Merge remote-tracking branch 'origin/main' into main

locale/circuitpython.pot

@@ -115,6 +115,10 @@ msgstr ""
 msgid "%q must be a tuple of length 2"
 msgstr ""
 
+#: ports/esp32s2/common-hal/imagecapture/ParallelImageCapture.c
+msgid "%q must be between %d and %d"
+msgstr ""
+
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 #: shared-bindings/canio/Match.c
 msgid "%q out of range"
@@ -1280,6 +1284,11 @@ msgstr ""
 msgid "Invalid data_count %d"
 msgstr ""
 
+#: ports/atmel-samd/common-hal/imagecapture/ParallelImageCapture.c
+#, c-format
+msgid "Invalid data_pins[%d]"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Invalid direction."
 msgstr ""
@@ -1813,6 +1822,7 @@ msgid ""
 "constructor"
 msgstr ""
 
+#: ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c
 #: ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
 msgid "Pins must be sequential"
 msgstr ""

ports/atmel-samd/common-hal/imagecapture/ParallelImageCapture.c

@@ -50,13 +50,16 @@
 #define PIN_PCC_CLK (PIN_PA14)
 
 void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_parallelimagecapture_obj_t *self,
-    const mcu_pin_obj_t *data0,
+    const uint8_t data_pins[],
+    uint8_t data_count,
     const mcu_pin_obj_t *data_clock,
     const mcu_pin_obj_t *vertical_sync,
-    const mcu_pin_obj_t *horizontal_reference,
+    const mcu_pin_obj_t *horizontal_reference) {
-    int data_count) {
+
-    if (data0->number != PIN_PCC_D0) {
+    for (int i = 0; i < data_count; i++) {
-        mp_raise_ValueError_varg(translate("Invalid %q pin"), MP_QSTR_data0);
+        if (data_pins[i] != PIN_PCC_D0 + i) {
+            mp_raise_ValueError_varg(translate("Invalid data_pins[%d]"), i);
+        }
     }
     // The peripheral supports 8, 10, 12, or 14 data bits, but the code only supports 8 at present
     if (data_count != 8) {
@@ -73,7 +76,7 @@ void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_paralle
     }
     // technically, 0 was validated as free already but check again
     for (int i = 0; i < data_count; i++) {
-        if (!pin_number_is_free(data0->number + i)) {
+        if (!pin_number_is_free(data_pins[i])) {
             mp_raise_ValueError_varg(translate("data pin #%d in use"), i);
         }
     }

ports/esp32s2/Makefile

@@ -176,6 +176,7 @@ CFLAGS += -DCFG_TUD_VENDOR_RX_BUFSIZE=128 -DCFG_TUD_VENDOR_TX_BUFSIZE=128
 
 SRC_C += \
 	background.c \
+	cam.c \
 	fatfs_port.c \
 	mphalport.c \
 	bindings/espidf/__init__.c \
@@ -337,6 +338,10 @@ flash: $(BUILD)/firmware.bin
 flash-circuitpython-only: $(BUILD)/circuitpython-firmware.bin
 	esptool.py --chip esp32s2 -p $(PORT) $(ESPTOOL_FLAGS) write_flash $(FLASH_FLAGS) 0x10000 $^
 
+monitor: $(BUILD)/firmware.elf
+	cp $< build/circuitpython.elf
+	idf.py monitor -p $(PORT)
+
 include $(TOP)/py/mkrules.mk
 
 # Print out the value of a make variable.

ports/esp32s2/boards/espressif_kaluga_1/pins.c

@@ -1,5 +1,21 @@
+#include "py/objtuple.h"
 #include "shared-bindings/board/__init__.h"
 
+STATIC const mp_rom_obj_tuple_t camera_data_tuple = {
+    {&mp_type_tuple},
+    8,
+    {
+        MP_ROM_PTR(&pin_GPIO46),
+        MP_ROM_PTR(&pin_GPIO45),
+        MP_ROM_PTR(&pin_GPIO41),
+        MP_ROM_PTR(&pin_GPIO42),
+        MP_ROM_PTR(&pin_GPIO39),
+        MP_ROM_PTR(&pin_GPIO40),
+        MP_ROM_PTR(&pin_GPIO21),
+        MP_ROM_PTR(&pin_GPIO38),
+    }
+};
+
 STATIC const mp_rom_map_elem_t board_global_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_IO0), MP_ROM_PTR(&pin_GPIO0) },
     { MP_ROM_QSTR(MP_QSTR_IO1), MP_ROM_PTR(&pin_GPIO1) },
@@ -54,6 +70,7 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_CAMERA_SIOC), MP_ROM_PTR(&pin_GPIO7) },
 
 
+    { MP_ROM_QSTR(MP_QSTR_CAMERA_DATA), MP_ROM_PTR(&camera_data_tuple) },
     { MP_ROM_QSTR(MP_QSTR_CAMERA_D2), MP_ROM_PTR(&pin_GPIO46) },
     { MP_ROM_QSTR(MP_QSTR_CAMERA_D3), MP_ROM_PTR(&pin_GPIO45) },
     { MP_ROM_QSTR(MP_QSTR_CAMERA_D4), MP_ROM_PTR(&pin_GPIO41) },

ports/esp32s2/cam.c

@@ -0,0 +1,502 @@
+// Copyright 2019 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <stdio.h>
+#include <string.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/i2s.h"
+#include "esp_system.h"
+#include "esp_log.h"
+#include "soc/i2s_struct.h"
+#include "soc/apb_ctrl_reg.h"
+#include "esp32s2/rom/lldesc.h"
+#include "esp32s2/rom/cache.h"
+#include "soc/dport_access.h"
+#include "soc/dport_reg.h"
+#include "driver/ledc.h"
+#include "cam.h"
+#include "hal/gpio_ll.h"
+
+static const char *TAG = "cam";
+
+#define CAM_DMA_MAX_SIZE     (4095)
+
+typedef enum {
+    CAM_IN_SUC_EOF_EVENT = 0,
+    CAM_VSYNC_EVENT
+} cam_event_t;
+
+typedef struct {
+    uint8_t *frame_buffer;
+    size_t len;
+} frame_buffer_event_t;
+
+typedef struct {
+    uint32_t buffer_size;
+    uint32_t half_buffer_size;
+    uint32_t node_cnt;
+    uint32_t half_node_cnt;
+    uint32_t dma_size;
+    uint32_t cnt;
+    uint32_t total_cnt;
+    lldesc_t *dma;
+    uint8_t *buffer;
+    uint8_t *frame1_buffer;
+    uint8_t *frame2_buffer;
+    uint8_t frame1_buffer_en;
+    uint8_t frame2_buffer_en;
+    uint8_t jpeg_mode;
+    uint8_t vsync_pin;
+    uint8_t vsync_invert;
+    uint8_t hsync_invert;
+    QueueHandle_t event_queue;
+    QueueHandle_t frame_buffer_queue;
+    TaskHandle_t task_handle;
+    intr_handle_t intr_handle;
+} cam_obj_t;
+
+static cam_obj_t *cam_obj = NULL;
+
+void IRAM_ATTR cam_isr(void *arg) {
+    cam_event_t cam_event = {0};
+    BaseType_t HPTaskAwoken = pdFALSE;
+    typeof(I2S0.int_st) int_st = I2S0.int_st;
+    I2S0.int_clr.val = int_st.val;
+
+    if (int_st.in_suc_eof) {
+        cam_event = CAM_IN_SUC_EOF_EVENT;
+        xQueueSendFromISR(cam_obj->event_queue, (void *)&cam_event, &HPTaskAwoken);
+    }
+
+    if (HPTaskAwoken == pdTRUE) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+void IRAM_ATTR cam_vsync_isr(void *arg) {
+    cam_event_t cam_event = {0};
+    BaseType_t HPTaskAwoken = pdFALSE;
+    /*!< filter */
+    ets_delay_us(1);
+
+    if (gpio_ll_get_level(&GPIO, cam_obj->vsync_pin) == !cam_obj->vsync_invert) {
+        cam_event = CAM_VSYNC_EVENT;
+        xQueueSendFromISR(cam_obj->event_queue, (void *)&cam_event, &HPTaskAwoken);
+    }
+
+    if (HPTaskAwoken == pdTRUE) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+static void cam_config(const cam_config_t *config) {
+    /*!<Enable I2S periph */
+    periph_module_enable(PERIPH_I2S0_MODULE);
+
+    /*!< Configure the clock */
+    #if 0
+    I2S0.clkm_conf.val = 0;
+    I2S0.clkm_conf.clkm_div_num = 2; // <--- this should set the low 8 bits, but doesn't somehow
+    I2S0.clkm_conf.clkm_div_b = 0;
+    I2S0.clkm_conf.clkm_div_a = 0;
+    I2S0.clkm_conf.clk_sel = 2;
+    I2S0.clkm_conf.clk_en = 1;
+    #else
+    // The above code should set the clock to this value .. however, it sets it to 0x0050_0000 instead, the "clkm_div_num" value missing!
+    // it's not clear why this behavior arises
+    I2S0.clkm_conf.val = 0x00500002;
+    #endif
+    /*!< Configuration sampling rate */
+    I2S0.sample_rate_conf.val = 0;
+    I2S0.sample_rate_conf.tx_bck_div_num = 2;
+    I2S0.sample_rate_conf.tx_bits_mod = 8;
+    I2S0.sample_rate_conf.rx_bck_div_num = 1;
+    I2S0.sample_rate_conf.rx_bits_mod = config->bit_width;
+
+    /*!< Configuration data format */
+    I2S0.conf.val = 0;
+    I2S0.conf.tx_right_first = 1;
+    I2S0.conf.tx_msb_right = 1;
+    I2S0.conf.tx_dma_equal = 1;
+    I2S0.conf.rx_right_first = 1;
+    I2S0.conf.rx_msb_right = 1;
+    I2S0.conf.rx_dma_equal = 1;
+
+    I2S0.conf1.val = 0;
+    I2S0.conf1.tx_pcm_bypass = 1;
+    I2S0.conf1.tx_stop_en = 1;
+    I2S0.conf1.rx_pcm_bypass = 1;
+
+    I2S0.conf2.val = 0;
+    I2S0.conf2.cam_sync_fifo_reset = 1;
+    I2S0.conf2.cam_sync_fifo_reset = 0;
+    I2S0.conf2.lcd_en = 1;
+    I2S0.conf2.camera_en = 1;
+    I2S0.conf2.i_v_sync_filter_en = 1;
+    I2S0.conf2.i_v_sync_filter_thres = 1;
+
+    I2S0.conf_chan.val = 0;
+    I2S0.conf_chan.tx_chan_mod = 1;
+    I2S0.conf_chan.rx_chan_mod = 1;
+
+    I2S0.fifo_conf.val = 0;
+    I2S0.fifo_conf.rx_fifo_mod_force_en = 1;
+    I2S0.fifo_conf.rx_data_num = 32;
+    I2S0.fifo_conf.rx_fifo_mod = 2;
+    I2S0.fifo_conf.tx_fifo_mod_force_en = 1;
+    I2S0.fifo_conf.tx_data_num = 32;
+    I2S0.fifo_conf.tx_fifo_mod = 2;
+    I2S0.fifo_conf.dscr_en = 1;
+
+    I2S0.lc_conf.out_rst = 1;
+    I2S0.lc_conf.out_rst = 0;
+    I2S0.lc_conf.in_rst = 1;
+    I2S0.lc_conf.in_rst = 0;
+
+    I2S0.timing.val = 0;
+
+    I2S0.int_ena.val = 0;
+    I2S0.int_clr.val = ~0;
+
+    I2S0.lc_conf.check_owner = 0;
+    I2S0.conf.rx_start = 1;
+}
+
+static void cam_set_pin(const cam_config_t *config) {
+    gpio_config_t io_conf = {0};
+    io_conf.intr_type = config->vsync_invert ? GPIO_PIN_INTR_NEGEDGE : GPIO_PIN_INTR_POSEDGE;
+    io_conf.pin_bit_mask = 1 << config->pin.vsync;
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pull_up_en = 1;
+    io_conf.pull_down_en = 0;
+    gpio_config(&io_conf);
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(config->pin.vsync, cam_vsync_isr, NULL);
+    gpio_intr_disable(config->pin.vsync);
+
+    PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[config->pin.pclk], PIN_FUNC_GPIO);
+    gpio_set_direction(config->pin.pclk, GPIO_MODE_INPUT);
+    gpio_set_pull_mode(config->pin.pclk, GPIO_FLOATING);
+    gpio_matrix_in(config->pin.pclk, I2S0I_WS_IN_IDX, false);
+
+    PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[config->pin.vsync], PIN_FUNC_GPIO);
+    gpio_set_direction(config->pin.vsync, GPIO_MODE_INPUT);
+    gpio_set_pull_mode(config->pin.vsync, GPIO_FLOATING);
+    gpio_matrix_in(config->pin.vsync, I2S0I_V_SYNC_IDX, config->vsync_invert);
+
+    PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[config->pin.hsync], PIN_FUNC_GPIO);
+    gpio_set_direction(config->pin.hsync, GPIO_MODE_INPUT);
+    gpio_set_pull_mode(config->pin.hsync, GPIO_FLOATING);
+    gpio_matrix_in(config->pin.hsync, I2S0I_H_SYNC_IDX, config->hsync_invert);
+
+    for (int i = 0; i < config->bit_width; i++) {
+        PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[config->pin_data[i]], PIN_FUNC_GPIO);
+        gpio_set_direction(config->pin_data[i], GPIO_MODE_INPUT);
+        gpio_set_pull_mode(config->pin_data[i], GPIO_FLOATING);
+        /*!< High position alignment, IN16 is always the highest bit */
+        /*!< Fifo accesses data by bit, and when rx_bits_mod is 8, the data needs to be aligned by 8 bits */
+        gpio_matrix_in(config->pin_data[i], I2S0I_DATA_IN0_IDX + (16 - config->bit_width) + i, false);
+    }
+
+    gpio_matrix_in(GPIO_FUNC_IN_HIGH, I2S0I_H_ENABLE_IDX, false);
+    ESP_LOGI(TAG, "cam_set_pin\n");
+}
+
+static void cam_vsync_intr_enable(uint8_t en) {
+    if (en) {
+        gpio_intr_enable(cam_obj->vsync_pin);
+    } else {
+        gpio_intr_disable(cam_obj->vsync_pin);
+    }
+}
+
+static void cam_dma_stop(void) {
+    if (I2S0.int_ena.in_suc_eof == 1) {
+        I2S0.conf.rx_start = 0;
+        I2S0.int_ena.in_suc_eof = 0;
+        I2S0.int_clr.in_suc_eof = 1;
+        I2S0.in_link.stop = 1;
+    }
+}
+
+static void cam_dma_start(void) {
+    if (I2S0.int_ena.in_suc_eof == 0) {
+        I2S0.int_clr.in_suc_eof = 1;
+        I2S0.int_ena.in_suc_eof = 1;
+        I2S0.conf.rx_reset = 1;
+        I2S0.conf.rx_reset = 0;
+        I2S0.conf.rx_fifo_reset = 1;
+        I2S0.conf.rx_fifo_reset = 0;
+        I2S0.lc_conf.in_rst = 1;
+        I2S0.lc_conf.in_rst = 0;
+        I2S0.lc_conf.ahbm_fifo_rst = 1;
+        I2S0.lc_conf.ahbm_fifo_rst = 0;
+        I2S0.lc_conf.ahbm_rst = 1;
+        I2S0.lc_conf.ahbm_rst = 0;
+        I2S0.in_link.start = 1;
+        I2S0.conf.rx_start = 1;
+
+        if (cam_obj->jpeg_mode) {
+            /*!< Manually give the vsync data for the first frame */
+            gpio_matrix_in(cam_obj->vsync_pin, I2S0I_V_SYNC_IDX, !cam_obj->vsync_invert);
+            gpio_matrix_in(cam_obj->vsync_pin, I2S0I_V_SYNC_IDX, cam_obj->vsync_invert);
+        }
+    }
+}
+
+void cam_stop(void) {
+    cam_vsync_intr_enable(0);
+    cam_dma_stop();
+}
+
+void cam_start(void) {
+    cam_vsync_intr_enable(1);
+}
+
+typedef enum {
+    CAM_STATE_IDLE = 0,
+    CAM_STATE_READ_BUF1 = 1,
+    CAM_STATE_READ_BUF2 = 2,
+} cam_state_t;
+
+/*!<Copy fram from DMA buffer to fram buffer */
+static void cam_task(void *arg) {
+    int state = CAM_STATE_IDLE;
+    cam_event_t cam_event = {0};
+    frame_buffer_event_t frame_buffer_event = {0};
+    xQueueReset(cam_obj->event_queue);
+
+    while (1) {
+        xQueueReceive(cam_obj->event_queue, (void *)&cam_event, portMAX_DELAY);
+
+        switch (state) {
+            case CAM_STATE_IDLE: {
+                if (cam_event == CAM_VSYNC_EVENT) {
+                    if (cam_obj->frame1_buffer_en) {
+                        cam_dma_start();
+                        cam_vsync_intr_enable(0);
+                        state = CAM_STATE_READ_BUF1;
+                    } else if (cam_obj->frame2_buffer_en) {
+                        cam_dma_start();
+                        cam_vsync_intr_enable(0);
+                        state = CAM_STATE_READ_BUF2;
+                    }
+
+                    cam_obj->cnt = 0;
+                }
+            }
+            break;
+
+            case CAM_STATE_READ_BUF1: {
+                if (cam_event == CAM_IN_SUC_EOF_EVENT) {
+                    if (cam_obj->cnt == 0) {
+                        cam_vsync_intr_enable(1); /*!< CAM real start is required to receive the first buf data and then turn on the vsync interrupt */
+                    }
+
+                    memcpy(&cam_obj->frame1_buffer[cam_obj->cnt * cam_obj->half_buffer_size], &cam_obj->buffer[(cam_obj->cnt % 2) * cam_obj->half_buffer_size], cam_obj->half_buffer_size);
+
+                    if (cam_obj->jpeg_mode) {
+                        if (cam_obj->frame1_buffer_en == 0) {
+                            cam_dma_stop();
+                        }
+                    } else {
+                        if (cam_obj->cnt == cam_obj->total_cnt - 1) {
+                            cam_obj->frame1_buffer_en = 0;
+                        }
+                    }
+
+                    if (cam_obj->frame1_buffer_en == 0) {
+                        frame_buffer_event.frame_buffer = cam_obj->frame1_buffer;
+                        frame_buffer_event.len = (cam_obj->cnt + 1) * cam_obj->half_buffer_size;
+                        xQueueSend(cam_obj->frame_buffer_queue, (void *)&frame_buffer_event, portMAX_DELAY);
+                        state = CAM_STATE_IDLE;
+                    } else {
+                        cam_obj->cnt++;
+                    }
+                } else if (cam_event == CAM_VSYNC_EVENT) {
+                    if (cam_obj->jpeg_mode) {
+                        cam_obj->frame1_buffer_en = 0;
+                    }
+                }
+            }
+            break;
+
+            case CAM_STATE_READ_BUF2: {
+                if (cam_event == CAM_IN_SUC_EOF_EVENT) {
+                    if (cam_obj->cnt == 0) {
+                        cam_vsync_intr_enable(1); /*!< CAM real start is required to receive the first buf data and then turn on the vsync interrupt */
+                    }
+
+                    memcpy(&cam_obj->frame2_buffer[cam_obj->cnt * cam_obj->half_buffer_size], &cam_obj->buffer[(cam_obj->cnt % 2) * cam_obj->half_buffer_size], cam_obj->half_buffer_size);
+
+                    if (cam_obj->jpeg_mode) {
+                        if (cam_obj->frame2_buffer_en == 0) {
+                            cam_dma_stop();
+                        }
+                    } else {
+                        if (cam_obj->cnt == cam_obj->total_cnt - 1) {
+                            cam_obj->frame2_buffer_en = 0;
+                        }
+                    }
+
+                    if (cam_obj->frame2_buffer_en == 0) {
+                        frame_buffer_event.frame_buffer = cam_obj->frame2_buffer;
+                        frame_buffer_event.len = (cam_obj->cnt + 1) * cam_obj->half_buffer_size;
+                        xQueueSend(cam_obj->frame_buffer_queue, (void *)&frame_buffer_event, portMAX_DELAY);
+                        state = CAM_STATE_IDLE;
+                    } else {
+                        cam_obj->cnt++;
+                    }
+                } else if (cam_event == CAM_VSYNC_EVENT) {
+                    if (cam_obj->jpeg_mode) {
+                        cam_obj->frame2_buffer_en = 0;
+                    }
+                }
+            }
+            break;
+        }
+    }
+}
+
+size_t cam_take(uint8_t **buffer_p) {
+    frame_buffer_event_t frame_buffer_event;
+    xQueueReceive(cam_obj->frame_buffer_queue, (void *)&frame_buffer_event, portMAX_DELAY);
+    *buffer_p = frame_buffer_event.frame_buffer;
+    return frame_buffer_event.len;
+}
+
+bool cam_ready(void) {
+    frame_buffer_event_t frame_buffer_event;
+    BaseType_t result = xQueuePeek(cam_obj->frame_buffer_queue, (void *)&frame_buffer_event, 0);
+    return result != pdFALSE;
+}
+
+
+void cam_give(uint8_t *buffer) {
+    if (buffer == cam_obj->frame1_buffer) {
+        cam_obj->frame1_buffer_en = 1;
+    } else if (buffer == cam_obj->frame2_buffer) {
+        cam_obj->frame2_buffer_en = 1;
+    }
+}
+
+void cam_dma_config(const cam_config_t *config) {
+    int cnt = 0;
+
+    if (config->mode.jpeg) {
+        cam_obj->buffer_size = 2048;
+        cam_obj->half_buffer_size = cam_obj->buffer_size / 2;
+        cam_obj->dma_size = 1024;
+    } else {
+        for (cnt = 0;; cnt++) { /*!< Find the divisible buffer size */
+            if ((config->size * 2) % (config->max_buffer_size - cnt) == 0) {
+                break;
+            }
+        }
+
+        cam_obj->buffer_size = config->max_buffer_size - cnt;
+
+        cam_obj->half_buffer_size = cam_obj->buffer_size / 2;
+
+        for (cnt = 0;; cnt++) { /*!< Look for divisible dma sizes */
+            if ((cam_obj->half_buffer_size) % (CAM_DMA_MAX_SIZE - cnt) == 0) {
+                break;
+            }
+        }
+
+        cam_obj->dma_size = CAM_DMA_MAX_SIZE - cnt;
+    }
+
+    cam_obj->node_cnt = (cam_obj->buffer_size) / cam_obj->dma_size; /*!< Number of DMA nodes */
+    cam_obj->half_node_cnt = cam_obj->node_cnt / 2;
+    cam_obj->total_cnt = (config->size * 2) / cam_obj->half_buffer_size; /*!< Number of interrupt copies produced. Ping pong copies */
+
+    ESP_LOGI(TAG, "cam_buffer_size: %d, cam_dma_size: %d, cam_dma_node_cnt: %d, cam_total_cnt: %d\n", cam_obj->buffer_size, cam_obj->dma_size, cam_obj->node_cnt, cam_obj->total_cnt);
+
+    cam_obj->dma = (lldesc_t *)heap_caps_realloc(cam_obj->dma, cam_obj->node_cnt * sizeof(lldesc_t), MALLOC_CAP_DMA);
+    cam_obj->buffer = (uint8_t *)heap_caps_realloc(cam_obj->buffer, cam_obj->buffer_size * sizeof(uint8_t), MALLOC_CAP_DMA);
+
+    for (uint32_t x = 0; x < cam_obj->node_cnt; x++) {
+        cam_obj->dma[x].size = cam_obj->dma_size;
+        cam_obj->dma[x].length = cam_obj->dma_size;
+        cam_obj->dma[x].eof = 0;
+        cam_obj->dma[x].owner = 1;
+        cam_obj->dma[x].buf = (cam_obj->buffer + cam_obj->dma_size * x);
+        cam_obj->dma[x].empty = (intptr_t)&cam_obj->dma[(x + 1) % cam_obj->node_cnt];
+    }
+
+    I2S0.in_link.addr = ((uint32_t)&cam_obj->dma[0]) & 0xfffff;
+    I2S0.rx_eof_num = cam_obj->half_buffer_size; /*!< Ping-pong operation */
+}
+
+esp_err_t cam_deinit() {
+    if (!cam_obj) {
+        return ESP_FAIL;
+    }
+
+    cam_stop();
+    gpio_isr_handler_remove(cam_obj->vsync_pin);
+    esp_intr_free(cam_obj->intr_handle);
+    vTaskDelete(cam_obj->task_handle);
+    vQueueDelete(cam_obj->event_queue);
+    vQueueDelete(cam_obj->frame_buffer_queue);
+    free(cam_obj->dma);
+    free(cam_obj->buffer);
+    free(cam_obj);
+
+    cam_obj = NULL;
+
+    return ESP_OK;
+}
+
+esp_err_t cam_init(const cam_config_t *config) {
+    cam_obj = (cam_obj_t *)heap_caps_calloc(1, sizeof(cam_obj_t), MALLOC_CAP_DMA);
+
+    if (!cam_obj) {
+        ESP_LOGI(TAG, "camera object malloc error\n");
+        return ESP_FAIL;
+    }
+
+    cam_obj->frame1_buffer = config->frame1_buffer;
+    cam_obj->frame2_buffer = config->frame2_buffer;
+    cam_obj->jpeg_mode = config->mode.jpeg;
+    cam_obj->vsync_pin = config->pin.vsync;
+    cam_obj->vsync_invert = config->vsync_invert;
+    cam_obj->hsync_invert = config->hsync_invert;
+    cam_set_pin(config);
+    cam_config(config);
+    cam_dma_config(config);
+
+    cam_obj->event_queue = xQueueCreate(2, sizeof(cam_event_t));
+    cam_obj->frame_buffer_queue = xQueueCreate(2, sizeof(frame_buffer_event_t));
+
+    if (cam_obj->frame1_buffer != NULL) {
+        ESP_LOGI(TAG, "frame1_buffer_en\n");
+        cam_obj->frame1_buffer_en = 1;
+    } else {
+        cam_obj->frame1_buffer_en = 0;
+    }
+
+    if (cam_obj->frame2_buffer != NULL) {
+        ESP_LOGI(TAG, "frame2_buffer_en\n");
+        cam_obj->frame2_buffer_en = 1;
+    } else {
+        cam_obj->frame2_buffer_en = 0;
+    }
+
+    esp_intr_alloc(ETS_I2S0_INTR_SOURCE, 0, cam_isr, NULL, &cam_obj->intr_handle);
+    xTaskCreate(cam_task, "cam_task", config->task_stack, NULL, config->task_pri, &cam_obj->task_handle);
+    return ESP_OK;
+}

ports/esp32s2/cam.h

@@ -0,0 +1,104 @@
+// Copyright 2019 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "esp_err.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    uint8_t bit_width;
+    union {
+        struct {
+            uint32_t pclk :   8;
+            uint32_t vsync :  8;
+            uint32_t hsync :  8;
+        };
+        uint32_t val;
+    } pin;                    /*!< Pin of camera */
+    uint8_t pin_data[16];     /*!< Data pin of camera*/
+    uint8_t vsync_invert;
+    uint8_t hsync_invert;
+    uint32_t size;            /*!< size of camera frame (width times height) */
+    uint32_t max_buffer_size; /*!< DMA used */
+    uint32_t task_stack;      /*!< The priority of the task at run time */
+    uint8_t task_pri;
+    union {
+        struct {
+            uint32_t jpeg :   1;
+        };
+        uint32_t val;
+    } mode;
+    uint8_t *frame1_buffer; /*!< PingPang buffers , cache the image*/
+    uint8_t *frame2_buffer; /*!< PingPang buffers , cache the image*/
+} cam_config_t;
+
+/**
+ * @brief enable camera
+ */
+void cam_start(void);
+
+/**
+ * @brief disable camera
+ */
+void cam_stop(void);
+
+/**
+ * @brief Accepts frame data and returns a pointer to the frame data.
+ *
+ * @param buffer_p  The address of the frame buffer pointer
+ *
+ * @return - len of buffer
+ */
+size_t cam_take(uint8_t **buffer_p);
+
+/**
+ * @brief Check whether a frame is available
+ *
+ * @return - true if cam_take() will complete immediately, false if it will block
+ */
+bool cam_ready(void);
+
+/**
+ * @brief enable frame buffer to get the next frame data.
+ *
+ * @param buffer The address of the frame buffer pointer
+ *
+ */
+void cam_give(uint8_t *buffer);
+
+/**
+ * @brief Initialize camera
+ *
+ * @param config Parameter configuration, including pin, buffer, output image size, and so on.
+ *
+ * @return - ESP_OK :Initialize success
+ *           ESP_FAIL: Initialize fails
+ */
+esp_err_t cam_init(const cam_config_t *config);
+
+/**
+ * @brief  delete the camera
+ *
+ * @return - ESP_OK :Delete success
+ *           ESP_FAIL: Delete fails
+ */
+esp_err_t cam_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif

ports/esp32s2/common-hal/audiobusio/__init__.c

@@ -41,6 +41,15 @@ static i2s_t *i2s_instance[I2S_NUM_MAX];
 static QueueHandle_t i2s_queues[I2S_NUM_MAX];
 static TaskHandle_t i2s_tasks[I2S_NUM_MAX];
 
+void port_i2s_allocate_i2s0(void) {
+    if (!i2s_instance[0]) {
+        i2s_instance[0] = (void *)~(intptr_t)0;
+        return;
+    }
+
+    mp_raise_RuntimeError(translate("Peripheral in use"));
+}
+
 static int8_t port_i2s_allocate(void) {
     #if defined(I2S_NUM_1)
     if (!i2s_instance[1]) {

ports/esp32s2/common-hal/audiobusio/__init__.h

@@ -59,3 +59,6 @@ bool port_i2s_playing(i2s_t *self);
 bool port_i2s_paused(i2s_t *self);
 void port_i2s_pause(i2s_t *self);
 void port_i2s_resume(i2s_t *self);
+
+// some uses (imagecapture) can only operate on i2s0 and need their own init code
+void port_i2s_allocate_i2s0(void);

ports/esp32s2/common-hal/imagecapture/ParallelImageCapture.c

@@ -0,0 +1,131 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Jeff Epler for Adafruit Industries
+ *
+ * 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 <string.h>
+
+#include "py/obj.h"
+#include "py/runtime.h"
+
+#include "common-hal/audiobusio/__init__.h"
+#include "common-hal/imagecapture/ParallelImageCapture.h"
+#include "cam.h"
+
+void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_parallelimagecapture_obj_t *self,
+    const uint8_t data_pins[],
+    uint8_t data_count,
+    const mcu_pin_obj_t *data_clock,
+    const mcu_pin_obj_t *vertical_sync,
+    const mcu_pin_obj_t *horizontal_reference) {
+
+    // only 8 bits is supported at present
+    if (data_count < 8 || data_count > 16) {
+        mp_raise_ValueError_varg(translate("%q must be between %d and %d"), MP_QSTR_data_count, 8, 16);
+    }
+
+    // This will throw if unsuccessful.  Everything following is guaranteed to succeed.
+    port_i2s_allocate_i2s0();
+
+    claim_pin(data_clock);
+    claim_pin(vertical_sync);
+    claim_pin(horizontal_reference);
+
+    self->data_count = data_count;
+    self->data_clock = data_clock->number;
+    self->vertical_sync = vertical_sync->number;
+    self->horizontal_reference = horizontal_reference->number;
+
+    self->config = (cam_config_t) {
+        .bit_width = data_count,
+        .pin = {
+            .pclk = data_clock->number,
+            .vsync = vertical_sync->number,
+            .hsync = horizontal_reference->number,
+        },
+        .vsync_invert = true,
+        .hsync_invert = false,
+        .size = 0,
+        .max_buffer_size = 8 * 1024,
+        .task_stack = 1024,
+        .task_pri = configMAX_PRIORITIES
+    };
+
+    for (int i = 0; i < data_count; i++) {
+        claim_pin_number(data_pins[i]);
+        self->config.pin_data[i] = data_pins[i];
+    }
+}
+
+void common_hal_imagecapture_parallelimagecapture_deinit(imagecapture_parallelimagecapture_obj_t *self) {
+    reset_pin_number(self->data_clock);
+    self->data_clock = NO_PIN;
+
+    reset_pin_number(self->vertical_sync);
+    self->vertical_sync = NO_PIN;
+
+    reset_pin_number(self->horizontal_reference);
+    self->horizontal_reference = NO_PIN;
+
+    for (int i = 0; i < self->data_count; i++) {
+        if (self->config.pin_data[i] != NO_PIN) {
+            reset_pin_number(self->config.pin_data[i]);
+            self->config.pin_data[i] = NO_PIN;
+        }
+    }
+
+    port_i2s_reset_instance(0);
+}
+
+bool common_hal_imagecapture_parallelimagecapture_deinited(imagecapture_parallelimagecapture_obj_t *self) {
+    return self->data_clock == NO_PIN;
+}
+
+void common_hal_imagecapture_parallelimagecapture_capture(imagecapture_parallelimagecapture_obj_t *self, void *buffer, size_t bufsize) {
+    size_t size = bufsize / 2; // count is in pixels
+    if (size != self->config.size || buffer != self->config.frame1_buffer) {
+        cam_deinit();
+        self->config.size = bufsize / 2; // count is in pixels(?)
+        self->config.frame1_buffer = buffer;
+
+        cam_init(&self->config);
+    } else {
+        cam_give(buffer);
+    }
+    cam_start();
+
+    while (!cam_ready()) {
+        RUN_BACKGROUND_TASKS;
+        if (mp_hal_is_interrupted()) {
+            self->config.size = 0; // force re-init next time
+            cam_stop();
+            return;
+        }
+    }
+
+    uint8_t *unused;
+    cam_take(&unused); // this just "returns" buffer
+
+    cam_stop();
+}

ports/esp32s2/common-hal/imagecapture/ParallelImageCapture.h

@@ -0,0 +1,39 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Jeff Epler for Adafruit Industries
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "shared-bindings/imagecapture/ParallelImageCapture.h"
+#include "cam.h"
+
+struct imagecapture_parallelimagecapture_obj {
+    mp_obj_base_t base;
+    cam_config_t config;
+    gpio_num_t data_clock;
+    gpio_num_t vertical_sync;
+    gpio_num_t horizontal_reference;
+    uint8_t data_count;
+};

ports/esp32s2/common-hal/microcontroller/Pin.c

@@ -96,6 +96,13 @@ void reset_all_pins(void) {
     in_use[1] = 0;
 }
 
+void claim_pin_number(gpio_num_t pin_number) {
+    if (pin_number == NO_PIN) {
+        return;
+    }
+    in_use[pin_number / 32] |= (1 << (pin_number % 32));
+}
+
 void claim_pin(const mcu_pin_obj_t *pin) {
     in_use[pin->number / 32] |= (1 << (pin->number % 32));
 }

ports/esp32s2/common-hal/microcontroller/Pin.h

@@ -37,6 +37,7 @@ void reset_all_pins(void);
 void reset_pin_number(gpio_num_t pin_number);
 void common_hal_reset_pin(const mcu_pin_obj_t *pin);
 void claim_pin(const mcu_pin_obj_t *pin);
+void claim_pin_number(gpio_num_t pin_number);
 bool pin_number_is_free(gpio_num_t pin_number);
 void never_reset_pin_number(gpio_num_t pin_number);
 

ports/esp32s2/mpconfigport.mk

@@ -23,6 +23,7 @@ CIRCUITPY_COUNTIO = 1
 CIRCUITPY_DUALBANK = 1
 CIRCUITPY_FRAMEBUFFERIO = 1
 CIRCUITPY_FREQUENCYIO = 1
+CIRCUITPY_IMAGECAPTURE ?= 1
 CIRCUITPY_I2CPERIPHERAL = 0
 CIRCUITPY_RGBMATRIX = 1
 CIRCUITPY_ROTARYIO = 1

ports/esp32s2/supervisor/port.c

@@ -66,6 +66,10 @@
 #include "common-hal/audiobusio/__init__.h"
 #endif
 
+#if CIRCUITPY_IMAGECAPTURE
+#include "cam.h"
+#endif
+
 #define HEAP_SIZE (48 * 1024)
 
 uint32_t *heap;
@@ -155,6 +159,10 @@ safe_mode_t port_init(void) {
 }
 
 void reset_port(void) {
+    #if CIRCUITPY_IMAGECAPTURE
+    cam_deinit();
+    #endif
+
     reset_all_pins();
 
     // A larger delay so the idle task can run and do any IDF cleanup needed.

ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c

@@ -68,12 +68,33 @@
         /* .wrap */ \
     }
 
+mcu_pin_obj_t *pin_from_number(uint8_t number) {
+    const mp_map_t *mcu_map = &mcu_pin_globals.map;
+    for (uint8_t i = 0; i < mcu_map->alloc; i++) {
+        mp_obj_t val = mcu_map->table[i].value;
+        if (!mp_obj_is_type(val, &mcu_pin_type)) {
+            continue;
+        }
+        mcu_pin_obj_t *pin = MP_OBJ_TO_PTR(val);
+        if (pin->number == number) {
+            return pin;
+        }
+    }
+    return NULL;
+}
+
 void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_parallelimagecapture_obj_t *self,
-    const mcu_pin_obj_t *data0,
+    const uint8_t data_pins[],
+    uint8_t data_count,
     const mcu_pin_obj_t *data_clock,
     const mcu_pin_obj_t *vertical_sync,
-    const mcu_pin_obj_t *horizontal_reference,
+    const mcu_pin_obj_t *horizontal_reference) {
-    int data_count) {
+
+    for (int i = 1; i < data_count; i++) {
+        if (data_pins[i] - data_pins[0] != i) {
+            mp_raise_RuntimeError(translate("Pins must be sequential"));
+        }
+    }
 
     uint16_t imagecapture_code[] = IMAGECAPTURE_CODE(data_count, data_clock->number, vertical_sync->number, horizontal_reference->number);
 
@@ -82,7 +103,7 @@ void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_paralle
         common_hal_mcu_processor_get_frequency(), // full speed (4 instructions per loop -> max pclk 30MHz @ 120MHz)
         0, 0, // init
         NULL, 0, 0, 0, // out pins
-        data0, data_count, // in pins
+        pin_from_number(data_pins[0]), data_count, // in pins
         0, 0, // in pulls
         NULL, 0, 0, 0, // set pins
         #if DEBUG_STATE_MACHINE

shared-bindings/imagecapture/ParallelImageCapture.c

@@ -39,15 +39,14 @@
 //|     def __init__(
 //|         self,
 //|         *,
-//|         data0: microcontroller.Pin,
+//|         data_pins: List[microcontroller.Pin],
-//|         data_count: int=8,
 //|         clock: microcontroller.Pin,
 //|         vsync: Optional[microcontroller.Pin],
 //|         href: Optional[microcontroller.Pin],
 //|     ):
 //|         """Create a parallel image capture object
-//|         :param microcontroller.Pin data0: The first data pin.  Additional data pins are assumed to follow this pin directly in the microcontroller's standard pin ordering.
+//|
-//|         :param int data_count: The number of data pins.
+//|         :param List[microcontroller.Pin] data_pins: The data pins.
 //|         :param microcontroller.Pin clock: The pixel clock input.
 //|         :param microcontroller.Pin vsync: The vertical sync input, which has a negative-going pulse at the beginning of each frame.
 //|         :param microcontroller.Pin href: The horizontal reference input, which is high whenever the camera is transmitting valid pixel information.
@@ -55,11 +54,10 @@
 //|         ...
 //|
 STATIC mp_obj_t imagecapture_parallelimagecapture_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
-    enum { ARG_data0, ARG_data_count, ARG_clock, ARG_vsync, ARG_href,
+    enum { ARG_data_pins, ARG_clock, ARG_vsync, ARG_href,
            NUM_ARGS };
     static const mp_arg_t allowed_args[] = {
-        { MP_QSTR_data0, MP_ARG_OBJ | MP_ARG_REQUIRED | MP_ARG_KW_ONLY },
+        { MP_QSTR_data_pins, MP_ARG_OBJ | MP_ARG_KW_ONLY, { .u_obj = MP_ROM_NONE } },
-        { MP_QSTR_data_count, MP_ARG_INT | MP_ARG_KW_ONLY, { .u_int = 8 } },
         { MP_QSTR_clock, MP_ARG_OBJ | MP_ARG_REQUIRED | MP_ARG_KW_ONLY },
         { MP_QSTR_vsync, MP_ARG_OBJ | MP_ARG_REQUIRED | MP_ARG_KW_ONLY },
         { MP_QSTR_href, MP_ARG_OBJ | MP_ARG_REQUIRED | MP_ARG_KW_ONLY },
@@ -68,7 +66,10 @@ STATIC mp_obj_t imagecapture_parallelimagecapture_make_new(const mp_obj_type_t *
     MP_STATIC_ASSERT(MP_ARRAY_SIZE(allowed_args) == NUM_ARGS);
     mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
 
-    mcu_pin_obj_t *data0 = validate_obj_is_free_pin(args[ARG_data0].u_obj);
+    uint8_t pins[32];
+    uint8_t pin_count;
+    validate_pins(MP_QSTR_data, pins, MP_ARRAY_SIZE(pins), args[ARG_data_pins].u_obj, &pin_count);
+
     mcu_pin_obj_t *clock = validate_obj_is_free_pin(args[ARG_clock].u_obj);
     mcu_pin_obj_t *vsync = validate_obj_is_free_pin_or_none(args[ARG_vsync].u_obj);
     mcu_pin_obj_t *href = validate_obj_is_free_pin_or_none(args[ARG_href].u_obj);
@@ -76,7 +77,7 @@ STATIC mp_obj_t imagecapture_parallelimagecapture_make_new(const mp_obj_type_t *
     imagecapture_parallelimagecapture_obj_t *self = m_new_obj(imagecapture_parallelimagecapture_obj_t);
     self->base.type = &imagecapture_parallelimagecapture_type;
 
-    common_hal_imagecapture_parallelimagecapture_construct(self, data0, clock, vsync, href, args[ARG_data_count].u_int);
+    common_hal_imagecapture_parallelimagecapture_construct(self, pins, pin_count, clock, vsync, href);
 
     return self;
 }

shared-bindings/imagecapture/ParallelImageCapture.h

@@ -31,12 +31,13 @@
 typedef struct imagecapture_parallelimagecapture_obj imagecapture_parallelimagecapture_obj_t;
 extern const mp_obj_type_t imagecapture_parallelimagecapture_type;
 
+// if only the first element of data_pins is non-NULL, the pins are sequential in microcontroller pin numbering.
 void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_parallelimagecapture_obj_t *self,
-    const mcu_pin_obj_t *data0,
+    const uint8_t data_pins[],
+    uint8_t data_count,
     const mcu_pin_obj_t *data_clock,
     const mcu_pin_obj_t *vertical_sync,
-    const mcu_pin_obj_t *horizontal_sync,
+    const mcu_pin_obj_t *horizontal_sync);
-    int data_count);
 void common_hal_imagecapture_parallelimagecapture_deinit(imagecapture_parallelimagecapture_obj_t *self);
 bool common_hal_imagecapture_parallelimagecapture_deinited(imagecapture_parallelimagecapture_obj_t *self);
 void common_hal_imagecapture_parallelimagecapture_capture(imagecapture_parallelimagecapture_obj_t *self, void *buffer, size_t bufsize);

shared-bindings/microcontroller/Pin.c

@@ -137,3 +137,11 @@ void assert_pin_free(const mcu_pin_obj_t *pin) {
         mp_raise_ValueError_varg(translate("%q in use"), name);
     }
 }
+
+void validate_pins(qstr what, uint8_t *pin_nos, mp_int_t max_pins, mp_obj_t seq, uint8_t *count_out) {
+    mcu_pin_obj_t *pins[max_pins];
+    validate_list_is_free_pins(what, pins, max_pins, seq, count_out);
+    for (mp_int_t i = 0; i < *count_out; i++) {
+        pin_nos[i] = common_hal_mcu_pin_number(pins[i]);
+    }
+}

shared-bindings/microcontroller/Pin.h

@@ -38,6 +38,7 @@ mcu_pin_obj_t *validate_obj_is_pin_or_none(mp_obj_t obj);
 mcu_pin_obj_t *validate_obj_is_free_pin(mp_obj_t obj);
 mcu_pin_obj_t *validate_obj_is_free_pin_or_none(mp_obj_t obj);
 void validate_list_is_free_pins(qstr what, mcu_pin_obj_t **pins_out, mp_int_t max_pins, mp_obj_t seq, uint8_t *count_out);
+void validate_pins(qstr what, uint8_t *pin_nos, mp_int_t max_pins, mp_obj_t seq, uint8_t *count_out);
 
 void assert_pin_free(const mcu_pin_obj_t *pin);
 

shared-bindings/rgbmatrix/RGBMatrix.c

@@ -49,14 +49,6 @@ STATIC uint8_t validate_pin(mp_obj_t obj) {
     return common_hal_mcu_pin_number(result);
 }
 
-STATIC void validate_pins(qstr what, uint8_t *pin_nos, mp_int_t max_pins, mp_obj_t seq, uint8_t *count_out) {
-    mcu_pin_obj_t *pins[max_pins];
-    validate_list_is_free_pins(what, pins, max_pins, seq, count_out);
-    for (mp_int_t i = 0; i < *count_out; i++) {
-        pin_nos[i] = common_hal_mcu_pin_number(pins[i]);
-    }
-}
-
 STATIC void claim_and_never_reset_pin(mp_obj_t pin) {
     common_hal_mcu_pin_claim(pin);
     common_hal_never_reset_pin(pin);

supervisor/shared/memory.c

@@ -236,6 +236,7 @@ size_t get_allocation_length(supervisor_allocation *allocation) {
     return ALLOCATION_NODE(allocation)->length & ~FLAGS;
 }
 
+
 void supervisor_move_memory(void) {
     // This whole function is not needed when there are no movable allocations, let it be optimized
     // out.
@@ -244,7 +245,9 @@ void supervisor_move_memory(void) {
     }
     // This must be called exactly after freeing the heap, so that the embedded allocations, if any,
     // are now in the free region.
-    assert(MP_STATE_VM(first_embedded_allocation) == NULL || (low_head < MP_STATE_VM(first_embedded_allocation) && MP_STATE_VM(first_embedded_allocation) < high_head));
+    assert(MP_STATE_VM(first_embedded_allocation) == NULL || (
+        (low_head == NULL || low_head < MP_STATE_VM(first_embedded_allocation)) &&
+        (high_head == NULL || MP_STATE_VM(first_embedded_allocation) < high_head)));
 
     // Save the old pointers for allocation_from_ptr().
     supervisor_allocation old_allocations_array[CIRCUITPY_SUPERVISOR_ALLOC_COUNT];