ports/esp32/machine_pin.c - lite/micropython - Linaro Git Browser

 /*
  * This file is part of the MicroPython project, http://micropython.org/
  *
  * Development of the code in this file was sponsored by Microbric Pty Ltd
  *
  * The MIT License (MIT)
  *
  * Copyright (c) 2016 Damien P. George
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  * THE SOFTWARE.
  */

 #include <stdio.h>
 #include <string.h>

 #include "driver/gpio.h"
 #include "driver/rtc_io.h"

 #include "py/runtime.h"
 #include "py/mphal.h"
 #include "mphalport.h"
 #include "modmachine.h"
 #include "extmod/virtpin.h"
 #include "machine_rtc.h"
 #include "modesp32.h"

 // Used to implement a range of pull capabilities
 #define GPIO_PULL_DOWN (1)
 #define GPIO_PULL_UP   (2)
 #define GPIO_PULL_HOLD (4)

 typedef struct _machine_pin_obj_t {
     mp_obj_base_t base;
     gpio_num_t id;
 } machine_pin_obj_t;

 typedef struct _machine_pin_irq_obj_t {
     mp_obj_base_t base;
     gpio_num_t id;
 } machine_pin_irq_obj_t;

 STATIC const machine_pin_obj_t machine_pin_obj[] = {
     {{&machine_pin_type}, GPIO_NUM_0},
     {{&machine_pin_type}, GPIO_NUM_1},
     {{&machine_pin_type}, GPIO_NUM_2},
     {{&machine_pin_type}, GPIO_NUM_3},
     {{&machine_pin_type}, GPIO_NUM_4},
     {{&machine_pin_type}, GPIO_NUM_5},
     {{&machine_pin_type}, GPIO_NUM_6},
     {{&machine_pin_type}, GPIO_NUM_7},
     {{&machine_pin_type}, GPIO_NUM_8},
     {{&machine_pin_type}, GPIO_NUM_9},
     {{&machine_pin_type}, GPIO_NUM_10},
     {{&machine_pin_type}, GPIO_NUM_11},
     {{&machine_pin_type}, GPIO_NUM_12},
     {{&machine_pin_type}, GPIO_NUM_13},
     {{&machine_pin_type}, GPIO_NUM_14},
     {{&machine_pin_type}, GPIO_NUM_15},
     {{&machine_pin_type}, GPIO_NUM_16},
     {{&machine_pin_type}, GPIO_NUM_17},
     {{&machine_pin_type}, GPIO_NUM_18},
     {{&machine_pin_type}, GPIO_NUM_19},
     {{NULL}, -1},
     {{&machine_pin_type}, GPIO_NUM_21},
     #if CONFIG_IDF_TARGET_ESP32
     {{&machine_pin_type}, GPIO_NUM_22},
     {{&machine_pin_type}, GPIO_NUM_23},
     {{NULL}, -1},
     {{&machine_pin_type}, GPIO_NUM_25},
     #else
     {{NULL}, -1},
     {{NULL}, -1},
     {{NULL}, -1},
     {{NULL}, -1},
     #endif
     {{&machine_pin_type}, GPIO_NUM_26},
     {{&machine_pin_type}, GPIO_NUM_27},
     {{NULL}, -1},
     {{NULL}, -1},
     {{NULL}, -1},
     {{NULL}, -1},
     {{&machine_pin_type}, GPIO_NUM_32},
     {{&machine_pin_type}, GPIO_NUM_33},
     {{&machine_pin_type}, GPIO_NUM_34},
     {{&machine_pin_type}, GPIO_NUM_35},
     {{&machine_pin_type}, GPIO_NUM_36},
     {{&machine_pin_type}, GPIO_NUM_37},
     {{&machine_pin_type}, GPIO_NUM_38},
     {{&machine_pin_type}, GPIO_NUM_39},
 };

 // forward declaration
 STATIC const machine_pin_irq_obj_t machine_pin_irq_object[];

 void machine_pins_init(void) {
     static bool did_install = false;
     if (!did_install) {
         gpio_install_isr_service(0);
         did_install = true;
     }
     memset(&MP_STATE_PORT(machine_pin_irq_handler[0]), 0, sizeof(MP_STATE_PORT(machine_pin_irq_handler)));
 }

 void machine_pins_deinit(void) {
     for (int i = 0; i < MP_ARRAY_SIZE(machine_pin_obj); ++i) {
         if (machine_pin_obj[i].id != (gpio_num_t)-1) {
             gpio_isr_handler_remove(machine_pin_obj[i].id);
         }
     }
 }

 STATIC void machine_pin_isr_handler(void *arg) {
     machine_pin_obj_t *self = arg;
     mp_obj_t handler = MP_STATE_PORT(machine_pin_irq_handler)[self->id];
     mp_sched_schedule(handler, MP_OBJ_FROM_PTR(self));
     mp_hal_wake_main_task_from_isr();
 }

 gpio_num_t machine_pin_get_id(mp_obj_t pin_in) {
     if (mp_obj_get_type(pin_in) != &machine_pin_type) {
         mp_raise_ValueError(MP_ERROR_TEXT("expecting a pin"));
     }
     machine_pin_obj_t *self = pin_in;
     return self->id;
 }

 STATIC void machine_pin_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
     machine_pin_obj_t *self = self_in;
     mp_printf(print, "Pin(%u)", self->id);
 }

 // pin.init(mode, pull=None, *, value)
 STATIC mp_obj_t machine_pin_obj_init_helper(const machine_pin_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
     enum { ARG_mode, ARG_pull, ARG_value };
     static const mp_arg_t allowed_args[] = {
         { MP_QSTR_mode, MP_ARG_OBJ, {.u_obj = mp_const_none}},
         { MP_QSTR_pull, MP_ARG_OBJ, {.u_obj = MP_OBJ_NEW_SMALL_INT(-1)}},
         { MP_QSTR_value, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL}},
     };

     // parse args
     mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
     mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);

     // reset the pin to digital if this is a mode-setting init (grab it back from ADC)
     if (args[ARG_mode].u_obj != mp_const_none) {
         if (rtc_gpio_is_valid_gpio(self->id)) {
             rtc_gpio_deinit(self->id);
         }
     }

     // configure the pin for gpio
     gpio_pad_select_gpio(self->id);

     // set initial value (do this before configuring mode/pull)
     if (args[ARG_value].u_obj != MP_OBJ_NULL) {
         gpio_set_level(self->id, mp_obj_is_true(args[ARG_value].u_obj));
     }

     // configure mode
     if (args[ARG_mode].u_obj != mp_const_none) {
         mp_int_t pin_io_mode = mp_obj_get_int(args[ARG_mode].u_obj);
         if (self->id >= 34 && (pin_io_mode & GPIO_MODE_DEF_OUTPUT)) {
             mp_raise_ValueError(MP_ERROR_TEXT("pin can only be input"));
         } else {
             gpio_set_direction(self->id, pin_io_mode);
         }
     }

     // configure pull
     if (args[ARG_pull].u_obj != MP_OBJ_NEW_SMALL_INT(-1)) {
         int mode = 0;
         if (args[ARG_pull].u_obj != mp_const_none) {
             mode = mp_obj_get_int(args[ARG_pull].u_obj);
         }
         if (mode & GPIO_PULL_DOWN) {
             gpio_pulldown_en(self->id);
         } else {
             gpio_pulldown_dis(self->id);
         }
         if (mode & GPIO_PULL_UP) {
             gpio_pullup_en(self->id);
         } else {
             gpio_pullup_dis(self->id);
         }
         if (mode & GPIO_PULL_HOLD) {
             gpio_hold_en(self->id);
         } else if (GPIO_IS_VALID_OUTPUT_GPIO(self->id)) {
             gpio_hold_dis(self->id);
         }
     }

     return mp_const_none;
 }

 // constructor(id, ...)
 mp_obj_t mp_pin_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
     mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);

     // get the wanted pin object
     int wanted_pin = mp_obj_get_int(args[0]);
     const machine_pin_obj_t *self = NULL;
     if (0 <= wanted_pin && wanted_pin < MP_ARRAY_SIZE(machine_pin_obj)) {
         self = (machine_pin_obj_t *)&machine_pin_obj[wanted_pin];
     }
     if (self == NULL || self->base.type == NULL) {
         mp_raise_ValueError(MP_ERROR_TEXT("invalid pin"));
     }

     if (n_args > 1 || n_kw > 0) {
         // pin mode given, so configure this GPIO
         mp_map_t kw_args;
         mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
         machine_pin_obj_init_helper(self, n_args - 1, args + 1, &kw_args);
     }

     return MP_OBJ_FROM_PTR(self);
 }

 // fast method for getting/setting pin value
 STATIC mp_obj_t machine_pin_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
     mp_arg_check_num(n_args, n_kw, 0, 1, false);
     machine_pin_obj_t *self = self_in;
     if (n_args == 0) {
         // get pin
         return MP_OBJ_NEW_SMALL_INT(gpio_get_level(self->id));
     } else {
         // set pin
         gpio_set_level(self->id, mp_obj_is_true(args[0]));
         return mp_const_none;
     }
 }

 // pin.init(mode, pull)
 STATIC mp_obj_t machine_pin_obj_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
     return machine_pin_obj_init_helper(args[0], n_args - 1, args + 1, kw_args);
 }
 MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_init_obj, 1, machine_pin_obj_init);

 // pin.value([value])
 STATIC mp_obj_t machine_pin_value(size_t n_args, const mp_obj_t *args) {
     return machine_pin_call(args[0], n_args - 1, 0, args + 1);
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_value_obj, 1, 2, machine_pin_value);

 // pin.off()
 STATIC mp_obj_t machine_pin_off(mp_obj_t self_in) {
     machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
     gpio_set_level(self->id, 0);
     return mp_const_none;
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_off_obj, machine_pin_off);

 // pin.on()
 STATIC mp_obj_t machine_pin_on(mp_obj_t self_in) {
     machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
     gpio_set_level(self->id, 1);
     return mp_const_none;
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_on_obj, machine_pin_on);

 // pin.irq(handler=None, trigger=IRQ_FALLING|IRQ_RISING)
 STATIC mp_obj_t machine_pin_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
     enum { ARG_handler, ARG_trigger, ARG_wake };
     static const mp_arg_t allowed_args[] = {
         { MP_QSTR_handler, MP_ARG_OBJ, {.u_obj = mp_const_none} },
         { MP_QSTR_trigger, MP_ARG_INT, {.u_int = GPIO_PIN_INTR_POSEDGE | GPIO_PIN_INTR_NEGEDGE} },
         { MP_QSTR_wake, MP_ARG_OBJ, {.u_obj = mp_const_none} },
     };
     machine_pin_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
     mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
     mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);

     if (n_args > 1 || kw_args->used != 0) {
         // configure irq
         mp_obj_t handler = args[ARG_handler].u_obj;
         uint32_t trigger = args[ARG_trigger].u_int;
         mp_obj_t wake_obj = args[ARG_wake].u_obj;

         if ((trigger == GPIO_PIN_INTR_LOLEVEL || trigger == GPIO_PIN_INTR_HILEVEL) && wake_obj != mp_const_none) {
             mp_int_t wake;
             if (mp_obj_get_int_maybe(wake_obj, &wake)) {
                 if (wake < 2 || wake > 7) {
                     mp_raise_ValueError(MP_ERROR_TEXT("bad wake value"));
                 }
             } else {
                 mp_raise_ValueError(MP_ERROR_TEXT("bad wake value"));
             }

             if (machine_rtc_config.wake_on_touch) { // not compatible
                 mp_raise_ValueError(MP_ERROR_TEXT("no resources"));
             }

             if (!RTC_IS_VALID_EXT_PIN(self->id)) {
                 mp_raise_ValueError(MP_ERROR_TEXT("invalid pin for wake"));
             }

             if (machine_rtc_config.ext0_pin == -1) {
                 machine_rtc_config.ext0_pin = self->id;
             } else if (machine_rtc_config.ext0_pin != self->id) {
                 mp_raise_ValueError(MP_ERROR_TEXT("no resources"));
             }

             machine_rtc_config.ext0_level = trigger == GPIO_PIN_INTR_LOLEVEL ? 0 : 1;
             machine_rtc_config.ext0_wake_types = wake;
         } else {
             if (machine_rtc_config.ext0_pin == self->id) {
                 machine_rtc_config.ext0_pin = -1;
             }

             if (handler == mp_const_none) {
                 handler = MP_OBJ_NULL;
                 trigger = 0;
             }
             gpio_isr_handler_remove(self->id);
             MP_STATE_PORT(machine_pin_irq_handler)[self->id] = handler;
             gpio_set_intr_type(self->id, trigger);
             gpio_isr_handler_add(self->id, machine_pin_isr_handler, (void *)self);
         }
     }

     // return the irq object
     return MP_OBJ_FROM_PTR(&machine_pin_irq_object[self->id]);
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_irq_obj, 1, machine_pin_irq);

 STATIC const mp_rom_map_elem_t machine_pin_locals_dict_table[] = {
     // instance methods
     { MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_pin_init_obj) },
     { MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_pin_value_obj) },
     { MP_ROM_QSTR(MP_QSTR_off), MP_ROM_PTR(&machine_pin_off_obj) },
     { MP_ROM_QSTR(MP_QSTR_on), MP_ROM_PTR(&machine_pin_on_obj) },
     { MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_pin_irq_obj) },

     // class constants
     { MP_ROM_QSTR(MP_QSTR_IN), MP_ROM_INT(GPIO_MODE_INPUT) },
     { MP_ROM_QSTR(MP_QSTR_OUT), MP_ROM_INT(GPIO_MODE_INPUT_OUTPUT) },
     { MP_ROM_QSTR(MP_QSTR_OPEN_DRAIN), MP_ROM_INT(GPIO_MODE_INPUT_OUTPUT_OD) },
     { MP_ROM_QSTR(MP_QSTR_PULL_UP), MP_ROM_INT(GPIO_PULL_UP) },
     { MP_ROM_QSTR(MP_QSTR_PULL_DOWN), MP_ROM_INT(GPIO_PULL_DOWN) },
     { MP_ROM_QSTR(MP_QSTR_PULL_HOLD), MP_ROM_INT(GPIO_PULL_HOLD) },
     { MP_ROM_QSTR(MP_QSTR_IRQ_RISING), MP_ROM_INT(GPIO_PIN_INTR_POSEDGE) },
     { MP_ROM_QSTR(MP_QSTR_IRQ_FALLING), MP_ROM_INT(GPIO_PIN_INTR_NEGEDGE) },
     { MP_ROM_QSTR(MP_QSTR_WAKE_LOW), MP_ROM_INT(GPIO_PIN_INTR_LOLEVEL) },
     { MP_ROM_QSTR(MP_QSTR_WAKE_HIGH), MP_ROM_INT(GPIO_PIN_INTR_HILEVEL) },
 };

 STATIC mp_uint_t pin_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) {
     (void)errcode;
     machine_pin_obj_t *self = self_in;

     switch (request) {
         case MP_PIN_READ: {
             return gpio_get_level(self->id);
         }
         case MP_PIN_WRITE: {
             gpio_set_level(self->id, arg);
             return 0;
         }
     }
     return -1;
 }

 STATIC MP_DEFINE_CONST_DICT(machine_pin_locals_dict, machine_pin_locals_dict_table);

 STATIC const mp_pin_p_t pin_pin_p = {
     .ioctl = pin_ioctl,
 };

 const mp_obj_type_t machine_pin_type = {
     { &mp_type_type },
     .name = MP_QSTR_Pin,
     .print = machine_pin_print,
     .make_new = mp_pin_make_new,
     .call = machine_pin_call,
     .protocol = &pin_pin_p,
     .locals_dict = (mp_obj_t)&machine_pin_locals_dict,
 };

 /******************************************************************************/
 // Pin IRQ object

 STATIC const mp_obj_type_t machine_pin_irq_type;

 STATIC const machine_pin_irq_obj_t machine_pin_irq_object[] = {
     {{&machine_pin_irq_type}, GPIO_NUM_0},
     {{&machine_pin_irq_type}, GPIO_NUM_1},
     {{&machine_pin_irq_type}, GPIO_NUM_2},
     {{&machine_pin_irq_type}, GPIO_NUM_3},
     {{&machine_pin_irq_type}, GPIO_NUM_4},
     {{&machine_pin_irq_type}, GPIO_NUM_5},
     {{&machine_pin_irq_type}, GPIO_NUM_6},
     {{&machine_pin_irq_type}, GPIO_NUM_7},
     {{&machine_pin_irq_type}, GPIO_NUM_8},
     {{&machine_pin_irq_type}, GPIO_NUM_9},
     {{&machine_pin_irq_type}, GPIO_NUM_10},
     {{&machine_pin_irq_type}, GPIO_NUM_11},
     {{&machine_pin_irq_type}, GPIO_NUM_12},
     {{&machine_pin_irq_type}, GPIO_NUM_13},
     {{&machine_pin_irq_type}, GPIO_NUM_14},
     {{&machine_pin_irq_type}, GPIO_NUM_15},
     {{&machine_pin_irq_type}, GPIO_NUM_16},
     {{&machine_pin_irq_type}, GPIO_NUM_17},
     {{&machine_pin_irq_type}, GPIO_NUM_18},
     {{&machine_pin_irq_type}, GPIO_NUM_19},
     {{NULL}, -1},
     {{&machine_pin_irq_type}, GPIO_NUM_21},
     #if CONFIG_IDF_TARGET_ESP32
     {{&machine_pin_irq_type}, GPIO_NUM_22},
     {{&machine_pin_irq_type}, GPIO_NUM_23},
     {{NULL}, -1},
     {{&machine_pin_irq_type}, GPIO_NUM_25},
     #else
     {{NULL}, -1},
     {{NULL}, -1},
     {{NULL}, -1},
     {{NULL}, -1},
     #endif
     {{&machine_pin_irq_type}, GPIO_NUM_26},
     {{&machine_pin_irq_type}, GPIO_NUM_27},
     {{NULL}, -1},
     {{NULL}, -1},
     {{NULL}, -1},
     {{NULL}, -1},
     {{&machine_pin_irq_type}, GPIO_NUM_32},
     {{&machine_pin_irq_type}, GPIO_NUM_33},
     {{&machine_pin_irq_type}, GPIO_NUM_34},
     {{&machine_pin_irq_type}, GPIO_NUM_35},
     {{&machine_pin_irq_type}, GPIO_NUM_36},
     {{&machine_pin_irq_type}, GPIO_NUM_37},
     {{&machine_pin_irq_type}, GPIO_NUM_38},
     {{&machine_pin_irq_type}, GPIO_NUM_39},
 };

 STATIC mp_obj_t machine_pin_irq_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
     machine_pin_irq_obj_t *self = self_in;
     mp_arg_check_num(n_args, n_kw, 0, 0, false);
     machine_pin_isr_handler((void *)&machine_pin_obj[self->id]);
     return mp_const_none;
 }

 STATIC mp_obj_t machine_pin_irq_trigger(size_t n_args, const mp_obj_t *args) {
     machine_pin_irq_obj_t *self = args[0];
     uint32_t orig_trig = GPIO.pin[self->id].int_type;
     if (n_args == 2) {
         // set trigger
         gpio_set_intr_type(self->id, mp_obj_get_int(args[1]));
     }
     // return original trigger value
     return MP_OBJ_NEW_SMALL_INT(orig_trig);
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_irq_trigger_obj, 1, 2, machine_pin_irq_trigger);

 STATIC const mp_rom_map_elem_t machine_pin_irq_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_trigger), MP_ROM_PTR(&machine_pin_irq_trigger_obj) },
 };
 STATIC MP_DEFINE_CONST_DICT(machine_pin_irq_locals_dict, machine_pin_irq_locals_dict_table);

 STATIC const mp_obj_type_t machine_pin_irq_type = {
     { &mp_type_type },
     .name = MP_QSTR_IRQ,
     .call = machine_pin_irq_call,
     .locals_dict = (mp_obj_dict_t *)&machine_pin_irq_locals_dict,
 };
	/*
	* This file is part of the MicroPython project, http://micropython.org/
	*
	* Development of the code in this file was sponsored by Microbric Pty Ltd
	*
	* The MIT License (MIT)
	*
	* Copyright (c) 2016 Damien P. George
	*
	* Permission is hereby granted, free of charge, to any person obtaining a copy
	* of this software and associated documentation files (the "Software"), to deal
	* in the Software without restriction, including without limitation the rights
	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
	* copies of the Software, and to permit persons to whom the Software is
	* furnished to do so, subject to the following conditions:
	*
	* The above copyright notice and this permission notice shall be included in
	* all copies or substantial portions of the Software.
	*
	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
	* THE SOFTWARE.
	*/

	#include <stdio.h>
	#include <string.h>

	#include "driver/gpio.h"
	#include "driver/rtc_io.h"

	#include "py/runtime.h"
	#include "py/mphal.h"
	#include "mphalport.h"
	#include "modmachine.h"
	#include "extmod/virtpin.h"
	#include "machine_rtc.h"
	#include "modesp32.h"

	// Used to implement a range of pull capabilities
	#define GPIO_PULL_DOWN (1)
	#define GPIO_PULL_UP (2)
	#define GPIO_PULL_HOLD (4)

	typedef struct _machine_pin_obj_t {
	mp_obj_base_t base;
	gpio_num_t id;
	} machine_pin_obj_t;

	typedef struct _machine_pin_irq_obj_t {
	mp_obj_base_t base;
	gpio_num_t id;
	} machine_pin_irq_obj_t;

	STATIC const machine_pin_obj_t machine_pin_obj[] = {
	{{&machine_pin_type}, GPIO_NUM_0},
	{{&machine_pin_type}, GPIO_NUM_1},
	{{&machine_pin_type}, GPIO_NUM_2},
	{{&machine_pin_type}, GPIO_NUM_3},
	{{&machine_pin_type}, GPIO_NUM_4},
	{{&machine_pin_type}, GPIO_NUM_5},
	{{&machine_pin_type}, GPIO_NUM_6},
	{{&machine_pin_type}, GPIO_NUM_7},
	{{&machine_pin_type}, GPIO_NUM_8},
	{{&machine_pin_type}, GPIO_NUM_9},
	{{&machine_pin_type}, GPIO_NUM_10},
	{{&machine_pin_type}, GPIO_NUM_11},
	{{&machine_pin_type}, GPIO_NUM_12},
	{{&machine_pin_type}, GPIO_NUM_13},
	{{&machine_pin_type}, GPIO_NUM_14},
	{{&machine_pin_type}, GPIO_NUM_15},
	{{&machine_pin_type}, GPIO_NUM_16},
	{{&machine_pin_type}, GPIO_NUM_17},
	{{&machine_pin_type}, GPIO_NUM_18},
	{{&machine_pin_type}, GPIO_NUM_19},
	{{NULL}, -1},
	{{&machine_pin_type}, GPIO_NUM_21},
	#if CONFIG_IDF_TARGET_ESP32
	{{&machine_pin_type}, GPIO_NUM_22},
	{{&machine_pin_type}, GPIO_NUM_23},
	{{NULL}, -1},
	{{&machine_pin_type}, GPIO_NUM_25},
	#else
	{{NULL}, -1},
	{{NULL}, -1},
	{{NULL}, -1},
	{{NULL}, -1},
	#endif
	{{&machine_pin_type}, GPIO_NUM_26},
	{{&machine_pin_type}, GPIO_NUM_27},
	{{NULL}, -1},
	{{NULL}, -1},
	{{NULL}, -1},
	{{NULL}, -1},
	{{&machine_pin_type}, GPIO_NUM_32},
	{{&machine_pin_type}, GPIO_NUM_33},
	{{&machine_pin_type}, GPIO_NUM_34},
	{{&machine_pin_type}, GPIO_NUM_35},
	{{&machine_pin_type}, GPIO_NUM_36},
	{{&machine_pin_type}, GPIO_NUM_37},
	{{&machine_pin_type}, GPIO_NUM_38},
	{{&machine_pin_type}, GPIO_NUM_39},
	};

	// forward declaration
	STATIC const machine_pin_irq_obj_t machine_pin_irq_object[];

	void machine_pins_init(void) {
	static bool did_install = false;
	if (!did_install) {
	gpio_install_isr_service(0);
	did_install = true;
	}
	memset(&MP_STATE_PORT(machine_pin_irq_handler[0]), 0, sizeof(MP_STATE_PORT(machine_pin_irq_handler)));
	}

	void machine_pins_deinit(void) {
	for (int i = 0; i < MP_ARRAY_SIZE(machine_pin_obj); ++i) {
	if (machine_pin_obj[i].id != (gpio_num_t)-1) {
	gpio_isr_handler_remove(machine_pin_obj[i].id);
	}
	}
	}

	STATIC void machine_pin_isr_handler(void *arg) {
	machine_pin_obj_t *self = arg;
	mp_obj_t handler = MP_STATE_PORT(machine_pin_irq_handler)[self->id];
	mp_sched_schedule(handler, MP_OBJ_FROM_PTR(self));
	mp_hal_wake_main_task_from_isr();
	}

	gpio_num_t machine_pin_get_id(mp_obj_t pin_in) {
	if (mp_obj_get_type(pin_in) != &machine_pin_type) {
	mp_raise_ValueError(MP_ERROR_TEXT("expecting a pin"));
	}
	machine_pin_obj_t *self = pin_in;
	return self->id;
	}

	STATIC void machine_pin_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
	machine_pin_obj_t *self = self_in;
	mp_printf(print, "Pin(%u)", self->id);
	}

	// pin.init(mode, pull=None, *, value)
	STATIC mp_obj_t machine_pin_obj_init_helper(const machine_pin_obj_t self, size_t n_args, const mp_obj_t pos_args, mp_map_t *kw_args) {
	enum { ARG_mode, ARG_pull, ARG_value };
	static const mp_arg_t allowed_args[] = {
	{ MP_QSTR_mode, MP_ARG_OBJ, {.u_obj = mp_const_none}},
	{ MP_QSTR_pull, MP_ARG_OBJ, {.u_obj = MP_OBJ_NEW_SMALL_INT(-1)}},
	{ MP_QSTR_value, MP_ARG_KW_ONLY \| MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL}},
	};

	// parse args
	mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
	mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);

	// reset the pin to digital if this is a mode-setting init (grab it back from ADC)
	if (args[ARG_mode].u_obj != mp_const_none) {
	if (rtc_gpio_is_valid_gpio(self->id)) {
	rtc_gpio_deinit(self->id);
	}
	}

	// configure the pin for gpio
	gpio_pad_select_gpio(self->id);

	// set initial value (do this before configuring mode/pull)
	if (args[ARG_value].u_obj != MP_OBJ_NULL) {
	gpio_set_level(self->id, mp_obj_is_true(args[ARG_value].u_obj));
	}

	// configure mode
	if (args[ARG_mode].u_obj != mp_const_none) {
	mp_int_t pin_io_mode = mp_obj_get_int(args[ARG_mode].u_obj);
	if (self->id >= 34 && (pin_io_mode & GPIO_MODE_DEF_OUTPUT)) {
	mp_raise_ValueError(MP_ERROR_TEXT("pin can only be input"));
	} else {
	gpio_set_direction(self->id, pin_io_mode);
	}
	}

	// configure pull
	if (args[ARG_pull].u_obj != MP_OBJ_NEW_SMALL_INT(-1)) {
	int mode = 0;
	if (args[ARG_pull].u_obj != mp_const_none) {
	mode = mp_obj_get_int(args[ARG_pull].u_obj);
	}
	if (mode & GPIO_PULL_DOWN) {
	gpio_pulldown_en(self->id);
	} else {
	gpio_pulldown_dis(self->id);
	}
	if (mode & GPIO_PULL_UP) {
	gpio_pullup_en(self->id);
	} else {
	gpio_pullup_dis(self->id);
	}
	if (mode & GPIO_PULL_HOLD) {
	gpio_hold_en(self->id);
	} else if (GPIO_IS_VALID_OUTPUT_GPIO(self->id)) {
	gpio_hold_dis(self->id);
	}
	}

	return mp_const_none;
	}

	// constructor(id, ...)
	mp_obj_t mp_pin_make_new(const mp_obj_type_t type, size_t n_args, size_t n_kw, const mp_obj_t args) {
	mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);

	// get the wanted pin object
	int wanted_pin = mp_obj_get_int(args[0]);
	const machine_pin_obj_t *self = NULL;
	if (0 <= wanted_pin && wanted_pin < MP_ARRAY_SIZE(machine_pin_obj)) {
	self = (machine_pin_obj_t *)&machine_pin_obj[wanted_pin];
	}
	if (self == NULL \|\| self->base.type == NULL) {
	mp_raise_ValueError(MP_ERROR_TEXT("invalid pin"));
	}

	if (n_args > 1 \|\| n_kw > 0) {
	// pin mode given, so configure this GPIO
	mp_map_t kw_args;
	mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
	machine_pin_obj_init_helper(self, n_args - 1, args + 1, &kw_args);
	}

	return MP_OBJ_FROM_PTR(self);
	}

	// fast method for getting/setting pin value
	STATIC mp_obj_t machine_pin_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
	mp_arg_check_num(n_args, n_kw, 0, 1, false);
	machine_pin_obj_t *self = self_in;
	if (n_args == 0) {
	// get pin
	return MP_OBJ_NEW_SMALL_INT(gpio_get_level(self->id));
	} else {
	// set pin
	gpio_set_level(self->id, mp_obj_is_true(args[0]));
	return mp_const_none;
	}
	}

	// pin.init(mode, pull)
	STATIC mp_obj_t machine_pin_obj_init(size_t n_args, const mp_obj_t args, mp_map_t kw_args) {
	return machine_pin_obj_init_helper(args[0], n_args - 1, args + 1, kw_args);
	}
	MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_init_obj, 1, machine_pin_obj_init);

	// pin.value([value])
	STATIC mp_obj_t machine_pin_value(size_t n_args, const mp_obj_t *args) {
	return machine_pin_call(args[0], n_args - 1, 0, args + 1);
	}
	STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_value_obj, 1, 2, machine_pin_value);

	// pin.off()
	STATIC mp_obj_t machine_pin_off(mp_obj_t self_in) {
	machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
	gpio_set_level(self->id, 0);
	return mp_const_none;
	}
	STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_off_obj, machine_pin_off);

	// pin.on()
	STATIC mp_obj_t machine_pin_on(mp_obj_t self_in) {
	machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
	gpio_set_level(self->id, 1);
	return mp_const_none;
	}
	STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_on_obj, machine_pin_on);

	// pin.irq(handler=None, trigger=IRQ_FALLING\|IRQ_RISING)
	STATIC mp_obj_t machine_pin_irq(size_t n_args, const mp_obj_t pos_args, mp_map_t kw_args) {
	enum { ARG_handler, ARG_trigger, ARG_wake };
	static const mp_arg_t allowed_args[] = {
	{ MP_QSTR_handler, MP_ARG_OBJ, {.u_obj = mp_const_none} },
	{ MP_QSTR_trigger, MP_ARG_INT, {.u_int = GPIO_PIN_INTR_POSEDGE \| GPIO_PIN_INTR_NEGEDGE} },
	{ MP_QSTR_wake, MP_ARG_OBJ, {.u_obj = mp_const_none} },
	};
	machine_pin_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
	mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
	mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);

	if (n_args > 1 \|\| kw_args->used != 0) {
	// configure irq
	mp_obj_t handler = args[ARG_handler].u_obj;
	uint32_t trigger = args[ARG_trigger].u_int;
	mp_obj_t wake_obj = args[ARG_wake].u_obj;

	if ((trigger == GPIO_PIN_INTR_LOLEVEL \|\| trigger == GPIO_PIN_INTR_HILEVEL) && wake_obj != mp_const_none) {
	mp_int_t wake;
	if (mp_obj_get_int_maybe(wake_obj, &wake)) {
	if (wake < 2 \|\| wake > 7) {
	mp_raise_ValueError(MP_ERROR_TEXT("bad wake value"));
	}
	} else {
	mp_raise_ValueError(MP_ERROR_TEXT("bad wake value"));
	}

	if (machine_rtc_config.wake_on_touch) { // not compatible
	mp_raise_ValueError(MP_ERROR_TEXT("no resources"));
	}

	if (!RTC_IS_VALID_EXT_PIN(self->id)) {
	mp_raise_ValueError(MP_ERROR_TEXT("invalid pin for wake"));
	}

	if (machine_rtc_config.ext0_pin == -1) {
	machine_rtc_config.ext0_pin = self->id;
	} else if (machine_rtc_config.ext0_pin != self->id) {
	mp_raise_ValueError(MP_ERROR_TEXT("no resources"));
	}

	machine_rtc_config.ext0_level = trigger == GPIO_PIN_INTR_LOLEVEL ? 0 : 1;
	machine_rtc_config.ext0_wake_types = wake;
	} else {
	if (machine_rtc_config.ext0_pin == self->id) {
	machine_rtc_config.ext0_pin = -1;
	}

	if (handler == mp_const_none) {
	handler = MP_OBJ_NULL;
	trigger = 0;
	}
	gpio_isr_handler_remove(self->id);
	MP_STATE_PORT(machine_pin_irq_handler)[self->id] = handler;
	gpio_set_intr_type(self->id, trigger);
	gpio_isr_handler_add(self->id, machine_pin_isr_handler, (void *)self);
	}
	}

	// return the irq object
	return MP_OBJ_FROM_PTR(&machine_pin_irq_object[self->id]);
	}
	STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_irq_obj, 1, machine_pin_irq);

	STATIC const mp_rom_map_elem_t machine_pin_locals_dict_table[] = {
	// instance methods
	{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_pin_init_obj) },
	{ MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_pin_value_obj) },
	{ MP_ROM_QSTR(MP_QSTR_off), MP_ROM_PTR(&machine_pin_off_obj) },
	{ MP_ROM_QSTR(MP_QSTR_on), MP_ROM_PTR(&machine_pin_on_obj) },
	{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_pin_irq_obj) },

	// class constants
	{ MP_ROM_QSTR(MP_QSTR_IN), MP_ROM_INT(GPIO_MODE_INPUT) },
	{ MP_ROM_QSTR(MP_QSTR_OUT), MP_ROM_INT(GPIO_MODE_INPUT_OUTPUT) },
	{ MP_ROM_QSTR(MP_QSTR_OPEN_DRAIN), MP_ROM_INT(GPIO_MODE_INPUT_OUTPUT_OD) },
	{ MP_ROM_QSTR(MP_QSTR_PULL_UP), MP_ROM_INT(GPIO_PULL_UP) },
	{ MP_ROM_QSTR(MP_QSTR_PULL_DOWN), MP_ROM_INT(GPIO_PULL_DOWN) },
	{ MP_ROM_QSTR(MP_QSTR_PULL_HOLD), MP_ROM_INT(GPIO_PULL_HOLD) },
	{ MP_ROM_QSTR(MP_QSTR_IRQ_RISING), MP_ROM_INT(GPIO_PIN_INTR_POSEDGE) },
	{ MP_ROM_QSTR(MP_QSTR_IRQ_FALLING), MP_ROM_INT(GPIO_PIN_INTR_NEGEDGE) },
	{ MP_ROM_QSTR(MP_QSTR_WAKE_LOW), MP_ROM_INT(GPIO_PIN_INTR_LOLEVEL) },
	{ MP_ROM_QSTR(MP_QSTR_WAKE_HIGH), MP_ROM_INT(GPIO_PIN_INTR_HILEVEL) },
	};

	STATIC mp_uint_t pin_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) {
	(void)errcode;
	machine_pin_obj_t *self = self_in;

	switch (request) {
	case MP_PIN_READ: {
	return gpio_get_level(self->id);
	}
	case MP_PIN_WRITE: {
	gpio_set_level(self->id, arg);
	return 0;
	}
	}
	return -1;
	}

	STATIC MP_DEFINE_CONST_DICT(machine_pin_locals_dict, machine_pin_locals_dict_table);

	STATIC const mp_pin_p_t pin_pin_p = {
	.ioctl = pin_ioctl,
	};

	const mp_obj_type_t machine_pin_type = {
	{ &mp_type_type },
	.name = MP_QSTR_Pin,
	.print = machine_pin_print,
	.make_new = mp_pin_make_new,
	.call = machine_pin_call,
	.protocol = &pin_pin_p,
	.locals_dict = (mp_obj_t)&machine_pin_locals_dict,
	};

	/******************************************************************************/
	// Pin IRQ object

	STATIC const mp_obj_type_t machine_pin_irq_type;

	STATIC const machine_pin_irq_obj_t machine_pin_irq_object[] = {
	{{&machine_pin_irq_type}, GPIO_NUM_0},
	{{&machine_pin_irq_type}, GPIO_NUM_1},
	{{&machine_pin_irq_type}, GPIO_NUM_2},
	{{&machine_pin_irq_type}, GPIO_NUM_3},
	{{&machine_pin_irq_type}, GPIO_NUM_4},
	{{&machine_pin_irq_type}, GPIO_NUM_5},
	{{&machine_pin_irq_type}, GPIO_NUM_6},
	{{&machine_pin_irq_type}, GPIO_NUM_7},
	{{&machine_pin_irq_type}, GPIO_NUM_8},
	{{&machine_pin_irq_type}, GPIO_NUM_9},
	{{&machine_pin_irq_type}, GPIO_NUM_10},
	{{&machine_pin_irq_type}, GPIO_NUM_11},
	{{&machine_pin_irq_type}, GPIO_NUM_12},
	{{&machine_pin_irq_type}, GPIO_NUM_13},
	{{&machine_pin_irq_type}, GPIO_NUM_14},
	{{&machine_pin_irq_type}, GPIO_NUM_15},
	{{&machine_pin_irq_type}, GPIO_NUM_16},
	{{&machine_pin_irq_type}, GPIO_NUM_17},
	{{&machine_pin_irq_type}, GPIO_NUM_18},
	{{&machine_pin_irq_type}, GPIO_NUM_19},
	{{NULL}, -1},
	{{&machine_pin_irq_type}, GPIO_NUM_21},
	#if CONFIG_IDF_TARGET_ESP32
	{{&machine_pin_irq_type}, GPIO_NUM_22},
	{{&machine_pin_irq_type}, GPIO_NUM_23},
	{{NULL}, -1},
	{{&machine_pin_irq_type}, GPIO_NUM_25},
	#else
	{{NULL}, -1},
	{{NULL}, -1},
	{{NULL}, -1},
	{{NULL}, -1},
	#endif
	{{&machine_pin_irq_type}, GPIO_NUM_26},
	{{&machine_pin_irq_type}, GPIO_NUM_27},
	{{NULL}, -1},
	{{NULL}, -1},
	{{NULL}, -1},
	{{NULL}, -1},
	{{&machine_pin_irq_type}, GPIO_NUM_32},
	{{&machine_pin_irq_type}, GPIO_NUM_33},
	{{&machine_pin_irq_type}, GPIO_NUM_34},
	{{&machine_pin_irq_type}, GPIO_NUM_35},
	{{&machine_pin_irq_type}, GPIO_NUM_36},
	{{&machine_pin_irq_type}, GPIO_NUM_37},
	{{&machine_pin_irq_type}, GPIO_NUM_38},
	{{&machine_pin_irq_type}, GPIO_NUM_39},
	};

	STATIC mp_obj_t machine_pin_irq_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
	machine_pin_irq_obj_t *self = self_in;
	mp_arg_check_num(n_args, n_kw, 0, 0, false);
	machine_pin_isr_handler((void *)&machine_pin_obj[self->id]);
	return mp_const_none;
	}

	STATIC mp_obj_t machine_pin_irq_trigger(size_t n_args, const mp_obj_t *args) {
	machine_pin_irq_obj_t *self = args[0];
	uint32_t orig_trig = GPIO.pin[self->id].int_type;
	if (n_args == 2) {
	// set trigger
	gpio_set_intr_type(self->id, mp_obj_get_int(args[1]));
	}
	// return original trigger value
	return MP_OBJ_NEW_SMALL_INT(orig_trig);
	}
	STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_irq_trigger_obj, 1, 2, machine_pin_irq_trigger);

	STATIC const mp_rom_map_elem_t machine_pin_irq_locals_dict_table[] = {
	{ MP_ROM_QSTR(MP_QSTR_trigger), MP_ROM_PTR(&machine_pin_irq_trigger_obj) },
	};
	STATIC MP_DEFINE_CONST_DICT(machine_pin_irq_locals_dict, machine_pin_irq_locals_dict_table);

	STATIC const mp_obj_type_t machine_pin_irq_type = {
	{ &mp_type_type },
	.name = MP_QSTR_IRQ,
	.call = machine_pin_irq_call,
	.locals_dict = (mp_obj_dict_t *)&machine_pin_irq_locals_dict,
	};