VID6608: add hardware RMT support for Automotive gauge driver (#24759)

* Replace old software-defined library arduino-vid6608 with hw-defined esp-32-vid6608 * VID6608: Rework integration to allow select RMT/SW method by using the `VID6608_RMT` option * VID6608: Tune library inclusion for RMT version * The RMT version is not supported on ESP32-C2, library excluded * Add more clear error message, if RMT is requested, but not supported
2026-07-27 20:05:46 +00:00 · 2026-05-18 17:40:13 +02:00
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 reviewing courts shall apply local law that most closely approximates
 an absolute waiver of all civil liability in connection with the
 Program, unless a warranty or assumption of liability accompanies a
 copy of the Program in return for a fee.
                     END OF TERMS AND CONDITIONS
            How to Apply These Terms to Your New Programs
  If you develop a new program, and you want it to be of the greatest
 possible use to the public, the best way to achieve this is to make it
 free software which everyone can redistribute and change under these terms.
  To do so, attach the following notices to the program.  It is safest
 to attach them to the start of each source file to most effectively
 state the exclusion of warranty; and each file should have at least
 the "copyright" line and a pointer to where the full notice is found.
    <one line to give the program's name and a brief idea of what it does.>
    Copyright (C) <year>  <name of author>
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <https://www.gnu.org/licenses/>.
 Also add information on how to contact you by electronic and paper mail.
  If the program does terminal interaction, make it output a short
 notice like this when it starts in an interactive mode:
    <program>  Copyright (C) <year>  <name of author>
    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
    This is free software, and you are welcome to redistribute it
    under certain conditions; type `show c' for details.
 The hypothetical commands `show w' and `show c' should show the appropriate
 parts of the General Public License.  Of course, your program's commands
 might be different; for a GUI interface, you would use an "about box".
  You should also get your employer (if you work as a programmer) or school,
 if any, to sign a "copyright disclaimer" for the program, if necessary.
 For more information on this, and how to apply and follow the GNU GPL, see
 <https://www.gnu.org/licenses/>.
  The GNU General Public License does not permit incorporating your program
 into proprietary programs.  If your program is a subroutine library, you
 may consider it more useful to permit linking proprietary applications with
 the library.  If this is what you want to do, use the GNU Lesser General
 Public License instead of this License.  But first, please read
 <https://www.gnu.org/licenses/why-not-lgpl.html>.
@@ -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
 [![PlatformIO Registry](https://badges.registry.platformio.org/packages/petrows/library/esp-32-vid6608-rmt.svg)](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.
 ![Datasheet scheme](doc/operation-configuration.png)
 * 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);
 }
 ```
@@ -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 <petro@petro.ws>
 documentation: "https://github.com/petrows/esp-32-vid6608-rmt/blob/master/README.md"
 tags:
  - Stepper
  - VID6608
 dependencies:
  idf:
    version: ">=5.5.0"
@@ -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"
 }
@@ -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<uint16_t, esp32_vid6608_rmt::kAccelSteps> 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<uint16_t, kAccelSteps> 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<uint16_t>(float(RMT_RES_HZ) / (hz * 2.0f));
    }
    return out;
 }
 const std::array<uint16_t, esp32_vid6608_rmt::kAccelSteps> 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<long>(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<int32_t>(deadline - now) <= 0) {
                ESP_LOGW(TAG, "D %d, wait timeout after %ld ms",
                         this->config.stepPin, static_cast<long>(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<esp32_vid6608_rmt *>(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<uint32_t>(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<uint32_t>(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<int>(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<uint32_t>(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<int>(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));
 }
@@ -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 <array>
 #include <cstddef>
 #include <cstdint>
 #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<uint16_t, kAccelSteps> 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<uint16_t, kAccelSteps> 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{};
    /** @} */
 };
@@ -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
@@ -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'
@@ -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
@@ -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
@@ -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
+#if !defined(VID6608_RESET_ON_INIT)
-  #define VID6608_RESET_ON_INIT  true
+  #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];
+VID6608_CLASS *vid6608Drives[VID6608_MAX_DRIVES];
-#ifdef VID6608_RTOS
+
 #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("<tr><th>Gauge %d</th><td>%d</td></tr>"), (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);
+      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);
+      #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
+#if !defined(VID6608_RTOS) && !VID6608_RMT
-      // ESP32 uses FreeRTOS to manage moving tasks, as it requires precision timings
+      // 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;