Add support for M5Stack CoreMatrix (ESP32-C61)

src/M5Unified.cpp

@@ -115,6 +115,8 @@ static constexpr const uint8_t _pin_table_i2c_ex_in[][5] = {
 { board_t::board_M5NanoC6     , 255        ,255         , GPIO_NUM_1 ,GPIO_NUM_2  },
 { board_t::board_unknown      , 255        ,255         , 255        ,255         },
 #elif defined (CONFIG_IDF_TARGET_ESP32C61)
+{ board_t::board_M5CoreMatrix , GPIO_NUM_1 ,GPIO_NUM_0  , GPIO_NUM_1 ,GPIO_NUM_0  }, // Grove shares the internal bus (level-shifted)
+{ board_t::board_unknown      , 255        ,255         , 255        ,255         },
 #elif defined (CONFIG_IDF_TARGET_ESP32H2)
 { board_t::board_M5NanoH2     , 255        ,255         , GPIO_NUM_1 ,GPIO_NUM_2  },
 { board_t::board_unknown      , 255        ,255         , 255        ,255         },
@@ -204,6 +206,7 @@ static constexpr const uint8_t _pin_table_sd[][7] = {
 #elif defined (CONFIG_IDF_TARGET_ESP32C3)
 #elif defined (CONFIG_IDF_TARGET_ESP32C6)
 #elif defined (CONFIG_IDF_TARGET_ESP32C61)
+{ board_t::board_M5CoreMatrix , GPIO_NUM_25, GPIO_NUM_27, GPIO_NUM_26, 255        , 255        , GPIO_NUM_28 },
 #elif defined (CONFIG_IDF_TARGET_ESP32H2)
 #elif defined (CONFIG_IDF_TARGET_ESP32P4)
 { board_t::board_M5Tab5       , GPIO_NUM_43, GPIO_NUM_44, GPIO_NUM_39, GPIO_NUM_40, GPIO_NUM_41, GPIO_NUM_42 },
@@ -354,6 +357,23 @@ static constexpr const uint8_t _pin_table_mbus[][31] = {
 #elif defined (CONFIG_IDF_TARGET_ESP32C3)
 #elif defined (CONFIG_IDF_TARGET_ESP32C6)
 #elif defined (CONFIG_IDF_TARGET_ESP32C61)
+{ board_t::board_M5CoreMatrix,
+  255        , GPIO_NUM_3 ,
+  255        , GPIO_NUM_4 ,
+  255        , 255        ,
+  GPIO_NUM_27, GPIO_NUM_5 ,
+  GPIO_NUM_26, GPIO_NUM_6 ,
+  GPIO_NUM_25, 255        ,
+  GPIO_NUM_10, GPIO_NUM_11,
+  GPIO_NUM_7 , GPIO_NUM_8 ,
+  GPIO_NUM_0 , GPIO_NUM_1 ,
+  GPIO_NUM_0 , GPIO_NUM_1 ,
+  GPIO_NUM_23, GPIO_NUM_22,
+  GPIO_NUM_24, GPIO_NUM_9 ,
+  255        , GPIO_NUM_29,
+  255        , 255        ,
+  255        , 255        ,
+},
 #elif defined (CONFIG_IDF_TARGET_ESP32H2)
 #elif defined (CONFIG_IDF_TARGET_ESP32C5)
 #else
@@ -1864,6 +1884,15 @@ static constexpr const uint8_t _pin_table_mbus[][31] = {
         _io_expander[0].reset(ioexp);
       }
       break;
+#elif defined (CONFIG_IDF_TARGET_ESP32C61)
+    case board_t::board_M5CoreMatrix:
+      { /// Controls the LED matrix / TF / Grove / buzzer power rails,
+        /// the charge current selector and the buzzer PWM.
+        auto ioexp = new M5IOE1_Class;
+        ioexp->begin();
+        _io_expander[0].reset(ioexp);
+      }
+      break;
 #endif
     default:
       break;
@@ -2914,6 +2943,23 @@ static constexpr const uint8_t _pin_table_mbus[][31] = {
       }
       break;
 
+    default:
+      break;
+    }
+#elif defined (CONFIG_IDF_TARGET_ESP32C61)
+    switch (getBoard())
+    {
+    case board_t::board_M5CoreMatrix:
+      { // KEY and IMU wake events are funneled into the PM1, whose IRQ output
+        // (GPIO2) is the only wakeup pin. The IRQ output stays low until every
+        // IRQ status bit is cleared, so clear them here to release the pin.
+        // Clear WAKE_SRC first: while it is set, the WAKEUP bit of IRQ status 3
+        // keeps getting re-asserted.
+        Power.M5pm1.clearWakeSource();
+        Power.M5pm1.clearIRQStatus();
+      }
+      break;
+
     default:
       break;
     }
@@ -3273,6 +3319,28 @@ static constexpr const uint8_t _pin_table_mbus[][31] = {
       break;
     }
 
+#elif defined (CONFIG_IDF_TARGET_ESP32C61)
+
+    switch (_board)
+    {
+    case board_t::board_M5CoreMatrix:
+      /// KEY1/2/3 are wired to PM1 GPIO0/1/2 (pressed = LOW), not to the ESP,
+      /// so they are read by I2C polling. Skip the update on an I2C failure so
+      /// a bus error is not reported as a button press.
+      {
+        uint8_t in;
+        if (Power.M5pm1.getGPIOInputBits(&in))
+        {
+          use_rawstate_bits = 0b00111;
+          btn_rawstate_bits = (~in) & 0b00111;
+        }
+      }
+      break;
+
+    default:
+      break;
+    }
+
 #endif
 
     if (use_rawstate_bits) {
@@ -3283,7 +3351,7 @@ static constexpr const uint8_t _pin_table_mbus[][31] = {
       }
     }
 
-#if defined (CONFIG_IDF_TARGET_ESP32) || defined (CONFIG_IDF_TARGET_ESP32S3) || defined (CONFIG_IDF_TARGET_ESP32C5)
+#if defined (CONFIG_IDF_TARGET_ESP32) || defined (CONFIG_IDF_TARGET_ESP32S3) || defined (CONFIG_IDF_TARGET_ESP32C5) || defined (CONFIG_IDF_TARGET_ESP32C61)
     if (_use_pmic_button)
     {
       Button_Class::button_state_t state = Button_Class::button_state_t::state_nochange;

src/utility/IMU_Class.cpp

@@ -108,6 +108,12 @@ namespace m5
           _internal_axisorder_fixed[sensor_index_accel] = (internal_axisorder_t)(axis_order_yxz | axis_invert_x | axis_invert_y | axis_invert_z);
           _internal_axisorder_fixed[sensor_index_gyro ] = (internal_axisorder_t)(axis_order_yxz | axis_invert_x | axis_invert_y | axis_invert_z);
         }
+#elif defined(CONFIG_IDF_TARGET_ESP32C61)
+        if (board == m5::board_t::board_M5CoreMatrix)
+        { // CoreMatrix BMI270 : X=+Y, Y=-X, Z=+Z (90-degree rotation about Z)
+          _internal_axisorder_fixed[sensor_index_accel] = (internal_axisorder_t)(axis_order_yxz | axis_invert_y);
+          _internal_axisorder_fixed[sensor_index_gyro ] = (internal_axisorder_t)(axis_order_yxz | axis_invert_y);
+        }
 #endif
 
       }

src/utility/IOExpander_Base.hpp

@@ -33,6 +33,15 @@ namespace m5
 
     virtual bool digitalRead(uint8_t pin) = 0;
 
+    /// digitalRead with I2C error reporting. returns false on I2C failure
+    /// or when the expander driver does not implement error detection.
+    virtual bool getInputLevel(uint8_t pin, bool* level)
+    {
+      (void)pin;
+      (void)level;
+      return false;
+    }
+
     virtual void resetIrq() = 0;
 
     virtual void disableIrq() = 0;

src/utility/M5IOE1_Class.cpp

@@ -102,6 +102,15 @@ namespace m5
     return (readRegister8(_regForPin(M5IOE1_REG_GPIO_IN_L, pin)) & _bitForPin(pin)) != 0;
   }
 
+  bool M5IOE1_Class::getInputLevel(uint8_t pin, bool* level)
+  {
+    if (!_isValidPin(pin) || level == nullptr) { return false; }
+    std::uint8_t v;
+    if (!readRegister(_regForPin(M5IOE1_REG_GPIO_IN_L, pin), &v, 1)) { return false; }
+    *level = (v & _bitForPin(pin)) != 0;
+    return true;
+  }
+
   void M5IOE1_Class::setPwmFrequency(std::uint16_t frequency)
   {
     std::uint8_t data[2] = { static_cast<std::uint8_t>(frequency & 0xFF), static_cast<std::uint8_t>(frequency >> 8) };

src/utility/M5IOE1_Class.hpp

@@ -57,6 +57,7 @@ namespace m5
     void digitalWrite(uint8_t pin, bool level) override;
 
     bool digitalRead(uint8_t pin) override;
+    bool getInputLevel(uint8_t pin, bool* level) override;
 
     void setPwmFrequency(std::uint16_t frequency);
 

src/utility/Power_Class.cpp

@@ -206,14 +206,43 @@ namespace m5
 
     case board_t::board_M5CoreMatrix:
       _pmic = pmic_t::pmic_m5pm1;
+      _wakeupPin = GPIO_NUM_2;
+      /// KEY1/2/3 are wired to PM1 GPIO0/1/2 (pressed = LOW)
+      M5pm1.setGPIOFunction(M5PM1_Class::gpio0, M5PM1_Class::gpio);
       M5pm1.setGPIOFunction(M5PM1_Class::gpio1, M5PM1_Class::gpio);
       M5pm1.setGPIOFunction(M5PM1_Class::gpio2, M5PM1_Class::gpio);
-      M5pm1.setGPIOFunction(M5PM1_Class::gpio3, M5PM1_Class::gpio);
-      M5pm1.setGPIOMode(M5PM1_Class::gpio1, M5PM1_Class::output);
+      M5pm1.setGPIOMode(M5PM1_Class::gpio0, M5PM1_Class::input);
+      M5pm1.setGPIOMode(M5PM1_Class::gpio1, M5PM1_Class::input);
       M5pm1.setGPIOMode(M5PM1_Class::gpio2, M5PM1_Class::input);
+      /// PM1 GPIO4 is the BMI270 INT1 input (motion wakeup)
+      M5pm1.setGPIOFunction(M5PM1_Class::gpio4, M5PM1_Class::gpio);
+      M5pm1.setGPIOMode(M5PM1_Class::gpio4, M5PM1_Class::input);
+      /// PM1 GPIO3 is the IRQ output wired to ESP32 G2. Without an IRQ pin
+      /// configured the PM1 auto-clears its IRQ status (0x40-0x42) and the
+      /// power button / wake events cannot be detected.
+      /// Configure it as a push-pull high output before switching to the IRQ
+      /// function, so the released line is actively driven high.
       M5pm1.setGPIOMode(M5PM1_Class::gpio3, M5PM1_Class::output);
-      M5pm1.setGPIODrive(M5PM1_Class::gpio1, M5PM1_Class::push_pull);
       M5pm1.setGPIODrive(M5PM1_Class::gpio3, M5PM1_Class::push_pull);
+      M5pm1.setGPIOPull(M5PM1_Class::gpio3, M5PM1_Class::pull_up);
+      M5pm1.setGPIOOutput(M5PM1_Class::gpio3, true);
+      M5pm1.setGPIOFunction(M5PM1_Class::gpio3, M5PM1_Class::irq);
+#if SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
+      /// After an EXT1 wakeup the pin is still owned by the RTC IO mux and the
+      /// digital GPIO input reads low forever (the release wait on the next
+      /// sleep entry would never finish). Return it to the digital function.
+      rtc_gpio_deinit((gpio_num_t)_wakeupPin);
+#endif
+      /// make the PM1 IRQ output readable as the wakeup pin
+      m5gfx::pinMode(_wakeupPin, m5gfx::pin_mode_t::input_pullup);
+      /// charge detect input (IOE1 G8 = AW32901 CHG_STAT, low = charging)
+      M5.getIOExpander(0).setDirection(M5IOE1_Class::gpio8, false);
+      { /// TF card power (IOE1 G1) is off at reset; enable it so the SD card is usable
+        auto& ioe1 = M5.getIOExpander(0);
+        ioe1.setHighImpedance(M5IOE1_Class::gpio1, false);
+        ioe1.setDirection(M5IOE1_Class::gpio1, true);
+        ioe1.digitalWrite(M5IOE1_Class::gpio1, true);
+      }
       break;
     }
 
@@ -247,7 +276,7 @@ namespace m5
       /// RTC アラームが IRQ 出力 (= ESP32 G4 の Low) として伝わる。
       M5pm1.setGPIOFunction(M5PM1_Class::gpio3, M5PM1_Class::gpio);
       M5pm1.setGPIOMode(M5PM1_Class::gpio3, M5PM1_Class::input);
-      /// PM1 の IRQ 出力を wakeup ピンとして読めるよう入力にしておく。
+      /// make the PM1 IRQ output readable as the wakeup pin。
       /// この線には外部プルアップが無く、IRQ 解放時に High へ戻す駆動も
       /// 期待できないため、内部プルアップを有効にする。
       m5gfx::pinMode(_wakeupPin, m5gfx::pin_mode_t::input_pullup);
@@ -794,6 +823,16 @@ namespace m5
       }
       break;
 
+#elif defined (CONFIG_IDF_TARGET_ESP32C61)
+    case board_t::board_M5CoreMatrix:
+      { /// IOE1 G5 gates the Grove port power (both the 3.3V rail and the 5V boost)
+        auto& ioe1 = M5.getIOExpander(0);
+        ioe1.setHighImpedance(M5IOE1_Class::gpio5, false);
+        ioe1.setDirection(M5IOE1_Class::gpio5, true);
+        ioe1.digitalWrite(M5IOE1_Class::gpio5, enable);
+      }
+      break;
+
 #elif defined (CONFIG_IDF_TARGET_ESP32H2)
 
 #elif defined (CONFIG_IDF_TARGET_ESP32S3)
@@ -972,6 +1011,11 @@ namespace m5
       return M5pm1.getExtOutput();
       break;
 
+#elif defined (CONFIG_IDF_TARGET_ESP32C61)
+    case board_t::board_M5CoreMatrix:
+      return M5.getIOExpander(0).getWriteValue(M5IOE1_Class::gpio5);
+      break;
+
 #elif !defined (CONFIG_IDF_TARGET) || defined (CONFIG_IDF_TARGET_ESP32)
     case board_t::board_M5Paper:
       return m5gfx::gpio_in(M5Paper_EXT5V_ENABLE_PIN);
@@ -1422,8 +1466,9 @@ namespace m5
  #if SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
         if (pin_wakeup_enabled)
         {
-#if defined (CONFIG_IDF_TARGET_ESP32C5)
-          if (M5.getBoard() == board_t::board_M5ToughC5)
+#if defined (CONFIG_IDF_TARGET_ESP32C5) || defined (CONFIG_IDF_TARGET_ESP32C61)
+          if (M5.getBoard() == board_t::board_M5ToughC5
+           || M5.getBoard() == board_t::board_M5CoreMatrix)
           { // PM1 の IRQ 出力線には外部プルアップが無く、プルダウンすると
             // Low に固定されて wakeup ピンが解放されなくなる。内部プルアップで
             // High を維持し、IRQ アサート (Low) だけを wakeup 条件にする。
@@ -1732,6 +1777,40 @@ namespace m5
     return -1;
   }
 
+#if defined (CONFIG_IDF_TARGET_ESP32C61)
+  /// CoreMatrix: with no battery attached, the PM1 VBAT ADC reads the
+  /// AW32901 charger float voltage (~4.2V), which is indistinguishable from
+  /// a fully charged battery. Distinguish them by briefly pausing the
+  /// charger: without a battery VBAT collapses well below 2V, while a real
+  /// battery holds its voltage. The PM1 refreshes the VBAT register on an
+  /// internal ~1 second ADC cycle, so the pause must cover one full cycle.
+  /// Only the first call blocks (~1.2s); the result is cached.
+  /// An I2C failure during the probe is not cached, so a later call retries
+  /// and the battery APIs can report the bus error instead of a wrong state.
+  std::int8_t Power_Class::_batteryPresent(void)
+  {
+    if (_batt_present < 0)
+    {
+      bool chg_enabled = true;
+      std::uint16_t pre_mv = 0, post_mv = 0;
+      bool ok = M5pm1.getBatteryCharge(&chg_enabled)
+             && M5pm1.getBatteryVoltage(&pre_mv)
+             && M5pm1.setBatteryCharge(false);
+      if (ok)
+      { /// wait only when the charger pause actually took effect
+        m5gfx::delay(1200);
+        ok = M5pm1.getBatteryVoltage(&post_mv);
+      }
+      M5pm1.setBatteryCharge(chg_enabled);
+      if (ok)
+      {
+        _batt_present = (post_mv > 2000) && ((std::int32_t)pre_mv - (std::int32_t)post_mv < 500);
+      }
+    }
+    return _batt_present;
+  }
+#endif
+
   int16_t Power_Class::getBatteryVoltage(void)
   {
 #if !defined (M5UNIFIED_PC_BUILD)
@@ -1743,6 +1822,10 @@ namespace m5
     case pmic_t::pmic_aw32001:
       return Bq27220.getVoltage_mV();
 #elif defined (CONFIG_IDF_TARGET_ESP32C61)
+    case pmic_t::pmic_m5pm1:
+      /// 0 = no battery attached or read failure (see _batteryPresent)
+      if (_batteryPresent() != 1) { return 0; }
+      return M5pm1.getBatteryVoltage();
 #elif defined (CONFIG_IDF_TARGET_ESP32P4)
 #else
 #if !defined (CONFIG_IDF_TARGET) || defined (CONFIG_IDF_TARGET_ESP32)
@@ -1806,6 +1889,16 @@ namespace m5
       }
       break;
 #elif defined (CONFIG_IDF_TARGET_ESP32C61)
+    case pmic_t::pmic_m5pm1:
+      {
+        // Get battery voltage in mV
+        int16_t bat_mv = getBatteryVoltage();
+        if (bat_mv <= 0) {
+          return -1; // Error reading voltage
+        }
+        mv = bat_mv;
+      }
+      break;
 #elif defined (CONFIG_IDF_TARGET_ESP32P4)
 #else
 #if !defined (CONFIG_IDF_TARGET) || defined (CONFIG_IDF_TARGET_ESP32)
@@ -2126,6 +2219,25 @@ namespace m5
       return Aw32001.isCharging() ? is_charging_t::is_charging : is_charging_t::is_discharging;
 
 #elif defined (CONFIG_IDF_TARGET_ESP32C61)
+    case pmic_t::pmic_m5pm1:
+      /// CoreMatrix: the AW32901 CHG_STAT is wired to IOE1 G8 (low = charging)
+      if (M5.getBoard() == board_t::board_M5CoreMatrix)
+      {
+        /// With no battery the charger retries periodically and CHG_STAT
+        /// blips low for a moment; report "not charging" instead.
+        {
+          std::int8_t present = _batteryPresent();
+          if (present < 0) { return is_charging_t::charge_unknown; }
+          if (present == 0) { return is_charging_t::is_discharging; }
+        }
+        bool level;
+        if (!M5.getIOExpander(0).getInputLevel(M5IOE1_Class::gpio8, &level))
+        { /// do not report an I2C failure as "charging"
+          return is_charging_t::charge_unknown;
+        }
+        return level ? is_charging_t::is_discharging : is_charging_t::is_charging;
+      }
+      return is_charging_t::charge_unknown;
 #elif defined (CONFIG_IDF_TARGET_ESP32P4)
 #else
 #if !defined (CONFIG_IDF_TARGET) || defined (CONFIG_IDF_TARGET_ESP32)

src/utility/Power_Class.hpp

@@ -251,6 +251,14 @@ namespace m5
     void _powerOff(bool withTimer);
     void _timerSleep(void);
 
+#if defined (CONFIG_IDF_TARGET_ESP32C61)
+    /// Check whether a battery is actually attached.
+    /// @return 1=present / 0=absent / -1=unknown (I2C failure, not cached)
+    std::int8_t _batteryPresent(void);
+    /// Cached result of the battery presence probe. -1 = not yet probed.
+    std::int8_t _batt_present = -1;
+#endif
+
     /// Release the wakeup pin so that it can be asserted again while sleeping.
     /// @return true if the pin is released ( high ).
     bool _releaseWakeupPin(std::uint_fast8_t wakeup_pin);