├── .cargo
    └── config.toml
├── .gitignore
├── Cargo.lock
├── Cargo.toml
├── README.md
├── build.rs
├── clippy.toml
├── partitions.csv
├── rust-toolchain.toml
├── sdkconfig.defaults
└── src
    ├── config.rs
    ├── main.rs
    ├── server.rs
    └── wifi.rs


/.cargo/config.toml:
--------------------------------------------------------------------------------
 1 | [build]
 2 | # Uncomment the relevant target for your chip here (ESP32, ESP32-S2, ESP32-S3 or ESP32-C3)
 3 | #target = "xtensa-esp32-espidf"
 4 | #target = "xtensa-esp32s2-espidf"
 5 | target = "xtensa-esp32s3-espidf"
 6 | #target = "riscv32imc-esp-espidf"
 7 | #target = "riscv32imac-esp-espidf"
 8 | 
 9 | [target.xtensa-esp32-espidf]
10 | linker = "ldproxy"
11 | runner = "espflash flash --monitor"
12 | rustflags = [
13 |     "--cfg",
14 |     "mio_unsupported_force_poll_poll",
15 |     "--cfg",
16 |     "espidf_time64",
17 |     "-C",
18 |     "default-linker-libraries",
19 | ]
20 | 
21 | [target.xtensa-esp32s2-espidf]
22 | linker = "ldproxy"
23 | runner = "espflash flash --monitor"
24 | rustflags = [
25 |     "--cfg",
26 |     "mio_unsupported_force_poll_poll",
27 |     "--cfg",
28 |     "espidf_time64",
29 |     "-C",
30 |     "default-linker-libraries",
31 | ]
32 | 
33 | [target.xtensa-esp32s3-espidf]
34 | linker = "ldproxy"
35 | runner = "espflash flash --monitor"
36 | rustflags = [
37 |     "--cfg",
38 |     "mio_unsupported_force_poll_poll",
39 |     "--cfg",
40 |     "espidf_time64",
41 |     "-C",
42 |     "default-linker-libraries",
43 | ]
44 | 
45 | [target.riscv32imc-esp-espidf]
46 | linker = "ldproxy"
47 | runner = "espflash flash --monitor"
48 | rustflags = [
49 |     "--cfg",
50 |     "mio_unsupported_force_poll_poll",
51 |     "--cfg",
52 |     "espidf_time64",
53 |     "-C",
54 |     "default-linker-libraries",
55 | ]
56 | 
57 | [target.riscv32imac-esp-espidf]
58 | linker = "ldproxy"
59 | runner = "espflash flash --monitor"
60 | rustflags = [
61 |     "--cfg",
62 |     "mio_unsupported_force_poll_poll",
63 |     "--cfg",
64 |     "espidf_time64",
65 |     "-C",
66 |     "default-linker-libraries",
67 | ]
68 | 
69 | [unstable]
70 | build-std = ["std", "panic_abort"]
71 | 
72 | [env]
73 | ESP_IDF_VERSION = "v5.1.2"
74 | 


--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
1 | /.embuild
2 | /target
3 | /.idea
4 | /env.sh
5 | 


--------------------------------------------------------------------------------
/Cargo.lock:
--------------------------------------------------------------------------------
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2154 | source = "registry+https://github.com/rust-lang/crates.io-index"
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2159 | version = "0.52.0"
2160 | source = "registry+https://github.com/rust-lang/crates.io-index"
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2166 | source = "registry+https://github.com/rust-lang/crates.io-index"
2167 | checksum = "f593a95398737aeed53e489c785df13f3618e41dbcd6718c6addbf1395aa6876"
2168 | dependencies = [
2169 |  "memchr",
2170 | ]
2171 | 


--------------------------------------------------------------------------------
/Cargo.toml:
--------------------------------------------------------------------------------
 1 | [package]
 2 | name = "esp32axum"
 3 | version = "0.0.1"
 4 | authors = ["Gábor Gyebnár <korteur@gmail.com>"]
 5 | edition = "2021"
 6 | 
 7 | [dependencies]
 8 | panic-halt = "0"
 9 | anyhow = "1"
10 | axum = { version = "0", features = ["http1", "json"] }
11 | axum-macros = "0"
12 | heapless = "0.8.0"
13 | embedded-hal = "1"
14 | embedded-svc = { version = "0", features = ["experimental"] }
15 | esp-idf-sys = { version = "0", features = ["binstart"] }
16 | esp-idf-svc = { version = "0", features = ["alloc", "experimental"] }
17 | esp-idf-hal = "0"
18 | log = "0"
19 | serde = "1"
20 | serde_json = "1"
21 | tokio = { version = "1", features = ["rt", "net", "io-util", "macros"] }
22 | 
23 | [build-dependencies]
24 | build-data = "0"
25 | embuild = "0"
26 | anyhow = "1"
27 | 
28 | [profile.release]
29 | debug = false
30 | opt-level = "s"
31 | #lto = "fat"
32 | strip = true
33 | panic = "abort"
34 | 
35 | [profile.dev]
36 | debug = true
37 | opt-level = 2
38 | lto = "off"
39 | 
40 | [package.metadata.espflash]
41 | partition_table = "./partitions.csv"
42 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # Rust + Tokio + Axum on ESP32-S3
 2 | 
 3 | This is an example application that demonstrates how to use Rust, Tokio and Axum to build a web server on the ESP32-S3 microcontroller.
 4 | 
 5 | ## Quick Start
 6 | 
 7 | You'll need tools:
 8 | - `espup` - a tool to install the ESP32 toolchain and other tools
 9 | - `cargo-espflash` - a tool to flash the ESP32
10 | 
11 | ```
12 | cargo install espup cargo-espflash
13 | espup install
14 | ```
15 | 
16 | ### Build and run
17 | 
18 | 1. Set the WiFi credentials as environment variables. They will be baked into the executable at build time.
19 |     - `WIFI_SSID`
20 |     - `WIFI_PASS`
21 | 2. This command builds the project and flashes it to the ESP32-S3:
22 |     ```sh
23 |     cargo espflash flash --release --monitor 
24 |     ```
25 | 
26 | ### Test it
27 | 
28 | Once the ESP32-S3 is connected to your network, it displays the IP address on the serial console. The server runs on port 80.
29 | 
30 | ```sh
31 | $ curl http://192.168.0.24/state | jq
32 | {
33 |   "counter": 940,
34 |   "free_heap": 216452,
35 |   "ip_address": "192.168.0.24",
36 |   "mac_address": "DC:DA:0C:2A:26:C8",
37 |   "message": "Hello from ESP32!"
38 | }
39 | ```
40 | 
41 | ## But is it any good?
42 | 
43 | I mean, this is strapping rockets to a bicycle.
44 | 
45 | It works if you don't overload it. The ESP32-S3 is a microcontroller with limited resources. The web server can only handle a few requests at a time before it runs out of memory. 
46 | 
47 | ### Ballpark numbers
48 | - 5 concurrent requests
49 | - 50 requests per second
50 | 
51 | If I go over ~5 concurrent requests, IDF runs out of memory and crashes. 
52 | 
53 | Axum wasn't designed for microcontrollers to put it mildly. It's actually a miracle it works at all. I did this for science. We do what we must because we can.
54 | 
55 | 
56 | ### Alternatives
57 | 
58 | Besides Axum, Warp also works. It uses somewhat less memory, so you can maybe throw a few more requests at it.
59 | 
60 | At the time of writing this, Rocket and Actix-web don't work since they require Tokio's `rt-multi-thread` feature which doesn't compile on EPS32 yet.
61 | 
62 | Honestly, just use MQTT or something. It's a microcontroller, not a server.
63 | 
64 | 
65 | ## Other ESP32 chips
66 | 
67 | See `.cargo/config.toml` for the list of supported chips. Set the `target` to the chip you're using. 
68 | 
69 | ## Acknowledgements
70 | 
71 | This project is heavily inspired by Sami J. Mäkinen's [esp32temp](https://github.com/sjm42/esp32temp). Thanks for figuring out how to make this work!
72 | 
73 | 
74 | ## License
75 | 
76 | Whatever.


--------------------------------------------------------------------------------
/build.rs:
--------------------------------------------------------------------------------
 1 | fn main() -> anyhow::Result<()> {
 2 |     build_data::set_GIT_BRANCH();
 3 |     build_data::set_GIT_COMMIT();
 4 |     build_data::set_SOURCE_TIMESTAMP();
 5 |     build_data::set_RUSTC_VERSION();
 6 |     build_data::no_debug_rebuilds();
 7 | 
 8 |     embuild::build::CfgArgs::output_propagated("ESP_IDF")?;
 9 |     embuild::build::LinkArgs::output_propagated("ESP_IDF")?;
10 | 
11 |     Ok(())
12 | }
13 | 


--------------------------------------------------------------------------------
/clippy.toml:
--------------------------------------------------------------------------------
1 | future-size-threshold = 128
2 | 


--------------------------------------------------------------------------------
/partitions.csv:
--------------------------------------------------------------------------------
1 | # ESP-IDF Partition Table
2 | # Name,   Type, SubType, Offset,  Size, Flags
3 | nvs,      data, nvs,     0x9000,  0x6000,
4 | phy_init, data, phy,     0xf000,  0x1000,
5 | factory,  app,  factory, 0x10000, 3M,


--------------------------------------------------------------------------------
/rust-toolchain.toml:
--------------------------------------------------------------------------------
1 | [toolchain]
2 | channel = "esp"
3 | components = ["rust-src"]
4 | targets = ["xtensa-esp32s3-espidf"]
5 | 


--------------------------------------------------------------------------------
/sdkconfig.defaults:
--------------------------------------------------------------------------------
 1 | # CONFIG_LOG_DEFAULT_LEVEL_VERBOSE=y
 2 | # CONFIG_LOG_DEFAULT_LEVEL_INFO=y
 3 | CONFIG_LOG_DEFAULT_LEVEL=CONFIG_LOG_DEFAULT_LEVEL_INFO
 4 | #CONFIG_LOG_DEFAULT_LEVEL=CONFIG_LOG_DEFAULT_LEVEL_VERBOSE
 5 | 
 6 | # Tokio's async runtime needs more stack than the default 8192 bytes.
 7 | CONFIG_ESP_MAIN_TASK_STACK_SIZE=32768
 8 | 
 9 | CONFIG_LWIP_MAX_SOCKETS=16
10 | 


--------------------------------------------------------------------------------
/src/config.rs:
--------------------------------------------------------------------------------
 1 | use anyhow::{Context, Result};
 2 | 
 3 | #[derive(Debug)]
 4 | pub struct Config {
 5 |     pub wifi_ssid: &'static str,
 6 |     pub wifi_pass: &'static str,
 7 | }
 8 | 
 9 | impl Config {
10 |     pub fn load() -> Result<Self> {
11 |         Ok(Self {
12 |             wifi_ssid: option_env!("WIFI_SSID")
13 |                 .context("WIFI_SSID env variable must be set before building the project.")?,
14 |             wifi_pass: option_env!("WIFI_PASS")
15 |                 .context("WIFI_PASS env variable must be set before building the project.")?,
16 |         })
17 |     }
18 | }
19 | 


--------------------------------------------------------------------------------
/src/main.rs:
--------------------------------------------------------------------------------
 1 | mod config;
 2 | mod server;
 3 | mod wifi;
 4 | 
 5 | use crate::config::Config;
 6 | use crate::server::run_server;
 7 | use crate::wifi::WifiConnection;
 8 | use anyhow::Result;
 9 | use esp_idf_hal::prelude::Peripherals;
10 | use esp_idf_svc::{eventloop::EspSystemEventLoop, nvs, timer::EspTaskTimerService};
11 | use log::{error, info};
12 | use std::thread::sleep;
13 | 
14 | // We can't use #[tokio::main] since we need to initialize eventfd before starting the tokio runtime.
15 | fn main() {
16 |     esp_idf_sys::link_patches();
17 |     esp_idf_svc::log::EspLogger::initialize_default();
18 |     esp_idf_svc::io::vfs::initialize_eventfd(1).expect("Failed to initialize eventfd");
19 | 
20 |     let rt = tokio::runtime::Builder::new_current_thread()
21 |         .enable_all()
22 |         .build()
23 |         .expect("Failed to build Tokio runtime");
24 | 
25 |     match rt.block_on(async { async_main().await }) {
26 |         Ok(()) => info!("main() finished, reboot."),
27 |         Err(err) => {
28 |             error!("{err:?}");
29 |             // Let them read the error message before rebooting
30 |             sleep(std::time::Duration::from_secs(3));
31 |         },
32 |     }
33 | 
34 |     esp_idf_hal::reset::restart();
35 | }
36 | 
37 | async fn async_main() -> Result<()> {
38 |     info!("Starting async_main.");
39 | 
40 |     let config = Config::load()?;
41 |     info!("Configuration:\n{config:#?}");
42 | 
43 |     let event_loop = EspSystemEventLoop::take()?;
44 |     let timer = EspTaskTimerService::new()?;
45 |     let peripherals = Peripherals::take()?;
46 |     let nvs_default_partition = nvs::EspDefaultNvsPartition::take()?;
47 | 
48 |     // Initialize the network stack, this must be done before starting the server
49 |     let mut wifi_connection = WifiConnection::new(
50 |         peripherals.modem,
51 |         event_loop,
52 |         timer,
53 |         Some(nvs_default_partition),
54 |         &config,
55 |     )
56 |     .await?;
57 | 
58 |     // Run the server and the wifi keepalive concurrently until one of them fails
59 |     tokio::try_join!(
60 |         run_server(wifi_connection.state.clone()),
61 |         wifi_connection.connect()
62 |     )?;
63 |     Ok(())
64 | }
65 | 


--------------------------------------------------------------------------------
/src/server.rs:
--------------------------------------------------------------------------------
 1 | use axum::{extract::State, routing::*, Json, Router};
 2 | use log::info;
 3 | use serde_json::{json, Value};
 4 | use std::{net::SocketAddr, sync::Arc};
 5 | use std::sync::atomic::AtomicIsize;
 6 | use crate::wifi::WifiState;
 7 | 
 8 | // Shared state that all Axum handlers can access
 9 | struct SharedState {
10 |     pub counter: AtomicIsize,
11 |     pub wifi_state: Arc<WifiState>,
12 | }
13 | 
14 | // Starts the server. This function only returns in case of an error.
15 | pub async fn run_server(wifi_state: Arc<WifiState>) -> anyhow::Result<()> {
16 |     let state = Arc::new(SharedState {
17 |         counter: AtomicIsize::new(0),
18 |         wifi_state,
19 |     });
20 | 
21 |     let addr = "0.0.0.0:80".parse::<SocketAddr>()?;
22 |     let app = Router::new()
23 |         .route("/", get(move || async { "Hello!" }))
24 |         .route("/state", get(get_state))
25 |         .with_state(state);
26 | 
27 |     let listener = tokio::net::TcpListener::bind(&addr).await?;
28 |     info!("API server listening on {addr:?}");
29 |     Ok(axum::serve(listener, app.into_make_service()).await?)
30 | }
31 | 
32 | // Handler for the /state route
33 | async fn get_state(State(state): State<Arc<SharedState>>) -> Json<Value> {
34 |     let ip = state.wifi_state.ip_addr().await;
35 |     let mac = state.wifi_state.mac_address.clone();
36 |     let counter = state.counter.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
37 |     Json(json!({
38 |         "message": "Hello from ESP32!",
39 |         "free_heap": unsafe { esp_idf_sys::esp_get_free_heap_size() },
40 |         "ip_address": ip,
41 |         "mac_address": mac,
42 |         "counter": counter,
43 |     }))
44 | }
45 | 


--------------------------------------------------------------------------------
/src/wifi.rs:
--------------------------------------------------------------------------------
  1 | use crate::config::Config;
  2 | use anyhow::{anyhow, Result};
  3 | use embedded_svc::wifi::{ClientConfiguration, Configuration};
  4 | use esp_idf_hal::modem::Modem;
  5 | use esp_idf_svc::nvs::EspDefaultNvsPartition;
  6 | use esp_idf_svc::{
  7 |     eventloop::{EspEventLoop, System},
  8 |     ipv4,
  9 |     netif::{self, EspNetif},
 10 |     timer::{EspTimerService, Task},
 11 |     wifi::{AsyncWifi, EspWifi, WifiDriver},
 12 | };
 13 | use esp_idf_sys::{self as _};
 14 | use log::{info, warn};
 15 | use std::net::Ipv4Addr;
 16 | use std::str::FromStr;
 17 | use std::sync::Arc;
 18 | use tokio::sync::RwLock;
 19 | use tokio::time::{sleep, Duration};
 20 | 
 21 | // Shared state of the Wi-Fi connection.
 22 | pub struct WifiState {
 23 |     pub mac_address: String,
 24 |     pub ssid: String,
 25 |     ip_addr: RwLock<Option<Ipv4Addr>>,
 26 | }
 27 | 
 28 | impl WifiState {
 29 |     pub async fn ip_addr(&self) -> Option<Ipv4Addr> {
 30 |         *self.ip_addr.read().await
 31 |     }
 32 | }
 33 | 
 34 | // Wrapper around the Wi-Fi connection.
 35 | pub struct WifiConnection<'a> {
 36 |     pub state: Arc<WifiState>,
 37 |     wifi: AsyncWifi<EspWifi<'a>>,
 38 | }
 39 | 
 40 | impl<'a> WifiConnection<'a> {
 41 |     // Initialize the Wi-Fi driver but do not connect yet.
 42 |     pub async fn new(
 43 |         modem: Modem,
 44 |         event_loop: EspEventLoop<System>,
 45 |         timer: EspTimerService<Task>,
 46 |         default_partition: Option<EspDefaultNvsPartition>,
 47 |         config: &Config,
 48 |     ) -> Result<Self> {
 49 |         info!("Initializing...");
 50 | 
 51 |         let wifi_driver = WifiDriver::new(modem, event_loop.clone(), default_partition)?;
 52 |         let ipv4_config = ipv4::ClientConfiguration::DHCP(ipv4::DHCPClientSettings::default());
 53 |         let net_if = EspNetif::new_with_conf(&netif::NetifConfiguration {
 54 |             ip_configuration: ipv4::Configuration::Client(ipv4_config),
 55 |             ..netif::NetifConfiguration::wifi_default_client()
 56 |         })?;
 57 | 
 58 |         // Store the MAC address in the shared wifi state
 59 |         let mac = net_if.get_mac()?;
 60 |         let mac_address = format!(
 61 |             "{:02X}:{:02X}:{:02X}:{:02X}:{:02X}:{:02X}",
 62 |             mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]
 63 |         );
 64 |         let state = Arc::new(WifiState {
 65 |             ip_addr: RwLock::new(None),
 66 |             mac_address,
 67 |             ssid: config.wifi_ssid.to_string(),
 68 |         });
 69 | 
 70 |         // Wrap the Wi-Fi driver in the async wrapper
 71 |         let esp_wifi =
 72 |             EspWifi::wrap_all(wifi_driver, net_if, EspNetif::new(netif::NetifStack::Ap)?)?;
 73 |         let mut wifi = AsyncWifi::wrap(esp_wifi, event_loop, timer.clone())?;
 74 | 
 75 |         // Set the Wi-Fi configuration
 76 |         info!("Setting credentials...");
 77 |         let client_config = ClientConfiguration {
 78 |             ssid: heapless::String::from_str(config.wifi_ssid)
 79 |                 .map_err(|_| anyhow!("SSID is too long."))?,
 80 |             password: heapless::String::from_str(config.wifi_pass)
 81 |                 .map_err(|_| anyhow!("Wifi password is too long."))?,
 82 |             ..Default::default()
 83 |         };
 84 |         wifi.set_configuration(&Configuration::Client(client_config))?;
 85 | 
 86 |         info!("Starting...");
 87 |         wifi.start().await?;
 88 | 
 89 |         info!("Wi-Fi driver started successfully.");
 90 |         Ok(Self { state, wifi })
 91 |     }
 92 | 
 93 |     // Connect to Wi-Fi and stay connected. This function will loop forever.
 94 |     pub async fn connect(&mut self) -> anyhow::Result<()> {
 95 |         loop {
 96 |             info!("Connecting to SSID '{}'...", self.state.ssid);
 97 |             if let Err(err) = self.wifi.connect().await {
 98 |                 warn!("Connection failed: {err:?}");
 99 |                 self.wifi.disconnect().await?;
100 |                 sleep(Duration::from_secs(1)).await;
101 |                 continue;
102 |             }
103 | 
104 |             info!("Acquiring IP address...");
105 |             let timeout = Some(Duration::from_secs(10));
106 |             if let Err(err) = self.wifi.ip_wait_while(|w| w.is_up().map(|s| !s), timeout).await {
107 |                 warn!("IP association failed: {err:?}");
108 |                 self.wifi.disconnect().await?;
109 |                 sleep(Duration::from_secs(1)).await;
110 |                 continue;
111 |             }
112 | 
113 |             let ip_info = self.wifi.wifi().sta_netif().get_ip_info();
114 |             *self.state.ip_addr.write().await = ip_info.ok().map(|i| i.ip);
115 |             info!("Connected to '{}': {ip_info:#?}", self.state.ssid);
116 | 
117 |             // Wait for Wi-Fi to be down
118 |             self.wifi.wifi_wait(|w| w.is_up(), None).await?;
119 |             warn!("Wi-Fi disconnected.");
120 |         }
121 |     }
122 | }
123 | 


--------------------------------------------------------------------------------