[esp_simplefoc] error: 'LEDC_USE_APB_CLK' was not declared in this scope; did you mean 'LEDC_USE_XTAL_CLK' (AEGHB-768)

[kutu]

Answers checklist.

• I have read the documentation ESP-IDF Programming Guide and the issue is not addressed there.
• I have updated my IDF branch (master or release) to the latest version and checked that the issue is present there.
• I have searched the issue tracker for a similar issue and not found a similar issue.

IDF version.

5.3

Espressif SoC revision.

esp32-c6

Operating System used.

Windows

How did you build your project?

Command line with idf.py

If you are using Windows, please specify command line type.

CMD

Development Kit.

esp32-c6-devkitc-1

Steps to reproduce.

1. idf.py create-project stepper-test
2. cd stepper-test
3. idf.py set-target esp32c6
4. idf.py add-dependency "espressif/esp_simplefoc^0.2.0"
5. idf.py build

Build Logs.

$ idf.py build
Executing action: all (aliases: build)
Running ninja in directory D:\projects\esp\stepper-test\build
Executing "ninja all"...
-- git rev-parse returned 'fatal: not a git repository (or any of the parent directories): .git'
fatal: not a git repository (or any of the parent directories): .git
-- ccache will be used for faster recompilation
-- git rev-parse returned 'fatal: not a git repository (or any of the parent directories): .git'
-- Could not use 'git describe' to determine PROJECT_VER.
-- Building ESP-IDF components for target esp32c6
Processing 4 dependencies:
[4/4] idf (5.3.0)
-- Project sdkconfig file D:/projects/esp/stepper-test/sdkconfig
-- Adding linker script E:/esp-idf/components/riscv/ld/rom.api.ld
-- App "stepper-test" version: 1
-- Adding linker script D:/projects/esp/stepper-test/build/esp-idf/esp_system/ld/memory.ld
-- Adding linker script D:/projects/esp/stepper-test/build/esp-idf/esp_system/ld/sections.ld.in
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.api.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.rvfp.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.wdt.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.systimer.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.version.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.phy.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.coexist.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.net80211.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.pp.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.newlib.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.newlib-normal.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.heap.ld
-- Adding linker script E:/esp-idf/components/soc/esp32c6/ld/esp32c6.peripherals.ld
fatal: not a git repository (or any of the parent directories): .git
fatal: not a git repository: E:/esp-idf/components/openthread/openthread/../../../.git/modules/components/openthread/openthread
-- Components: app_trace app_update bootloader bootloader_support bt cmock console cxx driver efuse esp-tls esp_adc esp_app_format esp_bootloader_format esp_coex esp_common esp_driver_ana_cmpr esp_driver_cam esp_driver_dac esp_driver_gpio esp_driver_gptimer esp_driver_i2c esp_driver_i2s esp_driver_isp esp_driver_jpeg esp_driver_ledc esp_driver_mcpwm esp_driver_parlio esp_driver_pcnt esp_driver_ppa esp_driver_rmt esp_driver_sdio esp_driver_sdm esp_driver_sdmmc esp_driver_sdspi esp_driver_spi esp_driver_tsens esp_driver_uart esp_driver_usb_serial_jtag esp_eth esp_event esp_gdbstub esp_hid esp_http_client esp_http_server esp_https_ota esp_https_server esp_hw_support esp_lcd esp_local_ctrl esp_mm esp_netif esp_netif_stack esp_partition esp_phy esp_pm esp_psram esp_ringbuf esp_rom esp_system esp_timer esp_vfs_console esp_wifi espcoredump espressif__arduino-foc espressif__esp_simplefoc espressif__iqmath esptool_py fatfs freertos hal heap http_parser idf_test ieee802154 json log lwip main mbedtls mqtt newlib nvs_flash nvs_sec_provider openthread partition_table protobuf-c protocomm pthread riscv sdmmc soc spi_flash spiffs tcp_transport ulp unity usb vfs wear_levelling wifi_provisioning wpa_supplicant
-- Component paths: E:/esp-idf/components/app_trace E:/esp-idf/components/app_update E:/esp-idf/components/bootloader E:/esp-idf/components/bootloader_support E:/esp-idf/components/bt E:/esp-idf/components/cmock E:/esp-idf/components/console E:/esp-idf/components/cxx E:/esp-idf/components/driver E:/esp-idf/components/efuse E:/esp-idf/components/esp-tls E:/esp-idf/components/esp_adc E:/esp-idf/components/esp_app_format E:/esp-idf/components/esp_bootloader_format E:/esp-idf/components/esp_coex E:/esp-idf/components/esp_common E:/esp-idf/components/esp_driver_ana_cmpr E:/esp-idf/components/esp_driver_cam E:/esp-idf/components/esp_driver_dac E:/esp-idf/components/esp_driver_gpio E:/esp-idf/components/esp_driver_gptimer E:/esp-idf/components/esp_driver_i2c E:/esp-idf/components/esp_driver_i2s E:/esp-idf/components/esp_driver_isp E:/esp-idf/components/esp_driver_jpeg E:/esp-idf/components/esp_driver_ledc E:/esp-idf/components/esp_driver_mcpwm E:/esp-idf/components/esp_driver_parlio E:/esp-idf/components/esp_driver_pcnt E:/esp-idf/components/esp_driver_ppa E:/esp-idf/components/esp_driver_rmt E:/esp-idf/components/esp_driver_sdio E:/esp-idf/components/esp_driver_sdm E:/esp-idf/components/esp_driver_sdmmc E:/esp-idf/components/esp_driver_sdspi E:/esp-idf/components/esp_driver_spi E:/esp-idf/components/esp_driver_tsens E:/esp-idf/components/esp_driver_uart E:/esp-idf/components/esp_driver_usb_serial_jtag E:/esp-idf/components/esp_eth E:/esp-idf/components/esp_event E:/esp-idf/components/esp_gdbstub E:/esp-idf/components/esp_hid E:/esp-idf/components/esp_http_client E:/esp-idf/components/esp_http_server E:/esp-idf/components/esp_https_ota E:/esp-idf/components/esp_https_server E:/esp-idf/components/esp_hw_support E:/esp-idf/components/esp_lcd E:/esp-idf/components/esp_local_ctrl E:/esp-idf/components/esp_mm E:/esp-idf/components/esp_netif E:/esp-idf/components/esp_netif_stack E:/esp-idf/components/esp_partition E:/esp-idf/components/esp_phy E:/esp-idf/components/esp_pm E:/esp-idf/components/esp_psram E:/esp-idf/components/esp_ringbuf E:/esp-idf/components/esp_rom E:/esp-idf/components/esp_system E:/esp-idf/components/esp_timer E:/esp-idf/components/esp_vfs_console E:/esp-idf/components/esp_wifi E:/esp-idf/components/espcoredump D:/projects/esp/stepper-test/managed_components/espressif__arduino-foc D:/projects/esp/stepper-test/managed_components/espressif__esp_simplefoc D:/projects/esp/stepper-test/managed_components/espressif__iqmath E:/esp-idf/components/esptool_py E:/esp-idf/components/fatfs E:/esp-idf/components/freertos E:/esp-idf/components/hal E:/esp-idf/components/heap E:/esp-idf/components/http_parser E:/esp-idf/components/idf_test E:/esp-idf/components/ieee802154 E:/esp-idf/components/json E:/esp-idf/components/log E:/esp-idf/components/lwip D:/projects/esp/stepper-test/main E:/esp-idf/components/mbedtls E:/esp-idf/components/mqtt E:/esp-idf/components/newlib E:/esp-idf/components/nvs_flash E:/esp-idf/components/nvs_sec_provider E:/esp-idf/components/openthread E:/esp-idf/components/partition_table E:/esp-idf/components/protobuf-c E:/esp-idf/components/protocomm E:/esp-idf/components/pthread E:/esp-idf/components/riscv E:/esp-idf/components/sdmmc E:/esp-idf/components/soc E:/esp-idf/components/spi_flash E:/esp-idf/components/spiffs E:/esp-idf/components/tcp_transport E:/esp-idf/components/ulp E:/esp-idf/components/unity E:/esp-idf/components/usb E:/esp-idf/components/vfs E:/esp-idf/components/wear_levelling E:/esp-idf/components/wifi_provisioning E:/esp-idf/components/wpa_supplicant
-- Configuring done
-- Generating done
-- Build files have been written to: D:/projects/esp/stepper-test/build
[492/1034] Performing build step for 'bootloader'
-- git rev-parse returned 'fatal: not a git repository (or any of the parent directories): .git'
fatal: not a git repository (or any of the parent directories): .git
-- git rev-parse returned 'fatal: not a git repository (or any of the parent directories): .git'
-- Could not use 'git describe' to determine PROJECT_VER.
-- Building ESP-IDF components for target esp32c6
-- Project sdkconfig file D:/projects/esp/stepper-test/sdkconfig
-- Adding linker script E:/esp-idf/components/riscv/ld/rom.api.ld
-- Adding linker script E:/esp-idf/components/soc/esp32c6/ld/esp32c6.peripherals.ld
-- Bootloader project name: "bootloader" version: 1
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.api.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.rvfp.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.wdt.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.systimer.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.version.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.phy.ld
-- Adding linker script E:/esp-idf/components/esp_rom/esp32c6/ld/esp32c6.rom.newlib.ld
-- Adding linker script E:/esp-idf/components/bootloader/subproject/main/ld/esp32c6/bootloader.ld
-- Adding linker script E:/esp-idf/components/bootloader/subproject/main/ld/esp32c6/bootloader.rom.ld
-- Components: bootloader bootloader_support efuse esp_app_format esp_bootloader_format esp_common esp_hw_support esp_rom esp_system esptool_py freertos hal log main micro-ecc newlib partition_table riscv soc spi_flash
-- Component paths: E:/esp-idf/components/bootloader E:/esp-idf/components/bootloader_support E:/esp-idf/components/efuse E:/esp-idf/components/esp_app_format E:/esp-idf/components/esp_bootloader_format E:/esp-idf/components/esp_common E:/esp-idf/components/esp_hw_support E:/esp-idf/components/esp_rom E:/esp-idf/components/esp_system E:/esp-idf/components/esptool_py E:/esp-idf/components/freertos E:/esp-idf/components/hal E:/esp-idf/components/log E:/esp-idf/components/bootloader/subproject/main E:/esp-idf/components/bootloader/subproject/components/micro-ecc E:/esp-idf/components/newlib E:/esp-idf/components/partition_table E:/esp-idf/components/riscv E:/esp-idf/components/soc E:/esp-idf/components/spi_flash
-- Configuring done
-- Generating done
-- Build files have been written to: D:/projects/esp/stepper-test/build/bootloader
[1/1] cmd.exe /C "cd /D D:\projects\esp\stepper-test\build\bootloader\esp-idf\es...000 bootloader 0x0 D:/projects/esp/stepper-test/build/bootloader/bootloader.bin" Bootloader binary size 0x5500 bytes. 0x2b00 bytes (34%) free.
[1019/1032] Building CXX object esp-idf/main/CMakeFiles/__idf_main.dir/stepper-test.cpp.obj
cc1plus.exe: warning: command-line option '-Wimplicit-function-declaration' is valid for C/ObjC but not for C++
[1024/1032] Building CXX object esp-idf/espressif__esp_simplefoc/CMakeFiles/__idf_espressif__esp_simplefoc.dir/port/esp/esp_hal_bldc_3pwm.cpp.obj
FAILED: esp-idf/espressif__esp_simplefoc/CMakeFiles/__idf_espressif__esp_simplefoc.dir/port/esp/esp_hal_bldc_3pwm.cpp.obj
ccache E:\idf-tools\tools\riscv32-esp-elf\esp-13.2.0_20240530\riscv32-esp-elf\bin\riscv32-esp-elf-g++.exe -DESP_PLATFORM -DIDF_VER=\"HEAD-HASH-NOTFOUND\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -ID:/projects/esp/stepper-test/build/config -ID:/projects/esp/stepper-test/managed_components/espressif__esp_simplefoc/port/esp/include -ID:/projects/esp/stepper-test/managed_components/espressif__esp_simplefoc/port/angle_sensor -IE:/esp-idf/components/newlib/platform_include -IE:/esp-idf/components/freertos/config/include -IE:/esp-idf/components/freertos/config/include/freertos -IE:/esp-idf/components/freertos/config/riscv/include -IE:/esp-idf/components/freertos/FreeRTOS-Kernel/include -IE:/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -IE:/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -IE:/esp-idf/components/freertos/esp_additions/include -IE:/esp-idf/components/esp_hw_support/include -IE:/esp-idf/components/esp_hw_support/include/soc -IE:/esp-idf/components/esp_hw_support/include/soc/esp32c6 -IE:/esp-idf/components/esp_hw_support/dma/include -IE:/esp-idf/components/esp_hw_support/ldo/include -IE:/esp-idf/components/esp_hw_support/port/esp32c6/. -IE:/esp-idf/components/esp_hw_support/port/esp32c6/include -IE:/esp-idf/components/esp_hw_support/port/esp32c6/private_include -IE:/esp-idf/components/heap/include -IE:/esp-idf/components/log/include -IE:/esp-idf/components/soc/include -IE:/esp-idf/components/soc/esp32c6 -IE:/esp-idf/components/soc/esp32c6/include -IE:/esp-idf/components/hal/platform_port/include -IE:/esp-idf/components/hal/esp32c6/include -IE:/esp-idf/components/hal/include -IE:/esp-idf/components/esp_rom/include -IE:/esp-idf/components/esp_rom/include/esp32c6 -IE:/esp-idf/components/esp_rom/esp32c6 -IE:/esp-idf/components/esp_common/include -IE:/esp-idf/components/esp_system/include -IE:/esp-idf/components/esp_system/port/soc -IE:/esp-idf/components/esp_system/port/include/riscv -IE:/esp-idf/components/esp_system/port/include/private -IE:/esp-idf/components/riscv/include -IE:/esp-idf/components/lwip/include -IE:/esp-idf/components/lwip/include/apps -IE:/esp-idf/components/lwip/include/apps/sntp -IE:/esp-idf/components/lwip/lwip/src/include -IE:/esp-idf/components/lwip/port/include -IE:/esp-idf/components/lwip/port/freertos/include -IE:/esp-idf/components/lwip/port/esp32xx/include -IE:/esp-idf/components/lwip/port/esp32xx/include/arch -IE:/esp-idf/components/lwip/port/esp32xx/include/sys -IE:/esp-idf/components/driver/deprecated -IE:/esp-idf/components/driver/i2c/include -IE:/esp-idf/components/driver/touch_sensor/include -IE:/esp-idf/components/driver/twai/include -IE:/esp-idf/components/esp_pm/include -IE:/esp-idf/components/esp_ringbuf/include -IE:/esp-idf/components/esp_driver_gpio/include -IE:/esp-idf/components/esp_driver_pcnt/include -IE:/esp-idf/components/esp_driver_gptimer/include -IE:/esp-idf/components/esp_driver_spi/include -IE:/esp-idf/components/esp_driver_mcpwm/include -IE:/esp-idf/components/esp_driver_ana_cmpr/include -IE:/esp-idf/components/esp_driver_i2s/include -IE:/esp-idf/components/esp_driver_sdmmc/include -IE:/esp-idf/components/sdmmc/include -IE:/esp-idf/components/esp_driver_sdspi/include -IE:/esp-idf/components/esp_driver_sdio/include -IE:/esp-idf/components/esp_driver_dac/include -IE:/esp-idf/components/esp_driver_rmt/include -IE:/esp-idf/components/esp_driver_tsens/include -IE:/esp-idf/components/esp_driver_sdm/include -IE:/esp-idf/components/esp_driver_i2c/include -IE:/esp-idf/components/esp_driver_uart/include -IE:/esp-idf/components/vfs/include -IE:/esp-idf/components/esp_driver_ledc/include -IE:/esp-idf/components/esp_driver_parlio/include -IE:/esp-idf/components/esp_driver_usb_serial_jtag/include -IE:/esp-idf/components/esp_timer/include -IE:/esp-idf/components/esp_adc/include -IE:/esp-idf/components/esp_adc/interface -IE:/esp-idf/components/esp_adc/esp32c6/include -IE:/esp-idf/components/esp_adc/deprecated/include -ID:/projects/esp/stepper-test/managed_components/espressif__arduino-foc/src/common -ID:/projects/esp/stepper-test/managed_components/espressif__arduino-foc/src/common/base_classes -ID:/projects/esp/stepper-test/managed_components/espressif__arduino-foc/src -ID:/projects/esp/stepper-test/managed_components/espressif__iqmath/include -march=rv32imac_zicsr_zifencei  -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -nostartfiles -Og -fno-shrink-wrap -fmacro-prefix-map=D:/projects/esp/stepper-test=. -fmacro-prefix-map=E:/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu++2b -fno-exceptions -fno-rtti -Wno-volatile -Wno-deprecated-enum-float-conversion -Wno-missing-field-initializers -MD -MT esp-idf/espressif__esp_simplefoc/CMakeFiles/__idf_espressif__esp_simplefoc.dir/port/esp/esp_hal_bldc_3pwm.cpp.obj -MF esp-idf\espressif__esp_simplefoc\CMakeFiles\__idf_espressif__esp_simplefoc.dir\port\esp\esp_hal_bldc_3pwm.cpp.obj.d -o esp-idf/espressif__esp_simplefoc/CMakeFiles/__idf_espressif__esp_simplefoc.dir/port/esp/esp_hal_bldc_3pwm.cpp.obj -c D:/projects/esp/stepper-test/managed_components/espressif__esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp
D:/projects/esp/stepper-test/managed_components/espressif__esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp: In member function 'virtual int BLDCDriver3PWM::init()':
D:/projects/esp/stepper-test/managed_components/espressif__esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp:358:28: error: 'LEDC_USE_APB_CLK' was not declared in this scope; did you mean 'LEDC_USE_XTAL_CLK'?
  358 |                 .clk_cfg = LEDC_USE_APB_CLK
      |                            ^~~~~~~~~~~~~~~~
      |                            LEDC_USE_XTAL_CLK
D:/projects/esp/stepper-test/managed_components/espressif__esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp: In member function 'int BLDCDriver3PWM::init(std::vector<int>)':
D:/projects/esp/stepper-test/managed_components/espressif__esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp:513:20: error: 'LEDC_USE_APB_CLK' was not declared in this scope; did you mean 'LEDC_USE_XTAL_CLK'?
  513 |         .clk_cfg = LEDC_USE_APB_CLK
      |                    ^~~~~~~~~~~~~~~~
      |                    LEDC_USE_XTAL_CLK
ninja: build stopped: subcommand failed.
ninja failed with exit code 1, output of the command is in the D:\projects\esp\stepper-test\build\log\idf_py_stderr_output_13740 and D:\projects\esp\stepper-test\build\log\idf_py_stdout_output_13740

More Information.

No response

[YanKE01]

Analysing the IDF shows that soc_periph_ledc_clk_src_legacy_t in C6 does not contain LEDC_USE_APB_CLK：

typedef enum {
    LEDC_AUTO_CLK = 0,                              /*!< LEDC source clock will be automatically selected based on the giving resolution and duty parameter when init the timer*/
    LEDC_USE_PLL_DIV_CLK = SOC_MOD_CLK_PLL_F80M,    /*!< Select PLL_F80M clock as the source clock */
    LEDC_USE_RC_FAST_CLK = SOC_MOD_CLK_RC_FAST,     /*!< Select RC_FAST as the source clock */
    LEDC_USE_XTAL_CLK = SOC_MOD_CLK_XTAL,           /*!< Select XTAL as the source clock */

    LEDC_USE_RTC8M_CLK __attribute__((deprecated("please use 'LEDC_USE_RC_FAST_CLK' instead"))) = LEDC_USE_RC_FAST_CLK,   /*!< Alias of 'LEDC_USE_RC_FAST_CLK' */
} soc_periph_ledc_clk_src_legacy_t;

You can try to use LEDC_AUTO_CLK to replace the original LEDC_USE_APB_CLK, we will fix this issue as soon as possible.

[YanKE01]

We will fix the LEDC clock source issue for the ESP32C6 and ESP32H2 in version 1.0 of the esp_simplefoc component.