Add support for native lib loading on VESC Express targets by techfoundrynz · Pull Request #107 · vedderb/vesc_express

techfoundrynz · 2026-07-15T03:07:44Z

Add native lib load support to ESP32 targets

This change introduces native lib loading for package feature parity with the standard stm32 firmware. It builds on the work of #69 but adds support for all currently supported esp32 family chips across both the Xtensa and RISC-V architectures.

The native binaries are built with the ESP-IDF GCC toolchains (riscv32-esp-elf/xtensa-esp32s3-elf), one binary per chip.

For the RISC-V targets (C3/C6/P4), the binary is compiled position-independent and load-native-lib executes it in place from the memory-mapped lisp partition.

Xtensa (S3) doesn't support PIC, so the binary is linked at address 0 and copied into RAM at load time. load-native-lib patches the absolute addresses using a fixup table generated from the ELF relocations at build time.

In both cases the lib finds the firmware interface table at a fixed address (similar to bldc's table at 0x1000F800).

Packaging support is provided by the following change to the vesc_pkg repo:
vedderb/vesc_pkg#99

As per @vedderb's request, the firmware interface file has been split.

techfoundrynz · 2026-07-15T03:26:00Z

Currently untested on ESP32-P4 but all other targets are confirmed working with the example package from my vesc_pkg PR.

@DovPearX maybe you could assist in testing that variant?

techfoundrynz · 2026-07-15T23:59:18Z

Confirmed working on P4

vedderb · 2026-07-16T09:35:44Z

Nice work!

Can you just move vesc_c_if out of the lispBM-folder? I'm trying to keep it identical to the lispBM repo. Then I will merge and test it.

techfoundrynz · 2026-07-16T09:37:07Z

Nice work!

Can you just move vesc_c_if out of the lispBM-folder? I'm trying to keep it identical to the lispBM repo. Then I will merge and test it.

Sure thing, on it now!

techfoundrynz · 2026-07-16T09:55:14Z

Nice work!

Can you just move vesc_c_if out of the lispBM-folder? I'm trying to keep it identical to the lispBM repo. Then I will merge and test it.

Done! Mirrored the pattern from bldc

vedderb · 2026-07-16T11:23:12Z

I gave it a try and it seems to work, very nice work!

techfoundrynz · 2026-07-16T11:39:59Z

I gave it a try and it seems to work, very nice work!

Thanks again for the awesome project that keeps on giving!

vedderb · 2026-07-16T12:20:31Z

6169523

Can you check if this commit broke anything? It works for me on the C3. It also allows putting the native library code directly in the source if it is in a const block

@const-start

(def lib [
    0xca 0xfe 0xba 0xbe 0x00 0x00 0x00 0x00 0x01 0x11 0x22 0xcc 0x37 0xc4 0xcd 0x3f 0x13 0x04 0x04 0xe0
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    0x65 0x73 0x74 0x20 0x6c 0x69 0x62 0x20 0x6c 0x6f 0x61 0x64 0x65 0x64 0x00
])

(def target (sysinfo 'hw-target))

(if (eq lib nil)
    (print (str-merge "No native test lib for target " target))
{
    (print (str-merge "Loading native test lib for " target))
    (print (load-native-lib lib))
    (ext-test-hello)
    (print (str-merge "2.5 * 3.0 = " (str-from-n (ext-test-mul 2.5 3.0))))
    (sleep 1)
    (print (str-merge "Counter after 1s (expect ~10): " (str-from-n (ext-test-counter))))
})

techfoundrynz · 2026-07-16T13:44:28Z

6169523

Can you check if this commit broke anything? It works for me on the C3. It also allows putting the native library code directly in the source if it is in a const block

@const-start

(def lib [
    0xca 0xfe 0xba 0xbe 0x00 0x00 0x00 0x00 0x01 0x11 0x22 0xcc 0x37 0xc4 0xcd 0x3f 0x13 0x04 0x04 0xe0
    0x97 0x07 0x00 0x00 0x83 0xa7 0x07 0xff 0x4a 0xc8 0x03 0x29 0x04 0x00 0x06 0xce 0x26 0xca 0x4e 0xc6
    0x85 0x47 0x63 0x10 0xf9 0x04 0x83 0x27 0x44 0x10 0xaa 0x89 0x21 0x45 0x82 0x97 0xaa 0x84 0x05 0xc9
    0x83 0x27 0xc4 0x10 0x85 0x65 0x23 0x22 0x05 0x00 0xaa 0x86 0x17 0x06 0x00 0x00 0x13 0x06 0x06 0x2e
    0x93 0x85 0x05 0x80 0x17 0x05 0x00 0x00 0x13 0x05 0x85 0x08 0x82 0x97 0x88 0xc0 0x09 0xed 0x83 0x27
    0x84 0x10 0x26 0x85 0x82 0x97 0x01 0x45 0xf2 0x40 0x62 0x44 0xd2 0x44 0x42 0x49 0xb2 0x49 0x05 0x61
    0x82 0x80 0x5c 0x40 0x97 0x05 0x00 0x00 0x93 0x85 0x65 0x09 0x17 0x05 0x00 0x00 0x13 0x05 0x05 0x2b
    0x82 0x97 0x5c 0x40 0x97 0x05 0x00 0x00 0x93 0x85 0x65 0x0a 0x17 0x05 0x00 0x00 0x13 0x05 0xc5 0x2a
    0x82 0x97 0x5c 0x40 0x97 0x05 0x00 0x00 0x93 0x85 0x05 0x14 0x17 0x05 0x00 0x00 0x13 0x05 0x85 0x2a
    0x82 0x97 0x97 0x07 0x00 0x00 0x93 0x87 0x47 0x0f 0x23 0xa2 0x99 0x00 0x23 0xa0 0xf9 0x00 0xb7 0xc7
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    0x44 0x11 0x82 0x97 0x11 0xc5 0xb2 0x40 0x22 0x44 0x92 0x44 0x41 0x01 0x82 0x80 0xdc 0x40 0x13 0x05
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    0xcd 0x3f 0x83 0x27 0x04 0xf0 0x06 0xc6 0x17 0x05 0x00 0x00 0x13 0x05 0x45 0x1b 0x82 0x97 0x03 0x25
    0xc4 0xe9 0xb2 0x40 0x22 0x44 0x41 0x01 0x82 0x80 0x89 0x47 0x63 0x94 0xf5 0x06 0x41 0x11 0x22 0xc4
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    0x2d 0x63 0x6f 0x75 0x6e 0x74 0x65 0x72 0x00 0x00 0x00 0x00 0x4e 0x61 0x74 0x69 0x76 0x65 0x20 0x74
    0x65 0x73 0x74 0x20 0x6c 0x69 0x62 0x20 0x6c 0x6f 0x61 0x64 0x65 0x64 0x00
])

(def target (sysinfo 'hw-target))

(if (eq lib nil)
    (print (str-merge "No native test lib for target " target))
{
    (print (str-merge "Loading native test lib for " target))
    (print (load-native-lib lib))
    (ext-test-hello)
    (print (str-merge "2.5 * 3.0 = " (str-from-n (ext-test-mul 2.5 3.0))))
    (sleep 1)
    (print (str-merge "Counter after 1s (expect ~10): " (str-from-n (ext-test-counter))))
})

I'm in bed but will give it a go in the morning.

techfoundrynz · 2026-07-16T23:49:04Z

6169523

Can you check if this commit broke anything? It works for me on the C3. It also allows putting the native library code directly in the source if it is in a const block

@const-start

(def lib [
    0xca 0xfe 0xba 0xbe 0x00 0x00 0x00 0x00 0x01 0x11 0x22 0xcc 0x37 0xc4 0xcd 0x3f 0x13 0x04 0x04 0xe0
    0x97 0x07 0x00 0x00 0x83 0xa7 0x07 0xff 0x4a 0xc8 0x03 0x29 0x04 0x00 0x06 0xce 0x26 0xca 0x4e 0xc6
    0x85 0x47 0x63 0x10 0xf9 0x04 0x83 0x27 0x44 0x10 0xaa 0x89 0x21 0x45 0x82 0x97 0xaa 0x84 0x05 0xc9
    0x83 0x27 0xc4 0x10 0x85 0x65 0x23 0x22 0x05 0x00 0xaa 0x86 0x17 0x06 0x00 0x00 0x13 0x06 0x06 0x2e
    0x93 0x85 0x05 0x80 0x17 0x05 0x00 0x00 0x13 0x05 0x85 0x08 0x82 0x97 0x88 0xc0 0x09 0xed 0x83 0x27
    0x84 0x10 0x26 0x85 0x82 0x97 0x01 0x45 0xf2 0x40 0x62 0x44 0xd2 0x44 0x42 0x49 0xb2 0x49 0x05 0x61
    0x82 0x80 0x5c 0x40 0x97 0x05 0x00 0x00 0x93 0x85 0x65 0x09 0x17 0x05 0x00 0x00 0x13 0x05 0x05 0x2b
    0x82 0x97 0x5c 0x40 0x97 0x05 0x00 0x00 0x93 0x85 0x65 0x0a 0x17 0x05 0x00 0x00 0x13 0x05 0xc5 0x2a
    0x82 0x97 0x5c 0x40 0x97 0x05 0x00 0x00 0x93 0x85 0x05 0x14 0x17 0x05 0x00 0x00 0x13 0x05 0x85 0x2a
    0x82 0x97 0x97 0x07 0x00 0x00 0x93 0x87 0x47 0x0f 0x23 0xa2 0x99 0x00 0x23 0xa0 0xf9 0x00 0xb7 0xc7
    0xcd 0x3f 0x83 0xa7 0x07 0xf0 0x17 0x05 0x00 0x00 0x13 0x05 0xa5 0x29 0x82 0x97 0x4a 0x85 0x49 0xbf
    0x41 0x11 0x22 0xc4 0x37 0xc4 0xcd 0x3f 0x26 0xc2 0x06 0xc6 0xaa 0x84 0x13 0x04 0x04 0xe0 0x83 0x27
    0x44 0x11 0x82 0x97 0x11 0xc5 0xb2 0x40 0x22 0x44 0x92 0x44 0x41 0x01 0x82 0x80 0xdc 0x40 0x13 0x05
    0x40 0x06 0x85 0x07 0xdc 0xc0 0x83 0x27 0xc4 0x0d 0x82 0x97 0xf9 0xbf 0x41 0x11 0x22 0xc4 0x37 0xc4
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])

(def target (sysinfo 'hw-target))

(if (eq lib nil)
    (print (str-merge "No native test lib for target " target))
{
    (print (str-merge "Loading native test lib for " target))
    (print (load-native-lib lib))
    (ext-test-hello)
    (print (str-merge "2.5 * 3.0 = " (str-from-n (ext-test-mul 2.5 3.0))))
    (sleep 1)
    (print (str-merge "Counter after 1s (expect ~10): " (str-from-n (ext-test-counter))))
})

S3 target now fails with:

/mnt/c/Repos/express_native/vesc_express/main/lispif_c_lib.c: In function 'ext_load_native_lib':
/mnt/c/Repos/express_native/vesc_express/main/lispif_c_lib.c:617:34: error: 'container_drom' undeclared (first use in this function)
  617 |                 memcpy(&version, container_drom + 4, 4);

I think we just need to add the container_drom declaration inside the S3 code path around line 616.

techfoundrynz · 2026-07-17T00:03:55Z

Change in #109 confirmed as fixing S3 targets

Add support for native lib loading on VESC Express targets

c6aaea4

techfoundrynz mentioned this pull request Jul 15, 2026

Add VESC Express native lib package support vedderb/vesc_pkg#99

Merged

techfoundrynz mentioned this pull request Jul 15, 2026

Feature: Add support for load-native-lib on the VESC Express #69

Open

add user extension size define

48c0af2

techfoundrynz marked this pull request as ready for review July 15, 2026 08:21

Mirror bldc repo structure for c lib interface

81f7efe

vedderb merged commit ed2d900 into vedderb:main Jul 16, 2026

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Add support for native lib loading on VESC Express targets - #107

Add support for native lib loading on VESC Express targets#107
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