esp32-rust-embedded

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Expert embedded Rust development for ESP32 microcontrollers using no-std, Embassy async framework, and the ESP-RS ecosystem (esp-hal, esp-rtos, esp-radio). Use when building, debugging, flashing, or adding features to ESP32 projects. Covers sensor integration (ADC, GPIO, I2C, SPI), power management (deep sleep, RTC memory), WiFi networking, MQTT clients, display drivers, async task patterns, memory allocation, error handling, and dependency management. Ideal for LilyGO boards, Espressif chips (ESP32, ESP32-S3, ESP32-C3), and any no-std Xtensa/RISC-V embedded development.

psytraxx By psytraxx schedule Updated 6/9/2026
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name: esp32-rust-embedded description: Expert embedded Rust development for ESP32 microcontrollers using no-std, Embassy async framework, and the ESP-RS ecosystem (esp-hal, esp-rtos, esp-radio). Use when building, debugging, flashing, or adding features to ESP32 projects. Covers sensor integration (ADC, GPIO, I2C, SPI), power management (deep sleep, RTC memory), WiFi networking, MQTT clients, display drivers, async task patterns, memory allocation, error handling, and dependency management. Ideal for LilyGO boards, Espressif chips (ESP32, ESP32-S3, ESP32-C3), and any no-std Xtensa/RISC-V embedded development. compatibility: Requires ESP Rust toolchain (espup), cargo-espflash, and ESP32/ESP32-S3/ESP32-C3 hardware. Designed for Claude Code and similar AI coding assistants.

ESP32 Embedded Rust Specialist

Expert guidance for no-std Rust development on ESP32 microcontrollers using the ESP-RS ecosystem and Embassy async framework.

ESP-RS Ecosystem Stack

Core Dependencies

esp-hal = { version = "~1.1.0", features = ["esp32s3", "log-04", "unstable"] }
esp-rtos = { version = "0.3.0", features = ["embassy", "esp-alloc", "esp-radio", "esp32s3", "log-04"] }
esp-radio = { version = "0.18.0", features = ["esp-alloc", "esp32s3", "log-04", "unstable", "wifi"] }
esp-bootloader-esp-idf = { version = "0.5.0", features = ["esp32s3", "log-04"] }
esp-alloc = "0.10.0"
esp-println = { version = "0.17.0", features = ["esp32s3", "log-04"] }

# smoltcp is now a DIRECT dependency (no longer a feature of esp-radio)
smoltcp = { version = "0.13.0", default-features = false, features = [
  "log", "medium-ethernet", "multicast",
  "proto-dhcpv4", "proto-dns", "proto-ipv4",
  "socket-dns", "socket-icmp", "socket-raw", "socket-tcp", "socket-udp",
] }

Embassy Framework

embassy-executor = { version = "0.10.0", features = ["log"] }
embassy-time = { version = "0.5.0", features = ["log"] }
embassy-net = { version = "0.9.1", features = ["dhcpv4", "log", "medium-ethernet", "tcp", "udp"] }
embassy-sync = { version = "0.7.2" }

Dependency Hierarchy

esp-radio (WiFi) -> esp-rtos (scheduler) -> esp-hal (HAL) -> esp-phy (PHY)
embassy-executor -> embassy-time -> embassy-sync -> embassy-net

Rust Edition & MSRV

  • Edition: 2024 (edition = "2024" in Cargo.toml)
  • MSRV: 1.88 (rust-version = "1.88")
  • Binary location: src/bin/main.rs (not src/main.rs) — [[bin]] entry required in Cargo.toml

Build & Flash

Environment Setup

# Install ESP toolchain (one-time)
espup install
source $HOME/export-esp.sh

# Configure credentials (.env file)
cp .env.dist .env
# Edit: WIFI_SSID, WIFI_PSK, MQTT_HOSTNAME, MQTT_USERNAME, MQTT_PASSWORD

Build Commands

# Quick build and flash
./run.sh

# Manual release build (recommended)
cargo run --release

# Debug build (slower on device)
cargo run

Cargo Profile Optimization

[profile.dev]
opt-level = "s"  # Rust debug too slow for ESP32

[profile.release]
lto = 'fat'
opt-level = 's'
codegen-units = 1

Common Build Errors

Linker error: undefined symbol _stack_start

  • Check build.rs has linkall.x configuration
  • Verify esp-hal version compatibility

undefined symbol: esp_rtos_* ("esp-radio has no scheduler enabled")

  • Ensure esp-rtos is started with BOTH a timer AND a software interrupt (changed in 0.3.0):
let timg0 = TimerGroup::new(peripherals.TIMG0);
let sw_interrupt = esp_hal::interrupt::software::SoftwareInterruptControl::new(
    peripherals.SW_INTERRUPT
);
esp_rtos::start(timg0.timer0, sw_interrupt.software_interrupt0);

Environment variable errors

  • Variables are compile-time via env!() macro
  • Changes require full rebuild

No-Std Patterns

Application Entry

#![no_std]
#![no_main]
// Recommended lints (now standard in esp-generate templates)
#![deny(clippy::mem_forget)]  // esp-hal types must not be mem::forgotten
#![deny(clippy::large_stack_frames)]

use embassy_executor::Spawner;
use esp_hal::{clock::CpuClock, timer::timg::TimerGroup};

esp_bootloader_esp_idf::esp_app_desc!();

#[esp_rtos::main]
async fn main(spawner: Spawner) -> ! {
    // Initialize logger (reads RUST_LOG env var at compile time via esp-config)
    esp_println::logger::init_logger_from_env();

    // Initialize HAL with max CPU clock
    let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
    let peripherals = esp_hal::init(config);

    // Setup heap allocator using reclaimed memory (replaces dram2_uninit approach)
    esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 73744);

    // Start RTOS scheduler — now requires BOTH a timer AND a software interrupt
    let timg0 = TimerGroup::new(peripherals.TIMG0);
    let sw_interrupt = esp_hal::interrupt::software::SoftwareInterruptControl::new(
        peripherals.SW_INTERRUPT
    );
    esp_rtos::start(timg0.timer0, sw_interrupt.software_interrupt0);

    // Spawn tasks...
    let _ = spawner;
    loop {}
}

Memory Management

  • Use esp-alloc for dynamic allocation
  • Prefer heapless collections with compile-time capacity
  • Use static_cell::StaticCell for 'static lifetime requirements

String Handling

use alloc::string::String;      // Dynamic strings (heap)
use heapless::String;           // Bounded strings (stack)

let s: heapless::String<64> = heapless::String::new();

Avoid cloning when possible.

StaticCell Pattern

static CHANNEL: StaticCell<Channel<NoopRawMutex, Data, 3>> = StaticCell::new();

// In async function
let channel: &'static mut _ = CHANNEL.init(Channel::new());
let (sender, receiver) = (channel.sender(), channel.receiver());

Hardware Patterns

GPIO Configuration

use esp_hal::gpio::{Level, Output, OutputConfig, Pull, DriveMode};

// Standard output
let pin = Output::new(peripherals.GPIO2, Level::Low, OutputConfig::default());

// Open-drain for sensors like DHT11
let pin = Output::new(
    peripherals.GPIO1,
    Level::High,
    OutputConfig::default()
        .with_drive_mode(DriveMode::OpenDrain)
        .with_pull(Pull::None),
).into_flex();

ADC Reading with Calibration

use esp_hal::analog::adc::{Adc, AdcConfig, AdcCalCurve, Attenuation};

let mut adc_config = AdcConfig::new();
let pin = adc_config.enable_pin_with_cal::<_, AdcCalCurve<ADC2>>(
    peripherals.GPIO11,
    Attenuation::_11dB  // 0-3.3V range
);
let adc = Adc::new(peripherals.ADC2, adc_config);

// Read with nb::block!
let value = nb::block!(adc.read_oneshot(&mut pin))?;

Peripheral Bundles Pattern

pub struct SensorPeripherals {
    pub dht11_pin: GPIO1<'static>,
    pub moisture_pin: GPIO11<'static>,
    pub power_pin: GPIO16<'static>,
    pub adc2: ADC2<'static>,
}

Async Task Architecture

Task Definition

#[embassy_executor::task]
pub async fn my_task(sender: Sender<'static, NoopRawMutex, Data, 3>) {
    loop {
        // Do work
        sender.send(data).await;
        Timer::after(Duration::from_secs(5)).await;
    }
}

Task Spawning

spawner.spawn(sensor_task(sender, peripherals)).ok();
spawner.spawn(update_task(stack, display, receiver)).ok();

Inter-Task Communication

Channel (multiple values)

use embassy_sync::{blocking_mutex::raw::NoopRawMutex, channel::Channel};

static CHANNEL: StaticCell<Channel<NoopRawMutex, Data, 3>> = StaticCell::new();
// sender.send(data).await / receiver.receive().await

Signal (single notification)

use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, signal::Signal};

static SIGNAL: Signal<CriticalSectionRawMutex, ()> = Signal::new();
// SIGNAL.signal(()) / SIGNAL.wait().await

Reconnection Loop Pattern

'reconnect: loop {
    let mut client = initialize_client().await?;
    loop {
        match client.process().await {
            Ok(_) => { /* handle messages */ }
            Err(e) => {
                println!("Error: {:?}", e);
                continue 'reconnect;  // Reconnect on error
            }
        }
    }
}

Power Management

Deep Sleep Configuration

use esp_hal::rtc_cntl::{Rtc, sleep::{RtcSleepConfig, TimerWakeupSource, RtcioWakeupSource, WakeupLevel}};

pub fn enter_deep(wakeup_pin: &mut dyn RtcPin, rtc_cntl: LPWR, duration: Duration) -> ! {
    // GPIO wake source
    let wakeup_pins: &mut [(&mut dyn RtcPin, WakeupLevel)] = &mut [(wakeup_pin, WakeupLevel::Low)];
    let ext0 = RtcioWakeupSource::new(wakeup_pins);

    // Timer wake source
    let timer = TimerWakeupSource::new(duration.into());

    let mut rtc = Rtc::new(rtc_cntl);
    let mut config = RtcSleepConfig::deep();
    config.set_rtc_fastmem_pd_en(false);  // Keep RTC fast memory powered

    rtc.sleep(&config, &[&ext0, &timer]);
    unreachable!();
}

RTC Fast Memory Persistence

use esp_hal::ram;

#[ram(unstable(rtc_fast))]
pub static BOOT_COUNT: RtcCell<u32> = RtcCell::new(0);

// Survives deep sleep - read/write with .get()/.set()
let count = BOOT_COUNT.get();
BOOT_COUNT.set(count + 1);

Power Optimization

  • Toggle sensor power pins only during reads
  • Use power save mode on displays
  • Gracefully disconnect WiFi before sleep
  • Keep awake duration minimal

WiFi Networking

Connection Setup

// esp_radio::init() is GONE — wifi::new() is called directly (as of esp-radio 0.18+)
use esp_radio::wifi::{self, ClientConfig, ModeConfig, WifiController};

let (mut controller, interfaces) =
    esp_radio::wifi::new(peripherals.WIFI, Default::default())
        .expect("Failed to initialize Wi-Fi controller");

let client_config = ModeConfig::Client(
    ClientConfig::default()
        .with_ssid(env!("WIFI_SSID").try_into().unwrap())
        .with_password(env!("WIFI_PSK").try_into().unwrap()),
);

controller.set_config(&client_config)?;
controller.start_async().await?;
controller.connect_async().await?;

Embassy-Net Stack

use embassy_net::{Config, Stack, StackResources};

let config = Config::dhcpv4(DhcpConfig::default());
let (stack, runner) = embassy_net::new(wifi_interface, config, stack_resources, seed);

// Wait for link and IP
loop {
    if stack.is_link_up() { break; }
    Timer::after(Duration::from_millis(500)).await;
}

loop {
    if let Some(config) = stack.config_v4() {
        println!("IP: {}", config.address);
        break;
    }
    Timer::after(Duration::from_millis(500)).await;
}

Graceful WiFi Shutdown

pub static WIFI_SIGNAL: Signal<CriticalSectionRawMutex, ()> = Signal::new();

// In connection task
WIFI_SIGNAL.wait().await;
controller.stop_async().await?;

// Before deep sleep
WIFI_SIGNAL.signal(());

Sensor Patterns

ADC Sampling with Warmup

async fn sample_adc_with_warmup<PIN, ADC>(
    adc: &mut Adc<ADC, Blocking>,
    pin: &mut AdcPin<PIN, ADC>,
    warmup_ms: u64,
) -> Option<u16> {
    Timer::after(Duration::from_millis(warmup_ms)).await;
    nb::block!(adc.read_oneshot(pin)).ok()
}

Power-Controlled Sensor Read

async fn read_sensor(adc: &mut Adc, pin: &mut AdcPin, power: &mut Output) -> Option<u16> {
    power.set_high();
    let result = sample_adc_with_warmup(adc, pin, 50).await;
    power.set_low();
    result
}

Outlier-Resistant Averaging

fn calculate_average<T: Copy + Ord + Into<u32>>(samples: &mut [T]) -> Option<T> {
    if samples.len() <= 2 { return None; }

    samples.sort_unstable();
    let trimmed = &samples[1..samples.len() - 1];  // Remove min/max

    let sum: u32 = trimmed.iter().map(|&x| x.into()).sum();
    (sum / trimmed.len() as u32).try_into().ok()
}

Display Integration

ST7789 Parallel Interface

use mipidsi::{Builder, options::ColorInversion};

let di = display_interface_parallel_gpio::Generic8BitBus::new(/*pins*/);
let mut display = Builder::new(ST7789, di)
    .display_size(320, 170)
    .invert_colors(ColorInversion::Inverted)
    .init(&mut delay)?;

Power Save Mode

display.set_display_on(false)?;  // Enter power save
// Before deep sleep
power_pin.set_low();

Error Handling

Module Error Pattern

#[derive(Debug)]
pub enum Error {
    Wifi(WifiError),
    Display(display::Error),
    Mqtt(MqttError),
}

impl From<WifiError> for Error {
    fn from(e: WifiError) -> Self { Self::Wifi(e) }
}

Fallible Main Pattern

// Note: #[esp_rtos::main] (not use esp_rtos::main; #[main])
// Note: main now returns `-> !` (diverging)
#[esp_rtos::main]
async fn main(spawner: Spawner) -> ! {
    if let Err(error) = main_fallible(spawner).await {
        log::error!("Fatal: {:?}", error);
        esp_hal::system::software_reset();
    }
    unreachable!()
}

async fn main_fallible(spawner: Spawner) -> Result<(), Error> {
    // Application logic with ? operator
}

Dependency Updates

Safe Update Process

cargo outdated
cargo update -p esp-hal
cargo build --release
cargo clippy -- -D warnings

Breaking Change Patterns

  • GPIO API changes frequently (OutputConfig)
  • Timer initialization changes
  • Feature flag renames
  • esp-rtos 0.3.0: esp_rtos::start() now requires 2 args (timer + software interrupt)
  • esp-radio 0.18.0: esp_radio::init() removed; call esp_radio::wifi::new() directly
  • smoltcp: now a direct dependency, not a feature of esp-radio
  • heap_allocator!: use #[esp_hal::ram(reclaimed)] instead of #[unsafe(link_section = ".dram2_uninit")]
  • Always check esp-hal release notes and migrate with esp-generate's generated templates as reference

Version Alignment

Update Embassy crates together:

cargo update -p embassy-executor -p embassy-time -p embassy-sync -p embassy-net

esp-generate (project scaffold tool)

# Install
cargo install esp-generate --locked

# Generate ESP32-S3 project with Embassy + WiFi + alloc
esp-generate --chip esp32s3 -o unstable-hal -o embassy -o alloc -o wifi -o log my-project

# Available options: unstable-hal, alloc, wifi, ble-trouble, embassy,
#   probe-rs, defmt, log, esp-backtrace, embedded-test, wokwi, ci,
#   vscode, neovim, helix, zed

Note: wifi option now requires both unstable-hal and alloc.
Note: embassy option requires unstable-hal.

Debugging

Serial Logging

use esp_println::println;
// New: reads RUST_LOG at compile time via esp-config (.cargo/esp-config.toml)
esp_println::logger::init_logger_from_env();
// Or explicitly set a level:
// esp_println::logger::init_logger(log::LevelFilter::Info);
log::info!("Debug: value = {}", value);
println!("Debug: value = {}", value); // also works

Common Runtime Issues

  • WiFi fails: Check 2.4GHz network, signal strength
  • MQTT fails: Verify DNS resolution, broker credentials
  • Sensors fail: Check warmup delays, power pin toggling
  • Display blank: Ensure GPIO15 is HIGH (power enable)
  • Sleep wake fails: Verify RTC fast memory config

Software Reset

use esp_hal::system::software_reset;
software_reset();  // Clean restart on unrecoverable error
Install via CLI
npx skills add https://github.com/psytraxx/esp32-homecontrol-no-std-rs --skill esp32-rust-embedded
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