Update SDK in GitHub Actions

.github/actions/build-firmware/action.yml

@@ -20,7 +20,7 @@ runs:
     - name: 'Build'
       uses: espressif/esp-idf-ci-action@v1
       with:
-        esp_idf_version: v5.5.2
+        esp_idf_version: v6.1
         target: ${{ inputs.arch }}
         path: './'
     - name: 'Release'

.github/actions/build-sdk/action.yml

@@ -21,14 +21,14 @@ runs:
       uses: espressif/esp-idf-ci-action@v1
       with:
         # NOTE: Update with ESP-IDF!
-        esp_idf_version: v5.5.2
+        esp_idf_version: v6.1
         target: ${{ inputs.arch }}
         path: './'
     - name: 'Release'
       shell: bash
       env:
         # NOTE: Update with ESP-IDF!
-        ESP_IDF_VERSION: '5.5.2'
+        ESP_IDF_VERSION: '6.1'
       run: python Buildscripts/release-sdk-esp32.py release/TactilitySDK
     - name: 'Test Integration Prep'
       shell: bash
@@ -41,7 +41,7 @@ runs:
     - name: 'Test Integration'
       uses: espressif/esp-idf-ci-action@v1
       with:
-        esp_idf_version: v5.5.2
+        esp_idf_version: v6.1
         target: ${{ inputs.arch }}
         command: export TACTILITY_SDK_PATH=../../test_sdk && cd Tests/SdkIntegration && python tactility.py build -a ${{ inputs.arch }} --local-sdk
     - name: 'Upload Artifact'

Devices/lilygo-tdisplay-s3/CMakeLists.txt

@@ -2,5 +2,5 @@ file(GLOB_RECURSE SOURCE_FILES source/*.c*)
 
 idf_component_register(
     SRCS ${SOURCE_FILES}
-    REQUIRES TactilityKernel driver
+    REQUIRES TactilityKernel driver esp_driver_gpio
 )

Devices/m5stack-stickc-plus2/CMakeLists.txt

@@ -3,5 +3,5 @@ file(GLOB_RECURSE SOURCE_FILES source/*.c*)
 idf_component_register(
     SRCS ${SOURCE_FILES}
     INCLUDE_DIRS "source"
-    REQUIRES TactilityKernel driver
+    REQUIRES TactilityKernel driver esp_driver_gpio
 )

Drivers/cst816s-module/source/cst816s.cpp

@@ -5,7 +5,6 @@
 #include <tactility/check.h>
 #include <tactility/device.h>
 #include <tactility/driver.h>
-#include <tactility/drivers/esp32_i2c.h>
 #include <tactility/drivers/esp32_i2c_master.h>
 #include <tactility/drivers/i2c_controller.h>
 #include <tactility/drivers/pointer.h>
@@ -39,14 +38,10 @@ static esp_err_t create_io_handle(Device* parent, esp_lcd_panel_io_handle_t* out
     esp_lcd_panel_io_i2c_config_t io_config = ESP_LCD_TOUCH_IO_I2C_CST816S_CONFIG();
 
     auto* parent_driver = device_get_driver(parent);
-    if (driver_is_compatible(parent_driver, "espressif,esp32-i2c")) {
-        auto port = static_cast<const Esp32I2cConfig*>(parent->config)->port;
-        return esp_lcd_new_panel_io_i2c_v1(port, &io_config, out_handle);
-    }
     if (driver_is_compatible(parent_driver, "espressif,esp32-i2c-master")) {
         auto bus = esp32_i2c_master_get_bus_handle(parent);
         io_config.scl_speed_hz = esp32_i2c_master_get_clock_frequency(parent);
-        return esp_lcd_new_panel_io_i2c_v2(bus, &io_config, out_handle);
+        return esp_lcd_new_panel_io_i2c(bus, &io_config, out_handle);
     }
 
     LOG_E(TAG, "Unsupported I2C driver");

Drivers/ft5x06-module/source/ft5x06.cpp

@@ -5,7 +5,6 @@
 #include <tactility/check.h>
 #include <tactility/device.h>
 #include <tactility/driver.h>
-#include <tactility/drivers/esp32_i2c.h>
 #include <tactility/drivers/esp32_i2c_master.h>
 #include <tactility/drivers/gpio_controller.h>
 #include <tactility/drivers/i2c_controller.h>
@@ -71,14 +70,10 @@ static esp_err_t create_io_handle(Device* parent, esp_lcd_panel_io_handle_t* out
     esp_lcd_panel_io_i2c_config_t io_config = ESP_LCD_TOUCH_IO_I2C_FT5x06_CONFIG();
 
     auto* parent_driver = device_get_driver(parent);
-    if (driver_is_compatible(parent_driver, "espressif,esp32-i2c")) {
-        auto port = static_cast<const Esp32I2cConfig*>(parent->config)->port;
-        return esp_lcd_new_panel_io_i2c_v1(port, &io_config, out_handle);
-    }
     if (driver_is_compatible(parent_driver, "espressif,esp32-i2c-master")) {
         auto bus = esp32_i2c_master_get_bus_handle(parent);
         io_config.scl_speed_hz = esp32_i2c_master_get_clock_frequency(parent);
-        return esp_lcd_new_panel_io_i2c_v2(bus, &io_config, out_handle);
+        return esp_lcd_new_panel_io_i2c(bus, &io_config, out_handle);
     }
 
     LOG_E(TAG, "Unsupported I2C driver");

Drivers/ft6x36-module/source/ft6x36.cpp

@@ -6,7 +6,6 @@
 #include <tactility/check.h>
 #include <tactility/device.h>
 #include <tactility/driver.h>
-#include <tactility/drivers/esp32_i2c.h>
 #include <tactility/drivers/esp32_i2c_master.h>
 #include <tactility/drivers/gpio.h>
 #include <tactility/drivers/gpio_controller.h>
@@ -73,14 +72,10 @@ static esp_err_t create_io_handle(Device* parent, esp_lcd_panel_io_handle_t* out
     esp_lcd_panel_io_i2c_config_t io_config = ESP_LCD_TOUCH_IO_I2C_FT6x36_CONFIG();
 
     auto* parent_driver = device_get_driver(parent);
-    if (driver_is_compatible(parent_driver, "espressif,esp32-i2c")) {
-        auto port = static_cast<const Esp32I2cConfig*>(parent->config)->port;
-        return esp_lcd_new_panel_io_i2c_v1(port, &io_config, out_handle);
-    }
     if (driver_is_compatible(parent_driver, "espressif,esp32-i2c-master")) {
         auto bus = esp32_i2c_master_get_bus_handle(parent);
         io_config.scl_speed_hz = esp32_i2c_master_get_clock_frequency(parent);
-        return esp_lcd_new_panel_io_i2c_v2(bus, &io_config, out_handle);
+        return esp_lcd_new_panel_io_i2c(bus, &io_config, out_handle);
     }
 
     LOG_E(TAG, "Unsupported I2C driver");

Drivers/gc9a01-module/source/gc9a01.cpp

@@ -72,8 +72,8 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_io_spi_config_t io_config = {
-        .cs_gpio_num = pin_or_unused(cs_pin),
-        .dc_gpio_num = pin_or_unused(config->pin_dc),
+        .cs_gpio_num = static_cast<gpio_num_t>(pin_or_unused(cs_pin)),
+        .dc_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_dc)),
         .spi_mode = 0,
         .pclk_hz = config->pixel_clock_hz,
         .trans_queue_depth = config->transaction_queue_depth,
@@ -104,13 +104,13 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = 16,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = nullptr,
         // GC9A01's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = nullptr,
     };
 
     ret = esp_lcd_new_panel_gc9a01(internal->io_handle, &panel_config, &internal->panel_handle);

Drivers/ili9341-module/source/ili9341.cpp

@@ -129,8 +129,8 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_io_spi_config_t io_config = {
-        .cs_gpio_num = pin_or_unused(cs_pin),
-        .dc_gpio_num = pin_or_unused(config->pin_dc),
+        .cs_gpio_num = static_cast<gpio_num_t>(pin_or_unused(cs_pin)),
+        .dc_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_dc)),
         .spi_mode = 0,
         .pclk_hz = config->pixel_clock_hz,
         .trans_queue_depth = config->transaction_queue_depth,
@@ -164,14 +164,14 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_dev_config_t panel_config = {
-        // Always -1: pulse_reset() handles the physical pin itself (see its comment for why), and
-        // esp_lcd_panel_reset() below falls back to a SWRESET command when this is -1.
-        .reset_gpio_num = -1,
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
-        .flags = { .reset_active_high = config->reset_active_high },
+        // Always NC: pulse_reset() handles the physical pin itself (see its comment for why), and
+        // esp_lcd_panel_reset() below falls back to a SWRESET command when this is NC.
+        .reset_gpio_num = GPIO_NUM_NC,
         .vendor_config = nullptr,
+        .flags = { .reset_active_high = config->reset_active_high },
     };
 
     ret = esp_lcd_new_panel_ili9341(internal->io_handle, &panel_config, &internal->panel_handle);

Drivers/ili9488-module/source/ili9488.cpp

@@ -77,8 +77,8 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_io_spi_config_t io_config = {
-        .cs_gpio_num = pin_or_unused(cs_pin),
-        .dc_gpio_num = pin_or_unused(config->pin_dc),
+        .cs_gpio_num = static_cast<gpio_num_t>(pin_or_unused(cs_pin)),
+        .dc_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_dc)),
         .spi_mode = 0,
         .pclk_hz = config->pixel_clock_hz,
         .trans_queue_depth = config->transaction_queue_depth,
@@ -109,13 +109,13 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = nullptr,
         // ILI9488's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = nullptr,
     };
 
     // Unlike st7789/ili9341, ili9488 needs an internal conversion buffer: over SPI the

Drivers/ili9881c-module/source/ili9881c.cpp

@@ -251,13 +251,13 @@ static error_t start(Device* device) {
     };
 
     const esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = &vendor_config,
         // ILI9881C's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = &vendor_config,
     };
 
     if (esp_lcd_new_panel_ili9881c(internal->io_handle, &panel_config, &internal->panel_handle) != ESP_OK) {
@@ -355,7 +355,7 @@ static error_t start(Device* device) {
     xSemaphoreGive(internal->color_trans_done_semaphore);
 
     esp_lcd_dpi_panel_event_callbacks_t callbacks = {};
-    callbacks.on_refresh_done = on_refresh_done;
+    callbacks.on_frame_buf_complete = on_refresh_done;
     callbacks.on_color_trans_done = on_color_trans_done;
     if (esp_lcd_dpi_panel_register_event_callbacks(internal->panel_handle, &callbacks, internal) != ESP_OK) {
         LOG_E(TAG, "Failed to register panel event callbacks");

Drivers/jd9165-module/source/jd9165.cpp

@@ -221,13 +221,13 @@ static error_t start(Device* device) {
     };
 
     const esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = &vendor_config,
         // JD9165's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = &vendor_config,
     };
 
     if (esp_lcd_new_panel_jd9165(internal->io_handle, &panel_config, &internal->panel_handle) != ESP_OK) {
@@ -310,7 +310,7 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_dpi_panel_event_callbacks_t callbacks = {};
-    callbacks.on_refresh_done = on_refresh_done;
+    callbacks.on_frame_buf_complete = on_refresh_done;
     if (esp_lcd_dpi_panel_register_event_callbacks(internal->panel_handle, &callbacks, internal) != ESP_OK) {
         LOG_E(TAG, "Failed to register panel event callbacks");
         vSemaphoreDelete(internal->frame_complete_semaphore);

Drivers/jd9853-module/source/esp_lcd_jd9853.c

@@ -76,7 +76,7 @@ esp_err_t esp_lcd_new_panel_jd9853(const esp_lcd_panel_io_handle_t io, const esp
         ESP_GOTO_ON_FALSE(false, ESP_ERR_NOT_SUPPORTED, err, TAG, "unsupported color space");
         break;
     }
-#else
+#elif ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
     switch (panel_dev_config->rgb_endian)
     {
     case LCD_RGB_ENDIAN_RGB:
@@ -89,6 +89,19 @@ esp_err_t esp_lcd_new_panel_jd9853(const esp_lcd_panel_io_handle_t io, const esp
         ESP_GOTO_ON_FALSE(false, ESP_ERR_NOT_SUPPORTED, err, TAG, "unsupported rgb endian");
         break;
     }
+#else
+    switch (panel_dev_config->rgb_ele_order)
+    {
+    case LCD_RGB_ELEMENT_ORDER_RGB:
+        jd9853->madctl_val = 0;
+        break;
+    case LCD_RGB_ELEMENT_ORDER_BGR:
+        jd9853->madctl_val |= LCD_CMD_BGR_BIT;
+        break;
+    default:
+        ESP_GOTO_ON_FALSE(false, ESP_ERR_NOT_SUPPORTED, err, TAG, "unsupported rgb element order");
+        break;
+    }
 #endif
 
     switch (panel_dev_config->bits_per_pixel)

Drivers/jd9853-module/source/jd9853.cpp

@@ -78,8 +78,8 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_io_spi_config_t io_config = {
-        .cs_gpio_num = pin_or_unused(cs_pin),
-        .dc_gpio_num = pin_or_unused(config->pin_dc),
+        .cs_gpio_num = static_cast<gpio_num_t>(pin_or_unused(cs_pin)),
+        .dc_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_dc)),
         .spi_mode = 0,
         .pclk_hz = config->pixel_clock_hz,
         .trans_queue_depth = config->transaction_queue_depth,
@@ -115,13 +115,13 @@ static error_t start(Device* device) {
     };
 
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = 16,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = &vendor_config,
         // JD9853's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = &vendor_config,
     };
 
     ret = esp_lcd_new_panel_jd9853(internal->io_handle, &panel_config, &internal->panel_handle);

Drivers/rgb-display-module/source/rgb_display.cpp

@@ -70,6 +70,14 @@ static int pin_or_unused(const GpioPinSpec& pin) {
     return pin.gpio_controller == nullptr ? -1 : static_cast<int>(pin.pin);
 }
 
+static lcd_color_format_t color_format_from_bpp(uint8_t bits_per_pixel) {
+    switch (bits_per_pixel) {
+        case 16: return LCD_COLOR_FMT_RGB565;
+        case 24: return LCD_COLOR_FMT_RGB888;
+        default: return static_cast<lcd_color_format_t>(0);
+    }
+}
+
 // Pulses the panel's own driver-IC reset line, if configured. Transient: the descriptor is
 // released immediately after, since nothing else needs to touch this pin afterward.
 static error_t perform_hardware_reset(const RgbDisplayConfig* config) {
@@ -166,33 +174,35 @@ static error_t start(Device* device) {
             }
         },
         .data_width = config->data_width,
-        .bits_per_pixel = config->bits_per_pixel,
+        .in_color_format = color_format_from_bpp(config->bits_per_pixel),
         .num_fbs = config->num_fbs,
         .bounce_buffer_size_px = config->bounce_buffer_size_px,
-        .sram_trans_align = config->sram_trans_align,
-        .psram_trans_align = config->psram_trans_align,
-        .hsync_gpio_num = pin_or_unused(config->pin_hsync),
-        .vsync_gpio_num = pin_or_unused(config->pin_vsync),
-        .de_gpio_num = pin_or_unused(config->pin_de),
-        .pclk_gpio_num = pin_or_unused(config->pin_pclk),
-        .disp_gpio_num = pin_or_unused(config->pin_disp),
+        // No device configures sram-trans-align/psram-trans-align differently from their YAML
+        // defaults (8/64), so the single dma_burst_size that replaced both can just take the
+        // larger (PSRAM) alignment - safe for SRAM-only allocations too, just less tightly packed.
+        .dma_burst_size = config->psram_trans_align,
+        .hsync_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_hsync)),
+        .vsync_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_vsync)),
+        .de_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_de)),
+        .pclk_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_pclk)),
+        .disp_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_disp)),
         .data_gpio_nums = {
-            pin_or_unused(config->pin_data0),
-            pin_or_unused(config->pin_data1),
-            pin_or_unused(config->pin_data2),
-            pin_or_unused(config->pin_data3),
-            pin_or_unused(config->pin_data4),
-            pin_or_unused(config->pin_data5),
-            pin_or_unused(config->pin_data6),
-            pin_or_unused(config->pin_data7),
-            pin_or_unused(config->pin_data8),
-            pin_or_unused(config->pin_data9),
-            pin_or_unused(config->pin_data10),
-            pin_or_unused(config->pin_data11),
-            pin_or_unused(config->pin_data12),
-            pin_or_unused(config->pin_data13),
-            pin_or_unused(config->pin_data14),
-            pin_or_unused(config->pin_data15),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data0)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data1)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data2)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data3)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data4)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data5)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data6)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data7)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data8)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data9)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data10)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data11)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data12)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data13)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data14)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data15)),
         },
         .flags = {
             .disp_active_low = config->disp_active_low,
@@ -209,7 +219,7 @@ static error_t start(Device* device) {
     // marked unused rather than left as the aggregate-init default of 0 (which would look like
     // "GPIO0 is wired to this line").
     for (size_t i = 16; i < sizeof(panel_config.data_gpio_nums) / sizeof(panel_config.data_gpio_nums[0]); i++) {
-        panel_config.data_gpio_nums[i] = -1;
+        panel_config.data_gpio_nums[i] = GPIO_NUM_NC;
     }
 
     esp_err_t ret = esp_lcd_new_rgb_panel(&panel_config, &internal->panel_handle);

Drivers/ssd1306-module/source/ssd1306.cpp

@@ -6,7 +6,6 @@
 #include <tactility/device.h>
 #include <tactility/driver.h>
 #include <tactility/drivers/display.h>
-#include <tactility/drivers/esp32_i2c.h>
 #include <tactility/drivers/esp32_i2c_master.h>
 #include <tactility/drivers/i2c_controller.h>
 #include <tactility/error.h>
@@ -52,28 +51,24 @@ static esp_err_t create_io_handle(Device* parent, uint8_t address, esp_lcd_panel
     // with, unlike the multi-byte-per-command SPI/QSPI panels elsewhere in this repo.
     esp_lcd_panel_io_i2c_config_t io_config = {
         .dev_addr = address,
-        .on_color_trans_done = nullptr,
-        .user_ctx = nullptr,
+        .scl_speed_hz = 0,
         .control_phase_bytes = 1,
         .dc_bit_offset = 6,
         .lcd_cmd_bits = 0,
         .lcd_param_bits = 0,
+        .on_color_trans_done = nullptr,
+        .user_ctx = nullptr,
         .flags = {
             .dc_low_on_data = false,
             .disable_control_phase = false,
         },
-        .scl_speed_hz = 0,
     };
 
     auto* parent_driver = device_get_driver(parent);
-    if (driver_is_compatible(parent_driver, "espressif,esp32-i2c")) {
-        auto port = static_cast<const Esp32I2cConfig*>(parent->config)->port;
-        return esp_lcd_new_panel_io_i2c_v1(port, &io_config, out_handle);
-    }
     if (driver_is_compatible(parent_driver, "espressif,esp32-i2c-master")) {
         auto bus = esp32_i2c_master_get_bus_handle(parent);
         io_config.scl_speed_hz = esp32_i2c_master_get_clock_frequency(parent);
-        return esp_lcd_new_panel_io_i2c_v2(bus, &io_config, out_handle);
+        return esp_lcd_new_panel_io_i2c(bus, &io_config, out_handle);
     }
 
     LOG_E(TAG, "Unsupported I2C driver");
@@ -164,15 +159,14 @@ static error_t start(Device* device) {
         .height = static_cast<uint8_t>(config->vertical_resolution),
     };
 
-    // color_space (not rgb_ele_order): this deprecated union member is the only one whose type
-    // can express ESP_LCD_COLOR_SPACE_MONOCHROME - rgb_ele_order's own enum only covers RGB/BGR.
+    // No rgb_ele_order set: the built-in ssd1306 vendor driver is monochrome and never reads it
+    // (only bits_per_pixel, checked to be exactly 1 - see esp_lcd_panel_ssd1306.c).
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = -1, // always -1: reset is handled manually above, not by the panel itself
-        .color_space = ESP_LCD_COLOR_SPACE_MONOCHROME,
         .data_endian = LCD_RGB_DATA_ENDIAN_BIG,
         .bits_per_pixel = 1,
-        .flags = { .reset_active_high = false },
+        .reset_gpio_num = GPIO_NUM_NC, // reset is handled manually above, not by the panel itself
         .vendor_config = &ssd1306_config,
+        .flags = { .reset_active_high = false },
     };
 
     if (esp_lcd_new_panel_ssd1306(internal->io_handle, &panel_config, &internal->panel_handle) != ESP_OK) {

Drivers/st7121-module/source/st7121.cpp

@@ -250,13 +250,13 @@ static error_t start(Device* device) {
     };
 
     const esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = &vendor_config,
         // ST7121's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = &vendor_config,
     };
 
     if (esp_lcd_new_panel_st7121(internal->io_handle, &panel_config, &internal->panel_handle) != ESP_OK) {
@@ -354,7 +354,7 @@ static error_t start(Device* device) {
     xSemaphoreGive(internal->color_trans_done_semaphore);
 
     esp_lcd_dpi_panel_event_callbacks_t callbacks = {};
-    callbacks.on_refresh_done = on_refresh_done;
+    callbacks.on_frame_buf_complete = on_refresh_done;
     callbacks.on_color_trans_done = on_color_trans_done;
     if (esp_lcd_dpi_panel_register_event_callbacks(internal->panel_handle, &callbacks, internal) != ESP_OK) {
         LOG_E(TAG, "Failed to register panel event callbacks");

Drivers/st7123-module/source/st7123.cpp

@@ -250,13 +250,13 @@ static error_t start(Device* device) {
     };
 
     const esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = &vendor_config,
         // ST7123's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = &vendor_config,
     };
 
     if (esp_lcd_new_panel_st7123(internal->io_handle, &panel_config, &internal->panel_handle) != ESP_OK) {
@@ -354,7 +354,7 @@ static error_t start(Device* device) {
     xSemaphoreGive(internal->color_trans_done_semaphore);
 
     esp_lcd_dpi_panel_event_callbacks_t callbacks = {};
-    callbacks.on_refresh_done = on_refresh_done;
+    callbacks.on_frame_buf_complete = on_refresh_done;
     callbacks.on_color_trans_done = on_color_trans_done;
     if (esp_lcd_dpi_panel_register_event_callbacks(internal->panel_handle, &callbacks, internal) != ESP_OK) {
         LOG_E(TAG, "Failed to register panel event callbacks");

Drivers/st7123-module/source/st7123_touch.cpp

@@ -5,7 +5,6 @@
 #include <tactility/check.h>
 #include <tactility/device.h>
 #include <tactility/driver.h>
-#include <tactility/drivers/esp32_i2c.h>
 #include <tactility/drivers/esp32_i2c_master.h>
 #include <tactility/drivers/i2c_controller.h>
 #include <tactility/drivers/pointer.h>
@@ -39,14 +38,10 @@ static esp_err_t create_io_handle(Device* parent, esp_lcd_panel_io_handle_t* out
     esp_lcd_panel_io_i2c_config_t io_config = ESP_LCD_TOUCH_IO_I2C_ST7123_CONFIG();
 
     auto* parent_driver = device_get_driver(parent);
-    if (driver_is_compatible(parent_driver, "espressif,esp32-i2c")) {
-        auto port = static_cast<const Esp32I2cConfig*>(parent->config)->port;
-        return esp_lcd_new_panel_io_i2c_v1(port, &io_config, out_handle);
-    }
     if (driver_is_compatible(parent_driver, "espressif,esp32-i2c-master")) {
         auto bus = esp32_i2c_master_get_bus_handle(parent);
         io_config.scl_speed_hz = esp32_i2c_master_get_clock_frequency(parent);
-        return esp_lcd_new_panel_io_i2c_v2(bus, &io_config, out_handle);
+        return esp_lcd_new_panel_io_i2c(bus, &io_config, out_handle);
     }
 
     LOG_E(TAG, "Unsupported I2C driver");

Drivers/st7701-module/source/st7701.cpp

@@ -69,6 +69,14 @@ static int pin_or_unused(const GpioPinSpec& pin) {
     return pin.gpio_controller == nullptr ? -1 : static_cast<int>(pin.pin);
 }
 
+static lcd_color_format_t color_format_from_bpp(uint8_t bits_per_pixel) {
+    switch (bits_per_pixel) {
+        case 16: return LCD_COLOR_FMT_RGB565;
+        case 24: return LCD_COLOR_FMT_RGB888;
+        default: return static_cast<lcd_color_format_t>(0);
+    }
+}
+
 // Unpacks the devicetree's flat [cmd, data_len, delay_ms, data_len bytes...] encoding (produced
 // by the devicetree compiler's "array" property type - see init-sequence in
 // bindings/sitronix,st7701.yaml) into a heap-allocated st7701_lcd_init_cmd_t array. Each entry's
@@ -177,33 +185,35 @@ static error_t start(Device* device) {
             }
         },
         .data_width = config->data_width,
-        .bits_per_pixel = config->bits_per_pixel,
+        .in_color_format = color_format_from_bpp(config->bits_per_pixel),
         .num_fbs = config->num_fbs,
         .bounce_buffer_size_px = config->bounce_buffer_size_px,
-        .sram_trans_align = config->sram_trans_align,
-        .psram_trans_align = config->psram_trans_align,
-        .hsync_gpio_num = pin_or_unused(config->pin_hsync),
-        .vsync_gpio_num = pin_or_unused(config->pin_vsync),
-        .de_gpio_num = pin_or_unused(config->pin_de),
-        .pclk_gpio_num = pin_or_unused(config->pin_pclk),
-        .disp_gpio_num = pin_or_unused(config->pin_disp),
+        // No device configures sram-trans-align/psram-trans-align differently from their YAML
+        // defaults (8/64), so the single dma_burst_size that replaced both can just take the
+        // larger (PSRAM) alignment - safe for SRAM-only allocations too, just less tightly packed.
+        .dma_burst_size = config->psram_trans_align,
+        .hsync_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_hsync)),
+        .vsync_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_vsync)),
+        .de_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_de)),
+        .pclk_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_pclk)),
+        .disp_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_disp)),
         .data_gpio_nums = {
-            pin_or_unused(config->pin_data0),
-            pin_or_unused(config->pin_data1),
-            pin_or_unused(config->pin_data2),
-            pin_or_unused(config->pin_data3),
-            pin_or_unused(config->pin_data4),
-            pin_or_unused(config->pin_data5),
-            pin_or_unused(config->pin_data6),
-            pin_or_unused(config->pin_data7),
-            pin_or_unused(config->pin_data8),
-            pin_or_unused(config->pin_data9),
-            pin_or_unused(config->pin_data10),
-            pin_or_unused(config->pin_data11),
-            pin_or_unused(config->pin_data12),
-            pin_or_unused(config->pin_data13),
-            pin_or_unused(config->pin_data14),
-            pin_or_unused(config->pin_data15),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data0)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data1)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data2)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data3)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data4)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data5)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data6)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data7)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data8)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data9)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data10)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data11)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data12)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data13)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data14)),
+            static_cast<gpio_num_t>(pin_or_unused(config->pin_data15)),
         },
         .flags = {
             .disp_active_low = config->disp_active_low,
@@ -219,7 +229,7 @@ static error_t start(Device* device) {
     // more data lines than that, the tail of the array must be explicitly marked unused rather
     // than left as the aggregate-init default of 0 (which would look like "GPIO0 is wired here").
     for (size_t i = 16; i < sizeof(rgb_config.data_gpio_nums) / sizeof(rgb_config.data_gpio_nums[0]); i++) {
-        rgb_config.data_gpio_nums[i] = -1;
+        rgb_config.data_gpio_nums[i] = GPIO_NUM_NC;
     }
 
     st7701_vendor_config_t vendor_config = {
@@ -234,13 +244,13 @@ static error_t start(Device* device) {
     };
 
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = &vendor_config,
         // ST7701's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = &vendor_config,
     };
 
     ret = esp_lcd_new_panel_st7701(internal->io_handle, &panel_config, &internal->panel_handle);

Drivers/st7735-module/source/st7735.cpp

@@ -83,8 +83,8 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_io_spi_config_t io_config = {
-        .cs_gpio_num = pin_or_unused(cs_pin),
-        .dc_gpio_num = pin_or_unused(config->pin_dc),
+        .cs_gpio_num = static_cast<gpio_num_t>(pin_or_unused(cs_pin)),
+        .dc_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_dc)),
         .spi_mode = 0,
         .pclk_hz = config->pixel_clock_hz,
         .trans_queue_depth = config->transaction_queue_depth,
@@ -115,13 +115,13 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = nullptr,
         // ST7735's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = nullptr,
     };
 
     ret = esp_lcd_new_panel_st7735(internal->io_handle, &panel_config, &internal->panel_handle);

Drivers/st7789-i8080-module/source/st7789_i8080.cpp

@@ -113,7 +113,7 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_io_i80_config_t io_config = {
-        .cs_gpio_num = pin_or_unused(cs_pin),
+        .cs_gpio_num = static_cast<gpio_num_t>(pin_or_unused(cs_pin)),
         .pclk_hz = config->pixel_clock_hz,
         .trans_queue_depth = config->transaction_queue_depth,
         .on_color_trans_done = on_color_trans_done,
@@ -144,13 +144,13 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = 16,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = nullptr,
         // ST7789's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = nullptr,
     };
 
     ret = esp_lcd_new_panel_st7789(internal->io_handle, &panel_config, &internal->panel_handle);

Drivers/st7796-i8080-module/source/st7796_i8080.cpp

@@ -81,7 +81,7 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_io_i80_config_t io_config = {
-        .cs_gpio_num = pin_or_unused(cs_pin),
+        .cs_gpio_num = static_cast<gpio_num_t>(pin_or_unused(cs_pin)),
         .pclk_hz = config->pixel_clock_hz,
         .trans_queue_depth = config->transaction_queue_depth,
         .on_color_trans_done = on_color_trans_done,
@@ -112,13 +112,13 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = 16,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = nullptr,
         // ST7796's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = nullptr,
     };
 
     ret = esp_lcd_new_panel_st7796(internal->io_handle, &panel_config, &internal->panel_handle);

Drivers/st7796-module/source/st7796.cpp

@@ -83,8 +83,8 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_io_spi_config_t io_config = {
-        .cs_gpio_num = pin_or_unused(cs_pin),
-        .dc_gpio_num = pin_or_unused(config->pin_dc),
+        .cs_gpio_num = static_cast<gpio_num_t>(pin_or_unused(cs_pin)),
+        .dc_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_dc)),
         .spi_mode = 0,
         .pclk_hz = config->pixel_clock_hz,
         .trans_queue_depth = config->transaction_queue_depth,
@@ -115,13 +115,13 @@ static error_t start(Device* device) {
     }
 
     esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = pin_or_unused(config->pin_reset),
         .rgb_ele_order = config->bgr_order ? LCD_RGB_ELEMENT_ORDER_BGR : LCD_RGB_ELEMENT_ORDER_RGB,
         .data_endian = LCD_RGB_DATA_ENDIAN_LITTLE,
         .bits_per_pixel = config->bits_per_pixel,
+        .reset_gpio_num = static_cast<gpio_num_t>(pin_or_unused(config->pin_reset)),
+        .vendor_config = nullptr,
         // ST7796's reset line is fixed active-low in hardware.
         .flags = { .reset_active_high = false },
-        .vendor_config = nullptr,
     };
 
     ret = esp_lcd_new_panel_st7796(internal->io_handle, &panel_config, &internal->panel_handle);

Tactility/Source/file/File.cpp

@@ -186,25 +186,16 @@ bool writeString(const std::string& filepath, const std::string& content) {
     return true;
 }
 
-static bool findOrCreateDirectoryInternal(std::string path, mode_t mode) {
+static bool findOrCreateDirectoryInternal(const std::string& path, mode_t mode) {
+    // Checked before creating, not after: on the SD card's mount root, the FATFS VFS's mkdir()
+    // doesn't fail with EEXIST for an already-mounted root (it returns some other errno), so an
+    // mkdir-first/errno-check approach never recognizes it as already there.
     struct stat dir_stat;
-    if (mkdir(path.c_str(), mode) == 0) {
-        return true;
+    if (stat(path.c_str(), &dir_stat) == 0) {
+        return S_ISDIR(dir_stat.st_mode);
     }
 
-    if (errno != EEXIST) {
-        return false;
-    }
-
-    if (stat(path.c_str(), &dir_stat) != 0) {
-        return false;
-    }
-
-    if (!S_ISDIR(dir_stat.st_mode)) {
-        return false;
-    }
-
-    return true;
+    return mkdir(path.c_str(), mode) == 0;
 }
 
 std::string getLastPathSegment(const std::string& path) {