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Merge pull request #21656 from gschorcht/boards/arduino-nano-esp32
boards: add Arduino Nano ESP32 board
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‎boards/arduino-nano-esp32/Kconfig‎

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# SPDX-FileCopyrightText: 2025 Gunar Schorcht
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# SPDX-License-Identifier: LGPL-2.1-only
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config BOARD
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default "arduino-nano-esp32" if BOARD_ARDUINO_NANO_ESP32
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config BOARD_ARDUINO_NANO_ESP32
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bool
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default y
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select BOARD_COMMON_ESP32S3
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select CPU_MODEL_ESP32S3_R8
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source "$(RIOTBOARD)/common/esp32s3/Kconfig"

‎boards/arduino-nano-esp32/Makefile‎

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MODULE = board
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DIRS = $(RIOTBOARD)/common/esp32s3
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include $(RIOTBASE)/Makefile.base

‎boards/arduino-nano-esp32/Makefile.dep‎

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ifneq (,$(filter saul_default,$(USEMODULE)))
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USEMODULE += saul_gpio
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endif
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include $(RIOTBOARD)/common/esp32s3/stdio_esp32s3_default.dep.mk
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include $(RIOTBOARD)/common/esp32s3/Makefile.dep

‎boards/arduino-nano-esp32/Makefile.features‎

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# the board uses a ESP32-S3 with embedded 8MB QSPI PSRAM and a 16MB QSPI Flash
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CPU_MODEL = esp32s3r8
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# common board and CPU features
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include $(RIOTBOARD)/common/esp32s3/Makefile.features
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# peripherals provided by the board
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FEATURES_PROVIDED += periph_adc
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FEATURES_PROVIDED += periph_i2c
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FEATURES_PROVIDED += periph_pwm
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FEATURES_PROVIDED += periph_spi
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FEATURES_PROVIDED += periph_usbdev
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# other features provided by the board
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FEATURES_PROVIDED += arduino_analog
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FEATURES_PROVIDED += arduino_i2c
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FEATURES_PROVIDED += arduino_pins
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FEATURES_PROVIDED += arduino_pwm
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FEATURES_PROVIDED += arduino_spi
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FEATURES_PROVIDED += arduino_uart
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FEATURES_PROVIDED += esp_jtag
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FEATURES_PROVIDED += highlevel_stdio
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FEATURES_PROVIDED += tinyusb_device

‎boards/arduino-nano-esp32/Makefile.include‎

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# the board uses a ESP32-S3 with embedded 8MB QSPI PSRAM and a 16MB QSPI Flash
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FLASH_SIZE ?= 16
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PORT_LINUX ?= /dev/ttyACM0
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OPENOCD_CONFIG ?= board/esp32s3-builtin.cfg
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include $(RIOTBOARD)/common/esp32s3/Makefile.include

‎boards/arduino-nano-esp32/doc.md‎

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<!--
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SPDX-FileCopyrightText: 2025 Gunar Schorcht
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SPDX-License-Identifier: LGPL-2.1-only
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-->
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@defgroup boards_arduino_nano_esp32 Arduino Nano ESP32
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@ingroup boards
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@ingroup boards_esp32s3
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@brief Support for the Arduino Nano ESP32 board
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@author Gunar Schorcht <[email protected]>
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\section arduino_nano_esp32 Arduino Nano ESP32
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## Table of Contents {#arduino_nano_esp32_toc}
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-# [Overview](#arduino_nano_esp32_overview)
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-# [Hardware](#arduino_nano_esp32_hardware)
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-# [MCU](#arduino_nano_esp32_mcu)
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-# [Board Configuration](#arduino_nano_esp32_board_configuration)
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-# [Board Pinout](#arduino_nano_esp32_pinout)
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-# [Flashing the Device](#arduino_nano_esp32_flashing)
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-# [Using STDIO](#arduino_nano_esp32_stdio)
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## Overview {#arduino_nano_esp32_overview}
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The [Arduino Nano ESP32](https://docs.arduino.cc/hardware/nano-esp32/) is an
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ESP32-S3 board in Arduino Nano format that uses the u-Blox NORA-W106 module.
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@image html https://store.arduino.cc/cdn/shop/files/ABX00092_00.default_643x483.jpg "Arduino Nano ESP32" width=400px
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The main features of the board are:
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- ESP32-S3 SoC with 2.4 GHz WiFi 802.11b/g/n and Bluetooth5, BLE
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- 8 MByte embedded QSPI RAM
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- 16 MByte Flash
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- RGB LED with separate colour LEDs
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- Native USB and USB Serial JTAG
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[Back to table of contents](#arduino_nano_esp32_toc)
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## Hardware {#arduino_nano_esp32_hardware}
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This section describes
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- the [MCU](#arduino_nano_esp32_mcu),
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- the default [board configuration](#arduino_nano_esp32_board_configuration),
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- the [board pinout](#arduino_nano_esp32_pinout).
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[Back to table of contents](#arduino_nano_esp32_toc)
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### MCU {#arduino_nano_esp32_mcu}
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Most features of the board are provided by the ESP32-S3 SoC. For detailed
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information about the ESP32-S3 SoC variant (family) and ESP32x SoCs,
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see section \ref esp32_mcu_esp32 "ESP32 SoC Series".
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[Back to table of contents](#arduino_nano_esp32_toc)
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### Board Configuration {#arduino_nano_esp32_board_configuration}
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Arduino Nano ESP32 boards have no special hardware on board with the exception
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of an RGB-LED with separate LEDs for each color.
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The board configuration provides:
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- 8 x ADC channels (4 x ADC channels if module `periph_i2c` is used)
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- 1 x SPI
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- 1 x I2C
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- 1 x UART
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- 2 x PWM (4 channels on PWM_DEV(0), 3 RGB LED channels on PWM_DEV(1))
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The following table shows the default board configuration, which is sorted
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according to the defined functionality of GPIOs. This configuration can be
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overridden by \ref esp32_application_specific_configurations
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"application-specific configurations".
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<center>
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Function | GPIOs | Remarks | Configuration
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:---------------|:-------|:--------|:----------------------------------
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ADC_LINE(0) | GPIO1 | | \ref esp32_adc_channels "ADC Channels"
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ADC_LINE(1) | GPIO2 | | \ref esp32_adc_channels "ADC Channels"
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ADC_LINE(2) | GPIO3 | | \ref esp32_adc_channels "ADC Channels"
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ADC_LINE(3) | GPIO4 | | \ref esp32_adc_channels "ADC Channels"
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ADC_LINE(4) | GPIO11 | N/A if `periph_i2c` is used | \ref esp32_adc_channels "ADC Channels"
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ADC_LINE(5) | GPIO12 | N/A if `periph_i2c` is used | \ref esp32_adc_channels "ADC Channels"
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ADC_LINE(6) | GPIO13 | N/A if `periph_i2c` is used | \ref esp32_adc_channels "ADC Channels"
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ADC_LINE(7) | GPIO14 | N/A if `periph_i2c` is used | \ref esp32_adc_channels "ADC Channels"
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PWM_DEV(0):0 | GPIO6 | | \ref esp32_pwm_channels "PWM Channels"
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PWM_DEV(0):1 | GPIO8 | | \ref esp32_pwm_channels "PWM Channels"
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PWM_DEV(0):2 | GPIO9 | | \ref esp32_pwm_channels "PWM Channels"
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PWM_DEV(0):3 | GPIO18 | | \ref esp32_pwm_channels "PWM Channels"
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PWM_DEV(1):0 | GPIO46 | LED red | \ref esp32_pwm_channels "PWM Channels"
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PWM_DEV(1):1 | GPIO0 | LED green | \ref esp32_pwm_channels "PWM Channels"
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PWM_DEV(1):2 | GPIO45 | LED blue | \ref esp32_pwm_channels "PWM Channels"
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I2C_DEV(0):SCL | GPIO12 | | \ref esp32_i2c_interfaces "I2C Interfaces"
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I2C_DEV(0):SDA | GPIO11 | | \ref esp32_i2c_interfaces "I2C Interfaces"
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SPI_DEV(0):CLK | GPIO48 | SPI2_HOST (FSPI) is used | \ref esp32_spi_interfaces "SPI Interfaces"
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SPI_DEV(0):MISO | GPIO47 | SPI2_HOST (FSPI) is used | \ref esp32_spi_interfaces "SPI Interfaces"
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SPI_DEV(0):MOSI | GPIO38 | SPI2_HOST (FSPI) is used | \ref esp32_spi_interfaces "SPI Interfaces"
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SPI_DEV(0):CS0 | GPIO21 | SPI2_HOST (FSPI) is used | \ref esp32_spi_interfaces "SPI Interfaces"
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UART_DEV(0):TxD | GPIO43 | Console (fixed) | \ref esp32_uart_interfaces "UART interfaces"
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UART_DEV(0):RxD | GPIO44 | Console (fixed) | \ref esp32_uart_interfaces "UART interfaces"
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</center>
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\n
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For detailed information about the peripheral configurations of ESP32-S3
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boards, see section \ref esp32_peripherals "Common Peripherals".
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[Back to table of contents](#arduino_nano_esp32_toc)
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### Board Pinout {#arduino_nano_esp32_pinout}
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The following figure shows the pinout as configured by board definition.
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@image html https://edistechlab.com/wp-content/uploads/2023/11/Pinout_arduino_nano_esp32.png "Arduino Nano ESP32 Pinout" width=600px
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An advanced pinout version with front view, back view and some additional
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information can be found
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[here](https://docs.arduino.cc/resources/pinouts/ABX00083-full-pinout.pdf).
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The corresponding board schematic can be found
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[here](https://docs.arduino.cc/resources/schematics/ABX00083-schematics.pdf).
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[Back to table of contents](#arduino_nano_esp32_toc)
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## Flashing the Device {#arduino_nano_esp32_flashing}
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Since the board does not have a USB-to-Serial chip, the easiest way to flash
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the board is using the USB Serial/JTAG interface. Just connect the board to
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your host computer and use the following command:
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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BOARD=arduino-nano-esp32 make flash ...
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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@note Usually the make system resets the board before flashing to enable the
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USB Serial/JTAG interface. In some special cases this reset does not work so
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that the programmer cannot connect to the board and the flashing is aborted
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with a timeout:
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```
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Serial port /dev/ttyACM0
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Connecting...
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...
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serial.serialutil.SerialTimeoutException: Write timeout
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```
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This can happen for example if the board is not yet flashed with RIOT or the
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USB interface is used for another purpose. In this case, restart the board
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manually in download mode by pressing and releasing the RESET button while
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pulling down the GPIO0 (B1) pin. In download mode, the USB Serial/JTAG
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interface is always available.
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Alternatively, an external USB-to-Serial adapter can be used. In this case,
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the USB-to-Serial adapter has to be connected to TxD (GPIO43) and RxD (GPIO44)
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of the UART0 interface. Before RIOT can be flashed, the board has also to be
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switched to download mode. To do this, press and release the RESET button
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while pulling down the GPIO0 (B1) pin. Once the board is in download mode, use
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the following command to flash RIOT:
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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BOARD=arduino-nano-esp32 make flash ...
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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For detailed information about ESP32-S3 as well as configuring and compiling
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RIOT for ESP32-S3 boards, see \ref esp32_riot.
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[Back to table of contents](#arduino_nano_esp32_toc)
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## Using STDIO {#arduino_nano_esp32_stdio}
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Since the board does not have a USB-to-Serial chip, the USB Serial/JTAG
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interface is used by default for the STDIO (module `stdio_usb_serial_jtag`)
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which provides an USB CDC ACM interface.
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If the USB port is used by the USBUS stack or the tinyUSB stack, implicitly
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the module `stdio_cdc_acm` or `stdio_tinyusb_cdc_acm` is used for the STDIO
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via the USB CDC ACM interface.
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Alternatively, the UART interface could be used with an external USB-to-Serial
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adapter. Simply add `stdio_uart` to the list of used modules for this purpose:
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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BOARD=arduino-nano-esp32 USEMODULE=stdio_uart make flash ...
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

‎boards/arduino-nano-esp32/include/arduino_iomap.h‎

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/*
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* SPDX-FileCopyrightText: 2018 Gunar Schorcht
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* SPDX-License-Identifier: LGPL-2.1-only
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*/
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#pragma once
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/**
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* @ingroup boards_esp32_esp-wrover-kit
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* @{
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*
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* @file
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* @brief Mapping from MCU pins to Arduino pins
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*
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* @author Gunar Schorcht <[email protected]>
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*/
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#include "periph/gpio.h"
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#include "periph/adc.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name Mapping of MCU pins to Arduino pins
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* @{
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*/
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#define ARDUINO_PIN_0 GPIO44 /**< Arduino pin 0 (RxD) */
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#define ARDUINO_PIN_1 GPIO43 /**< Arduino pin 1 (TxD) */
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#define ARDUINO_PIN_2 GPIO5 /**< Arduino pin 2 (PWM) */
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#define ARDUINO_PIN_3 GPIO6 /**< Arduino pin 3 (PWM) */
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#define ARDUINO_PIN_4 GPIO7 /**< Arduino pin 4 (PWM) */
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#define ARDUINO_PIN_5 GPIO8 /**< Arduino pin 5 (PWM) */
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#define ARDUINO_PIN_6 GPIO9 /**< Arduino pin 6 (PWM) */
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#define ARDUINO_PIN_7 GPIO10 /**< Arduino pin 7 (PWM) */
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#define ARDUINO_PIN_8 GPIO17 /**< Arduino pin 8 (PWM) */
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#define ARDUINO_PIN_9 GPIO18 /**< Arduino pin 9 (PWM) */
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#define ARDUINO_PIN_10 GPIO21 /**< Arduino pin 10 (CS0) */
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#define ARDUINO_PIN_11 GPIO38 /**< Arduino pin 11 (MOSI) */
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#define ARDUINO_PIN_12 GPIO47 /**< Arduino pin 12 (MISO) */
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#define ARDUINO_PIN_13 GPIO48 /**< Arduino pin 13 (SCK) */
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#define ARDUINO_PIN_14 GPIO46 /**< Arduino pin 14 (LED red) */
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#define ARDUINO_PIN_15 GPIO0 /**< Arduino pin 15 (LED green) */
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#define ARDUINO_PIN_16 GPIO45 /**< Arduino pin 16 (LED blue) */
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#define ARDUINO_PIN_17 GPIO1 /**< Arduino pin 17 (A0) */
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#define ARDUINO_PIN_18 GPIO2 /**< Arduino pin 18 (A1) */
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#define ARDUINO_PIN_19 GPIO3 /**< Arduino pin 19 (A2) */
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#define ARDUINO_PIN_20 GPIO4 /**< Arduino pin 20 (A3) */
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#define ARDUINO_PIN_21 GPIO11 /**< Arduino pin 21 (A4 / SDA) */
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#define ARDUINO_PIN_22 GPIO12 /**< Arduino pin 22 (A5 / SCL) */
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#define ARDUINO_PIN_23 GPIO13 /**< Arduino pin 23 (A6) */
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#define ARDUINO_PIN_24 GPIO14 /**< Arduino pin 24 (A7) */
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#define ARDUINO_PIN_LAST 24 /**< Last Arduino pin index */
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/** @} */
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/**
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* @name Aliases for analog pins
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* @{
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*/
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#define ARDUINO_PIN_A0 ARDUINO_PIN_17 /**< Arduino pin A0 */
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#define ARDUINO_PIN_A1 ARDUINO_PIN_18 /**< Arduino pin A1 */
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#define ARDUINO_PIN_A2 ARDUINO_PIN_19 /**< Arduino pin A2 */
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#define ARDUINO_PIN_A3 ARDUINO_PIN_20 /**< Arduino pin A3 */
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#if !MODULE_PERIPH_I2C
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# define ARDUINO_PIN_A4 ARDUINO_PIN_21 /**< Arduino pin A4 */
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# define ARDUINO_PIN_A5 ARDUINO_PIN_22 /**< Arduino pin A5 */
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# define ARDUINO_PIN_A6 ARDUINO_PIN_23 /**< Arduino pin A6 */
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# define ARDUINO_PIN_A7 ARDUINO_PIN_24 /**< Arduino pin A7 */
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#endif
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/** @} */
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/**
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* @name Mapping of Arduino analog pins to RIOT ADC lines
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* @{
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*/
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#define ARDUINO_A0 ADC_LINE(0) /**< ADC line for Arduino pin A0 */
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#define ARDUINO_A1 ADC_LINE(1) /**< ADC line for Arduino pin A1 */
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#define ARDUINO_A2 ADC_LINE(2) /**< ADC line for Arduino pin A2 */
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#define ARDUINO_A3 ADC_LINE(3) /**< ADC line for Arduino pin A3 */
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#if !MODULE_PERIPH_I2C
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# define ARDUINO_A4 ADC_LINE(4) /**< ADC line for Arduino pin A4 */
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# define ARDUINO_A5 ADC_LINE(5) /**< ADC line for Arduino pin A5 */
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# define ARDUINO_A6 ADC_LINE(6) /**< ADC line for Arduino pin A6 */
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# define ARDUINO_A7 ADC_LINE(7) /**< ADC line for Arduino pin A7 */
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#endif
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#if !MODULE_PERIPH_I2C
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# define ARDUINO_ANALOG_PIN_LAST 7 /**< Last Arduino analog pin index */
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#else
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# define ARDUINO_ANALOG_PIN_LAST 3 /**< Last Arduino analog pin index */
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#endif
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/** @} */
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/**
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* @name Mapping of Arduino pins to RIOT PWM dev and channel pairs
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* @{
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*/
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#define ARDUINO_PIN_2_PWM_DEV PWM_DEV(0) /**< PWM device for Arduino pin 2 */
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#define ARDUINO_PIN_2_PWM_CHAN 0 /**< PWM channel for Arduino pin 2 */
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#define ARDUINO_PIN_3_PWM_DEV PWM_DEV(0) /**< PWM device for Arduino pin 3 */
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#define ARDUINO_PIN_3_PWM_CHAN 1 /**< PWM channel for Arduino pin 3 */
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#define ARDUINO_PIN_4_PWM_DEV PWM_DEV(0) /**< PWM device for Arduino pin 4 */
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#define ARDUINO_PIN_4_PWM_CHAN 2 /**< PWM channel for Arduino pin 4 */
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#define ARDUINO_PIN_5_PWM_DEV PWM_DEV(0) /**< PWM device for Arduino pin 5 */
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#define ARDUINO_PIN_5_PWM_CHAN 3 /**< PWM channel for Arduino pin 5 */
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#define ARDUINO_PIN_6_PWM_DEV PWM_DEV(0) /**< PWM device for Arduino pin 6 */
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#define ARDUINO_PIN_6_PWM_CHAN 4 /**< PWM channel for Arduino pin 6 */
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#define ARDUINO_PIN_7_PWM_DEV PWM_DEV(0) /**< PWM device for Arduino pin 7 */
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#define ARDUINO_PIN_7_PWM_CHAN 5 /**< PWM channel for Arduino pin 7 */
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#define ARDUINO_PIN_8_PWM_DEV PWM_DEV(0) /**< PWM device for Arduino pin 8 */
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#define ARDUINO_PIN_8_PWM_CHAN 6 /**< PWM channel for Arduino pin 8 */
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#define ARDUINO_PIN_9_PWM_DEV PWM_DEV(0) /**< PWM device for Arduino pin 9 */
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#define ARDUINO_PIN_9_PWM_CHAN 7 /**< PWM channel for Arduino pin 9 */
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#define ARDUINO_PIN_14_PWM_DEV PWM_DEV(1) /**< PWM device for Arduino pin 14 */
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#define ARDUINO_PIN_14_PWM_CHAN 0 /**< PWM channel for Arduino pin 14 */
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#define ARDUINO_PIN_15_PWM_DEV PWM_DEV(1) /**< PWM device for Arduino pin 15 */
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#define ARDUINO_PIN_15_PWM_CHAN 1 /**< PWM channel for Arduino pin 15 */
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#define ARDUINO_PIN_16_PWM_DEV PWM_DEV(1) /**< PWM device for Arduino pin 16 */
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#define ARDUINO_PIN_16_PWM_CHAN 2 /**< PWM channel for Arduino pin 16 */
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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/** @} */

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