GPIO refactored (#495)

* **Refactor**
  * GPIO subsystem moved to a descriptor-based model for per-pin ownership and runtime pin management; many platform drivers now acquire/release descriptors.
  * Device trees and drivers now use GPIO phandle-style pin specifications across all boards and all drivers.

* **Behavior**
  * Device list now encodes per-device status (ok/disabled); boot will skip disabled devices accordingly.

* **Deprecation**
  * Legacy GPIO HAL marked deprecated and replaced with descriptor-based interfaces.

* **Chores**
  * Bindings and platform configs updated to the new GPIO pin-spec format.

Buildscripts/DevicetreeCompiler/source/generator.py

@@ -57,7 +57,7 @@ def find_phandle(devices: list[Device], phandle: str):
     for device in devices:
         if device.node_name == phandle or device.node_alias == phandle:
             return f"&{get_device_node_name_safe(device)}"
-    raise DevicetreeException(f"phandle '{phandle}' not found in device tree")
+    raise DevicetreeException(f"phandle '{phandle}' not found in devicetree")
 
 def property_to_string(property: DeviceProperty, devices: list[Device]) -> str:
     type = property.type
@@ -77,6 +77,20 @@ def property_to_string(property: DeviceProperty, devices: list[Device]) -> str:
         return "{ " + ",".join(value_list) + " }"
     elif type == "phandle":
         return find_phandle(devices, property.value)
+    elif type == "phandle-array":
+        value_list = list()
+        if isinstance(property.value, list):
+            for item in property.value:
+                if isinstance(item, PropertyValue):
+                    value_list.append(property_to_string(DeviceProperty(name="", type=item.type, value=item.value), devices))
+                else:
+                    value_list.append(str(item))
+            return "{ " + ",".join(value_list) + " }"
+        elif isinstance(property.value, str):
+            # If it's a string, assume it's a #define and show it as-is
+            return property.value
+        else:
+            raise Exception(f"Unsupported phandle-array type for {property.value}")
     else:
         raise DevicetreeException(f"property_to_string() has an unsupported type: {type}")
 
@@ -167,7 +181,15 @@ def write_device_structs(file, device: Device, parent_device: Device, bindings:
     for child_device in device.devices:
         write_device_structs(file, child_device, device, bindings, devices, verbose)
 
-def write_device_init(file, device: Device, bindings: list[Binding], verbose: bool):
+def get_device_status_variable(device: Device):
+    if device.status == "okay" or device.status is None:
+        return "DTS_DEVICE_STATUS_OKAY"
+    elif device.status == "disabled":
+        return "DTS_DEVICE_STATUS_DISABLED"
+    else:
+        raise DevicetreeException(f"Unsupported device status '{device.status}'")
+
+def write_device_list_entry(file, device: Device, bindings: list[Binding], verbose: bool):
     if verbose:
         print(f"Processing device init code for '{device.node_name}'")
     # Assemble some pre-requisites
@@ -177,11 +199,12 @@ def write_device_init(file, device: Device, bindings: list[Binding], verbose: bo
     # Type & instance names
     node_name = get_device_node_name_safe(device)
     device_variable = node_name
+    status = get_device_status_variable(device)
     # Write device struct
-    file.write("\t{ " f"&{device_variable}, \"{compatible_property.value}\"" " },\n")
+    file.write("\t{ " f"&{device_variable}, \"{compatible_property.value}\", {status}" " },\n")
     # Write children
     for child_device in device.devices:
-        write_device_init(file, child_device, bindings, verbose)
+        write_device_list_entry(file, child_device, bindings, verbose)
 
 # Walk the tree and gather all devices
 def gather_devices(device: Device, output: list[Device]):
@@ -201,6 +224,7 @@ def generate_devicetree_c(filename: str, items: list[object], bindings: list[Bin
         file.write(dedent('''\
         // Default headers
         #include <tactility/device.h>
+        #include <tactility/dts.h>
         // DTS headers
         '''))
 
@@ -216,14 +240,11 @@ def generate_devicetree_c(filename: str, items: list[object], bindings: list[Bin
         for item in items:
             if type(item) is Device:
                 write_device_structs(file, item, None, bindings, devices, verbose)
-        # Init function body start
+        file.write("struct DtsDevice dts_devices[] = {\n")
-        file.write("struct CompatibleDevice devicetree_devices[] = {\n")
-        # Init function body logic
         for item in items:
             if type(item) is Device:
-                write_device_init(file, item, bindings, verbose)
+                write_device_list_entry(file, item, bindings, verbose)
-        # Init function body end
+        file.write("\tDTS_DEVICE_TERMINATOR\n")
-        file.write("\t{ NULL, NULL },\n")
         file.write("};\n")
 
 def generate_devicetree_h(filename: str):
@@ -231,12 +252,13 @@ def generate_devicetree_h(filename: str):
         file.write(dedent('''\
         #pragma once
         #include <tactility/error.h>
+        #include <tactility/dts.h>
         
         #ifdef __cplusplus
         extern "C" {
         #endif
         
-        extern struct CompatibleDevice devicetree_devices[];
+        extern struct DtsDevice dts_devices[];
         
         #ifdef __cplusplus
         }

Buildscripts/DevicetreeCompiler/source/models.py

@@ -8,6 +8,7 @@ class DtsVersion:
 class Device:
     node_name: str
     node_alias: str
+    status: str
     properties: list
     devices: list
 

Buildscripts/DevicetreeCompiler/source/transformer.py

@@ -29,6 +29,7 @@ class DtsTransformer(Transformer):
     def device(self, tokens: list):
         node_name = None
         node_alias = None
+        status = None
         properties = list()
         child_devices = list()
         for index, item in enumerate(tokens):
@@ -37,10 +38,13 @@ class DtsTransformer(Transformer):
             elif type(item) is Token and item.type == 'NODE_ALIAS':
                 node_alias = item.value
             elif type(item) is DeviceProperty:
-                properties.append(item)
+                if item.name == "status":
+                    status = item.value
+                else:
+                    properties.append(item)
             elif type(item) is Device:
                 child_devices.append(item)
-        return Device(node_name, node_alias, properties, child_devices)
+        return Device(node_name, node_alias, status, properties, child_devices)
     def device_property(self, objects: List[object]):
         name = objects[0]
         # Boolean property has no value as the value is implied to be true

Buildscripts/DevicetreeCompiler/tests/data/bindings/test,device.yaml

@@ -4,11 +4,9 @@ properties:
   reg:
     type: int
     required: true
-  status:
-    type: string
   boolean-prop:
     type: boolean
   int-prop:
     type: int
   string-prop:
-    type: string
+    type: string

Buildscripts/DevicetreeCompiler/tests/data/test.dts

@@ -6,7 +6,7 @@
     compatible = "test,root";
     model = "Test Model";
 
-    test_device: test-device@0 {
+    test_device1: test-device@0 {
         compatible = "test,device";
         reg = <0>;
         status = "okay";

Buildscripts/DevicetreeCompiler/tests/test_integration.py

@@ -27,7 +27,7 @@ def test_compile_success():
         result = run_compiler(TEST_DATA_DIR, output_dir)
         
         if result.returncode != 0:
-            print(f"FAILED: Compilation failed: {result.stderr}")
+            print(f"FAILED: Compilation failed: {result.stderr} {result.stdout}")
             return False
             
         if not os.path.exists(os.path.join(output_dir, "devicetree.c")):

Devices/btt-panda-touch/bigtreetech,panda-touch.dts

@@ -18,15 +18,15 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <2>;
+		pin-sda = <&gpio0 2 GPIO_FLAG_NONE>;
-		pin-scl = <1>;
+		pin-scl = <&gpio0 1 GPIO_FLAG_NONE>;
 	};
 
 	i2c_external: i2c1 {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <4>;
+		pin-sda = <&gpio0 4 GPIO_FLAG_NONE>;
-		pin-scl = <3>;
+		pin-scl = <&gpio0 3 GPIO_FLAG_NONE>;
 	};
 };

Devices/cyd-2432s024c/cyd,2432s024c.dts

@@ -18,23 +18,22 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <33>;
+		pin-sda = <&gpio0 33 GPIO_FLAG_NONE>;
-		pin-scl = <32>;
+		pin-scl = <&gpio0 32 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-miso = <GPIO_PIN_NONE>;
+		pin-sclk = <&gpio0 14 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 };

Devices/cyd-2432s028r/cyd,2432s028r.dts

@@ -19,30 +19,30 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <27>;
+		pin-sda = <&gpio0 27 GPIO_FLAG_NONE>;
-		pin-scl = <22>;
+		pin-scl = <&gpio0 22 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-miso = <12>;
+		pin-miso = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
+		pin-sclk = <&gpio0 14 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <3>;
+		pin-tx = <&gpio0 3 GPIO_FLAG_NONE>;
-		pin-rx = <1>;
+		pin-rx = <&gpio0 1 GPIO_FLAG_NONE>;
 	};
 };

Devices/cyd-2432s028rv3/cyd,2432s028rv3.dts

@@ -19,30 +19,30 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <27>;
+		pin-sda = <&gpio0 27 GPIO_FLAG_NONE>;
-		pin-scl = <22>;
+		pin-scl = <&gpio0 22 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-miso = <12>;
+		pin-miso = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
+		pin-sclk = <&gpio0 14 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <3>;
+		pin-tx = <&gpio0 3 GPIO_FLAG_NONE>;
-		pin-rx = <1>;
+		pin-rx = <&gpio0 1 GPIO_FLAG_NONE>;
 	};
 };

Devices/cyd-2432s032c/cyd,2432s032c.dts

@@ -18,23 +18,22 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <33>;
+		pin-sda = <&gpio1 33 GPIO_FLAG_NONE>;
-		pin-scl = <32>;
+		pin-scl = <&gpio1 32 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio1 13 GPIO_FLAG_NONE>;
-		pin-miso = <GPIO_PIN_NONE>;
+		pin-sclk = <&gpio1 14 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio1 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio1 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio1 18 GPIO_FLAG_NONE>;
 	};
 };

Devices/cyd-4848s040c/cyd,4848s040c.dts

@@ -18,16 +18,16 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <19>;
+		pin-sda = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-scl = <45>;
+		pin-scl = <&gpio0 45 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <47>;
+		pin-mosi = <&gpio0 47 GPIO_FLAG_NONE>;
-		pin-miso = <41>;
+		pin-miso = <&gpio0 41 GPIO_FLAG_NONE>;
-		pin-sclk = <48>;
+		pin-sclk = <&gpio0 48 GPIO_FLAG_NONE>;
-		pin-hd = <42>;
+		pin-hd = <&gpio0 42 GPIO_FLAG_NONE>;
 	};
 };

Devices/cyd-8048s043c/cyd,8048s043c.dts

@@ -19,30 +19,31 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <19>;
+		pin-sda = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-scl = <20>;
+		pin-scl = <&gpio0 20 GPIO_FLAG_NONE>;
 	};
 
 	i2c_external {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <17>;
+		pin-sda = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-scl = <18>;
+		pin-scl = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <11>;
+		pin-mosi = <&gpio0 11 GPIO_FLAG_NONE>;
-		pin-miso = <13>;
+		pin-miso = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-sclk = <12>;
+		pin-sclk = <&gpio0 12 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <18>;
+		pin-tx = <&gpio0 18 GPIO_FLAG_NONE>;
-		pin-rx = <17>;
+		pin-rx = <&gpio0 17 GPIO_FLAG_NONE>;
 	};
 };

Devices/cyd-e32r28t/cyd,e32r28t.dts

@@ -16,16 +16,16 @@
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-miso = <12>;
+		pin-miso = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
+		pin-sclk = <&gpio0 14 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 };

Devices/cyd-e32r32p/cyd,e32r32p.dts

@@ -18,23 +18,23 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <32>;
+		pin-sda = <&gpio0 32 GPIO_FLAG_NONE>;
-		pin-scl = <25>;
+		pin-scl = <&gpio0 25 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-miso = <12>;
+		pin-miso = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
+		pin-sclk = <&gpio0 14 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 };

Devices/elecrow-crowpanel-advance-28/elecrow,crowpanel-advance-28.dts

@@ -19,36 +19,36 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <15>;
+		pin-sda = <&gpio0 15 GPIO_FLAG_NONE>;
-		pin-scl = <16>;
+		pin-scl = <&gpio0 16 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <39>;
+		pin-mosi = <&gpio0 39 GPIO_FLAG_NONE>;
-		pin-sclk = <42>;
+		pin-sclk = <&gpio0 42 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <6>;
+		pin-mosi = <&gpio0 6 GPIO_FLAG_NONE>;
-		pin-miso = <4>;
+		pin-miso = <&gpio0 4 GPIO_FLAG_NONE>;
-		pin-sclk = <5>;
+		pin-sclk = <&gpio0 5 GPIO_FLAG_NONE>;
 	};
 
 	uart0 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_0>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <17>;
+		pin-tx = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-rx = <18>;
+		pin-rx = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 };

Devices/elecrow-crowpanel-advance-35/elecrow,crowpanel-advance-35.dts

@@ -19,37 +19,36 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <15>;
+		pin-sda = <&gpio0 15 GPIO_FLAG_NONE>;
-		pin-scl = <16>;
+		pin-scl = <&gpio0 16 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <39>;
+		pin-mosi = <&gpio0 39 GPIO_FLAG_NONE>;
-		pin-miso = <GPIO_PIN_NONE>;
+		pin-sclk = <&gpio0 42 GPIO_FLAG_NONE>;
-		pin-sclk = <42>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <6>;
+		pin-mosi = <&gpio0 6 GPIO_FLAG_NONE>;
-		pin-miso = <4>;
+		pin-miso = <&gpio0 4 GPIO_FLAG_NONE>;
-		pin-sclk = <5>;
+		pin-sclk = <&gpio0 5 GPIO_FLAG_NONE>;
 	};
 
 	uart0 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_0>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <17>;
+		pin-tx = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-rx = <18>;
+		pin-rx = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 };

Devices/elecrow-crowpanel-advance-50/elecrow,crowpanel-advance-50.dts

@@ -19,29 +19,29 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <15>;
+		pin-sda = <&gpio0 15 GPIO_FLAG_NONE>;
-		pin-scl = <16>;
+		pin-scl = <&gpio0 16 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <6>;
+		pin-mosi = <&gpio0 6 GPIO_FLAG_NONE>;
-		pin-miso = <4>;
+		pin-miso = <&gpio0 4 GPIO_FLAG_NONE>;
-		pin-sclk = <5>;
+		pin-sclk = <&gpio0 5 GPIO_FLAG_NONE>;
 	};
 
 	uart0 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_0>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <20>;
+		pin-tx = <&gpio0 20 GPIO_FLAG_NONE>;
-		pin-rx = <19>;
+		pin-rx = <&gpio0 19 GPIO_FLAG_NONE>;
 	};
 };

Devices/elecrow-crowpanel-basic-28/elecrow,crowpanel-basic-28.dts

@@ -19,31 +19,31 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <22>;
+		pin-sda = <&gpio0 22 GPIO_FLAG_NONE>;
-		pin-scl = <21>;
+		pin-scl = <&gpio0 21 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-miso = <12>;
+		pin-miso = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
+		pin-sclk = <&gpio0 14 GPIO_FLAG_NONE>;
 		max-transfer-size = <65536>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <17>;
+		pin-tx = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-rx = <16>;
+		pin-rx = <&gpio0 16 GPIO_FLAG_NONE>;
 	};
 };

Devices/elecrow-crowpanel-basic-35/elecrow,crowpanel-basic-35.dts

@@ -19,31 +19,31 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <22>;
+		pin-sda = <&gpio0 22 GPIO_FLAG_NONE>;
-		pin-scl = <21>;
+		pin-scl = <&gpio0 21 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-miso = <33>;
+		pin-miso = <&gpio0 33 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
+		pin-sclk = <&gpio0 14 GPIO_FLAG_NONE>;
 		max-transfer-size = <65536>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <1>;
+		pin-tx = <&gpio0 1 GPIO_FLAG_NONE>;
-		pin-rx = <3>;
+		pin-rx = <&gpio0 3 GPIO_FLAG_NONE>;
 	};
 };

Devices/elecrow-crowpanel-basic-50/elecrow,crowpanel-basic-50.dts

@@ -19,22 +19,22 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <19>;
+		pin-sda = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-scl = <20>;
+		pin-scl = <&gpio0 20 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <11>;
+		pin-mosi = <&gpio0 11 GPIO_FLAG_NONE>;
-		pin-miso = <13>;
+		pin-miso = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-sclk = <12>;
+		pin-sclk = <&gpio0 12 GPIO_FLAG_NONE>;
 	};
 
 	uart0 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_0>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 };

Devices/guition-jc1060p470ciwy/guition,jc1060p470ciwy.dts

@@ -26,17 +26,17 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <7>;
+		pin-sda = <&gpio0 7 GPIO_FLAG_NONE>;
-		pin-scl = <8>;
+		pin-scl = <&gpio0 8 GPIO_FLAG_NONE>;
 	};
 
 	i2s0 {
 		compatible = "espressif,esp32-i2s";
 		port = <I2S_NUM_0>;
-		pin-bclk = <12>;
+		pin-bclk = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-ws = <10>;
+		pin-ws = <&gpio0 10 GPIO_FLAG_NONE>;
-		pin-data-out = <9>;
+		pin-data-out = <&gpio0 9 GPIO_FLAG_NONE>;
-		pin-data-in = <48>;
+		pin-data-in = <&gpio0 48 GPIO_FLAG_NONE>;
-		pin-mclk = <13>;
+		pin-mclk = <&gpio0 13 GPIO_FLAG_NONE>;
 	};
 };

Devices/guition-jc2432w328c/guition,jc2432w328c.dts

@@ -19,8 +19,8 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <33>;
+		pin-sda = <&gpio0 33 GPIO_FLAG_NONE>;
-		pin-scl = <32>;
+		pin-scl = <&gpio0 32 GPIO_FLAG_NONE>;
 	};
 
 	// CN1 header
@@ -28,30 +28,31 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <21>;
+		pin-sda = <&gpio0 21 GPIO_FLAG_NONE>;
-		pin-scl = <22>;
+		pin-scl = <&gpio0 22 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <13>;
+		pin-mosi = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-sclk = <14>;
+		pin-sclk = <&gpio0 14 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <19>;
+		pin-miso = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	// CN1 header, JST SH 1.25, GND / IO22 / IO21 / 3.3V
 	uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <22>;
+		pin-tx = <&gpio0 22 GPIO_FLAG_NONE>;
-		pin-rx = <21>;
+		pin-rx = <&gpio0 21 GPIO_FLAG_NONE>;
 	};
 };

Devices/guition-jc3248w535c/guition,jc3248w535c.dts

@@ -19,41 +19,41 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <4>;
+		pin-sda = <&gpio0 4 GPIO_FLAG_NONE>;
-		pin-scl = <8>;
+		pin-scl = <&gpio0 8 GPIO_FLAG_NONE>;
 	};
 
 	i2c_external: i2c1 {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <17>;
+		pin-sda = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-scl = <18>;
+		pin-scl = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <21>;
+		pin-mosi = <&gpio0 21 GPIO_FLAG_NONE>;
-		pin-miso = <48>;
+		pin-miso = <&gpio0 48 GPIO_FLAG_NONE>;
-		pin-sclk = <47>;
+		pin-sclk = <&gpio0 47 GPIO_FLAG_NONE>;
-		pin-wp = <40>;
+		pin-wp = <&gpio0 40 GPIO_FLAG_NONE>;
-		pin-hd = <39>;
+		pin-hd = <&gpio0 39 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <11>;
+		pin-mosi = <&gpio0 11 GPIO_FLAG_NONE>;
-		pin-miso = <13>;
+		pin-miso = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-sclk = <12>;
+		pin-sclk = <&gpio0 12 GPIO_FLAG_NONE>;
 	};
 
 	// P1 header
 	uart0 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_0>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 };

Devices/guition-jc8048w550c/guition,jc8048w550c.dts

@@ -19,30 +19,31 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <19>;
+		pin-sda = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-scl = <20>;
+		pin-scl = <&gpio0 20 GPIO_FLAG_NONE>;
 	};
 
 	i2c_external: i2c1 {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <17>;
+		pin-sda = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-scl = <18>;
+		pin-scl = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <11>;
+		pin-mosi = <&gpio0 11 GPIO_FLAG_NONE>;
-		pin-miso = <13>;
+		pin-miso = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-sclk = <12>;
+		pin-sclk = <&gpio0 12 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <18>;
+		pin-tx = <&gpio0 18 GPIO_FLAG_NONE>;
-		pin-rx = <17>;
+		pin-rx = <&gpio0 17 GPIO_FLAG_NONE>;
 	};
 };

Devices/heltec-wifi-lora-32-v3/heltec,wifi-lora-32-v3.dts

@@ -17,7 +17,7 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <200000>;
-		pin-sda = <17>;
+		pin-sda = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-scl = <18>;
+		pin-scl = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 };

Devices/lilygo-tdeck/lilygo,tdeck.dts

@@ -21,38 +21,39 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <18>;
+		pin-sda = <&gpio0 18 GPIO_FLAG_NONE>;
-		pin-scl = <8>;
+		pin-scl = <&gpio0 8 GPIO_FLAG_NONE>;
 	};
 
 	i2c_external: i2c1 {
 		compatible = "espressif,esp32-i2c";
+		status = "disabled";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <43>;
+		pin-sda = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-scl = <44>;
+		pin-scl = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 
 	i2s0 {
 		compatible = "espressif,esp32-i2s";
 		port = <I2S_NUM_0>;
-		pin-bclk = <7>;
+		pin-bclk = <&gpio0 7 GPIO_FLAG_NONE>;
-		pin-ws = <5>;
+		pin-ws = <&gpio0 5 GPIO_FLAG_NONE>;
-		pin-data-out = <6>;
+		pin-data-out = <&gpio0 6 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <41>;
+		pin-mosi = <&gpio0 41 GPIO_FLAG_NONE>;
-		pin-miso = <38>;
+		pin-miso = <&gpio0 38 GPIO_FLAG_NONE>;
-		pin-sclk = <40>;
+		pin-sclk = <&gpio0 40 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 };

Devices/lilygo-tdisplay-s3/lilygo,tdisplay-s3.dts

@@ -17,7 +17,7 @@
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <7>;
+		pin-mosi = <&gpio0 7 GPIO_FLAG_NONE>;
-		pin-sclk = <6>;
+		pin-sclk = <&gpio0 6 GPIO_FLAG_NONE>;
 	};
 };

Devices/lilygo-tdisplay/lilygo,tdisplay.dts

@@ -17,7 +17,7 @@
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <19>;
+		pin-mosi = <&gpio0 19 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 };

Devices/lilygo-tdongle-s3/lilygo,tdongle-s3.dts

@@ -19,21 +19,21 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <44>;
+		pin-sda = <&gpio0 44 GPIO_FLAG_NONE>;
-		pin-scl = <43>;
+		pin-scl = <&gpio0 43 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <3>;
+		pin-mosi = <&gpio0 3 GPIO_FLAG_NONE>;
-		pin-sclk = <5>;
+		pin-sclk = <&gpio0 5 GPIO_FLAG_NONE>;
 	};
 
 	stemma_qt: uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 };

Devices/lilygo-tlora-pager/lilygo,tlora-pager.dts

@@ -21,16 +21,16 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <100000>;
-		pin-sda = <3>;
+		pin-sda = <&gpio0 3 GPIO_FLAG_NONE>;
-		pin-scl = <2>;
+		pin-scl = <&gpio0 2 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <34>;
+		pin-mosi = <&gpio0 34 GPIO_FLAG_NONE>;
-		pin-miso = <33>;
+		pin-miso = <&gpio0 33 GPIO_FLAG_NONE>;
-		pin-sclk = <35>;
+		pin-sclk = <&gpio0 35 GPIO_FLAG_NONE>;
 	};
 
 	// ES8311
@@ -38,24 +38,24 @@
 	i2s0 {
 		compatible = "espressif,esp32-i2s";
 		port = <I2S_NUM_0>;
-		pin-bclk = <11>;
+		pin-bclk = <&gpio0 11 GPIO_FLAG_NONE>;
-		pin-ws = <18>;
+		pin-ws = <&gpio0 18 GPIO_FLAG_NONE>;
-		pin-data-out = <45>;
+		pin-data-out = <&gpio0 45 GPIO_FLAG_NONE>;
-		pin-data-in = <17>;
+		pin-data-in = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-mclk = <10>;
+		pin-mclk = <&gpio0 10 GPIO_FLAG_NONE>;
 	};
 
 	uart_internal: uart0 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_0>;
-		pin-tx = <12>;
+		pin-tx = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-rx = <4>;
+		pin-rx = <&gpio0 4 GPIO_FLAG_NONE>;
 	};
 
 	uart_external: uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 };

Devices/m5stack-cardputer-adv/m5stack,cardputer-adv.dts

@@ -21,47 +21,48 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <8>;
+		pin-sda = <&gpio0 8 GPIO_FLAG_NONE>;
-		pin-scl = <9>;
+		pin-scl = <&gpio0 9 GPIO_FLAG_NONE>;
 	};
 
 	i2c_port_a {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <2>;
+		pin-sda = <&gpio0 2 GPIO_FLAG_NONE>;
-		pin-scl = <1>;
+		pin-scl = <&gpio0 1 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <35>;
+		pin-mosi = <&gpio0 35 GPIO_FLAG_NONE>;
-		pin-sclk = <36>;
+		pin-sclk = <&gpio0 36 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <14>;
+		pin-mosi = <&gpio0 14 GPIO_FLAG_NONE>;
-		pin-miso = <39>;
+		pin-miso = <&gpio0 39 GPIO_FLAG_NONE>;
-		pin-sclk = <40>;
+		pin-sclk = <&gpio0 40 GPIO_FLAG_NONE>;
 	};
 
 	// Speaker and microphone (ES8311)
 	i2s0 {
 		compatible = "espressif,esp32-i2s";
 		port = <I2S_NUM_0>;
-		pin-bclk = <41>;
+		pin-bclk = <&gpio0 41 GPIO_FLAG_NONE>;
-		pin-ws = <43>;
+		pin-ws = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-data-out = <42>;
+		pin-data-out = <&gpio0 42 GPIO_FLAG_NONE>;
-		pin-data-in = <46>;
+		pin-data-in = <&gpio0 46 GPIO_FLAG_NONE>;
 	};
 
 	uart_port_a: uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <1>;
+		pin-tx = <&gpio0 1 GPIO_FLAG_NONE>;
-		pin-rx = <2>;
+		pin-rx = <&gpio0 2 GPIO_FLAG_NONE>;
 	};
 };

Devices/m5stack-cardputer/m5stack,cardputer.dts

@@ -21,23 +21,23 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <2>;
+		pin-sda = <&gpio0 2 GPIO_FLAG_NONE>;
-		pin-scl = <1>;
+		pin-scl = <&gpio0 1 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <35>;
+		pin-mosi = <&gpio0 35 GPIO_FLAG_NONE>;
-		pin-sclk = <36>;
+		pin-sclk = <&gpio0 36 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <14>;
+		pin-mosi = <&gpio0 14 GPIO_FLAG_NONE>;
-		pin-miso = <39>;
+		pin-miso = <&gpio0 39 GPIO_FLAG_NONE>;
-		pin-sclk = <40>;
+		pin-sclk = <&gpio0 40 GPIO_FLAG_NONE>;
 	};
 
 	// Speaker and microphone
@@ -45,16 +45,17 @@
 	i2s0 {
 		compatible = "espressif,esp32-i2s";
 		port = <I2S_NUM_0>;
-		pin-bclk = <41>;
+		pin-bclk = <&gpio0 41 GPIO_FLAG_NONE>;
-		pin-ws = <43>;
+		pin-ws = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-data-out = <42>;
+		pin-data-out = <&gpio0 42 GPIO_FLAG_NONE>;
-		pin-data-in = <46>;
+		pin-data-in = <&gpio0 46 GPIO_FLAG_NONE>;
 	};
 
 	uart_port_a: uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <1>;
+		pin-tx = <&gpio0 1 GPIO_FLAG_NONE>;
-		pin-rx = <2>;
+		pin-rx = <&gpio0 2 GPIO_FLAG_NONE>;
 	};
 };

Devices/m5stack-core2/m5stack,core2.dts

@@ -21,24 +21,24 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <21>;
+		pin-sda = <&gpio0 21 GPIO_FLAG_NONE>;
-		pin-scl = <22>;
+		pin-scl = <&gpio0 22 GPIO_FLAG_NONE>;
 	};
 
 	i2c_port_a {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <32>;
+		pin-sda = <&gpio0 32 GPIO_FLAG_NONE>;
-		pin-scl = <33>;
+		pin-scl = <&gpio0 33 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <23>;
+		pin-mosi = <&gpio0 23 GPIO_FLAG_NONE>;
-		pin-miso = <38>;
+		pin-miso = <&gpio0 38 GPIO_FLAG_NONE>;
-		pin-sclk = <18>;
+		pin-sclk = <&gpio0 18 GPIO_FLAG_NONE>;
 	};
 
 	// NS4168: Speaker and microphone
@@ -46,16 +46,17 @@
 	i2s0 {
 		compatible = "espressif,esp32-i2s";
 		port = <I2S_NUM_0>;
-		pin-bclk = <12>;
+		pin-bclk = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-ws = <0>;
+		pin-ws = <&gpio0 0 GPIO_FLAG_NONE>;
-		pin-data-out = <2>;
+		pin-data-out = <&gpio0 2 GPIO_FLAG_NONE>;
-		pin-data-in = <34>;
+		pin-data-in = <&gpio0 34 GPIO_FLAG_NONE>;
 	};
 
 	uart_port_a: uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <33>;
+		pin-tx = <&gpio0 33 GPIO_FLAG_NONE>;
-		pin-rx = <32>;
+		pin-rx = <&gpio0 32 GPIO_FLAG_NONE>;
 	};
 };

Devices/m5stack-cores3/m5stack,cores3.dts

@@ -21,40 +21,42 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <12>;
+		pin-sda = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-scl = <11>;
+		pin-scl = <&gpio0 11 GPIO_FLAG_NONE>;
 	};
 
 	i2c_port_a {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <2>;
+		pin-sda = <&gpio0 2 GPIO_FLAG_NONE>;
-		pin-scl = <1>;
+		pin-scl = <&gpio0 1 GPIO_FLAG_NONE>;
 	};
-/*
+
 	i2c_port_b {
 		compatible = "espressif,esp32-i2c";
+		status = "disabled";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <9>;
+		pin-sda = <&gpio0 9 GPIO_FLAG_NONE>;
-		pin-scl = <8>;
+		pin-scl = <&gpio0 8 GPIO_FLAG_NONE>;
 	};
 
 	i2c_port_c {
 		compatible = "espressif,esp32-i2c";
+		status = "disabled";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <18>;
+		pin-sda = <&gpio0 18 GPIO_FLAG_NONE>;
-		pin-scl = <17>;
+		pin-scl = <&gpio0 17 GPIO_FLAG_NONE>;
 	};
-*/
+
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <37>;
+		pin-mosi = <&gpio0 37 GPIO_FLAG_NONE>;
-		pin-miso = <35>;
+		pin-miso = <&gpio0 35 GPIO_FLAG_NONE>;
-		pin-sclk = <36>;
+		pin-sclk = <&gpio0 36 GPIO_FLAG_NONE>;
 	};
 
 	// TODO: Enable speaker via ES7210 I2C: https://github.com/m5stack/M5Unified/blob/a6256725481f1bc366655fa48cf03b6095e30ad1/src/M5Unified.cpp#L417
@@ -64,17 +66,18 @@
 		// Note: M5Unified sets the following for microphone: magnification = 4
 		compatible = "espressif,esp32-i2s";
 		port = <I2S_NUM_0>;
-		pin-bclk = <34>;
+		pin-bclk = <&gpio0 34 GPIO_FLAG_NONE>;
-		pin-ws = <33>;
+		pin-ws = <&gpio0 33 GPIO_FLAG_NONE>;
-		pin-data-out = <13>;
+		pin-data-out = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-data-in = <14>;
+		pin-data-in = <&gpio0 14 GPIO_FLAG_NONE>;
-		pin-mclk = <0>;
+		pin-mclk = <&gpio0 0 GPIO_FLAG_NONE>;
 	};
 
 	uart_port_a: uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <1>;
+		pin-tx = <&gpio0 1 GPIO_FLAG_NONE>;
-		pin-rx = <2>;
+		pin-rx = <&gpio0 2 GPIO_FLAG_NONE>;
 	};
 };

Devices/m5stack-papers3/m5stack,papers3.dts

@@ -18,16 +18,16 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <41>;
+		pin-sda = <&gpio0 41 GPIO_FLAG_NONE>;
-		pin-scl = <42>;
+		pin-scl = <&gpio0 42 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <38>;
+		pin-mosi = <&gpio0 38 GPIO_FLAG_NONE>;
-		pin-miso = <40>;
+		pin-miso = <&gpio0 40 GPIO_FLAG_NONE>;
-		pin-sclk = <39>;
+		pin-sclk = <&gpio0 39 GPIO_FLAG_NONE>;
 		max-transfer-size = <4096>;
 	};
 };

Devices/m5stack-stickc-plus/m5stack,stickc-plus.dts

@@ -19,29 +19,30 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <21>;
+		pin-sda = <&gpio0 21 GPIO_FLAG_NONE>;
-		pin-scl = <22>;
+		pin-scl = <&gpio0 22 GPIO_FLAG_NONE>;
 	};
 
 	i2c_grove {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <32>;
+		pin-sda = <&gpio0 32 GPIO_FLAG_NONE>;
-		pin-scl = <33>;
+		pin-scl = <&gpio0 33 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <15>;
+		pin-mosi = <&gpio0 15 GPIO_FLAG_NONE>;
-		pin-sclk = <13>;
+		pin-sclk = <&gpio0 13 GPIO_FLAG_NONE>;
 	};
 
 	uart_grove: uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <33>;
+		pin-tx = <&gpio0 33 GPIO_FLAG_NONE>;
-		pin-rx = <32>;
+		pin-rx = <&gpio0 32 GPIO_FLAG_NONE>;
 	};
 };

Devices/m5stack-stickc-plus2/m5stack,stickc-plus2.dts

@@ -18,29 +18,30 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <21>;
+		pin-sda = <&gpio0 21 GPIO_FLAG_NONE>;
-		pin-scl = <22>;
+		pin-scl = <&gpio0 22 GPIO_FLAG_NONE>;
 	};
 
 	i2c_grove {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <32>;
+		pin-sda = <&gpio0 32 GPIO_FLAG_NONE>;
-		pin-scl = <33>;
+		pin-scl = <&gpio0 33 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <15>;
+		pin-mosi = <&gpio0 15 GPIO_FLAG_NONE>;
-		pin-sclk = <13>;
+		pin-sclk = <&gpio0 13 GPIO_FLAG_NONE>;
 	};
 
 	uart_grove: uart1 {
 		compatible = "espressif,esp32-uart";
+		status = "disabled";
 		port = <UART_NUM_1>;
-		pin-tx = <33>;
+		pin-tx = <&gpio0 33 GPIO_FLAG_NONE>;
-		pin-rx = <32>;
+		pin-rx = <&gpio0 32 GPIO_FLAG_NONE>;
 	};
 };

Devices/m5stack-tab5/m5stack,tab5.dts

@@ -18,23 +18,23 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <31>;
+		pin-sda = <&gpio0 31 GPIO_FLAG_NONE>;
-		pin-scl = <32>;
+		pin-scl = <&gpio0 32 GPIO_FLAG_NONE>;
 	};
 
 	i2c_port_a {
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_1>;
 		clock-frequency = <400000>;
-		pin-sda = <53>;
+		pin-sda = <&gpio0 53 GPIO_FLAG_NONE>;
-		pin-scl = <54>;
+		pin-scl = <&gpio0 54 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <44>;
+		pin-mosi = <&gpio0 44 GPIO_FLAG_NONE>;
-		pin-miso = <39>;
+		pin-miso = <&gpio0 39 GPIO_FLAG_NONE>;
-		pin-sclk = <43>;
+		pin-sclk = <&gpio0 43 GPIO_FLAG_NONE>;
 	};
 };

Devices/unphone/unphone.dts

@@ -18,16 +18,16 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <3>;
+		pin-sda = <&gpio0 3 GPIO_FLAG_NONE>;
-		pin-scl = <4>;
+		pin-scl = <&gpio0 4 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <40>;
+		pin-mosi = <&gpio0 40 GPIO_FLAG_NONE>;
-		pin-miso = <41>;
+		pin-miso = <&gpio0 41 GPIO_FLAG_NONE>;
-		pin-sclk = <39>;
+		pin-sclk = <&gpio0 39 GPIO_FLAG_NONE>;
 		max-transfer-size = <65536>;
 	};
 };

Devices/waveshare-esp32-s3-geek/waveshare,esp32-s3-geek.dts

@@ -19,21 +19,21 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <16>;
+		pin-sda = <&gpio0 16 GPIO_FLAG_NONE>;
-		pin-scl = <17>;
+		pin-scl = <&gpio0 17 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <11>;
+		pin-mosi = <&gpio0 11 GPIO_FLAG_NONE>;
-		pin-sclk = <12>;
+		pin-sclk = <&gpio0 12 GPIO_FLAG_NONE>;
 	};
 
 	uart0 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_0>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 };

Devices/waveshare-s3-lcd-13/waveshare,s3-lcd-13.dts

@@ -19,22 +19,22 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <47>;
+		pin-sda = <&gpio0 47 GPIO_FLAG_NONE>;
-		pin-scl = <48>;
+		pin-scl = <&gpio0 48 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <41>;
+		pin-mosi = <&gpio0 41 GPIO_FLAG_NONE>;
-		pin-sclk = <40>;
+		pin-sclk = <&gpio0 40 GPIO_FLAG_NONE>;
 	};
 
 	spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <18>;
+		pin-mosi = <&gpio0 18 GPIO_FLAG_NONE>;
-		pin-miso = <16>;
+		pin-miso = <&gpio0 16 GPIO_FLAG_NONE>;
-		pin-sclk = <21>;
+		pin-sclk = <&gpio0 21 GPIO_FLAG_NONE>;
 	};
 };

Devices/waveshare-s3-touch-lcd-128/waveshare,s3-touch-lcd-128.dts

@@ -19,23 +19,23 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <6>;
+		pin-sda = <&gpio0 6 GPIO_FLAG_NONE>;
-		pin-scl = <7>;
+		pin-scl = <&gpio0 7 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <11>;
+		pin-mosi = <&gpio0 11 GPIO_FLAG_NONE>;
-		pin-miso = <12>;
+		pin-miso = <&gpio0 12 GPIO_FLAG_NONE>;
-		pin-sclk = <10>;
+		pin-sclk = <&gpio0 10 GPIO_FLAG_NONE>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <16>;
+		pin-mosi = <&gpio0 16 GPIO_FLAG_NONE>;
-		pin-miso = <15>;
+		pin-miso = <&gpio0 15 GPIO_FLAG_NONE>;
-		pin-sclk = <17>;
+		pin-sclk = <&gpio0 17 GPIO_FLAG_NONE>;
 	};
 };

Devices/waveshare-s3-touch-lcd-147/waveshare,s3-touch-lcd-147.dts

@@ -19,23 +19,22 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <42>;
+		pin-sda = <&gpio0 42 GPIO_FLAG_NONE>;
-		pin-scl = <41>;
+		pin-scl = <&gpio0 41 GPIO_FLAG_NONE>;
 	};
 
 	display_spi: spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <39>;
+		pin-mosi = <&gpio0 39 GPIO_FLAG_NONE>;
-		pin-miso = <GPIO_PIN_NONE>;
+		pin-sclk = <&gpio0 38 GPIO_FLAG_NONE>;
-		pin-sclk = <38>;
 	};
 
 	sdcard_spi: spi1 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI3_HOST>;
-		pin-mosi = <15>;
+		pin-mosi = <&gpio0 15 GPIO_FLAG_NONE>;
-		pin-miso = <17>;
+		pin-miso = <&gpio0 17 GPIO_FLAG_NONE>;
-		pin-sclk = <16>;
+		pin-sclk = <&gpio0 16 GPIO_FLAG_NONE>;
 	};
 };

Devices/waveshare-s3-touch-lcd-43/waveshare,s3-touch-lcd-43.dts

@@ -19,22 +19,22 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <8>;
+		pin-sda = <&gpio0 8 GPIO_FLAG_NONE>;
-		pin-scl = <9>;
+		pin-scl = <&gpio0 9 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <11>;
+		pin-mosi = <&gpio0 11 GPIO_FLAG_NONE>;
-		pin-miso = <13>;
+		pin-miso = <&gpio0 13 GPIO_FLAG_NONE>;
-		pin-sclk = <12>;
+		pin-sclk = <&gpio0 12 GPIO_FLAG_NONE>;
 	};
 
 	uart1 {
 		compatible = "espressif,esp32-uart";
 		port = <UART_NUM_1>;
-		pin-tx = <43>;
+		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
-		pin-rx = <44>;
+		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
 	};
 };

Devices/wireless-tag-wt32-sc01-plus/wireless-tag,wt32-sc01-plus.dts

@@ -18,15 +18,15 @@
 		compatible = "espressif,esp32-i2c";
 		port = <I2C_NUM_0>;
 		clock-frequency = <400000>;
-		pin-sda = <6>;
+		pin-sda = <&gpio0 6 GPIO_FLAG_NONE>;
-		pin-scl = <5>;
+		pin-scl = <&gpio0 5 GPIO_FLAG_NONE>;
 	};
 
 	spi0 {
 		compatible = "espressif,esp32-spi";
 		host = <SPI2_HOST>;
-		pin-mosi = <40>;
+		pin-mosi = <&gpio0 40 GPIO_FLAG_NONE>;
-		pin-miso = <38>;
+		pin-miso = <&gpio0 38 GPIO_FLAG_NONE>;
-		pin-sclk = <39>;
+		pin-sclk = <&gpio0 39 GPIO_FLAG_NONE>;
 	};
 };

Firmware/CMakeLists.txt

@@ -53,7 +53,7 @@ add_custom_command(
         "${GENERATED_DIR}/devicetree.h"
     COMMAND pip install lark==1.3.1 pyyaml==6.0.3
     COMMAND python "${CMAKE_SOURCE_DIR}/Buildscripts/DevicetreeCompiler/compile.py"
-    "${DEVICETREE_LOCATION}" "${GENERATED_DIR}"
+        "${DEVICETREE_LOCATION}" "${GENERATED_DIR}"
     WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
     DEPENDS AlwaysRun "${DEVICETREE_LOCATION}/devicetree.yaml" # AlwaysRun ensures it always gets built
     COMMENT "Generating devicetree source files..."

Firmware/Source/Main.cpp

@@ -32,7 +32,7 @@ void app_main() {
     tt_init_tactility_c(); // ELF bindings for side-loading on ESP32
 #endif
 
-    tt::run(config, &platform_module, &device_module, devicetree_devices);
+    tt::run(config, &platform_module, &device_module, dts_devices);
 }
 
 } // extern

Platforms/PlatformEsp32/Bindings/espressif,esp32-i2c.yaml

@@ -16,14 +16,8 @@ properties:
     required: true
     description: Initial clock frequency in Hz
   pin-sda:
-    type: int
+    type: phandle-array
     required: true
   pin-scl:
-    type: int
+    type: phandle-array
     required: true
-  pin-sda-pull-up:
-    type: bool
-    description: enable internal pull-up resistor for SDA pin
-  pin-scl-pull-up:
-    type: bool
-    description: enable internal pull-up resistor for SCL pin

Platforms/PlatformEsp32/Bindings/espressif,esp32-i2s.yaml

@@ -12,23 +12,22 @@ properties:
       The port number, defined by i2s_port_t.
       Depending on the hardware, these values are available: I2S_NUM_0, I2S_NUM_1
   pin-bclk:
-    type: int
+    type: phandle-array
     required: true
-    description: BCK pin
+    description: Bit clock pin
   pin-ws:
-    type: int
+    type: phandle-array
     required: true
-    description: WS pin
+    description: Word (slot) select pin
   pin-data-out:
-    type: int
+    type: phandle-array
-    default: GPIO_PIN_NONE
+    default: GPIO_PIN_SPEC_NONE
-    description: DATA OUT pin
+    description: Data output pin
   pin-data-in:
-    type: int
+    type: phandle-array
-    default: GPIO_PIN_NONE
+    default: GPIO_PIN_SPEC_NONE
-    description: DATA IN pin
+    description: Data input pin
   pin-mclk:
-    type: int
+    type: phandle-array
-    required: false
+    default: GPIO_PIN_SPEC_NONE
-    default: GPIO_PIN_NONE
+    description: Master clock pin
-    description: MCLK pin

Platforms/PlatformEsp32/Bindings/espressif,esp32-spi.yaml

@@ -11,25 +11,24 @@ properties:
     description: |
       The SPI host (controller) to use.
       Defined by spi_host_device_t (e.g. SPI2_HOST, SPI3_HOST).
+  pin-sclk:
+    type: phandle-array
+    default: GPIO_PIN_SPEC_NONE
   pin-mosi:
-    type: int
+    type: phandle-array
-    default: GPIO_PIN_NONE
+    default: GPIO_PIN_SPEC_NONE
     description: MOSI (Data 0) pin
   pin-miso:
-    type: int
+    type: phandle-array
-    default: GPIO_PIN_NONE
+    default: GPIO_PIN_SPEC_NONE
     description: MISO (Data 1) pin
-  pin-sclk:
-    type: int
-    required: true
-    description: Clock pin
   pin-wp:
-    type: int
+    type: phandle-array
-    default: GPIO_PIN_NONE
+    default: GPIO_PIN_SPEC_NONE
     description: WP (Data 2) pin
   pin-hd:
-    type: int
+    type: phandle-array
-    default: GPIO_PIN_NONE
+    default: GPIO_PIN_SPEC_NONE
     description: HD (Data 3) pin
   max-transfer-size:
     type: int

Platforms/PlatformEsp32/Bindings/espressif,esp32-uart.yaml

@@ -12,18 +12,18 @@ properties:
       The port number, defined by uart_port_t.
       Depending on the hardware, these values are available: UART_NUM_0, UART_NUM_1, UART_NUM_2
   pin-tx:
-    type: int
+    type: phandle-array
     required: true
     description: TX pin
   pin-rx:
-    type: int
+    type: phandle-array
     required: true
     description: RX pin
   pin-cts:
-    type: int
+    type: phandle-array
-    default: GPIO_PIN_NONE
+    default: GPIO_PIN_SPEC_NONE
     description: CTS pin
   pin-rts:
-    type: int
+    type: phandle-array
-    default: GPIO_PIN_NONE
+    default: GPIO_PIN_SPEC_NONE
     description: RTS pin

Platforms/PlatformEsp32/CMakeLists.txt

@@ -5,5 +5,6 @@ file(GLOB_RECURSE SOURCES "Source/*.c**")
 idf_component_register(
     SRCS ${SOURCES}
     INCLUDE_DIRS "Include/"
+    PRIV_INCLUDE_DIRS "Private/"
     REQUIRES TactilityKernel driver
 )

Platforms/PlatformEsp32/Include/tactility/bindings/esp32_gpio.h

@@ -9,6 +9,16 @@
 extern "C" {
 #endif
 
+#define GPIO_ACTIVE_HIGH GPIO_FLAG_ACTIVE_HIGH
+#define GPIO_ACTIVE_LOW GPIO_FLAG_ACTIVE_LOW
+
+#define GPIO_DIRECTION_INPUT GPIO_FLAG_DIRECTION_INPUT
+#define GPIO_DIRECTION_OUTPUT GPIO_FLAG_DIRECTION_OUTPUT
+#define GPIO_DIRECTION_INPUT_OUTPUT GPIO_FLAG_DIRECTION_INPUT_OUTPUT
+
+#define GPIO_PULL_UP GPIO_FLAG_PULL_UP
+#define GPIO_PULL_DOWN GPIO_FLAG_PULL_DOWN
+
 DEFINE_DEVICETREE(esp32_gpio, struct Esp32GpioConfig)
 
 #ifdef __cplusplus

Platforms/PlatformEsp32/Include/tactility/bindings/esp32_i2s.h

@@ -3,6 +3,7 @@
 
 #include <tactility/bindings/bindings.h>
 #include <tactility/drivers/esp32_i2s.h>
+#include <tactility/drivers/esp32_gpio.h>
 #include <driver/i2s_common.h>
 
 #ifdef __cplusplus

Platforms/PlatformEsp32/Include/tactility/drivers/esp32_i2c.h

@@ -11,13 +11,10 @@ extern "C" {
 struct Esp32I2cConfig {
     i2c_port_t port;
     uint32_t clockFrequency;
-    gpio_pin_t pinSda;
+    struct GpioPinSpec pinSda;
-    gpio_pin_t pinScl;
+    struct GpioPinSpec pinScl;
-    bool pinSdaPullUp;
-    bool pinSclPullUp;
 };
 
-
 #ifdef __cplusplus
 }
 #endif

Platforms/PlatformEsp32/Include/tactility/drivers/esp32_i2s.h

@@ -2,6 +2,7 @@
 #pragma once
 
 #include <tactility/drivers/i2s_controller.h>
+#include <tactility/drivers/gpio.h>
 #include <driver/i2s_common.h>
 
 #ifdef __cplusplus
@@ -10,11 +11,11 @@ extern "C" {
 
 struct Esp32I2sConfig {
     i2s_port_t port;
-    int pin_bclk;
+    struct GpioPinSpec pin_bclk;
-    int pin_ws;
+    struct GpioPinSpec pin_ws;
-    int pin_data_out;
+    struct GpioPinSpec pin_data_out;
-    int pin_data_in;
+    struct GpioPinSpec pin_data_in;
-    int pin_mclk;
+    struct GpioPinSpec pin_mclk;
 };
 
 #ifdef __cplusplus

Platforms/PlatformEsp32/Include/tactility/drivers/esp32_spi.h

@@ -3,6 +3,7 @@
 
 #include <driver/spi_common.h>
 #include <tactility/drivers/spi_controller.h>
+#include <tactility/drivers/gpio.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -10,16 +11,16 @@ extern "C" {
 
 struct Esp32SpiConfig {
     spi_host_device_t host;
-    /** Data 0 pin */
-    int pin_mosi;
-    /** Data 1 pin */
-    int pin_miso;
     /** Clock pin */
-    int pin_sclk;
+    struct GpioPinSpec pin_sclk;
+    /** Data 0 pin */
+    struct GpioPinSpec pin_mosi;
+    /** Data 1 pin */
+    struct GpioPinSpec pin_miso;
     /** Data 2 pin */
-    int pin_wp;
+    struct GpioPinSpec pin_wp;
     /** Data 3 pin */
-    int pin_hd;
+    struct GpioPinSpec pin_hd;
     /** Data transfer size limit in bytes. 0 means the platform decides the limit. */
     int max_transfer_size;
 };

Platforms/PlatformEsp32/Include/tactility/drivers/esp32_uart.h

@@ -3,6 +3,7 @@
 
 #include <driver/uart.h>
 #include <tactility/drivers/uart_controller.h>
+#include <tactility/drivers/gpio.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -10,10 +11,10 @@ extern "C" {
 
 struct Esp32UartConfig {
     uart_port_t port;
-    int pinTx;
+    struct GpioPinSpec pin_tx;
-    int pinRx;
+    struct GpioPinSpec pin_rx;
-    int pinCts;
+    struct GpioPinSpec pin_cts;
-    int pinRts;
+    struct GpioPinSpec pin_rts;
 };
 
 #ifdef __cplusplus

Platforms/PlatformEsp32/Private/tactility/drivers/esp32_gpio_helpers.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <tactility/drivers/gpio_descriptor.h>
+
+#include <driver/gpio.h>
+
+/**
+ * Releases the given pin descriptor and sets the pointer value to NULL.
+ * If the descriptor pointer is null, do nothing.
+ */
+void release_pin(GpioDescriptor** gpio_descriptor);
+
+/**
+ * Acquires the pin descriptor for the given pin spec.
+ * If the pin spec is invalid, the pointer is set to null.
+ * @return true if the pin was acquired successfully
+ */
+bool acquire_pin_or_set_null(const GpioPinSpec& pin_spec, GpioDescriptor** gpio_descriptor);
+
+/**
+ * Safely acquire the native pin value.
+ * Set to GPIO_NUM_NC if the descriptor is null.
+ * @param[in] descriptor Pin descriptor to acquire
+ * @return Native pin number
+ */
+gpio_num_t get_native_pin(GpioDescriptor* descriptor);
+
+/**
+ * Returns true if the given pin is inverted.
+ * @param[in] descriptor Pin descriptor to check, nullable
+ */
+bool is_pin_inverted(GpioDescriptor* descriptor);

Platforms/PlatformEsp32/Source/drivers/esp32_gpio.cpp

@@ -8,6 +8,7 @@
 #include <tactility/log.h>
 #include <tactility/drivers/gpio.h>
 #include <tactility/drivers/gpio_controller.h>
+#include <tactility/drivers/gpio_descriptor.h>
 
 #define TAG "esp32_gpio"
 
@@ -15,40 +16,40 @@
 
 extern "C" {
 
-static error_t set_level(Device* device, gpio_pin_t pin, bool high) {
+static error_t set_level(GpioDescriptor* descriptor, bool high) {
-    auto esp_error = gpio_set_level(static_cast<gpio_num_t>(pin), high);
+    auto esp_error = gpio_set_level(static_cast<gpio_num_t>(descriptor->pin), high);
     return esp_err_to_error(esp_error);
 }
 
-static error_t get_level(Device* device, gpio_pin_t pin, bool* high) {
+static error_t get_level(GpioDescriptor* descriptor, bool* high) {
-    *high = gpio_get_level(static_cast<gpio_num_t>(pin)) != 0;
+    *high = gpio_get_level(static_cast<gpio_num_t>(descriptor->pin)) != 0;
     return ERROR_NONE;
 }
 
-static error_t set_options(Device* device, gpio_pin_t pin, gpio_flags_t options) {
+static error_t set_flags(GpioDescriptor* descriptor, gpio_flags_t flags) {
-    const Esp32GpioConfig* config = GET_CONFIG(device);
+    const Esp32GpioConfig* config = GET_CONFIG(descriptor->controller);
 
-    if (pin >= config->gpioCount) {
+    if (descriptor->pin >= config->gpioCount) {
         return ERROR_INVALID_ARGUMENT;
     }
 
     gpio_mode_t mode;
-    if ((options & GPIO_DIRECTION_INPUT_OUTPUT) == GPIO_DIRECTION_INPUT_OUTPUT) {
+    if ((flags & GPIO_FLAG_DIRECTION_INPUT_OUTPUT) == GPIO_FLAG_DIRECTION_INPUT_OUTPUT) {
         mode = GPIO_MODE_INPUT_OUTPUT;
-    } else if (options & GPIO_DIRECTION_INPUT) {
+    } else if (flags & GPIO_FLAG_DIRECTION_INPUT) {
         mode = GPIO_MODE_INPUT;
-    } else if (options & GPIO_DIRECTION_OUTPUT) {
+    } else if (flags & GPIO_FLAG_DIRECTION_OUTPUT) {
         mode = GPIO_MODE_OUTPUT;
     } else {
         return ERROR_INVALID_ARGUMENT;
     }
 
     const gpio_config_t esp_config = {
-        .pin_bit_mask = 1ULL << pin,
+        .pin_bit_mask = 1ULL << descriptor->pin,
         .mode = mode,
-        .pull_up_en = (options & GPIO_PULL_UP) ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
+        .pull_up_en = (flags & GPIO_FLAG_PULL_UP) ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
-        .pull_down_en = (options & GPIO_PULL_DOWN) ? GPIO_PULLDOWN_ENABLE : GPIO_PULLDOWN_DISABLE,
+        .pull_down_en = (flags & GPIO_FLAG_PULL_DOWN) ? GPIO_PULLDOWN_ENABLE : GPIO_PULLDOWN_DISABLE,
-        .intr_type = GPIO_INTERRUPT_FROM_OPTIONS(options),
+        .intr_type = GPIO_FLAG_INTERRUPT_FROM_OPTIONS(flags),
 #if SOC_GPIO_SUPPORT_PIN_HYS_FILTER
         .hys_ctrl_mode = GPIO_HYS_SOFT_DISABLE
 #endif
@@ -58,59 +59,61 @@ static error_t set_options(Device* device, gpio_pin_t pin, gpio_flags_t options)
     return esp_err_to_error(esp_error);
 }
 
-static int get_options(Device* device, gpio_pin_t pin, gpio_flags_t* options) {
+static error_t get_flags(GpioDescriptor* descriptor, gpio_flags_t* flags) {
     gpio_io_config_t esp_config;
-    if (gpio_get_io_config(static_cast<gpio_num_t>(pin), &esp_config) != ESP_OK) {
+    if (gpio_get_io_config(static_cast<gpio_num_t>(descriptor->pin), &esp_config) != ESP_OK) {
         return ERROR_RESOURCE;
     }
 
     gpio_flags_t output = 0;
 
     if (esp_config.pu) {
-        output |= GPIO_PULL_UP;
+        output |= GPIO_FLAG_PULL_UP;
     }
 
     if (esp_config.pd) {
-        output |= GPIO_PULL_DOWN;
+        output |= GPIO_FLAG_PULL_DOWN;
     }
 
     if (esp_config.ie) {
-        output |= GPIO_DIRECTION_INPUT;
+        output |= GPIO_FLAG_DIRECTION_INPUT;
     }
 
     if (esp_config.oe) {
-        output |= GPIO_DIRECTION_OUTPUT;
+        output |= GPIO_FLAG_DIRECTION_OUTPUT;
     }
 
     if (esp_config.oe_inv) {
-        output |= GPIO_ACTIVE_LOW;
+        output |= GPIO_FLAG_ACTIVE_LOW;
     }
 
-    *options = output;
+    *flags = output;
     return ERROR_NONE;
 }
 
-error_t get_pin_count(struct Device* device, uint32_t* count) {
+static error_t get_native_pin_number(GpioDescriptor* descriptor, void* pin_number) {
-    *count = GET_CONFIG(device)->gpioCount;
+    auto* esp_pin_number = reinterpret_cast<gpio_num_t*>(pin_number);
+    *esp_pin_number = static_cast<gpio_num_t>(descriptor->pin);
     return ERROR_NONE;
 }
 
 static error_t start(Device* device) {
     ESP_LOGI(TAG, "start %s", device->name);
-    return ERROR_NONE;
+    auto pin_count = GET_CONFIG(device)->gpioCount;
+    return gpio_controller_init_descriptors(device, pin_count, nullptr);
 }
 
 static error_t stop(Device* device) {
     ESP_LOGI(TAG, "stop %s", device->name);
-    return ERROR_NONE;
+    return gpio_controller_deinit_descriptors(device);
 }
 
 const static GpioControllerApi esp32_gpio_api  = {
     .set_level = set_level,
     .get_level = get_level,
-    .set_options = set_options,
+    .set_flags = set_flags,
-    .get_options = get_options,
+    .get_flags = get_flags,
-    .get_pin_count = get_pin_count
+    .get_native_pin_number = get_native_pin_number
 };
 
 extern struct Module platform_module;

Platforms/PlatformEsp32/Source/drivers/esp32_gpio_helpers.cpp

@@ -0,0 +1,40 @@
+#include <tactility/drivers/esp32_gpio_helpers.h>
+#include <tactility/drivers/gpio_controller.h>
+
+#define TAG "gpio"
+
+void release_pin(GpioDescriptor** gpio_descriptor) {
+    if (*gpio_descriptor == nullptr) return;
+    check(gpio_descriptor_release(*gpio_descriptor) == ERROR_NONE);
+    *gpio_descriptor = nullptr;
+}
+
+bool acquire_pin_or_set_null(const GpioPinSpec& pin_spec, GpioDescriptor** gpio_descriptor) {
+    if (pin_spec.gpio_controller == nullptr) {
+        *gpio_descriptor = nullptr;
+        return true;
+    }
+    *gpio_descriptor = gpio_descriptor_acquire(pin_spec.gpio_controller, pin_spec.pin, GPIO_OWNER_GPIO);
+    if (*gpio_descriptor == nullptr) {
+        LOG_E(TAG, "Failed to acquire pin %u from %s", pin_spec.pin, pin_spec.gpio_controller->name);
+    }
+
+    return *gpio_descriptor != nullptr;
+}
+
+gpio_num_t get_native_pin(GpioDescriptor* descriptor) {
+    if (descriptor != nullptr) {
+        gpio_num_t pin;
+        check(gpio_descriptor_get_native_pin_number(descriptor, &pin) == ERROR_NONE);
+        return pin;
+    } else {
+        return GPIO_NUM_NC;
+    }
+}
+
+bool is_pin_inverted(GpioDescriptor* descriptor) {
+    if (!descriptor) return false;
+    gpio_flags_t flags;
+    check(gpio_descriptor_get_flags(descriptor, &flags) == ERROR_NONE);
+    return (flags & GPIO_FLAG_ACTIVE_LOW) != 0;
+}

Platforms/PlatformEsp32/Source/drivers/esp32_i2c.cpp

@@ -1,31 +1,38 @@
 // SPDX-License-Identifier: Apache-2.0
 #include <driver/i2c.h>
 
-#include <tactility/driver.h>
+#include <new>
-#include <tactility/drivers/i2c_controller.h>
-#include <tactility/log.h>
 
-#include <tactility/time.h>
 #include <tactility/error_esp32.h>
+#include <tactility/driver.h>
+#include <tactility/drivers/gpio_controller.h>
+#include <tactility/drivers/i2c_controller.h>
 #include <tactility/drivers/esp32_i2c.h>
+#include <tactility/log.h>
+#include <tactility/time.h>
 
 #define TAG "esp32_i2c"
 #define ACK_CHECK_EN 1
 
-struct Esp32SpiInternal {
+struct Esp32I2cInternal {
-    Mutex mutex { 0 };
+    Mutex mutex {};
+    GpioDescriptor* sda_descriptor = nullptr;
+    GpioDescriptor* scl_descriptor = nullptr;
 
-    Esp32SpiInternal() {
+    Esp32I2cInternal(GpioDescriptor* sda_descriptor, GpioDescriptor* scl_descriptor) :
+        sda_descriptor(sda_descriptor),
+        scl_descriptor(scl_descriptor)
+    {
         mutex_construct(&mutex);
     }
 
-    ~Esp32SpiInternal() {
+    ~Esp32I2cInternal() {
         mutex_destruct(&mutex);
     }
 };
 
 #define GET_CONFIG(device) ((Esp32I2cConfig*)device->config)
-#define GET_DATA(device) ((Esp32SpiInternal*)device_get_driver_data(device))
+#define GET_DATA(device) ((Esp32I2cInternal*)device_get_driver_data(device))
 
 #define lock(data) mutex_lock(&data->mutex);
 #define unlock(data) mutex_unlock(&data->mutex);
@@ -149,12 +156,35 @@ static error_t start(Device* device) {
     ESP_LOGI(TAG, "start %s", device->name);
     auto dts_config = GET_CONFIG(device);
 
+    auto& sda_spec = dts_config->pinSda;
+    auto& scl_spec = dts_config->pinScl;
+    auto* sda_descriptor = gpio_descriptor_acquire(sda_spec.gpio_controller, sda_spec.pin, GPIO_OWNER_GPIO);
+    if (!sda_descriptor) {
+        LOG_E(TAG, "Failed to acquire pin %u", sda_spec.pin);
+        return ERROR_RESOURCE;
+    }
+
+    auto* scl_descriptor = gpio_descriptor_acquire(scl_spec.gpio_controller, scl_spec.pin, GPIO_OWNER_GPIO);
+    if (!scl_descriptor) {
+        LOG_E(TAG, "Failed to acquire pin %u", scl_spec.pin);
+        gpio_descriptor_release(sda_descriptor);
+        return ERROR_RESOURCE;
+    }
+
+    gpio_num_t sda_pin, scl_pin;
+    check(gpio_descriptor_get_native_pin_number(sda_descriptor, &sda_pin) == ERROR_NONE);
+    check(gpio_descriptor_get_native_pin_number(scl_descriptor, &scl_pin) == ERROR_NONE);
+
+    gpio_flags_t sda_flags, scl_flags;
+    check(gpio_descriptor_get_flags(sda_descriptor, &sda_flags) == ERROR_NONE);
+    check(gpio_descriptor_get_flags(scl_descriptor, &scl_flags) == ERROR_NONE);
+
     i2c_config_t esp_config = {
         .mode = I2C_MODE_MASTER,
-        .sda_io_num = dts_config->pinSda,
+        .sda_io_num = sda_pin,
-        .scl_io_num = dts_config->pinScl,
+        .scl_io_num = scl_pin,
-        .sda_pullup_en = dts_config->pinSdaPullUp,
+        .sda_pullup_en = (sda_flags & GPIO_FLAG_PULL_UP) != 0,
-        .scl_pullup_en = dts_config->pinSclPullUp,
+        .scl_pullup_en = (scl_flags & GPIO_FLAG_PULL_UP) != 0,
         .master {
             .clk_speed = dts_config->clockFrequency
         },
@@ -164,22 +194,33 @@ static error_t start(Device* device) {
     esp_err_t error = i2c_param_config(dts_config->port, &esp_config);
     if (error != ESP_OK) {
         LOG_E(TAG, "Failed to configure port %d: %s", static_cast<int>(dts_config->port), esp_err_to_name(error));
+        check(gpio_descriptor_release(sda_descriptor) == ERROR_NONE);
+        check(gpio_descriptor_release(scl_descriptor) == ERROR_NONE);
         return ERROR_RESOURCE;
     }
 
     error = i2c_driver_install(dts_config->port, esp_config.mode, 0, 0, 0);
     if (error != ESP_OK) {
         LOG_E(TAG, "Failed to install driver at port %d: %s", static_cast<int>(dts_config->port), esp_err_to_name(error));
+        check(gpio_descriptor_release(sda_descriptor) == ERROR_NONE);
+        check(gpio_descriptor_release(scl_descriptor) == ERROR_NONE);
         return ERROR_RESOURCE;
     }
-    auto* data = new Esp32SpiInternal();
+
+    auto* data = new(std::nothrow) Esp32I2cInternal(sda_descriptor, scl_descriptor);
+    if (data == nullptr) {
+        check(gpio_descriptor_release(sda_descriptor) == ERROR_NONE);
+        check(gpio_descriptor_release(scl_descriptor) == ERROR_NONE);
+        return ERROR_OUT_OF_MEMORY;
+    }
+
     device_set_driver_data(device, data);
     return ERROR_NONE;
 }
 
 static error_t stop(Device* device) {
     ESP_LOGI(TAG, "stop %s", device->name);
-    auto* driver_data = static_cast<Esp32SpiInternal*>(device_get_driver_data(device));
+    auto* driver_data = static_cast<Esp32I2cInternal*>(device_get_driver_data(device));
 
     i2c_port_t port = GET_CONFIG(device)->port;
     esp_err_t result = i2c_driver_delete(port);
@@ -188,6 +229,9 @@ static error_t stop(Device* device) {
         return ERROR_RESOURCE;
     }
 
+    check(gpio_descriptor_release(driver_data->sda_descriptor) == ERROR_NONE);
+    check(gpio_descriptor_release(driver_data->scl_descriptor) == ERROR_NONE);
+
     device_set_driver_data(device, nullptr);
     delete driver_data;
     return ERROR_NONE;

Platforms/PlatformEsp32/Source/drivers/esp32_i2s.cpp

@@ -3,11 +3,14 @@
 #include <driver/i2s_common.h>
 
 #include <tactility/driver.h>
+#include <tactility/drivers/gpio_controller.h>
+#include <tactility/drivers/gpio_descriptor.h>
 #include <tactility/drivers/i2s_controller.h>
 #include <tactility/log.h>
 
 #include <tactility/time.h>
 #include <tactility/error_esp32.h>
+#include <tactility/drivers/esp32_gpio_helpers.h>
 #include <tactility/drivers/esp32_i2s.h>
 
 #include <new>
@@ -16,21 +19,58 @@
 
 struct Esp32I2sInternal {
     Mutex mutex {};
-    i2s_chan_handle_t tx_handle = nullptr;
-    i2s_chan_handle_t rx_handle = nullptr;
     I2sConfig config {};
     bool config_set = false;
+    GpioDescriptor* bclk_descriptor = nullptr;
+    GpioDescriptor* ws_descriptor = nullptr;
+    GpioDescriptor* data_out_descriptor = nullptr;
+    GpioDescriptor* data_in_descriptor = nullptr;
+    GpioDescriptor* mclk_descriptor = nullptr;
+    i2s_chan_handle_t tx_handle = nullptr;
+    i2s_chan_handle_t rx_handle = nullptr;
 
     Esp32I2sInternal() {
         mutex_construct(&mutex);
     }
 
     ~Esp32I2sInternal() {
+        cleanup_pins();
         mutex_destruct(&mutex);
     }
+
+    void cleanup_pins() {
+        release_pin(&bclk_descriptor);
+        release_pin(&ws_descriptor);
+        release_pin(&data_out_descriptor);
+        release_pin(&data_in_descriptor);
+        release_pin(&mclk_descriptor);
+    }
+
+    bool init_pins(Esp32I2sConfig* dts_config) {
+        check (!ws_descriptor && !bclk_descriptor && !data_out_descriptor && !data_in_descriptor && !mclk_descriptor);
+        auto& ws_spec = dts_config->pin_ws;
+        auto& bclk_spec = dts_config->pin_bclk;
+        auto& data_in_spec = dts_config->pin_data_in;
+        auto& data_out_spec = dts_config->pin_data_out;
+        auto& mclk_spec = dts_config->pin_mclk;
+
+        bool success = acquire_pin_or_set_null(ws_spec, &ws_descriptor) &&
+            acquire_pin_or_set_null(bclk_spec, &bclk_descriptor) &&
+            acquire_pin_or_set_null(data_in_spec, &data_in_descriptor) &&
+            acquire_pin_or_set_null(data_out_spec, &data_out_descriptor) &&
+            acquire_pin_or_set_null(mclk_spec, &mclk_descriptor);
+
+        if (!success) {
+            cleanup_pins();
+            LOG_E(TAG, "Failed to acquire all pins");
+            return false;
+        }
+
+        return true;
+    }
 };
 
-#define GET_CONFIG(device) ((Esp32I2sConfig*)device->config)
+#define GET_CONFIG(device) ((Esp32I2sConfig*)(device)->config)
 #define GET_DATA(device) ((Esp32I2sInternal*)device_get_driver_data(device))
 
 #define lock(data) mutex_lock(&data->mutex);
@@ -63,10 +103,10 @@ static i2s_data_bit_width_t to_esp32_bits_per_sample(uint8_t bits) {
     }
 }
 
-static void get_esp32_std_config(const I2sConfig* config, const Esp32I2sConfig* dts_config, i2s_std_config_t* std_cfg) {
+static void get_esp32_std_config(Esp32I2sInternal* internal, const I2sConfig* config, i2s_std_config_t* std_cfg) {
     std_cfg->clk_cfg = I2S_STD_CLK_DEFAULT_CONFIG(config->sample_rate);
     std_cfg->slot_cfg = I2S_STD_PHILIPS_SLOT_DEFAULT_CONFIG(to_esp32_bits_per_sample(config->bits_per_sample), I2S_SLOT_MODE_STEREO);
-    
+
     if (config->communication_format & I2S_FORMAT_STAND_MSB) {
         std_cfg->slot_cfg = I2S_STD_MSB_SLOT_DEFAULT_CONFIG(to_esp32_bits_per_sample(config->bits_per_sample), I2S_SLOT_MODE_STEREO);
     } else if (config->communication_format & (I2S_FORMAT_STAND_PCM_SHORT | I2S_FORMAT_STAND_PCM_LONG)) {
@@ -81,16 +121,28 @@ static void get_esp32_std_config(const I2sConfig* config, const Esp32I2sConfig*
         std_cfg->slot_cfg.slot_mask = I2S_STD_SLOT_BOTH;
     }
 
+    gpio_num_t mclk_pin = get_native_pin(internal->mclk_descriptor);
+    gpio_num_t bclk_pin = get_native_pin(internal->bclk_descriptor);
+    gpio_num_t ws_pin = get_native_pin(internal->ws_descriptor);
+    gpio_num_t data_out_pin = get_native_pin(internal->data_out_descriptor);
+    gpio_num_t data_in_pin = get_native_pin(internal->data_in_descriptor);
+    LOG_I(TAG, "Configuring I2S pins: MCLK=%d, BCLK=%d, WS=%d, DATA_OUT=%d, DATA_IN=%d", mclk_pin, bclk_pin, ws_pin, data_out_pin, data_in_pin);
+
+    bool mclk_inverted = is_pin_inverted(internal->mclk_descriptor);
+    bool bclk_inverted = is_pin_inverted(internal->bclk_descriptor);
+    bool ws_inverted = is_pin_inverted(internal->ws_descriptor);
+    LOG_I(TAG, "Inverted pins: MCLK=%u, BCLK=%u, WS=%u", mclk_inverted, bclk_inverted, ws_inverted);
+
     std_cfg->gpio_cfg = {
-        .mclk = (gpio_num_t)dts_config->pin_mclk,
+        .mclk = mclk_pin,
-        .bclk = (gpio_num_t)dts_config->pin_bclk,
+        .bclk = bclk_pin,
-        .ws = (gpio_num_t)dts_config->pin_ws,
+        .ws = ws_pin,
-        .dout = (gpio_num_t)dts_config->pin_data_out,
+        .dout = data_out_pin,
-        .din = (gpio_num_t)dts_config->pin_data_in,
+        .din = data_in_pin,
         .invert_flags = {
-            .mclk_inv = false,
+            .mclk_inv = mclk_inverted,
-            .bclk_inv = false,
+            .bclk_inv = bclk_inverted,
-            .ws_inv = false
+            .ws_inv = ws_inverted
         }
     };
 }
@@ -129,46 +181,46 @@ static error_t set_config(Device* device, const struct I2sConfig* config) {
         return ERROR_INVALID_ARGUMENT;
     }
 
-    auto* driver_data = GET_DATA(device);
+    auto* internal = GET_DATA(device);
     auto* dts_config = GET_CONFIG(device);
-    lock(driver_data);
+    lock(internal);
 
-    cleanup_channel_handles(driver_data);
+    cleanup_channel_handles(internal);
-    driver_data->config_set = false;
+    internal->config_set = false;
 
     // Create new channel handles
     i2s_chan_config_t chan_cfg = I2S_CHANNEL_DEFAULT_CONFIG(dts_config->port, I2S_ROLE_MASTER);
-    esp_err_t esp_error = i2s_new_channel(&chan_cfg, &driver_data->tx_handle, &driver_data->rx_handle);
+    esp_err_t esp_error = i2s_new_channel(&chan_cfg, &internal->tx_handle, &internal->rx_handle);
     if (esp_error != ESP_OK) {
         LOG_E(TAG, "Failed to create I2S channels: %s", esp_err_to_name(esp_error));
-        unlock(driver_data);
+        unlock(internal);
         return ERROR_RESOURCE;
     }
 
-    i2s_std_config_t std_cfg;
+    i2s_std_config_t std_cfg = {};
-    get_esp32_std_config(config, dts_config, &std_cfg);
+    get_esp32_std_config(internal, config, &std_cfg);
 
-    if (driver_data->tx_handle) {
+    if (internal->tx_handle) {
-        esp_error = i2s_channel_init_std_mode(driver_data->tx_handle, &std_cfg);
+        esp_error = i2s_channel_init_std_mode(internal->tx_handle, &std_cfg);
-        if (esp_error == ESP_OK) esp_error = i2s_channel_enable(driver_data->tx_handle);
+        if (esp_error == ESP_OK) esp_error = i2s_channel_enable(internal->tx_handle);
     }
-    if (esp_error == ESP_OK && driver_data->rx_handle) {
+    if (esp_error == ESP_OK && internal->rx_handle) {
-        esp_error = i2s_channel_init_std_mode(driver_data->rx_handle, &std_cfg);
+        esp_error = i2s_channel_init_std_mode(internal->rx_handle, &std_cfg);
-        if (esp_error == ESP_OK) esp_error = i2s_channel_enable(driver_data->rx_handle);
+        if (esp_error == ESP_OK) esp_error = i2s_channel_enable(internal->rx_handle);
     }
 
     if (esp_error != ESP_OK) {
         LOG_E(TAG, "Failed to initialize/enable I2S channels: %s", esp_err_to_name(esp_error));
-        cleanup_channel_handles(driver_data);
+        cleanup_channel_handles(internal);
-        unlock(driver_data);
+        unlock(internal);
         return esp_err_to_error(esp_error);
     }
 
     // Update runtime config to reflect current state
-    memcpy(&driver_data->config, config, sizeof(I2sConfig));
+    memcpy(&internal->config, config, sizeof(I2sConfig));
-    driver_data->config_set = true;
+    internal->config_set = true;
 
-    unlock(driver_data);
+    unlock(internal);
     return ERROR_NONE;
 }
 
@@ -188,9 +240,18 @@ static error_t get_config(Device* device, struct I2sConfig* config) {
 
 static error_t start(Device* device) {
     ESP_LOGI(TAG, "start %s", device->name);
+
+    auto* dts_config = GET_CONFIG(device);
+
     auto* data = new(std::nothrow) Esp32I2sInternal();
     if (!data) return ERROR_OUT_OF_MEMORY;
 
+    if (!data->init_pins(dts_config)) {
+        LOG_E(TAG, "Failed to init one or more pins");
+        delete data;
+        return ERROR_RESOURCE;
+    }
+
     device_set_driver_data(device, data);
 
     return ERROR_NONE;

Platforms/PlatformEsp32/Source/drivers/esp32_spi.cpp

@@ -3,6 +3,8 @@
 #include <tactility/drivers/esp32_spi.h>
 #include <tactility/concurrent/recursive_mutex.h>
 
+#include "tactility/drivers/gpio_descriptor.h"
+#include <tactility/drivers/esp32_gpio_helpers.h>
 #include <cstring>
 #include <esp_log.h>
 #include <new>
@@ -19,13 +21,29 @@ struct Esp32SpiInternal {
     RecursiveMutex mutex = {};
     bool initialized = false;
 
-    Esp32SpiInternal() {
+    // Pin descriptors
+    GpioDescriptor* sclk_descriptor = nullptr;
+    GpioDescriptor* mosi_descriptor = nullptr;
+    GpioDescriptor* miso_descriptor = nullptr;
+    GpioDescriptor* wp_descriptor = nullptr;
+    GpioDescriptor* hd_descriptor = nullptr;
+
+    explicit Esp32SpiInternal() {
         recursive_mutex_construct(&mutex);
     }
 
     ~Esp32SpiInternal() {
+        cleanup_pins();
         recursive_mutex_destruct(&mutex);
     }
+
+    void cleanup_pins() {
+        release_pin(&sclk_descriptor);
+        release_pin(&mosi_descriptor);
+        release_pin(&miso_descriptor);
+        release_pin(&wp_descriptor);
+        release_pin(&hd_descriptor);
+    }
 };
 
 static error_t lock(Device* device) {
@@ -50,19 +68,35 @@ static error_t unlock(Device* device) {
 
 static error_t start(Device* device) {
     ESP_LOGI(TAG, "start %s", device->name);
-    auto* data = new(std::nothrow) Esp32SpiInternal();
+    auto* data = new (std::nothrow) Esp32SpiInternal();
     if (!data) return ERROR_OUT_OF_MEMORY;
 
     device_set_driver_data(device, data);
 
     auto* dts_config = GET_CONFIG(device);
 
+    // Acquire pins from the specified GPIO pin specs. Optional pins are allowed.
+    bool pins_ok =
+        acquire_pin_or_set_null(dts_config->pin_sclk, &data->sclk_descriptor) &&
+        acquire_pin_or_set_null(dts_config->pin_mosi, &data->mosi_descriptor) &&
+        acquire_pin_or_set_null(dts_config->pin_miso, &data->miso_descriptor) &&
+        acquire_pin_or_set_null(dts_config->pin_wp, &data->wp_descriptor) &&
+        acquire_pin_or_set_null(dts_config->pin_hd, &data->hd_descriptor);
+
+    if (!pins_ok) {
+        ESP_LOGE(TAG, "Failed to acquire required SPI pins");
+        data->cleanup_pins();
+        device_set_driver_data(device, nullptr);
+        delete data;
+        return ERROR_RESOURCE;
+    }
+
     spi_bus_config_t buscfg = {
-        .mosi_io_num = dts_config->pin_mosi,
+        .mosi_io_num = get_native_pin(data->mosi_descriptor),
-        .miso_io_num = dts_config->pin_miso,
+        .miso_io_num = get_native_pin(data->miso_descriptor),
-        .sclk_io_num = dts_config->pin_sclk,
+        .sclk_io_num = get_native_pin(data->sclk_descriptor),
-        .data2_io_num = dts_config->pin_wp,
+        .data2_io_num = get_native_pin(data->wp_descriptor),
-        .data3_io_num = dts_config->pin_hd,
+        .data3_io_num = get_native_pin(data->hd_descriptor),
         .data4_io_num = GPIO_NUM_NC,
         .data5_io_num = GPIO_NUM_NC,
         .data6_io_num = GPIO_NUM_NC,
@@ -76,8 +110,9 @@ static error_t start(Device* device) {
 
     esp_err_t ret = spi_bus_initialize(dts_config->host, &buscfg, SPI_DMA_CH_AUTO);
     if (ret != ESP_OK) {
-        delete data;
+        data->cleanup_pins();
         device_set_driver_data(device, nullptr);
+        delete data;
         ESP_LOGE(TAG, "Failed to initialize SPI bus: %s", esp_err_to_name(ret));
         return ERROR_RESOURCE;
     }
@@ -95,6 +130,7 @@ static error_t stop(Device* device) {
         spi_bus_free(dts_config->host);
     }
 
+    driver_data->cleanup_pins();
     device_set_driver_data(device, nullptr);
     delete driver_data;
     return ERROR_NONE;

Platforms/PlatformEsp32/Source/drivers/esp32_uart.cpp

@@ -9,6 +9,8 @@
 #include <tactility/error_esp32.h>
 #include <tactility/log.h>
 #include <tactility/time.h>
+#include <tactility/drivers/gpio_descriptor.h>
+#include <tactility/drivers/esp32_gpio_helpers.h>
 
 #include <new>
 
@@ -20,13 +22,27 @@ struct Esp32UartInternal {
     bool config_set = false;
     bool is_open = false;
 
+    // Pin descriptors
+    GpioDescriptor* tx_descriptor = nullptr;
+    GpioDescriptor* rx_descriptor = nullptr;
+    GpioDescriptor* cts_descriptor = nullptr;
+    GpioDescriptor* rts_descriptor = nullptr;
+
     Esp32UartInternal() {
         mutex_construct(&mutex);
     }
 
     ~Esp32UartInternal() {
+        cleanup_pins();
         mutex_destruct(&mutex);
     }
+
+    void cleanup_pins() {
+        release_pin(&tx_descriptor);
+        release_pin(&rx_descriptor);
+        release_pin(&cts_descriptor);
+        release_pin(&rts_descriptor);
+    }
 };
 
 #define GET_CONFIG(device) ((Esp32UartConfig*)device->config)
@@ -254,7 +270,7 @@ static error_t open(Device* device) {
         }
     };
 
-    if (dts_config->pinCts != UART_PIN_NO_CHANGE || dts_config->pinRts != UART_PIN_NO_CHANGE) {
+    if (dts_config->pin_cts.gpio_controller != nullptr || dts_config->pin_rts.gpio_controller != nullptr) {
         LOG_W(TAG, "%s: CTS/RTS pins are defined but hardware flow control is disabled (not supported in UartConfig)", device->name);
     }
 
@@ -266,9 +282,31 @@ static error_t open(Device* device) {
         return ERROR_RESOURCE;
     }
 
-    esp_error = uart_set_pin(dts_config->port, dts_config->pinTx, dts_config->pinRx, dts_config->pinCts, dts_config->pinRts);
+    // Acquire pins from the specified GPIO pin specs. Optional pins are allowed.
+    bool pins_ok =
+        acquire_pin_or_set_null(dts_config->pin_tx, &driver_data->tx_descriptor) &&
+        acquire_pin_or_set_null(dts_config->pin_rx, &driver_data->rx_descriptor) &&
+        acquire_pin_or_set_null(dts_config->pin_cts, &driver_data->cts_descriptor) &&
+        acquire_pin_or_set_null(dts_config->pin_rts, &driver_data->rts_descriptor);
+
+    if (!pins_ok) {
+        LOG_E(TAG, "%s failed to acquire UART pins", device->name);
+        driver_data->cleanup_pins();
+        uart_driver_delete(dts_config->port);
+        unlock(driver_data);
+        return ERROR_RESOURCE;
+    }
+
+    esp_error = uart_set_pin(dts_config->port,
+        get_native_pin(driver_data->tx_descriptor),
+        get_native_pin(driver_data->rx_descriptor),
+        get_native_pin(driver_data->rts_descriptor),
+        get_native_pin(driver_data->cts_descriptor)
+    );
+
     if (esp_error != ESP_OK) {
         LOG_E(TAG, "%s failed to set uart pins: %s", device->name, esp_err_to_name(esp_error));
+        driver_data->cleanup_pins();
         uart_driver_delete(dts_config->port);
         unlock(driver_data);
         return ERROR_RESOURCE;
@@ -293,6 +331,7 @@ static error_t close(Device* device) {
         return ERROR_INVALID_STATE;
     }
     uart_driver_delete(dts_config->port);
+    driver_data->cleanup_pins();
     driver_data->is_open = false;
     unlock(driver_data);
 

Tactility/Include/Tactility/Tactility.h

@@ -7,6 +7,10 @@
 #include <Tactility/hal/Configuration.h>
 #include <Tactility/service/ServiceManifest.h>
 
+extern "C" {
+struct DtsDevice;
+}
+
 namespace tt {
 
 /** @brief The configuration for the operating system
@@ -21,9 +25,9 @@ struct Configuration {
  * @brief Main entry point for Tactility.
  * @param platformModule Platform module to start (non-null).
  * @param deviceModule Device module to start (non-null).
- * @param devicetreeDevices Null-terminated array where an entry { NULL, NULL } marks the end of the list.
+ * @param dtsDevices Array that is terminated with DTS_DEVICE_TERMINATOR
  */
-void run(const Configuration& config, Module* platformModule, Module* deviceModule, CompatibleDevice devicetreeDevices[]);
+void run(const Configuration& config, Module* platformModule, Module* deviceModule, struct DtsDevice dtsDevices[]);
 
 /**
  * While technically nullable, this instance is always set if tt_init() succeeds.

Tactility/Source/Tactility.cpp

@@ -32,7 +32,7 @@
 #include <tactility/lvgl_module.h>
 
 #ifdef ESP_PLATFORM
-#include "tactility/drivers/root.h"
+#include <tactility/drivers/root.h>
 #include <Tactility/InitEsp.h>
 #endif
 
@@ -320,13 +320,13 @@ void registerApps() {
     registerInstalledAppsFromSdCards();
 }
 
-void run(const Configuration& config, Module* platformModule, Module* deviceModule, CompatibleDevice devicetreeDevices[]) {
+void run(const Configuration& config, Module* platformModule, Module* deviceModule, DtsDevice dtsDevices[]) {
     LOGGER.info("Tactility v{} on {} ({})", TT_VERSION, CONFIG_TT_DEVICE_NAME, CONFIG_TT_DEVICE_ID);
 
     assert(config.hardware);
 
     LOGGER.info(R"(Calling kernel_init with modules: "{}" and "{}")", platformModule->name, deviceModule->name);
-    if (kernel_init(platformModule, deviceModule, devicetreeDevices) != ERROR_NONE) {
+    if (kernel_init(platformModule, deviceModule, dtsDevices) != ERROR_NONE) {
         LOGGER.error("Failed to initialize kernel");
         return;
     }

TactilityC/Include/tt_hal_gpio.h

@@ -7,22 +7,16 @@
 extern "C" {
 #endif
 
-/** Logical GPIO pin identifier used by the HAL. Typically maps to the SoC GPIO number. */
+/** @deprecated NON-FUNCTIONAL - WILL BE REMOVED SOON */
 typedef unsigned int GpioPin;
-/** Value indicating that no GPIO pin is used/applicable. */
+
+/** @deprecated NON-FUNCTIONAL - WILL BE REMOVED SOON */
 #define GPIO_NO_PIN -1
 
-/** Read the current logic level of a pin.
+/** @deprecated NON-FUNCTIONAL - WILL BE REMOVED SOON */
- * The pin should be configured for input or input/output.
- * @param[in] pin The pin to read.
- * @return true if the level is high, false if low. If the pin is invalid, the
- *         behavior is implementation-defined and may return false.
- */
 bool tt_hal_gpio_get_level(GpioPin pin);
 
-/** Get the number of GPIO pins available on this platform.
+/** @deprecated NON-FUNCTIONAL - WILL BE REMOVED SOON */
- * @return The count of valid GPIO pins.
- */
 int tt_hal_gpio_get_pin_count();
 
 #ifdef __cplusplus

TactilityC/Source/tt_hal_gpio.cpp

@@ -7,33 +7,12 @@ extern "C" {
 
 using namespace tt::hal;
 
-static Device* find_first_gpio_controller() {
-    Device* device_result = nullptr;
-    device_for_each_of_type(&GPIO_CONTROLLER_TYPE, &device_result, [](Device* device, void* context) {
-        if (device_is_ready(device)) {
-            auto** device_result_ptr = static_cast<Device**>(context);
-            *device_result_ptr = device;
-            return false;
-        }
-        return true;
-    });
-    return device_result;
-}
-
 bool tt_hal_gpio_get_level(GpioPin pin) {
-    Device* device_result = find_first_gpio_controller();
+    return false;
-    if (device_result == nullptr) return false;
-    bool pin_state = false;
-    if (gpio_controller_get_level(device_result, pin, &pin_state) != ERROR_NONE) return false;
-    return pin_state;
 }
 
 int tt_hal_gpio_get_pin_count() {
-    Device* device_result = find_first_gpio_controller();
+    return 0;
-    if (device_result == nullptr) return 0;
-    uint32_t pin_count = 0;
-    if (gpio_controller_get_pin_count(device_result, &pin_count) != ERROR_NONE) return 0;
-    return (int)pin_count;
 }
 
 }

TactilityC/Source/tt_init.cpp

@@ -53,6 +53,7 @@
 
 #include <driver/i2s_common.h>
 #include <driver/i2s_std.h>
+#include <driver/gpio.h>
 
 extern "C" {
 
@@ -374,7 +375,11 @@ const esp_elfsym main_symbols[] {
     ESP_ELFSYM_EXPORT(esp_netif_get_handle_from_ifkey),
     // Locale
     ESP_ELFSYM_EXPORT(localeconv),
-    //i2s_common.h
+    // driver/gpio.h
+    ESP_ELFSYM_EXPORT(gpio_config),
+    ESP_ELFSYM_EXPORT(gpio_get_level),
+    ESP_ELFSYM_EXPORT(gpio_set_level),
+    // driver/i2s_common.h
     ESP_ELFSYM_EXPORT(i2s_new_channel),
     ESP_ELFSYM_EXPORT(i2s_del_channel),
     ESP_ELFSYM_EXPORT(i2s_channel_enable),
@@ -385,7 +390,7 @@ const esp_elfsym main_symbols[] {
     ESP_ELFSYM_EXPORT(i2s_channel_register_event_callback),
     ESP_ELFSYM_EXPORT(i2s_channel_preload_data),
     ESP_ELFSYM_EXPORT(i2s_channel_tune_rate),
-    //i2s_std.h
+    // driver/i2s_std.h
     ESP_ELFSYM_EXPORT(i2s_channel_init_std_mode),
     ESP_ELFSYM_EXPORT(i2s_channel_reconfig_std_clock),
     ESP_ELFSYM_EXPORT(i2s_channel_reconfig_std_slot),

TactilityKernel/Include/tactility/device.h

@@ -43,16 +43,6 @@ struct Device {
     struct DeviceInternal* internal;
 };
 
-/**
- * Holds a device pointer and a compatible string.
- * The device must not be constructed, added or started yet.
- * This is used by the devicetree code generator and the application init sequence.
- */
-struct CompatibleDevice {
-    struct Device* device;
-    const char* compatible;
-};
-
 /**
  * Initialize the properties of a device.
  *

TactilityKernel/Include/tactility/drivers/gpio.h

@@ -10,24 +10,24 @@ extern "C" {
 #include <stdbool.h>
 #include <stdint.h>
 
-#define GPIO_OPTIONS_MASK 0x1f
+#define GPIO_FLAGS_MASK 0x1f
-
-#define GPIO_ACTIVE_HIGH (0 << 0)
-#define GPIO_ACTIVE_LOW (1 << 0)
-
-#define GPIO_DIRECTION_INPUT (1 << 1)
-#define GPIO_DIRECTION_OUTPUT (1 << 2)
-#define GPIO_DIRECTION_INPUT_OUTPUT (GPIO_DIRECTION_INPUT | GPIO_DIRECTION_OUTPUT)
-
-#define GPIO_PULL_UP (0 << 3)
-#define GPIO_PULL_DOWN (1 << 4)
-
-#define GPIO_INTERRUPT_BITMASK (0b111 << 5) // 3 bits to hold the values [0, 5]
-#define GPIO_INTERRUPT_FROM_OPTIONS(options) (gpio_int_type_t)((options & GPIO_INTERRUPT_BITMASK) >> 5)
-#define GPIO_INTERRUPT_TO_OPTIONS(options, interrupt) (options | (interrupt << 5))
 
 #define GPIO_PIN_NONE -1
 
+#define GPIO_PIN_SPEC_NONE ((struct GpioPinSpec) { NULL, 0, GPIO_FLAG_NONE })
+
+#define GPIO_FLAG_NONE 0
+#define GPIO_FLAG_ACTIVE_HIGH (0 << 0)
+#define GPIO_FLAG_ACTIVE_LOW (1 << 0)
+#define GPIO_FLAG_DIRECTION_INPUT (1 << 1)
+#define GPIO_FLAG_DIRECTION_OUTPUT (1 << 2)
+#define GPIO_FLAG_DIRECTION_INPUT_OUTPUT (GPIO_FLAG_DIRECTION_INPUT | GPIO_FLAG_DIRECTION_OUTPUT)
+#define GPIO_FLAG_PULL_UP (0 << 3)
+#define GPIO_FLAG_PULL_DOWN (1 << 4)
+#define GPIO_FLAG_INTERRUPT_BITMASK (0b111 << 5) // 3 bits to hold the values [0, 5]
+#define GPIO_FLAG_INTERRUPT_FROM_OPTIONS(options) (gpio_int_type_t)((options & GPIO_FLAG_INTERRUPT_BITMASK) >> 5)
+#define GPIO_FLAG_INTERRUPT_TO_OPTIONS(options, interrupt) (options | (interrupt << 5))
+
 typedef enum {
     GPIO_INTERRUPT_DISABLE = 0,
     GPIO_INTERRUPT_POS_EDGE = 1,
@@ -35,35 +35,39 @@ typedef enum {
     GPIO_INTERRUPT_ANY_EDGE = 3,
     GPIO_INTERRUPT_LOW_LEVEL = 4,
     GPIO_INTERRUPT_HIGH_LEVEL = 5,
-    GPIO__MAX,
+    GPIO_MAX,
 } GpioInterruptType;
 
+enum GpioOwnerType {
+    /** @brief Pin is unclaimed/free */
+    GPIO_OWNER_NONE,
+    /** @brief Pin is owned by a hog */
+    GPIO_OWNER_HOG,
+    /** @brief Pin is claimed by a regular consumer */
+    GPIO_OWNER_GPIO,
+    /** @brief Pin is owned by SPI. This is a special case because of CS pin transfer from hog to SPI controller. */
+    GPIO_OWNER_SPI
+};
+
 /** The index of a GPIO pin on a GPIO Controller */
 typedef uint8_t gpio_pin_t;
 
 /** Specifies the configuration flags for a GPIO pin (or set of pins) */
 typedef uint16_t gpio_flags_t;
 
-/** A configuration for a single GPIO pin */
+/**
-struct GpioPinConfig {
+ * Specifies a pin and its properties for a specific GPIO controller.
+ * Used by the devicetree, drivers and application code to refer to GPIO pins and acquire them via the gpio_controller API.
+ */
+struct GpioPinSpec {
     /** GPIO device controlling the pin */
-    const struct Device* port;
+    struct Device* gpio_controller;
     /** The pin's number on the device */
     gpio_pin_t pin;
     /** The pin's configuration flags as specified in devicetree */
     gpio_flags_t flags;
 };
 
-/**
- * Check if the pin is ready to be used.
- *
- * @param pinConfig the specifications of the pin
- * @return true if the pin is ready to be used
- */
-static inline bool gpio_is_ready(const struct GpioPinConfig* pinConfig) {
-    return device_is_ready(pinConfig->port);
-}
-
 #ifdef __cplusplus
 }
 #endif

TactilityKernel/Include/tactility/drivers/gpio_controller.h

@@ -10,106 +10,136 @@ extern "C" {
 #include <tactility/error.h>
 
 struct Device;
+struct GpioDescriptor;
 
 struct GpioControllerApi {
     /**
      * @brief Sets the logical level of a GPIO pin.
-     * @param[in] device the GPIO controller device
+     * @param[in,out] descriptor the pin descriptor
-     * @param[in] pin the pin index
      * @param[in] high true to set the pin high, false to set it low
      * @return ERROR_NONE if successful
      */
-    error_t (*set_level)(struct Device* device, gpio_pin_t pin, bool high);
+    error_t (*set_level)(struct GpioDescriptor* descriptor, bool high);
 
     /**
      * @brief Gets the logical level of a GPIO pin.
-     * @param[in] device the GPIO controller device
+     * @param[in] descriptor the pin descriptor
-     * @param[in] pin the pin index
      * @param[out] high pointer to store the pin level
      * @return ERROR_NONE if successful
      */
-    error_t (*get_level)(struct Device* device, gpio_pin_t pin, bool* high);
+    error_t (*get_level)(struct GpioDescriptor* descriptor, bool* high);
 
     /**
      * @brief Configures the options for a GPIO pin.
-     * @param[in] device the GPIO controller device
+     * @param[in,out] descriptor the pin descriptor
-     * @param[in] pin the pin index
+     * @param[in] flags configuration flags (direction, pull-up/down, etc.)
-     * @param[in] options configuration flags (direction, pull-up/down, etc.)
      * @return ERROR_NONE if successful
      */
-    error_t (*set_options)(struct Device* device, gpio_pin_t pin, gpio_flags_t options);
+    error_t (*set_flags)(struct GpioDescriptor* descriptor, gpio_flags_t flags);
 
     /**
      * @brief Gets the configuration options for a GPIO pin.
-     * @param[in] device the GPIO controller device
+     * @param[in] descriptor the pin descriptor
-     * @param[in] pin the pin index
+     * @param[out] flags pointer to store the configuration flags
-     * @param[out] options pointer to store the configuration flags
      * @return ERROR_NONE if successful
      */
-    error_t (*get_options)(struct Device* device, gpio_pin_t pin, gpio_flags_t* options);
+    error_t (*get_flags)(struct GpioDescriptor* descriptor, gpio_flags_t* flags);
 
     /**
-     * @brief Gets the number of pins supported by the controller.
+     * @brief Gets the native pin number associated with a descriptor.
-     * @param[in] device the GPIO controller device
+     * @param[in] descriptor the pin descriptor
-     * @param[out] count pointer to store the number of pins
+     * @param[out] pin_number pointer to store the pin number
      * @return ERROR_NONE if successful
      */
-    error_t (*get_pin_count)(struct Device* device, uint32_t* count);
+    error_t (*get_native_pin_number)(struct GpioDescriptor* descriptor, void* pin_number);
 };
 
+struct GpioDescriptor* gpio_descriptor_acquire(
+    struct Device* controller,
+    gpio_pin_t pin_number,
+    enum GpioOwnerType owner
+);
+
+error_t gpio_descriptor_release(struct GpioDescriptor* descriptor);
+
+/**
+ * @brief Gets the pin number associated with a descriptor.
+ * @param[in] descriptor the pin descriptor
+ * @param[out] pin pointer to store the pin number
+ * @return ERROR_NONE if successful
+ */
+error_t gpio_descriptor_get_pin_number(struct GpioDescriptor* descriptor, gpio_pin_t* pin);
+
+/**
+ * @brief Gets the pin owner type associated with a descriptor.
+ * @param[in] descriptor the pin descriptor
+ * @param[out] owner_type pointer to output owner type
+ * @return ERROR_NONE if successful
+ */
+error_t gpio_descriptor_get_owner_type(struct GpioDescriptor* descriptor, enum GpioOwnerType* owner_type);
+
 /**
  * @brief Sets the logical level of a GPIO pin.
- * @param[in] device the GPIO controller device
+ * @param[in] descriptor the pin descriptor
- * @param[in] pin the pin index
  * @param[in] high true to set the pin high, false to set it low
  * @return ERROR_NONE if successful
  */
-error_t gpio_controller_set_level(struct Device* device, gpio_pin_t pin, bool high);
+error_t gpio_descriptor_set_level(struct GpioDescriptor* descriptor, bool high);
 
 /**
  * @brief Gets the logical level of a GPIO pin.
- * @param[in] device the GPIO controller device
+ * @param[in] descriptor the pin descriptor
- * @param[in] pin the pin index
  * @param[out] high pointer to store the pin level
  * @return ERROR_NONE if successful
  */
-error_t gpio_controller_get_level(struct Device* device, gpio_pin_t pin, bool* high);
+error_t gpio_descriptor_get_level(struct GpioDescriptor* descriptor, bool* high);
 
 /**
  * @brief Configures the options for a GPIO pin.
- * @param[in] device the GPIO controller device
+ * @param[in] descriptor the pin descriptor
- * @param[in] pin the pin index
+ * @param[in] flags configuration flags (direction, pull-up/down, etc.)
- * @param[in] options configuration flags (direction, pull-up/down, etc.)
  * @return ERROR_NONE if successful
  */
-error_t gpio_controller_set_options(struct Device* device, gpio_pin_t pin, gpio_flags_t options);
+error_t gpio_descriptor_set_flags(struct GpioDescriptor* descriptor, gpio_flags_t flags);
 
 /**
  * @brief Gets the configuration options for a GPIO pin.
- * @param[in] device the GPIO controller device
+ * @param[in] descriptor the pin descriptor
- * @param[in] pin the pin index
+ * @param[out] flags pointer to store the configuration flags
- * @param[out] options pointer to store the configuration flags
  * @return ERROR_NONE if successful
  */
-error_t gpio_controller_get_options(struct Device* device, gpio_pin_t pin, gpio_flags_t* options);
+error_t gpio_descriptor_get_flags(struct GpioDescriptor* descriptor, gpio_flags_t* flags);
 
 /**
-     * @brief Gets the number of pins supported by the controller.
+ * @brief Gets the native pin number associated with a descriptor.
-     * @param[in] device the GPIO controller device
+ * @param[in] descriptor the pin descriptor
-     * @param[out] count pointer to store the number of pins
+ * @param[out] pin_number pointer to store the pin number
-     * @return ERROR_NONE if successful
+ * @return ERROR_NONE if successful
-     */
+ */
+error_t gpio_descriptor_get_native_pin_number(struct GpioDescriptor* descriptor, void* pin_number);
+
+/**
+ * @brief Gets the number of pins supported by the controller.
+ * @param[in] device the GPIO controller device
+ * @param[out] count pointer to store the number of pins
+ * @return ERROR_NONE if successful
+ */
 error_t gpio_controller_get_pin_count(struct Device* device, uint32_t* count);
 
 /**
- * @brief Configures the options for a GPIO pin using a pin configuration structure.
+ * @brief Initializes GPIO descriptors for a controller.
- * @param[in] device the GPIO controller device
+ * @param[in,out] device the GPIO controller device
- * @param[in] config the pin configuration structure
+ * @param[in] controller_context pointer to store in the controller's internal data
  * @return ERROR_NONE if successful
  */
-static inline error_t gpio_set_options_config(struct Device* device, const struct GpioPinConfig* config) {
+error_t gpio_controller_init_descriptors(struct Device* device, uint32_t pin_count, void* controller_context);
-    return gpio_controller_set_options(device, config->pin, config->flags);
+
-}
+/**
+ * @brief Deinitializes GPIO descriptors for a controller.
+ * @param[in,out] device the GPIO controller device
+ * @return ERROR_NONE if successful
+ */
+error_t gpio_controller_deinit_descriptors(struct Device* device);
 
 extern const struct DeviceType GPIO_CONTROLLER_TYPE;
 

TactilityKernel/Include/tactility/drivers/gpio_descriptor.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "gpio.h"
+
+struct Device;
+
+struct GpioDescriptor {
+    /** @brief The controller that owns this pin */
+    struct Device* controller;
+    /** @brief Physical pin number */
+    gpio_pin_t pin;
+    /** @brief Current owner */
+    enum GpioOwnerType owner_type;
+    /** @brief Implementation-specific context (e.g. from esp32 controller internally) */
+    void* controller_context;
+};

TactilityKernel/Include/tactility/dts.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <stddef.h>
+
+struct Device;
+
+/** Signals the intended state of a device. */
+enum DtsDeviceStatus {
+    /** Device should be constructed, added and started. */
+    DTS_DEVICE_STATUS_OKAY,
+    /** Device should be constructed and added, but not started. */
+    DTS_DEVICE_STATUS_DISABLED
+};
+
+/**
+ * Holds a device pointer and a compatible string.
+ * The device must not be constructed, added or started yet.
+ * This is used by the devicetree code generator and the application init sequence.
+ */
+struct DtsDevice {
+    /** A pointer to a device. */
+    struct Device* device;
+    /** The compatible string contains the identifier of the driver that this device is compatible with. */
+    const char* compatible;
+    /** The intended state of the device. */
+    const enum DtsDeviceStatus status;
+};
+
+/** Signals the end of the device array in the generated dts code. */
+#define DTS_DEVICE_TERMINATOR { NULL, NULL, DTS_DEVICE_STATUS_DISABLED }

TactilityKernel/Include/tactility/kernel_init.h

@@ -12,10 +12,10 @@ extern "C" {
  * Initialize the kernel with platform and device modules, and a device tree.
  * @param platform_module The platform module to start. This module should not be constructed yet.
  * @param device_module The device module to start. This module should not be constructed yet. This parameter can be NULL.
- * @param devicetree_devices The list of generated devices from the devicetree. The array must be terminated by an entry { NULL, NULL }. This parameter can be NULL.
+ * @param dts_devices The list of generated devices from the devicetree. The array must be terminated with DTS_DEVICE_TERMINATOR. This parameter can be NULL.
  * @return ERROR_NONE on success, otherwise an error code
  */
-error_t kernel_init(struct Module* platform_module, struct Module* device_module, struct CompatibleDevice devicetree_devices[]);
+error_t kernel_init(struct Module* platform_module, struct Module* device_module, struct DtsDevice dts_devices[]);
 
 #ifdef __cplusplus
 }

TactilityKernel/Source/drivers/gpio_controller.cpp

@@ -3,33 +3,136 @@
 #include <tactility/driver.h>
 #include <tactility/drivers/gpio_controller.h>
 
-#define GPIO_DRIVER_API(driver) ((struct GpioControllerApi*)driver->api)
+#include <tactility/concurrent/mutex.h>
+#include <tactility/drivers/gpio_descriptor.h>
+
+#include <cstdlib>
+#include <new>
+
+#define GPIO_INTERNAL_API(driver) ((struct GpioControllerApi*)(driver)->api)
 
 extern "C" {
 
-error_t gpio_controller_set_level(Device* device, gpio_pin_t pin, bool high) {
+struct GpioControllerData {
-    const auto* driver = device_get_driver(device);
+    struct Mutex mutex {};
-    return GPIO_DRIVER_API(driver)->set_level(device, pin, high);
+    uint32_t pin_count;
+    struct GpioDescriptor* descriptors = nullptr;
+
+    explicit GpioControllerData(uint32_t pin_count) : pin_count(pin_count) {
+        mutex_construct(&mutex);
+    }
+
+    error_t init_descriptors(Device* device, void* controller_context) {
+        descriptors = (struct GpioDescriptor*)calloc(pin_count, sizeof(struct GpioDescriptor));
+        if (!descriptors) return ERROR_OUT_OF_MEMORY;
+        for (uint32_t i = 0; i < pin_count; ++i) {
+            descriptors[i].controller = device;
+            descriptors[i].pin = (gpio_pin_t)i;
+            descriptors[i].owner_type = GPIO_OWNER_NONE;
+            descriptors[i].controller_context = controller_context;
+        }
+        return ERROR_NONE;
+    }
+
+    ~GpioControllerData() {
+        if (descriptors != nullptr) {
+            free(descriptors);
+        }
+        mutex_destruct(&mutex);
+    }
+};
+
+struct GpioDescriptor* gpio_descriptor_acquire(
+    struct Device* controller,
+    gpio_pin_t pin_number,
+    enum GpioOwnerType owner
+) {
+    check(owner != GPIO_OWNER_NONE);
+
+    auto* data = (struct GpioControllerData*)device_get_driver_data(controller);
+
+    mutex_lock(&data->mutex);
+    if (pin_number >= data->pin_count) {
+        mutex_unlock(&data->mutex);
+        return nullptr;
+    }
+
+    struct GpioDescriptor* desc = &data->descriptors[pin_number];
+    if (desc->owner_type != GPIO_OWNER_NONE) {
+        mutex_unlock(&data->mutex);
+        return nullptr;
+    }
+
+    desc->owner_type = owner;
+    mutex_unlock(&data->mutex);
+
+    return desc;
 }
 
-error_t gpio_controller_get_level(Device* device, gpio_pin_t pin, bool* high) {
+error_t gpio_descriptor_release(struct GpioDescriptor* descriptor) {
-    const auto* driver = device_get_driver(device);
+    descriptor->owner_type = GPIO_OWNER_NONE;
-    return GPIO_DRIVER_API(driver)->get_level(device, pin, high);
+    return ERROR_NONE;
-}
-
-error_t gpio_controller_set_options(Device* device, gpio_pin_t pin, gpio_flags_t options) {
-    const auto* driver = device_get_driver(device);
-    return GPIO_DRIVER_API(driver)->set_options(device, pin, options);
-}
-
-error_t gpio_controller_get_options(Device* device, gpio_pin_t pin, gpio_flags_t* options) {
-    const auto* driver = device_get_driver(device);
-    return GPIO_DRIVER_API(driver)->get_options(device, pin, options);
 }
 
 error_t gpio_controller_get_pin_count(struct Device* device, uint32_t* count) {
-    const auto* driver = device_get_driver(device);
+    auto* data = (struct GpioControllerData*)device_get_driver_data(device);
-    return GPIO_DRIVER_API(driver)->get_pin_count(device, count);
+    *count = data->pin_count;
+    return ERROR_NONE;
+}
+
+error_t gpio_controller_init_descriptors(struct Device* device, uint32_t pin_count, void* controller_context) {
+    auto* data = new(std::nothrow) GpioControllerData(pin_count);
+    if (!data) return ERROR_OUT_OF_MEMORY;
+
+    if (data->init_descriptors(device, controller_context) != ERROR_NONE) {
+        delete data;
+        return ERROR_OUT_OF_MEMORY;
+    }
+
+    device_set_driver_data(device, data);
+    return ERROR_NONE;
+}
+
+error_t gpio_controller_deinit_descriptors(struct Device* device) {
+    auto* data = static_cast<struct GpioControllerData*>(device_get_driver_data(device));
+    delete data;
+    device_set_driver_data(device, nullptr);
+    return ERROR_NONE;
+}
+
+error_t gpio_descriptor_set_level(struct GpioDescriptor* descriptor, bool high) {
+    const auto* driver = device_get_driver(descriptor->controller);
+    return GPIO_INTERNAL_API(driver)->set_level(descriptor, high);
+}
+
+error_t gpio_descriptor_get_level(struct GpioDescriptor* descriptor, bool* high) {
+    const auto* driver = device_get_driver(descriptor->controller);
+    return GPIO_INTERNAL_API(driver)->get_level(descriptor, high);
+}
+
+error_t gpio_descriptor_set_flags(struct GpioDescriptor* descriptor, gpio_flags_t flags) {
+    const auto* driver = device_get_driver(descriptor->controller);
+    return GPIO_INTERNAL_API(driver)->set_flags(descriptor, flags);
+}
+
+error_t gpio_descriptor_get_flags(struct GpioDescriptor* descriptor, gpio_flags_t* flags) {
+    const auto* driver = device_get_driver(descriptor->controller);
+    return GPIO_INTERNAL_API(driver)->get_flags(descriptor, flags);
+}
+
+error_t gpio_descriptor_get_pin_number(struct GpioDescriptor* descriptor, gpio_pin_t* pin) {
+    *pin = descriptor->pin;
+    return ERROR_NONE;
+}
+
+error_t gpio_descriptor_get_native_pin_number(struct GpioDescriptor* descriptor, void* pin_number) {
+    const auto* driver = device_get_driver(descriptor->controller);
+    return GPIO_INTERNAL_API(driver)->get_native_pin_number(descriptor, pin_number);
+}
+
+error_t gpio_descriptor_get_owner_type(struct GpioDescriptor* descriptor, GpioOwnerType* owner_type) {
+    *owner_type = descriptor->owner_type;
+    return ERROR_NONE;
 }
 
 const struct DeviceType GPIO_CONTROLLER_TYPE {

TactilityKernel/Source/kernel_init.cpp

@@ -1,3 +1,4 @@
+#include "tactility/dts.h"
 #include <tactility/kernel_init.h>
 #include <tactility/log.h>
 
@@ -27,7 +28,7 @@ struct Module root_module = {
     .internal = nullptr
 };
 
-error_t kernel_init(struct Module* platform_module, struct Module* device_module, struct CompatibleDevice devicetree_devices[]) {
+error_t kernel_init(struct Module* platform_module, struct Module* device_module, struct DtsDevice dts_devices[]) {
     LOG_I(TAG, "init");
 
     if (module_construct_add_start(&root_module) != ERROR_NONE) {
@@ -47,14 +48,23 @@ error_t kernel_init(struct Module* platform_module, struct Module* device_module
         }
     }
 
-    if (devicetree_devices) {
+    if (dts_devices) {
-        CompatibleDevice* compatible_device = devicetree_devices;
+        DtsDevice* dts_device = dts_devices;
-        while (compatible_device->device != nullptr) {
+        while (dts_device->device != nullptr) {
-            if (device_construct_add_start(compatible_device->device, compatible_device->compatible) != ERROR_NONE) {
+            if (dts_device->status == DTS_DEVICE_STATUS_OKAY) {
-                LOG_E(TAG, "kernel_init failed to construct device: %s (%s)", compatible_device->device->name, compatible_device->compatible);
+                if (device_construct_add_start(dts_device->device, dts_device->compatible) != ERROR_NONE) {
-                return ERROR_RESOURCE;
+                    LOG_E(TAG, "kernel_init failed to construct+add+start device: %s (%s)", dts_device->device->name, dts_device->compatible);
+                    return ERROR_RESOURCE;
+                }
+            } else if (dts_device->status == DTS_DEVICE_STATUS_DISABLED) {
+                if (device_construct_add(dts_device->device, dts_device->compatible) != ERROR_NONE) {
+                    LOG_E(TAG, "kernel_init failed to construct+add device: %s (%s)", dts_device->device->name, dts_device->compatible);
+                    return ERROR_RESOURCE;
+                }
+            } else {
+                check(false, "DTS status not implemented");
             }
-            compatible_device++;
+            dts_device++;
         }
     }
 

TactilityKernel/Source/kernel_symbols.c

@@ -59,11 +59,18 @@ const struct ModuleSymbol KERNEL_SYMBOLS[] = {
     DEFINE_MODULE_SYMBOL(driver_find_compatible),
     DEFINE_MODULE_SYMBOL(driver_get_device_type),
     // drivers/gpio_controller
-    DEFINE_MODULE_SYMBOL(gpio_controller_set_level),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_acquire),
-    DEFINE_MODULE_SYMBOL(gpio_controller_get_level),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_release),
-    DEFINE_MODULE_SYMBOL(gpio_controller_set_options),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_set_level),
-    DEFINE_MODULE_SYMBOL(gpio_controller_get_options),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_get_level),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_set_flags),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_get_flags),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_get_native_pin_number),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_get_pin_number),
+    DEFINE_MODULE_SYMBOL(gpio_descriptor_get_owner_type),
     DEFINE_MODULE_SYMBOL(gpio_controller_get_pin_count),
+    DEFINE_MODULE_SYMBOL(gpio_controller_init_descriptors),
+    DEFINE_MODULE_SYMBOL(gpio_controller_deinit_descriptors),
     DEFINE_MODULE_SYMBOL(GPIO_CONTROLLER_TYPE),
     // drivers/i2c_controller
     DEFINE_MODULE_SYMBOL(i2c_controller_read),