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core: pinmux: implement rough solution #269

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b068fc0
core: pinmux: implement rough solution
facchinm Nov 17, 2025
505c6f6
unoq: restore conflicting PWMs and DACs
facchinm Nov 17, 2025
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20 changes: 20 additions & 0 deletions cores/arduino/zephyrCommon.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,19 @@
#include <Arduino.h>
#include "zephyrInternal.h"

// create an array of arduino_pins with functions to reinitialize pins if needed
static const struct device *pinmux_array[DT_PROP_LEN(DT_PATH(zephyr_user), digital_pin_gpios)] = {
nullptr};

void _reinit_peripheral_if_needed(pin_size_t pin, const struct device *dev) {
if (pinmux_array[pin] != dev) {
pinmux_array[pin] = dev;
if (dev != NULL) {
dev->ops.init(dev);
}
}
}

static const struct gpio_dt_spec arduino_pins[] = {
DT_FOREACH_PROP_ELEM_SEP(
DT_PATH(zephyr_user), digital_pin_gpios, GPIO_DT_SPEC_GET_BY_IDX, (, ))};
Expand Down Expand Up @@ -209,6 +222,7 @@ void yield(void) {
* A high physical level will be interpreted as value 1
*/
void pinMode(pin_size_t pinNumber, PinMode pinMode) {
_reinit_peripheral_if_needed(pinNumber, NULL);
if (pinMode == INPUT) { // input mode
gpio_pin_configure_dt(&arduino_pins[pinNumber], GPIO_INPUT | GPIO_ACTIVE_HIGH);
} else if (pinMode == INPUT_PULLUP) { // input with internal pull-up
Expand Down Expand Up @@ -320,6 +334,7 @@ void analogWrite(pin_size_t pinNumber, int value) {
return;
}

_reinit_peripheral_if_needed(pinNumber, arduino_pwm[idx].dev);
value = map(value, 0, 1 << _analog_write_resolution, 0, arduino_pwm[idx].period);

if (((uint32_t)value) > arduino_pwm[idx].period) {
Expand All @@ -343,6 +358,9 @@ void analogWrite(enum dacPins dacName, int value) {
return;
}

// TODO: add reverse map to find pin name from DAC* define
// In the meantime, consider A0 == DAC0
_reinit_peripheral_if_needed((pin_size_t)(dacName + A0), dac_dev);
dac_channel_setup(dac_dev, &dac_ch_cfg[dacName]);

const int max_dac_value = 1U << dac_ch_cfg[dacName].resolution;
Expand Down Expand Up @@ -393,6 +411,8 @@ int analogRead(pin_size_t pinNumber) {
return -ENOTSUP;
}

_reinit_peripheral_if_needed(pinNumber, arduino_adc[idx].dev);

err = adc_channel_setup(arduino_adc[idx].dev, &arduino_adc[idx].channel_cfg);
if (err < 0) {
return err;
Expand Down
1 change: 1 addition & 0 deletions cores/arduino/zephyrInternal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ extern "C" {

void enableInterrupt(pin_size_t);
void disableInterrupt(pin_size_t);
void _reinit_peripheral_if_needed(pin_size_t pin, const struct device *dev);

#ifdef __cplusplus
} // extern "C"
Expand Down
2 changes: 2 additions & 0 deletions cores/arduino/zephyrSerial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,8 @@ void arduino::ZephyrSerial::begin(unsigned long baud, uint16_t conf) {
.flow_ctrl = UART_CFG_FLOW_CTRL_NONE,
};

uart->ops.init(uart);

uart_configure(uart, &config);
uart_irq_callback_user_data_set(uart, arduino::ZephyrSerial::IrqDispatch, this);
k_sem_take(&rx.sem, K_FOREVER);
Expand Down
3 changes: 3 additions & 0 deletions cores/arduino/zephyrSerial.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,9 @@ class ZephyrSerial : public HardwareSerial {
void flush();

void end() {
if (uart->ops.deinit) {
uart->ops.deinit(uart);
}
}

size_t write(const uint8_t *buffer, size_t size);
Expand Down
4 changes: 4 additions & 0 deletions libraries/SPI/SPI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,9 +115,13 @@ void arduino::ZephyrSPI::detachInterrupt() {
}

void arduino::ZephyrSPI::begin() {
spi_dev->ops.init(spi_dev);
}

void arduino::ZephyrSPI::end() {
if (spi_dev->ops.deinit) {
spi_dev->ops.deinit(spi_dev);
}
}

#if DT_NODE_HAS_PROP(DT_PATH(zephyr_user), spis)
Expand Down
4 changes: 4 additions & 0 deletions libraries/Wire/Wire.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ arduino::ZephyrI2C::ZephyrI2C(const struct device *i2c) : i2c_dev(i2c), i2c_cfg(
}

void arduino::ZephyrI2C::begin() {
i2c_dev->ops.init(i2c_dev);
}

void arduino::ZephyrI2C::begin(uint8_t slaveAddr) {
Expand All @@ -70,6 +71,9 @@ void arduino::ZephyrI2C::end() {
i2c_target_unregister(i2c_dev, &i2c_cfg);
memset(&i2c_cfg, 0, sizeof(i2c_cfg));
}
if (i2c_dev->ops.deinit) {
i2c_dev->ops.deinit(i2c_dev);
}
}

void arduino::ZephyrI2C::setClock(uint32_t freq) {
Expand Down
2 changes: 2 additions & 0 deletions loader/prj.conf
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@ CONFIG_LLEXT_EDK_FORMAT_TAR_ZSTD=y

CONFIG_GPIO=y
CONFIG_PINCTRL=y
CONFIG_PINCTRL_DYNAMIC=y
CONFIG_DEVICE_DEINIT_SUPPORT=y
CONFIG_I2C=y
CONFIG_SPI=y

Expand Down
76 changes: 36 additions & 40 deletions variants/arduino_uno_q_stm32u585xx/arduino_uno_q_stm32u585xx.overlay
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Original file line number Diff line number Diff line change
Expand Up @@ -75,15 +75,13 @@
status = "okay";
/* tim1_etr_pa12 is not available for PWM */
/* Currently only the pins marked with ~ on the pin headers are enabled */
/* pinctrl-0 = <&tim1_ch4_pa11 &tim1_ch3n_pb15 &tim1_ch1n_pb13 &tim1_ch2n_pb14>; */
pinctrl-0 = <&tim1_ch4_pa11>;
pinctrl-0 = <&tim1_ch4_pa11 &tim1_ch3n_pb15 &tim1_ch1n_pb13 &tim1_ch2n_pb14>;
pinctrl-names = "default";
};
};

/* Currently only the pins marked with ~ on the pin headers are enabled */
/* PB10 and PB11 conflict with I2C configuation */
/*
&timers2 {
status = "okay";
st,prescaler = <4>;
Expand All @@ -94,7 +92,6 @@
pinctrl-names = "default";
};
};
*/

&timers3 {
status = "okay";
Expand All @@ -103,8 +100,7 @@
pwm3: pwm {
status = "okay";
/* Currently only the pins marked with ~ on the pin headers are enabled */
/* pinctrl-0 = <&tim3_ch3_pb0 &tim3_ch4_pb1 &tim3_ch1_pb4>; */
pinctrl-0 = <&tim3_ch3_pb0 &tim3_ch4_pb1>;
pinctrl-0 = <&tim3_ch3_pb0 &tim3_ch4_pb1 &tim3_ch1_pb4>;
pinctrl-names = "default";
};
};
Expand All @@ -117,8 +113,7 @@
status = "okay";
/* PB6 PB7 not usable for PWM until dynamic pin muxing works */
/* Currently only the pins marked with ~ on the pin headers are enabled */
/* pinctrl-0 = <&tim4_ch3_pb8 &tim4_ch4_pb9 &tim4_ch1_pb6 &tim4_ch2_pb7>; */
pinctrl-0 = <&tim4_ch3_pb8 &tim4_ch4_pb9>;
pinctrl-0 = <&tim4_ch3_pb8 &tim4_ch4_pb9 &tim4_ch1_pb6 &tim4_ch2_pb7>;
pinctrl-names = "default";
};
};
Expand All @@ -135,7 +130,6 @@
};

/* Currently only the pins marked with ~ on the pin headers are enabled */
/*
&timers8 {
status = "okay";
st,prescaler = <4>;
Expand All @@ -146,7 +140,6 @@
pinctrl-names = "default";
};
};
*/

&timers16 {
status = "okay";
Expand Down Expand Up @@ -258,25 +251,25 @@

/* PWM pin mapping - Digital pins with their timer channels */
/* Currently only the pins marked with ~ on the pin headers are enabled */
pwm-pin-gpios =
/* <&gpiob 6 0>, */ /* D1/PB6 - TIM4_CH1 */
/* <&gpiob 3 0>, */ /* D2/PB3 - TIM2_CH2 */
/* <&gpiob 3 0>, */ /* D2/PB3 - TIM2_CH2 */
<&gpiob 0 0>, /* D3/PB0 - TIM3_CH3 */
<&gpioa 11 0>, /* D5/PA11 - TIM1_CH4 */
<&gpiob 1 0>, /* D6/PB1 - TIM3_CH4 */
/* <&gpiob 2 0>, */ /* D7/PB2 - TIM8_CH4N */
/* <&gpiob 4 0>, */ /* D8/PB4 - TIM3_CH1 */
<&gpiob 8 0>, /* D9/PB8 - TIM4_CH3 */
<&gpiob 9 0>, /* D10/PB9 - TIM4_CH4 */
/* <&gpiob 15 0>, */ /* D11/PB15 - TIM1_CH3N */
/* <&gpiob 14 0>, */ /* D12/PB14 - TIM1_CH2N */
/* <&gpiob 13 0>, */ /* D13/PB13 - TIM1_CH1N */
/* <&gpiob 11 0>, */ /* D20/PB11 - TIM2_CH4 */
/* <&gpiob 10 0>; */ /* D21/PB10 - TIM2_CH3 */
<&gpioh 10 0>, /* LED3_R - TIM5_CH1 */
<&gpioh 11 0>, /* LED3_G - TIM5_CH2 */
<&gpioh 12 0>; /* LED3_B - TIM5_CH3 */
pwm-pin-gpios =
<&gpiob 7 0>, /* D0/PB6 - TIM4_CH2 */
<&gpiob 6 0>, /* D1/PB6 - TIM4_CH1 */
<&gpiob 3 0>, /* D2/PB3 - TIM2_CH2 */
<&gpiob 0 0>, /* D3/PB0 - TIM3_CH3 */
<&gpioa 11 0>, /* D5/PA11 - TIM1_CH4 */
<&gpiob 1 0>, /* D6/PB1 - TIM3_CH4 */
<&gpiob 2 0>, /* D7/PB2 - TIM8_CH4N */
<&gpiob 4 0>, /* D8/PB4 - TIM3_CH1 */
<&gpiob 8 0>, /* D9/PB8 - TIM4_CH3 */
<&gpiob 9 0>, /* D10/PB9 - TIM4_CH4 */
<&gpiob 15 0>, /* D11/PB15 - TIM1_CH3N */
<&gpiob 14 0>, /* D12/PB14 - TIM1_CH2N */
<&gpiob 13 0>, /* D13/PB13 - TIM1_CH1N */
<&gpiob 11 0>, /* D20/PB11 - TIM2_CH4 */
<&gpiob 10 0>, /* D21/PB10 - TIM2_CH3 */
<&gpioh 10 0>, /* LED3_R - TIM5_CH1 */
<&gpioh 11 0>, /* LED3_G - TIM5_CH2 */
<&gpioh 12 0>; /* LED3_B - TIM5_CH3 */

adc-pin-gpios = <&gpioa 4 0>,
<&gpioa 5 0>,
Expand All @@ -290,22 +283,22 @@
spis = <&spi2>, <&spi3>;
/* PWM mapping for the digital pins */
/* Currently only the pins marked with ~ on the pin headers are enabled */
pwms =
/* <&pwm4 2 PWM_HZ(500) PWM_POLARITY_NORMAL>, */ /* D0/PB7 → TIM4_CH2 */
/* <&pwm4 1 PWM_HZ(500) PWM_POLARITY_NORMAL>, */ /* D1/PB6 → TIM4_CH1 */
/* <&pwm2 2 PWM_HZ(500) PWM_POLARITY_NORMAL>, */ /* D2/PB3 → TIM2_CH2 */
pwms =
<&pwm4 2 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D0/PB7 → TIM4_CH2 */
<&pwm4 1 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D1/PB6 → TIM4_CH1 */
<&pwm2 2 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D2/PB3 → TIM2_CH2 */
<&pwm3 3 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D3/PB0 → TIM3_CH3 */
<&pwm1 4 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D5/PA11 → TIM1_CH4 */
<&pwm3 4 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D6/PB1 → TIM3_CH4 */
/* <&pwm8 4 PWM_HZ(500) PWM_POLARITY_INVERTED>, */ /* D7/PB2 → TIM8_CH4N */
/* <&pwm3 1 PWM_HZ(500) PWM_POLARITY_NORMAL>, */ /* D8/PB4 → TIM3_CH1 */
<&pwm8 4 PWM_HZ(500) PWM_POLARITY_INVERTED>, /* D7/PB2 → TIM8_CH4N */
<&pwm3 1 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D8/PB4 → TIM3_CH1 */
<&pwm4 3 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D9/PB8 → TIM4_CH3 */
<&pwm4 4 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D10/PB9 → TIM4_CH4 */
/* <&pwm1 3 PWM_HZ(500) PWM_POLARITY_INVERTED>, */ /* D11/PB15 → TIM1_CH3N */
/* <&pwm1 2 PWM_HZ(500) PWM_POLARITY_INVERTED>, */ /* D12/PB14 → TIM1_CH2N */
/* <&pwm1 1 PWM_HZ(500) PWM_POLARITY_INVERTED>, */ /* D13/PB13 → TIM1_CH1N */
/* <&pwm2 4 PWM_HZ(500) PWM_POLARITY_NORMAL>, */ /* D20/PB11 → TIM2_CH4 */
/* <&pwm2 3 PWM_HZ(500) PWM_POLARITY_NORMAL>; */ /* D21/PB10 → TIM2_CH3 */
<&pwm1 3 PWM_HZ(500) PWM_POLARITY_INVERTED>, /* D11/PB15 → TIM1_CH3N */
<&pwm1 2 PWM_HZ(500) PWM_POLARITY_INVERTED>, /* D12/PB14 → TIM1_CH2N */
<&pwm1 1 PWM_HZ(500) PWM_POLARITY_INVERTED>, /* D13/PB13 → TIM1_CH1N */
<&pwm2 4 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D20/PB11 → TIM2_CH4 */
<&pwm2 3 PWM_HZ(500) PWM_POLARITY_NORMAL>, /* D21/PB10 → TIM2_CH3 */
<&pwm5 1 PWM_HZ(500) PWM_POLARITY_INVERTED>, /* LED3_R/PH10 → TIM5_CH1 */
<&pwm5 2 PWM_HZ(500) PWM_POLARITY_INVERTED>, /* LED3_G/PH11 → TIM5_CH2 */
<&pwm5 3 PWM_HZ(500) PWM_POLARITY_INVERTED>; /* LED3_B/PH12 → TIM5_CH3 */
Expand All @@ -320,6 +313,9 @@
<&adc1 2>, /* A4 - PC1 */
<&adc1 1>; /* A5 - PC0 */

dac-pin-gpios = <&gpioa 4 0>,
<&gpioa 5 0>;

dac = <&dac1>;
dac-channels = <1>, <2>;
dac-resolution = <12>;
Expand Down