        //data3_io_num: -1,
+                    },
+                },
+            },
+
+            flags: SPICOMMON_BUSFLAG_MASTER,
+            max_transfer_sz: max_transfer_sz as i32,
+            intr_flags: InterruptType::to_native(config.intr_flags) as _,
+            ..Default::default()
+        };
+
         esp!(unsafe { spi_bus_initialize(host, &bus_config, dma_chan) })?;
 
         Ok(max_transfer_sz)

src/task.rs

@@ -395,9 +395,9 @@ pub mod thread {
                 pin_to_core: conf.pin_to_core.map(Into::into).unwrap_or(NO_AFFINITY as _),
                 #[cfg(not(any(
                     esp_idf_version_major = "4",
-                    all(esp_idf_version_major = "5", esp_idf_version_minor = "0"),
+                    esp_idf_version = "5.0",
-                    all(esp_idf_version_major = "5", esp_idf_version_minor = "1"),
+                    esp_idf_version = "5.1",
-                    all(esp_idf_version_major = "5", esp_idf_version_minor = "2"),
+                    esp_idf_version = "5.2",
                 )))] // ESP-IDF 5.3 and later
                 stack_alloc_caps: conf.stack_alloc_caps.as_u32(),
             }