diff --git a/lib/libesp32/esp-32-vid6608-rmt/.clang-format b/lib/libesp32/esp-32-vid6608-rmt/.clang-format
new file mode 100644
index 000000000..57a0bea89
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/.clang-format
@@ -0,0 +1,42 @@
+BasedOnStyle: Google
+Language: Cpp
+ColumnLimit: 120
+IndentWidth: 4
+TabWidth: 4
+UseTab: Never
+SortIncludes: Never
+PPIndentWidth : 1
+IndentPPDirectives: AfterHash
+ReflowComments: true
+SpacesBeforeTrailingComments: 1
+AlignTrailingComments: true
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros:
+ Enabled: true
+ AcrossEmptyLines: true
+ AcrossComments: true
+AlignConsecutiveAssignments:
+ Enabled: true
+ AcrossEmptyLines: false
+ AcrossComments: true
+ AlignCompound: true
+ PadOperators: true
+AlignConsecutiveDeclarations:
+ Enabled: true
+ AcrossEmptyLines: false
+ AcrossComments: true
+AlignEscapedNewlines: Left
+AccessModifierOffset: -2
+AlignArrayOfStructures: Right
+AlignOperands: Align
+AllowAllArgumentsOnNextLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortBlocksOnASingleLine: Empty
+BreakBeforeBinaryOperators: None
+BinPackArguments: false
+BinPackParameters: false
+DerivePointerAlignment: false
+PenaltyBreakAssignment: 4
+PenaltyExcessCharacter: 4
+PenaltyBreakBeforeFirstCallParameter: 1
+PointerAlignment: Left
diff --git a/lib/libesp32/esp-32-vid6608-rmt/.editorconfig b/lib/libesp32/esp-32-vid6608-rmt/.editorconfig
new file mode 100644
index 000000000..d9fa534b6
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/.editorconfig
@@ -0,0 +1,16 @@
+# top-most EditorConfig file
+root = true
+
+# Unix-style newlines with a newline ending every file
+[*]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+indent_style = space
+indent_size = 4
+
+[*.{yaml,yml}]
+indent_size = 2
+
+[*.json]
+indent_size = 2
diff --git a/lib/libesp32/esp-32-vid6608-rmt/.gitignore b/lib/libesp32/esp-32-vid6608-rmt/.gitignore
new file mode 100644
index 000000000..db243c426
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/.gitignore
@@ -0,0 +1,7 @@
+.pio
+.vscode
+.cache
+managed_components
+build
+sdkconfig
+dependencies.lock
diff --git a/lib/libesp32/esp-32-vid6608-rmt/LICENSE b/lib/libesp32/esp-32-vid6608-rmt/LICENSE
new file mode 100644
index 000000000..f288702d2
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
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+.
diff --git a/lib/libesp32/esp-32-vid6608-rmt/README.md b/lib/libesp32/esp-32-vid6608-rmt/README.md
new file mode 100644
index 000000000..6c4596cc7
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/README.md
@@ -0,0 +1,94 @@
+# ESP-IDF library to drive Automotive gauge drivers using HW RMT driver
+
+This library implements driver for native ESP-IDF framework
+for following driver chips for analog automotive gauges (Switec X25.168, X27.168 and clones) with microstepping support:
+
+* VID6606 (2 motors)
+* VID6608 (4 motors)
+* VT6608S
+* AX1201728SG
+* BY8920
+* many others
+
+Driver chips with microstepping is the recommended way to drive such motors,
+they provide much more relailabe and smooth movement with reduced noise and
+to avoid skipping steps.
+
+This library is very similar to [Arduino-vid6608](https://github.com/petrows/arduino-vid6608),
+but it implements hardware generator for driver steps sequence,
+the [ESP-32 Remote Control Transceiver (RMT)](https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/peripherals/rmt.html):
+
+* No `delay()` call;
+* Much better precision movement without interrupts and slow-downs for bi-axial instruments;
+
+Only the ESP-32 is supported. All chips has minimum 2 RMT channels.
+
+This library has following features:
+
+* More precise Datasheet complaince
+* Another smoothing method (requires less calculations)
+* Optimized homing
+* Extended API's
+
+[](https://registry.platformio.org/libraries/petrows/esp-32-vid6608-rmt)
+
+## Chip documentation
+
+See [VID6606 Datasheet (English)](doc/VID6608.pdf).
+
+## Wiring
+
+This library requires that two pins (per drive) are connected to two outputs.
+
+
+
+* Step pin f(scx): impulse to drive motor to one microstep;
+* Direction pin CW/CCW: defines direction ov movement;
+* RESET pin: does not controlled by this library. Hold to VDD to enable function (see notes below);
+
+## RESET pin
+
+This library does not control RESET pin, please perform this inside your firmware.
+
+I have problems with some IC's, as they lost function after RESET pin manipulation. [Datasheet](doc/VID6608.pdf) recommends to hold it LOW during boot, and set to HIGH to enable operation, but i recommend just to connect to VDD to be safe.
+
+## Setting zero
+
+Motor is set to zero by moving whole scale and kept bouncing on the one of
+dead positions. This library provides optimized way to perform homing: it does
+1/2 of scale forward, then full scale backward. This helps to reduce bouncing
+like in the classical "full scale back" method.
+
+## Function documentation
+
+See inline documentation in source code: [vid6608.h](src/vid6608.h).
+
+## Compile examples
+
+To compile and flash examples, navigate to example dir and call idf:
+
+```bash
+cd examples/gauge-cal
+export IDF_TARGET=esp32c6
+idf.py flash monitor
+```
+
+## Basic example
+
+```cpp
+#include "esp32_vid6608_rmt.h"
+
+extern "C" void app_main(void)
+{
+ vid6608::Config cfg {
+ .stepPin = GPIO_NUM_14,
+ .dirPin = GPIO_NUM_18,
+ .maxSteps = 12 * 320,
+ };
+ vid6608 driver = vid6608(cfg);
+
+ driver.zero();
+ vTaskDelay(pdMS_TO_TICKS(2000));
+ driver.setPos(12 * 180);
+}
+```
diff --git a/lib/libesp32/esp-32-vid6608-rmt/idf_component.yml b/lib/libesp32/esp-32-vid6608-rmt/idf_component.yml
new file mode 100644
index 000000000..17858f68b
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/idf_component.yml
@@ -0,0 +1,13 @@
+## IDF Component Manager Manifest File
+description: "ESP32 library to drive automotive steppers like X27-168 via IC VID668 driver using HW RMT API"
+url: "https://github.com/petrows/esp-32-vid6608-rmt"
+repository: "https://github.com/petrows/esp-32-vid6608-rmt.git"
+maintainers:
+ - Petr Golovachev
+documentation: "https://github.com/petrows/esp-32-vid6608-rmt/blob/master/README.md"
+tags:
+ - Stepper
+ - VID6608
+dependencies:
+ idf:
+ version: ">=5.5.0"
diff --git a/lib/libesp32/esp-32-vid6608-rmt/library.json b/lib/libesp32/esp-32-vid6608-rmt/library.json
new file mode 100644
index 000000000..3be27663a
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/library.json
@@ -0,0 +1,17 @@
+{
+ "name": "esp-32-vid6608-rmt",
+ "version": "1.2",
+ "keywords": "esp32, espressif, vid6608, x27-168, rmt, stepper",
+ "description": "ESP32 library to drive Automotive gauge drivers like x27-168 using HW RMT driver",
+ "repository": {
+ "type": "git",
+ "url": "https://github.com/petrows/esp-32-vid6608-rmt.git"
+ },
+ "authors": {
+ "name": "Petr Golovachev",
+ "email": "petro@petro.ws",
+ "url": "https://petro.ws/"
+ },
+ "frameworks": "espidf,arduino",
+ "platforms": "espressif32"
+}
diff --git a/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.cpp b/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.cpp
new file mode 100644
index 000000000..2ad0a2dee
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.cpp
@@ -0,0 +1,291 @@
+/**
+ * @file esp32_vid6608_rmt.cpp
+ * @author Petr Golovachev (petro@petro.ws)
+ * @brief Main class of ESP-32 VID6608 RMT driver
+ *
+ * @copyright Copyright (c) 2026
+ *
+ */
+
+#include "esp32_vid6608_rmt.h"
+
+#include "esp_log.h"
+
+static constexpr uint32_t RMT_RES_HZ = 1'000'000; // 1 тик = 1 мкс
+static const char *TAG = "VID6608";
+
+std::array esp32_vid6608_rmt::buildAccelCurve() {
+ // Linear ramp from startHz up to cruiseHz over kAccelSteps pulses.
+ // Edit these two frequencies to retune the shipped profile.
+ constexpr float startHz = 250.0f;
+ constexpr float cruiseHz = 1000.0f;
+ std::array out{};
+ for (size_t i = 0; i < kAccelSteps; ++i) {
+ float t = float(i + 1) / float(kAccelSteps);
+ float hz = startHz + (cruiseHz - startHz) * t;
+ out[i] = static_cast(float(RMT_RES_HZ) / (hz * 2.0f));
+ }
+ return out;
+}
+
+const std::array esp32_vid6608_rmt::kAccelHalfPeriod =
+ esp32_vid6608_rmt::buildAccelCurve();
+
+esp32_vid6608_rmt::esp32_vid6608_rmt(const Config &cfg) : config(cfg) {
+ gpio_config_t io = {
+ .pin_bit_mask = (1ULL << this->config.dirPin),
+ .mode = GPIO_MODE_OUTPUT,
+ .pull_up_en = GPIO_PULLUP_DISABLE,
+ .pull_down_en = GPIO_PULLDOWN_DISABLE,
+ .intr_type = GPIO_INTR_DISABLE,
+ };
+ ESP_ERROR_CHECK(gpio_config(&io));
+ gpio_set_level(cfg.dirPin, 0);
+
+ rmt_tx_channel_config_t tx_cfg = {};
+ tx_cfg.gpio_num = this->config.stepPin;
+ tx_cfg.clk_src = RMT_CLK_SRC_DEFAULT;
+ tx_cfg.resolution_hz = RMT_RES_HZ;
+ tx_cfg.mem_block_symbols = 48; // ESP32-C6: 48 = 1 HW-channel
+ tx_cfg.trans_queue_depth = 4;
+ ESP_ERROR_CHECK(rmt_new_tx_channel(&tx_cfg, &this->chan));
+
+ rmt_copy_encoder_config_t enc_cfg = {};
+ ESP_ERROR_CHECK(rmt_new_copy_encoder(&enc_cfg, &this->enc));
+ ESP_ERROR_CHECK(rmt_enable(chan));
+
+ this->infoMutex = xSemaphoreCreateMutex();
+ this->taskNotify = xSemaphoreCreateBinary();
+
+ this->running = true;
+
+ // Start task
+ xTaskCreate(
+ &esp32_vid6608_rmt::driverTaskStart, /* Function to implement the task */
+ "esp32_vid6608_rmt", /* Name of the task */
+ 1024, /* Stack size in words */
+ this, /* Task input parameter */
+ 0, /* Priority of the task, lowest */
+ &this->taskHandle /* Task handle. */
+ );
+}
+
+esp32_vid6608_rmt::~esp32_vid6608_rmt() {
+ this->running = false;
+ xSemaphoreGive(this->taskNotify);
+ vTaskDelete(this->taskHandle);
+ if (this->chan) {
+ rmt_disable(this->chan);
+ rmt_del_channel(this->chan);
+ }
+ if (this->enc) rmt_del_encoder(this->enc);
+}
+
+void esp32_vid6608_rmt::zero(int32_t initialPos) {
+ xSemaphoreTake(this->infoMutex, portMAX_DELAY);
+ this->targetPositionNext = 0;
+ this->targetPosition = 0;
+ int32_t maxSteps = this->config.maxSteps;
+ // Pre-defined modes: half-fw/full-back
+ if (ZERO_BACK_HALF == initialPos) {
+ initialPos = config.maxSteps / 2;
+ }
+ // Sanity check
+ if (initialPos < 0) { initialPos = 0; }
+ if (initialPos > maxSteps - 1) { initialPos = maxSteps - 1; }
+ // Move back the rest of gauge
+ int32_t stepsBack = (maxSteps - 1) - initialPos;
+ this->moveConst(stepsBack, 2000);
+ // Move forward the whole scale
+ this->moveRamp(-maxSteps);
+ // Gentle final strike against the mechanical stop — bypass the ramp so
+ // the impact is soft and predictable.
+ this->moveConst(-12, 100);
+ xSemaphoreGive(this->infoMutex);
+}
+
+void esp32_vid6608_rmt::wait(int32_t timeout_ms) {
+ /**
+ * @brief This function makes polling check, that the flag
+ * this->targetPending is unset
+ *
+ * We are NOT calling here functions like rmt_tx_wait_all_done(),
+ * as they are not thread safe!
+ *
+ */
+ constexpr TickType_t pollInterval = pdMS_TO_TICKS(5);
+ const bool waitForever = (timeout_ms < 0);
+ const TickType_t start = xTaskGetTickCount();
+ const TickType_t deadline = waitForever
+ ? 0
+ : (start + pdMS_TO_TICKS(timeout_ms));
+
+ ESP_LOGD(TAG, "D %d, wait start (timeout_ms=%ld)", this->config.stepPin,
+ static_cast(timeout_ms));
+
+ while (true) {
+ xSemaphoreTake(this->infoMutex, portMAX_DELAY);
+ bool pending = this->targetPending;
+ xSemaphoreGive(this->infoMutex);
+
+ if (!pending) {
+ ESP_LOGD(TAG, "D %d, wait done", this->config.stepPin);
+ return;
+ }
+
+ if (!waitForever) {
+ TickType_t now = xTaskGetTickCount();
+ // Signed subtraction handles TickType_t wraparound correctly.
+ if (static_cast(deadline - now) <= 0) {
+ ESP_LOGW(TAG, "D %d, wait timeout after %ld ms",
+ this->config.stepPin, static_cast(timeout_ms));
+ return;
+ }
+ }
+
+ vTaskDelay(pollInterval);
+ }
+}
+
+bool esp32_vid6608_rmt::isMoving() {
+ bool pending;
+ xSemaphoreTake(this->infoMutex, portMAX_DELAY);
+ pending = this->targetPending;
+ xSemaphoreGive(this->infoMutex);
+ return pending;
+}
+
+void esp32_vid6608_rmt::setPos(int32_t steps) {
+ // Critical section
+ xSemaphoreTake(this->infoMutex, portMAX_DELAY);
+ this->targetPending = true;
+ this->targetPositionNext = steps;
+ xSemaphoreGive(this->infoMutex);
+ // Notify thread
+ xSemaphoreGive(this->taskNotify);
+}
+
+void esp32_vid6608_rmt::driverTask() {
+ do {
+ int32_t targetMove = 0; // Now much steps we need to move?
+ xSemaphoreTake(this->infoMutex, portMAX_DELAY);
+ // Sanity check
+ if (this->targetPositionNext < 0) {
+ this->targetPositionNext = 0;
+ }
+ if (this->targetPositionNext > this->config.maxSteps - 1) {
+ this->targetPositionNext = this->config.maxSteps - 1;
+ }
+ if (this->targetPositionNext != this->targetPosition) {
+ // We have scheduled as new, calculate new diff
+ targetMove = this->targetPositionNext - this->targetPosition;
+ this->targetPosition = this->targetPositionNext;
+ this->targetPending = true;
+ } else {
+ this->targetPending = false; // We dont need to move anymore
+ }
+ xSemaphoreGive(this->infoMutex);
+ // We need move?
+ if (targetMove) {
+ if (this->config.useAccel) {
+ this->moveRamp(targetMove);
+ } else {
+ this->moveConst(targetMove, 1000);
+ }
+ // No need to wait, as move is blocking
+ continue; // New loop
+ }
+ // Nothing to do: wait for info updates
+ xSemaphoreTake(this->taskNotify, portMAX_DELAY);
+ } while (this->running);
+}
+
+void esp32_vid6608_rmt::driverTaskStart(void *arg) {
+ static_cast(arg)->driverTask();
+}
+
+void esp32_vid6608_rmt::movePrepare(int32_t steps) {
+ if (steps == 0) return;
+ uint8_t newTargetDir = steps > 0 ? 0 : 1;
+ if (newTargetDir != this->targetDir) {
+ // Direction changed -> add delay (as required by Datasheet)
+ this->targetDir = newTargetDir;
+ vTaskDelay(pdMS_TO_TICKS(1));
+ gpio_set_level(this->config.dirPin, steps > 0 ? 0 : 1);
+ vTaskDelay(pdMS_TO_TICKS(1));
+ }
+}
+
+void esp32_vid6608_rmt::moveRamp(int32_t steps) {
+ if (steps == 0) return;
+
+ uint32_t n = static_cast(steps > 0 ? steps : -steps);
+ ESP_LOGD(TAG, "D %d, Ramp move: %d", this->config.stepPin, steps);
+
+ this->movePrepare(steps);
+
+ // Triangular fallback when the move is too short for a full ramp pair.
+ uint32_t rampSteps = static_cast(kAccelSteps);
+ if (n < 2 * rampSteps) {
+ rampSteps = n / 2;
+ }
+ uint32_t cruiseSteps = n - 2 * rampSteps;
+
+ for (uint32_t i = 0; i < rampSteps; ++i) {
+ uint16_t h = kAccelHalfPeriod[i];
+ accelBuf[i].duration0 = h; accelBuf[i].level0 = 1;
+ accelBuf[i].duration1 = h; accelBuf[i].level1 = 0;
+ }
+ for (uint32_t i = 0; i < rampSteps; ++i) {
+ uint16_t h = kAccelHalfPeriod[rampSteps - 1 - i];
+ decelBuf[i].duration0 = h; decelBuf[i].level0 = 1;
+ decelBuf[i].duration1 = h; decelBuf[i].level1 = 0;
+ }
+
+ rmt_transmit_config_t tx = {};
+
+ if (rampSteps > 0) {
+ tx.loop_count = 0;
+ ESP_ERROR_CHECK(rmt_transmit(this->chan, this->enc, accelBuf,
+ rampSteps * sizeof(rmt_symbol_word_t), &tx));
+ }
+ if (cruiseSteps > 0) {
+ // For a partial (triangular) ramp the cruise speed is whatever peak
+ // the partial ramp reached, not the full top of the curve.
+ uint16_t h = rampSteps > 0 ? kAccelHalfPeriod[rampSteps - 1]
+ : kAccelHalfPeriod[0];
+ cruisePulse.duration0 = h; cruisePulse.level0 = 1;
+ cruisePulse.duration1 = h; cruisePulse.level1 = 0;
+ tx.loop_count = static_cast(cruiseSteps) - 1;
+ ESP_ERROR_CHECK(rmt_transmit(this->chan, this->enc, &cruisePulse,
+ sizeof(cruisePulse), &tx));
+ }
+ if (rampSteps > 0) {
+ tx.loop_count = 0;
+ ESP_ERROR_CHECK(rmt_transmit(this->chan, this->enc, decelBuf,
+ rampSteps * sizeof(rmt_symbol_word_t), &tx));
+ }
+
+ // Wait for transmission is done
+ ESP_ERROR_CHECK(rmt_tx_wait_all_done(this->chan, 10000));
+}
+
+void esp32_vid6608_rmt::moveConst(int32_t steps, int32_t speed_hz) {
+ if (steps == 0) return;
+
+ uint32_t n = static_cast(steps > 0 ? steps : -steps);
+ ESP_LOGD(TAG, "D %d, Const move: %d @ %d Hz", this->config.stepPin, steps, speed_hz);
+
+ this->movePrepare(steps);
+
+ uint16_t half = RMT_RES_HZ / (speed_hz * 2);
+ cruisePulse.duration0 = half; cruisePulse.level0 = 1;
+ cruisePulse.duration1 = half; cruisePulse.level1 = 0;
+
+ rmt_transmit_config_t tx = {};
+ tx.loop_count = static_cast(n) - 1; // сам символ + (n-1) повторов = n импульсов
+ ESP_ERROR_CHECK(rmt_transmit(this->chan, this->enc, &cruisePulse, sizeof(cruisePulse), &tx));
+
+ // Wait for transmission is done
+ ESP_ERROR_CHECK(rmt_tx_wait_all_done(this->chan, 10000));
+}
diff --git a/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.h b/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.h
new file mode 100644
index 000000000..e8297cd79
--- /dev/null
+++ b/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.h
@@ -0,0 +1,209 @@
+/**
+ * @file esp32_vid6608_rmt.h
+ * @author Petr Golovachev (petro@petro.ws)
+ * @brief Main class of ESP-32 VID6608 RMT driver
+ *
+ * @copyright Copyright (c) 2026
+ *
+ */
+
+#pragma once
+
+#include
+#include
+#include
+
+#include "driver/gpio.h"
+#include "driver/rmt_tx.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+#include "freertos/task.h"
+
+#include "soc/soc_caps.h"
+#if !SOC_RMT_SUPPORTED
+ #error "RMT is not supported on this platform"
+#endif
+
+class esp32_vid6608_rmt {
+public:
+ /**
+ * @brief Configuration struct
+ *
+ */
+ struct Config {
+ gpio_num_t stepPin; ///< f(scx) pin
+ gpio_num_t dirPin; ///< CC/CCWA pin
+ uint16_t maxSteps; ///< Max steps er full rotation
+ bool useAccel = true; ///< Enable smoothness
+ };
+
+ /**
+ * @brief Construct a new esp32_vid6608_rmt object
+ *
+ * @param cfg Configuration struct
+ */
+ explicit esp32_vid6608_rmt(const Config &cfg);
+ ~esp32_vid6608_rmt();
+
+ esp32_vid6608_rmt(const esp32_vid6608_rmt &) = delete;
+ esp32_vid6608_rmt &operator=(const esp32_vid6608_rmt &) = delete;
+
+ enum MoveState {
+ ZERO_BACK_FULL = 0,
+ ZERO_BACK_HALF = -2,
+ };
+
+ /**
+ * @brief Resets zero position to actual 0 position
+ *
+ * Moves full rotation forward and backward
+ *
+ * @param initialPos initial position to assume zeroing, default is 0. If you know the "old" gauge position, you can provide it here to avoid end-stop bounce
+ *
+ * @warning this function is blocking, execution is delayed upon done
+ */
+ void zero(int32_t initialPos = ZERO_BACK_HALF);
+
+ /**
+ * @brief Wait for current move task to complete
+ *
+ * @param timeout_ms max time to wait, -1 for wait forever
+ *
+ */
+ void wait(int32_t timeout_ms = 10000);
+
+ /**
+ * @brief Shedules movement to defined absolute position
+ *
+ * Input is checked for sanity: must be in range 0...maxSteps-1. Values bigger are threated as maxSteps-1.
+ * @warning this function is asynchronous, actual movement is done in another task.
+ * @warning next move will be scheduled after current move is done to avoid drive jittering.
+ *
+ * @param position absolute position in range 0...maxSteps-1
+ */
+ void setPos(int32_t steps);
+
+ /**
+ * @brief Get the driving pin
+ *
+ * @return gpio_num_t driving pin number
+ */
+ gpio_num_t getPinStep() { return this->config.stepPin; }
+
+ /**
+ * @brief Get the Max Steps object
+ *
+ * @return uint16_t max steps, defined for this drive
+ */
+ uint16_t getMaxSteps() { return this->config.maxSteps; }
+
+ /**
+ * @brief Get the Current Position object
+ *
+ * @return int32_t current position (sheduled at this moment, actual move may apply)
+ */
+ int32_t getCurrentPosition() { return this->targetPosition; }
+
+ // -------------------------------------------------------------------------------------------
+ // Old Arduino-vid6608 compat layer
+ // -------------------------------------------------------------------------------------------
+
+ /**
+ * @brief Shedules movement to defined absolute position
+ *
+ * Input is checked for sanity: must be in range 0...maxSteps-1. Values bigger are threated as maxSteps-1.
+ * @warning this function is asynchronous, actual movement is done in the loop() function.
+ * @warning next move will be scheduled after current move is done to avoid drive jittering.
+ *
+ * @param position absolute position in range 0...maxSteps-1
+ */
+ void moveTo(uint16_t position) { setPos(position); }
+
+ /**
+ * @brief Test if motor is moving
+ *
+ * Return true, if drive still have sheduled steps (that means that next loop() call will result impulse).
+ *
+ * @return true if drive is moveemnt
+ * @return false if drive is stopped
+ */
+ bool isMoving();
+
+ /**
+ * @brief Test if motor is stopped
+ *
+ * @return true if drive is stopped
+ * @return false if drive is moveemnt
+ */
+ bool isStopped() { return !isMoving(); }
+
+ /**
+ * @brief Returns current real absolute position
+ *
+ * @return uint16_t current real drive position in steps
+ */
+ uint16_t getPosition() { return (uint16_t)this->targetPosition; }
+
+ /**
+ * @brief Does nothing on RMT
+ *
+ */
+ void loop() {}
+
+private:
+ /**
+ * @brief Length of the acceleration ramp, in step pulses.
+ *
+ * The acceleration profile is baked into the library and is not
+ * user-tunable. A move shorter than @c 2*kAccelSteps uses a triangular
+ * profile and never reaches the cruise rate.
+ */
+ static constexpr size_t kAccelSteps = 32;
+
+ /**
+ * @brief Build the per-step half-period table at startup.
+ *
+ * @return Array of half-periods in RMT ticks (1 µs each).
+ */
+ static std::array buildAccelCurve();
+
+ /**
+ * @brief Per-step half-period for the acceleration ramp (RMT ticks).
+ *
+ * Index 0 is the slowest pulse (start of motion); the last index is the
+ * fastest pulse (cruise). Deceleration walks the table in reverse.
+ */
+ static const std::array kAccelHalfPeriod;
+
+ void movePrepare(int32_t steps);
+ void moveRamp(int32_t steps);
+ void moveConst(int32_t steps, int32_t speed_hz);
+ void driverTask();
+ static void driverTaskStart(void *arg);
+
+ bool running = false;
+ Config config;
+ rmt_channel_handle_t chan = nullptr;
+ rmt_encoder_handle_t enc = nullptr;
+ SemaphoreHandle_t infoMutex = nullptr;
+ SemaphoreHandle_t taskNotify = nullptr;
+ TaskHandle_t taskHandle = nullptr;
+
+ bool targetPending = false; ///< Do we have next move pending?
+ int32_t targetPosition = 0; ///< Target position in steps
+ int32_t targetPositionNext = 0; ///< Target position in steps (scheduled for next move)
+ uint8_t targetDir = 254; ///< Target direction to move
+
+ /**
+ * @brief Scratch RMT symbol buffers used by every move.
+ *
+ * The copy encoder pulls bytes from the source pointer asynchronously,
+ * so these buffers must outlive each transmission — every move is
+ * followed by @ref wait() before the next one reuses them.
+ * @{
+ */
+ rmt_symbol_word_t accelBuf[kAccelSteps]{};
+ rmt_symbol_word_t decelBuf[kAccelSteps]{};
+ rmt_symbol_word_t cruisePulse{};
+ /** @} */
+};
diff --git a/platformio_tasmota32.ini b/platformio_tasmota32.ini
index 4ce2a5bf9..e45e45ad0 100644
--- a/platformio_tasmota32.ini
+++ b/platformio_tasmota32.ini
@@ -90,6 +90,7 @@ lib_ignore = ${esp32_defaults.lib_ignore}
re1.5
DHT sensor library
ccronexpr
+ esp-32-vid6608-rmt
custom_component_remove =
espressif/network_provisioning
espressif/esp_modem
diff --git a/platformio_tasmota_cenv_sample.ini b/platformio_tasmota_cenv_sample.ini
index 0e3ede730..58a570437 100644
--- a/platformio_tasmota_cenv_sample.ini
+++ b/platformio_tasmota_cenv_sample.ini
@@ -127,6 +127,7 @@ build_flags = ${env:tasmota32_base.build_flags}
-DOTA_URL='"http://ota.tasmota.com/tasmota32/release/tasmota32c2.bin"'
lib_ignore = ${env:tasmota32_base.lib_ignore}
Micro-RTSP
+ esp-32-vid6608-rmt
custom_sdkconfig =
'# CONFIG_BT_ENABLED is not set'
'# CONFIG_BT_NIMBLE_ENABLED is not set'
diff --git a/platformio_tasmota_env32.ini b/platformio_tasmota_env32.ini
index ee9b67673..3903937ba 100644
--- a/platformio_tasmota_env32.ini
+++ b/platformio_tasmota_env32.ini
@@ -334,6 +334,7 @@ lib_ignore = ${env:tasmota32_base.lib_ignore}
esp-nimble-cpp
Micro-RTSP
epdiy
+ esp-32-vid6608-rmt
[env:tasmota32c2]
extends = env:tasmota32_base
@@ -343,6 +344,7 @@ build_flags = ${env:tasmota32_base.build_flags}
-DOTA_URL='"http://ota.tasmota.com/tasmota32/release/tasmota32c2.bin"'
lib_ignore = ${env:tasmota32_base.lib_ignore}
Micro-RTSP
+ esp-32-vid6608-rmt
[env:tasmota32c3]
extends = env:tasmota32_base
diff --git a/tasmota/my_user_config.h b/tasmota/my_user_config.h
index 8097b2fc7..7d9019e67 100644
--- a/tasmota/my_user_config.h
+++ b/tasmota/my_user_config.h
@@ -1145,7 +1145,8 @@
//#define USE_HRE // Add support for Badger HR-E Water Meter (+1k4 code)
//#define USE_A4988_STEPPER // Add support for A4988/DRV8825 stepper-motor-driver-circuit (+10k5 code)
//#define USE_VID6608 // Add support for VID6608 Automotive analog gauge driver (+0k7 code)
-// #define VID6608_RESET_ON_INIT true // Reset VID6608 on init (default: true), change if you control this manually
+// #define VID6608_RESET_ON_INIT 1 // Reset VID6608 on init (default: true), change if you control this manually
+// #define VID6608_RMT 0 // Use hardware RMT driver, ESP32 only. Warning: SoC have limited RMT count, amy conflict with others (WS2812b, IR and similar)
//#define USE_PROMETHEUS // Add support for https://prometheus.io/ metrics exporting over HTTP /metrics endpoint
diff --git a/tasmota/tasmota_xdrv_driver/xdrv_92_vid6608.ino b/tasmota/tasmota_xdrv_driver/xdrv_92_vid6608.ino
index 82bcaed2b..a91383df4 100644
--- a/tasmota/tasmota_xdrv_driver/xdrv_92_vid6608.ino
+++ b/tasmota/tasmota_xdrv_driver/xdrv_92_vid6608.ino
@@ -64,15 +64,36 @@
Version history:
+ * 2026-05-17 - add support for ESP RMT driver
* 2025-11-23 - fixes related with ESP8266 performance
* 2025-11-22 - initial release
*/
+/**
+ * @brief Use HW RMT driver?
+ * Provides much better performance, but requires free RMT,
+ * some SoC (i.e. ESP32C6) have only 2 onboard, and some may be used by other drivers
+ * (like TasmotaLED and others).
+ *
+ * Default is disabled
+ */
+#if !defined(VID6608_RMT)
+#define VID6608_RMT 0
+#endif
+
+#if VID6608_RMT
+ #include "soc/soc_caps.h"
+ #if !SOC_RMT_SUPPORTED
+ #error "VID6608 RMT is not supported on this platform"
+ #endif
+#endif
+
/**
* @brief Driver impulse mode decision here
* ESP-32 has FreeRTOS, that allows us to perform precision inpulse control
+ * Disabled in RMT mode
*/
-#ifdef ESP32
+#if defined(ESP32) && !VID6608_RMT
#define VID6608_RTOS
#endif
@@ -82,8 +103,8 @@
* Disable if you dont want to perform reset/homing operation on driver init,
* usefull for cases, where you have advanced mode (i.e. use saved values from NVRAM to restore and manual reset).
*/
-#ifndef VID6608_RESET_ON_INIT
- #define VID6608_RESET_ON_INIT true
+#if !defined(VID6608_RESET_ON_INIT)
+ #define VID6608_RESET_ON_INIT 1
#endif
/**
@@ -98,27 +119,33 @@
* Use defines VID6608_STEPS_X to configure steps range per-drive
*/
-#ifndef VID6608_STEPS_DEFAULT
+#if !defined(VID6608_STEPS_DEFAULT)
#define VID6608_STEPS_DEFAULT 320 * 12
#endif
-#ifndef VID6608_STEPS_1
+#if !defined(VID6608_STEPS_1)
#define VID6608_STEPS_1 VID6608_STEPS_DEFAULT
#endif
-#ifndef VID6608_STEPS_2
+#if !defined(VID6608_STEPS_2)
#define VID6608_STEPS_2 VID6608_STEPS_DEFAULT
#endif
-#ifndef VID6608_STEPS_3
+#if !defined(VID6608_STEPS_3)
#define VID6608_STEPS_3 VID6608_STEPS_DEFAULT
#endif
-#ifndef VID6608_STEPS_4
+#if !defined(VID6608_STEPS_4)
#define VID6608_STEPS_4 VID6608_STEPS_DEFAULT
#endif
-#include "vid6608.h"
+#if VID6608_RMT
+ #include "esp32_vid6608_rmt.h"
+ #define VID6608_CLASS esp32_vid6608_rmt
+#else
+ #include "vid6608.h"
+ #define VID6608_CLASS vid6608
+#endif
/**
* @brief Command definition
@@ -148,8 +175,9 @@ enum GaugeInternalCommand {
* @brief Global vars
*/
bool vid6608Present = false;
-vid6608 *vid6608Drives[VID6608_MAX_DRIVES];
-#ifdef VID6608_RTOS
+VID6608_CLASS *vid6608Drives[VID6608_MAX_DRIVES];
+
+#if defined(VID6608_RTOS)
/**
* @brief Mutex for RTOS precision timing
*
@@ -218,7 +246,7 @@ void CmndGaugeCommand(int32_t command, uint32_t index, int32_t payload) {
bool isFirstItem = true;
for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) {
if (index == 0 || index == (x+1)) {
- vid6608 *driver = vid6608Drives[x];
+ VID6608_CLASS *driver = vid6608Drives[x];
if (driver) {
if (!isFirstItem) {
ResponseAppend_P(PSTR(","));
@@ -259,7 +287,7 @@ void VID6608StatusJson() {
bool isFirstItem = true;
VID6608_MUTEX_TAKE
for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) {
- vid6608 *driver = vid6608Drives[x];
+ VID6608_CLASS *driver = vid6608Drives[x];
if (driver) {
if (!isFirstItem) {
ResponseAppend_P(PSTR(","));
@@ -281,7 +309,7 @@ void VID6608StatusWeb() {
WSContentSend_PD(HTTP_TABLE100);
VID6608_MUTEX_TAKE
for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) {
- vid6608 *driver = vid6608Drives[x];
+ VID6608_CLASS *driver = vid6608Drives[x];
if (driver) {
WSContentSend_PD(PSTR("| Gauge %d | %d |
|---|
"), (int32_t)(x+1), (int32_t)driver->getPosition());
}
@@ -291,7 +319,7 @@ void VID6608StatusWeb() {
}
#endif
-#ifdef VID6608_RTOS
+#if defined(VID6608_RTOS)
/**
* @brief FreeRTOS background process function
* This function is required to handle movement with precision timings.
@@ -302,7 +330,7 @@ void VID6608XvTask(void *) {
bool needToMove = false;
VID6608_MUTEX_TAKE
for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) {
- vid6608 *driver = vid6608Drives[x];
+ VID6608_CLASS *driver = vid6608Drives[x];
if (driver) {
driver->loop();
if (driver->isMoving()) {
@@ -335,15 +363,25 @@ void VID6608Init() {
uint32_t pinDir = Pin(GPIO_VID6608_CW, x);
uint16_t maxSteps = 0;
memcpy_P(&maxSteps, &vid6608MaxSteps[x], 2);
- AddLog(LOG_LEVEL_DEBUG, PSTR("VID: detected drive %d at pin %d, %d, steps %d"), x, pinStep, pinDir, (uint32_t)maxSteps);
- vid6608Drives[x] = new vid6608(pinStep, pinDir, maxSteps);
+ AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Detected drive %d at pin %d, %d, steps %d"), x, pinStep, pinDir, (uint32_t)maxSteps);
+ #if VID6608_RMT
+ AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Using hardware RMT driver"));
+ esp32_vid6608_rmt::Config cfg;
+ cfg.stepPin = (gpio_num_t)pinStep;
+ cfg.dirPin = (gpio_num_t)pinDir;
+ cfg.maxSteps = maxSteps;
+ vid6608Drives[x] = new esp32_vid6608_rmt(cfg);
+ #else
+ AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Using software driver"));
+ vid6608Drives[x] = new vid6608(pinStep, pinDir, maxSteps);
+ #endif
// Perform homing operation
if (VID6608_RESET_ON_INIT) {
vid6608Drives[x]->zero();
- AddLog(LOG_LEVEL_DEBUG, PSTR("VID: zero %d done"), x);
+ AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Zero %d done"), x);
} else {
- AddLog(LOG_LEVEL_DEBUG, PSTR("VID: zero %d skipped"), x);
+ AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Zero %d skipped"), x);
}
vid6608Present = true;
} else {
@@ -354,7 +392,8 @@ void VID6608Init() {
if (!vid6608Present) {
return;
}
-#ifdef VID6608_RTOS
+#if defined(VID6608_RTOS)
+ AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Using FreeRTOS mode"));
// Create mutex for RTOS thread safety
vid6608Mutex = xSemaphoreCreateMutex();
// Start background RTOS thread -> required for precision timing
@@ -370,14 +409,14 @@ void VID6608Init() {
}
// Classical loop implementation
-#ifndef VID6608_RTOS
+#if !defined(VID6608_RTOS) && !VID6608_RMT
/**
* @brief Non-FreeRTOS background process function
* ESP8266 classical loop() thread function, used where is no FreeRTOS.
*/
bool VID6608Loop() {
for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) {
- vid6608 *driver = vid6608Drives[x];
+ VID6608_CLASS *driver = vid6608Drives[x];
if (driver) {
driver->loop();
}
@@ -405,9 +444,10 @@ bool Xdrv92(uint32_t function) {
switch (function) {
case FUNC_LOOP:
-#ifndef VID6608_RTOS
- // ESP32 uses FreeRTOS to manage moving tasks, as it requires precision timings
+#if !defined(VID6608_RTOS) && !VID6608_RMT
+ // 1. ESP32 uses FreeRTOS to manage moving tasks, as it requires precision timings
// Others should use regular loop -> slower, but still works
+ // 2. ESP32 RMT version does not need loop
result = VID6608Loop();
#else
result = true;