boards: waveshare: esp32s3_matrix: Bring up board for ESP32-S3-Matrix

ESP32-S3-Matrix is a tiny board from Waveshare, shipped with an
ESP32-S3FH4R2, a QMI8658C IMU and an 8x8 WS2812 RGB matrix.

Signed-off-by: Chen Xingyu <hi@xingrz.me>

boards/waveshare/esp32s3_matrix/Kconfig

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+# Copyright (c) 2024 Joel Guittet
+# Copyright (c) 2025 Chen Xingyu <hi@xingrz.me>
+# SPDX-License-Identifier: Apache-2.0
+
+config HEAP_MEM_POOL_ADD_SIZE_BOARD
+	int
+	default 4096 if BOARD_ESP32S3_MATRIX_ESP32S3_PROCPU
+	default 256 if BOARD_ESP32S3_MATRIX_ESP32S3_APPCPU

boards/waveshare/esp32s3_matrix/Kconfig.esp32s3_matrix

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+# Copyright (c) 2024 Joel Guittet
+# Copyright (c) 2025 Chen Xingyu <hi@xingrz.me>
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_ESP32S3_MATRIX
+	select SOC_ESP32S3_R2
+	select SOC_ESP32S3_PROCPU if BOARD_ESP32S3_MATRIX_ESP32S3_PROCPU
+	select SOC_ESP32S3_APPCPU if BOARD_ESP32S3_MATRIX_ESP32S3_APPCPU

boards/waveshare/esp32s3_matrix/Kconfig.sysbuild

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+# Copyright (c) 2024 Espressif Systems (Shanghai) Co., Ltd.
+# SPDX-License-Identifier: Apache-2.0
+
+choice BOOTLOADER
+	default BOOTLOADER_MCUBOOT
+endchoice
+
+choice BOOT_SIGNATURE_TYPE
+	default BOOT_SIGNATURE_TYPE_NONE
+endchoice

boards/waveshare/esp32s3_matrix/board.cmake

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+# Copyright (c) 2024 Joel Guittet
+# SPDX-License-Identifier: Apache-2.0
+
+if(NOT "${OPENOCD}" MATCHES "^${ESPRESSIF_TOOLCHAIN_PATH}/.*")
+	set(OPENOCD OPENOCD-NOTFOUND)
+endif()
+find_program(OPENOCD openocd PATHS ${ESPRESSIF_TOOLCHAIN_PATH}/openocd-esp32/bin NO_DEFAULT_PATH)
+
+include(${ZEPHYR_BASE}/boards/common/esp32.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)

boards/waveshare/esp32s3_matrix/board.yml

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+board:
+  name: esp32s3_matrix
+  full_name: ESP32-S3-Matrix
+  vendor: waveshare
+  socs:
+  - name: esp32s3

boards/waveshare/esp32s3_matrix/doc/index.rst

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+.. zephyr:board:: esp32s3_matrix
+
+Overview
+********
+
+The ESP32-S3-Matrix is an ESP32S3 development board from Waveshare with a 8x8
+RGB LED matrix. This board integrates complete Wi-Fi and Bluetooth Low Energy
+functions, an accelerometer and gyroscope, a battery charger and GPIO extension
+port.
+
+Hardware
+********
+
+ESP32-S3 is a low-power MCU-based system on a chip (SoC) with integrated 2.4 GHz Wi-Fi
+and Bluetooth® Low Energy (Bluetooth LE). It consists of high-performance dual-core microprocessor
+(Xtensa® 32-bit LX7), a low power coprocessor, a Wi-Fi baseband, a Bluetooth LE baseband,
+RF module, and numerous peripherals.
+
+ESP32-S3-Matrix includes the following features:
+
+- Dual core 32-bit Xtensa Microprocessor (Tensilica LX7), running up to 240MHz
+- Additional vector instructions support for AI acceleration
+- 512KB of SRAM
+- 2MB of PSRAM
+- 4MB of FLASH
+- Wi-Fi 802.11b/g/n
+- Bluetooth LE 5.0 with long-range support and up to 2Mbps data rate
+- 8x8 RGB LED matrix
+- Accelerometer/gyroscope
+
+Digital interfaces:
+
+- 15 programmable GPIOs
+
+Low Power:
+
+- Power Management Unit with five power modes
+- Ultra-Low-Power (ULP) coprocessors: ULP-RISC-V and ULP-FSM
+
+Security:
+
+- Secure boot
+- Flash encryption
+- 4-Kbit OTP, up to 1792 bits for users
+- Cryptographic hardware acceleration: (AES-128/256, Hash, RSA, RNG, HMAC, Digital signature)
+
+Asymmetric Multiprocessing (AMP)
+********************************
+
+ESP32-S3 allows 2 different applications to be executed in ESP32-S3 SoC. Due to its dual-core
+architecture, each core can be enabled to execute customized tasks in stand-alone mode
+and/or exchanging data over OpenAMP framework. See :zephyr:code-sample-category:`ipc` folder as code reference.
+
+For more information, check the datasheet at `ESP32-S3 Datasheet`_ or the technical reference
+manual at `ESP32-S3 Technical Reference Manual`_.
+
+Supported Features
+==================
+
+.. zephyr:board-supported-hw::
+
+Prerequisites
+-------------
+
+Espressif HAL requires WiFi and Bluetooth binary blobs in order work. Run the command
+below to retrieve those files.
+
+.. code-block:: console
+
+   west blobs fetch hal_espressif
+
+.. note::
+
+   It is recommended running the command above after :file:`west update`.
+
+Building & Flashing
+*******************
+
+.. zephyr:board-supported-runners::
+
+Simple boot
+===========
+
+The board could be loaded using the single binary image, without 2nd stage bootloader.
+It is the default option when building the application without additional configuration.
+
+.. note::
+
+   Simple boot does not provide any security features nor OTA updates.
+
+MCUboot bootloader
+==================
+
+User may choose to use MCUboot bootloader instead. In that case the bootloader
+must be built (and flashed) at least once.
+
+There are two options to be used when building an application:
+
+1. Sysbuild
+2. Manual build
+
+.. note::
+
+   User can select the MCUboot bootloader by adding the following line
+   to the board default configuration file.
+
+   .. code:: cfg
+
+      CONFIG_BOOTLOADER_MCUBOOT=y
+
+Sysbuild
+========
+
+The sysbuild makes possible to build and flash all necessary images needed to
+bootstrap the board with the ESP32-S3 SoC.
+
+To build the sample application using sysbuild use the command:
+
+.. zephyr-app-commands::
+   :tool: west
+   :zephyr-app: samples/hello_world
+   :board: esp32s3_matrix/esp32s3/procpu
+   :goals: build
+   :west-args: --sysbuild
+   :compact:
+
+By default, the ESP32 sysbuild creates bootloader (MCUboot) and application
+images. But it can be configured to create other kind of images.
+
+Build directory structure created by sysbuild is different from traditional
+Zephyr build. Output is structured by the domain subdirectories:
+
+.. code-block::
+
+  build/
+  ├── hello_world
+  │   └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  ├── mcuboot
+  │    └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  └── domains.yaml
+
+.. note::
+
+   With ``--sysbuild`` option the bootloader will be re-build and re-flash
+   every time the pristine build is used.
+
+For more information about the system build please read the :ref:`sysbuild` documentation.
+
+Manual build
+============
+
+During the development cycle, it is intended to build & flash as quickly possible.
+For that reason, images can be built one at a time using traditional build.
+
+The instructions following are relevant for both manual build and sysbuild.
+The only difference is the structure of the build directory.
+
+.. note::
+
+   Remember that bootloader (MCUboot) needs to be flash at least once.
+
+Build and flash applications as usual (see :ref:`build_an_application` and
+:ref:`application_run` for more details).
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32s3_matrix/esp32s3/procpu
+   :goals: build
+
+The usual ``flash`` target will work with the ``esp32s3_matrix`` board
+configuration. Here is an example for the :zephyr:code-sample:`hello_world`
+application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32s3_matrix/esp32s3/procpu
+   :goals: flash
+
+Open the serial monitor using the following command:
+
+.. code-block:: shell
+
+   west espressif monitor
+
+After the board has automatically reset and booted, you should see the following
+message in the monitor:
+
+.. code-block:: console
+
+   ***** Booting Zephyr OS vx.x.x-xxx-gxxxxxxxxxxxx *****
+   Hello World! esp32s3_matrix
+
+Debugging
+*********
+
+ESP32-S3 support on OpenOCD is available at `OpenOCD ESP32`_.
+
+ESP32-S3 has a built-in JTAG circuitry and can be debugged without any additional chip. Only an USB cable connected to the D+/D- pins is necessary.
+
+Further documentation can be obtained from the SoC vendor in `JTAG debugging for ESP32-S3`_.
+
+Here is an example for building the :zephyr:code-sample:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32s3_matrix/esp32s3/procpu
+   :goals: build flash
+
+You can debug an application in the usual way. Here is an example for the :zephyr:code-sample:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32s3_matrix/esp32s3/procpu
+   :goals: debug
+
+References
+**********
+
+.. target-notes::
+
+.. _ESP32-S3-Matrix Waveshare Wiki: https://www.waveshare.com/wiki/ESP32-S3-Matrix
+.. _ESP32-S3 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-s3_datasheet_en.pdf
+.. _ESP32-S3 Technical Reference Manual: https://www.espressif.com/sites/default/files/documentation/esp32-s3_technical_reference_manual_en.pdf
+.. _`JTAG debugging for ESP32-S3`: https://docs.espressif.com/projects/esp-idf/en/latest/esp32s3/api-guides/jtag-debugging/
+.. _`OpenOCD ESP32`: https://github.com/espressif/openocd-esp32/releases

boards/waveshare/esp32s3_matrix/esp32s3_matrix-pinctrl.dtsi

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+/*
+ * Copyright (c) 2024 Joel Guittet
+ * Copyright (c) 2025 Chen Xingyu <hi@xingrz.me>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <dt-bindings/pinctrl/esp32s3-pinctrl.h>
+#include <zephyr/dt-bindings/pinctrl/esp-pinctrl-common.h>
+#include <zephyr/dt-bindings/pinctrl/esp32s3-gpio-sigmap.h>
+
+&pinctrl {
+	spim2_ws2812_led: spim2_ws2812_led {
+		group1 {
+			pinmux = <SPIM2_MOSI_GPIO14>;
+			output-low;
+		};
+	};
+};

boards/waveshare/esp32s3_matrix/esp32s3_matrix_esp32s3_appcpu.dts

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+/*
+ * Copyright (c) 2024 Joel Guittet
+ * Copyright (c) 2025 Chen Xingyu <hi@xingrz.me>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+#include <espressif/esp32s3/esp32s3_r2.dtsi>
+#include <espressif/partitions_0x0_amp_4M.dtsi>
+
+/ {
+	model = "ESP32-S3-Matrix APPCPU";
+	compatible = "waveshare,esp32-s3-matrix";
+
+	chosen {
+		zephyr,sram = &sram1;
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &ipm0;
+		zephyr,flash = &flash0;
+		zephyr,code-partition = &slot0_appcpu_partition;
+	};
+};
+
+&flash0 {
+	reg = <0x0 DT_SIZE_M(4)>;
+};
+
+&trng0 {
+	status = "okay";
+};

boards/waveshare/esp32s3_matrix/esp32s3_matrix_esp32s3_appcpu.yaml

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+identifier: esp32s3_matrix/esp32s3/appcpu
+name: ESP32-S3-Matrix APPCPU
+type: mcu
+arch: xtensa
+toolchain:
+  - zephyr
+supported:
+  - uart
+testing:
+  ignore_tags:
+    - net
+    - bluetooth
+    - flash
+    - cpp
+    - posix
+    - watchdog
+    - logging
+    - kernel
+    - pm
+    - gpio
+    - crypto
+    - eeprom
+    - heap
+    - cmsis_rtos
+    - jwt
+    - zdsp
+vendor: waveshare

boards/waveshare/esp32s3_matrix/esp32s3_matrix_esp32s3_appcpu_defconfig

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+# Copyright (c) 2024 Joel Guittet
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_CLOCK_CONTROL=y

boards/waveshare/esp32s3_matrix/esp32s3_matrix_esp32s3_procpu.dts

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+/*
+ * Copyright (c) 2024 Joel Guittet
+ * Copyright (c) 2025 Chen Xingyu <hi@xingrz.me>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+#include <espressif/esp32s3/esp32s3_r2.dtsi>
+#include <espressif/partitions_0x0_amp_4M.dtsi>
+#include <zephyr/dt-bindings/input/input-event-codes.h>
+#include <zephyr/dt-bindings/led/led.h>
+#include <zephyr/dt-bindings/led/worldsemi_ws2812c.h>
+#include "esp32s3_matrix-pinctrl.dtsi"
+
+/ {
+	model = "ESP32-S3-Matrix PROCPU";
+	compatible = "waveshare,esp32-s3-matrix";
+
+	aliases {
+		sw0 = &button0;
+		watchdog0 = &wdt0;
+		led-strip = &led_strip;
+	};
+
+	chosen {
+		zephyr,sram = &sram1;
+		zephyr,console = &usb_serial;
+		zephyr,shell-uart = &usb_serial;
+		zephyr,flash = &flash0;
+		zephyr,code-partition = &slot0_partition;
+		zephyr,display = &rgb_matrix;
+		zephyr,bt-hci = &esp32_bt_hci;
+	};
+
+	buttons {
+		compatible = "gpio-keys";
+
+		button0: button_0 {
+			gpios = <&gpio0 0 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "BOOT Button";
+			zephyr,code = <INPUT_KEY_0>;
+		};
+	};
+
+	rgb_matrix: rgb-matrix {
+		compatible = "led-strip-matrix";
+		status = "okay";
+		width = <8>;
+		height = <8>;
+		circulative;
+		led-strips = <&led_strip>;
+	};
+};
+
+&flash0 {
+	reg = <0x0 DT_SIZE_M(4)>;
+};
+
+&gpio0 {
+	status = "okay";
+};
+
+&gpio1 {
+	status = "okay";
+};
+
+&spi2 {
+	status = "okay";
+	#address-cells = <1>;
+	#size-cells = <0>;
+	pinctrl-0 = <&spim2_ws2812_led>;
+	pinctrl-names = "default";
+	line-idle-low;
+
+	led_strip: ws2812@0 {
+		compatible = "worldsemi,ws2812-spi";
+		reg = <0>;
+		spi-max-frequency = <WS2812C_SPI_FREQ>;
+		chain-length = <64>;
+		color-mapping =	<LED_COLOR_ID_RED>,
+				<LED_COLOR_ID_GREEN>,
+				<LED_COLOR_ID_BLUE>;
+		spi-one-frame = <WS2812C_ONE_FRAME>;
+		spi-zero-frame = <WS2812C_ZERO_FRAME>;
+	};
+};
+
+&usb_serial {
+	status = "okay";
+};
+
+&trng0 {
+	status = "okay";
+};
+
+&wdt0 {
+	status = "okay";
+};
+
+&esp32_bt_hci {
+	status = "okay";
+};

boards/waveshare/esp32s3_matrix/esp32s3_matrix_esp32s3_procpu.yaml

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+identifier: esp32s3_matrix/esp32s3/procpu
+name: ESP32-S3-Matrix PROCPU
+type: mcu
+arch: xtensa
+toolchain:
+  - zephyr
+supported:
+  - gpio
+  - spi
+  - watchdog
+  - pinmux
+  - nvs
+  - display
+vendor: waveshare

boards/waveshare/esp32s3_matrix/esp32s3_matrix_esp32s3_procpu_defconfig

@@ -0,0 +1,9 @@
+# Copyright (c) 2024 Joel Guittet
+# Copyright (c) 2025 Chen Xingyu <hi@xingrz.me>
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_GPIO=y
+CONFIG_CONSOLE=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_CLOCK_CONTROL=y

boards/waveshare/esp32s3_matrix/support/openocd.cfg

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+# Copyright (c) 2024 Joel Guittet
+# SPDX-License-Identifier: Apache-2.0
+
+set ESP_RTOS none
+set ESP32_ONLYCPU 1
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_jtag.cfg]
+# Source the ESP32-S3 configuration file
+source [find target/esp32s3.cfg]