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micropython/ports/mimxrt/machine_pin.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2020 Philipp Ebensberger
* Copyright (c) 2021 Robert Hammelrath
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <stdint.h>
#include "fsl_gpio.h"
#include "fsl_iomuxc.h"
#include "py/runtime.h"
#include "py/mphal.h"
#include "shared/runtime/mpirq.h"
#include "extmod/virtpin.h"
#include "pin.h"
// Local functions
STATIC mp_obj_t machine_pin_obj_init_helper(const machine_pin_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
// Class Methods
STATIC void machine_pin_obj_print(const mp_print_t *print, mp_obj_t o, mp_print_kind_t kind);
STATIC mp_obj_t machine_pin_obj_call(mp_obj_t self_in, mp_uint_t n_args, mp_uint_t n_kw, const mp_obj_t *args);
mp_obj_t mp_pin_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args);
// Instance Methods
STATIC mp_obj_t machine_pin_off(mp_obj_t self_in);
STATIC mp_obj_t machine_pin_on(mp_obj_t self_in);
STATIC mp_obj_t machine_pin_value(size_t n_args, const mp_obj_t *args);
STATIC mp_obj_t machine_pin_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args);
// Local data
enum {
PIN_INIT_ARG_MODE = 0,
PIN_INIT_ARG_PULL,
PIN_INIT_ARG_VALUE,
PIN_INIT_ARG_DRIVE,
};
// Pin mapping dictionaries
const mp_obj_type_t machine_pin_cpu_pins_obj_type = {
{ &mp_type_type },
.name = MP_QSTR_cpu,
.locals_dict = (mp_obj_t)&machine_pin_cpu_pins_locals_dict,
};
const mp_obj_type_t machine_pin_board_pins_obj_type = {
{ &mp_type_type },
.name = MP_QSTR_board,
.locals_dict = (mp_obj_t)&machine_pin_board_pins_locals_dict,
};
STATIC const mp_irq_methods_t machine_pin_irq_methods;
static GPIO_Type *gpiobases[] = GPIO_BASE_PTRS;
STATIC const uint16_t GPIO_combined_low_irqs[] = GPIO_COMBINED_LOW_IRQS;
STATIC const uint16_t GPIO_combined_high_irqs[] = GPIO_COMBINED_HIGH_IRQS;
STATIC const uint16_t IRQ_mapping[] = {kGPIO_NoIntmode, kGPIO_IntRisingEdge, kGPIO_IntFallingEdge, kGPIO_IntRisingOrFallingEdge};
#define GET_PIN_IRQ_INDEX(gpio_nr, pin) ((gpio_nr - 1) * 32 + pin)
int GPIO_get_instance(GPIO_Type *gpio) {
int gpio_nr;
for (gpio_nr = 0; gpio_nr < ARRAY_SIZE(gpiobases); gpio_nr++) {
if (gpio == gpiobases[gpio_nr]) {
return gpio_nr;
}
}
return 0;
}
void call_handler(GPIO_Type *gpio, int gpio_nr, int pin) {
uint32_t mask = 1 << pin;
uint32_t isr = gpio->ISR & gpio->IMR;
for (int i = 0; i < 16; i++, pin++, mask <<= 1) {
// Did the ISR fire? Consider only the bits that are enabled.
if (isr & mask) {
gpio->ISR = mask; // clear the ISR flag
int index = GET_PIN_IRQ_INDEX(gpio_nr, pin);
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[index]);
if (irq != NULL) {
irq->flags = irq->trigger;
mp_irq_handler(&irq->base);
}
}
}
}
// 10 GPIO IRQ handlers, each covering 16 bits.
void GPIO1_Combined_0_15_IRQHandler(void) {
call_handler(gpiobases[1], 1, 0);
}
void GPIO1_Combined_16_31_IRQHandler(void) {
call_handler(gpiobases[1], 1, 16);
}
void GPIO2_Combined_0_15_IRQHandler(void) {
call_handler(gpiobases[2], 2, 0);
}
void GPIO2_Combined_16_31_IRQHandler(void) {
call_handler(gpiobases[2], 2, 16);
}
void GPIO3_Combined_0_15_IRQHandler(void) {
call_handler(gpiobases[3], 3, 0);
}
void GPIO3_Combined_16_31_IRQHandler(void) {
call_handler(gpiobases[3], 3, 16);
}
void GPIO4_Combined_0_15_IRQHandler(void) {
call_handler(gpiobases[4], 4, 0);
}
void GPIO4_Combined_16_31_IRQHandler(void) {
call_handler(gpiobases[4], 4, 16);
}
void GPIO5_Combined_0_15_IRQHandler(void) {
call_handler(gpiobases[5], 5, 0);
}
void GPIO5_Combined_16_31_IRQHandler(void) {
call_handler(gpiobases[5], 5, 16);
}
// Deinit all pin IRQ handlers.
void machine_pin_irq_deinit(void) {
for (int i = 0; i < ARRAY_SIZE(MP_STATE_PORT(machine_pin_irq_objects)); ++i) {
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[i]);
if (irq != NULL) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(irq->base.parent);
GPIO_PortDisableInterrupts(self->gpio, 1U << self->pin);
MP_STATE_PORT(machine_pin_irq_objects[i]) = NULL;
}
}
}
// Simplified mode setting used by the extmod modules
void machine_pin_set_mode(const machine_pin_obj_t *self, uint8_t mode) {
gpio_pin_config_t pin_config = {kGPIO_DigitalInput, 1, kGPIO_NoIntmode};
pin_config.direction = (mode == PIN_MODE_IN ? kGPIO_DigitalInput : kGPIO_DigitalOutput);
GPIO_PinInit(self->gpio, self->pin, &pin_config);
if (mode == PIN_MODE_OPEN_DRAIN) {
uint32_t pad_config = *(uint32_t *)self->configRegister;
pad_config |= IOMUXC_SW_PAD_CTL_PAD_ODE(0b1) | IOMUXC_SW_PAD_CTL_PAD_DSE(0b110);
IOMUXC_SetPinMux(self->muxRegister, PIN_AF_MODE_ALT5, 0, 0, self->configRegister, 1U); // Software Input On Field: Input Path is determined by functionality
IOMUXC_SetPinConfig(self->muxRegister, PIN_AF_MODE_ALT5, 0, 0, self->configRegister, pad_config);
}
}
STATIC mp_obj_t machine_pin_obj_call(mp_obj_t self_in, mp_uint_t n_args, mp_uint_t n_kw, const mp_obj_t *args) {
mp_arg_check_num(n_args, n_kw, 0, 1, false);
machine_pin_obj_t *self = self_in;
if (n_args == 0) {
return MP_OBJ_NEW_SMALL_INT(mp_hal_pin_read(self));
} else {
mp_hal_pin_write(self, mp_obj_is_true(args[0]));
return mp_const_none;
}
}
STATIC mp_obj_t machine_pin_obj_init_helper(const machine_pin_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
static const mp_arg_t allowed_args[] = {
[PIN_INIT_ARG_MODE] { MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT },
[PIN_INIT_ARG_PULL] { MP_QSTR_pull, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE}},
[PIN_INIT_ARG_VALUE] { MP_QSTR_value, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL}},
[PIN_INIT_ARG_DRIVE] { MP_QSTR_drive, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = PIN_DRIVE_3}},
// TODO: Implement additional arguments
/*
{ MP_QSTR_af, MP_ARG_INT, {.u_int = -1}}, // legacy
{ MP_QSTR_alt, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},*/
};
// Parse args
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// Get io mode
uint mode = args[PIN_INIT_ARG_MODE].u_int;
if (!IS_GPIO_MODE(mode)) {
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("invalid pin mode: %d"), mode);
}
// Handle configuration for GPIO
if ((mode == PIN_MODE_IN) || (mode == PIN_MODE_OUT) || (mode == PIN_MODE_OPEN_DRAIN)) {
gpio_pin_config_t pin_config;
const machine_pin_af_obj_t *af_obj;
uint32_t pad_config = 0UL;
uint8_t pull = PIN_PULL_DISABLED;
uint32_t drive = (uint32_t)args[PIN_INIT_ARG_DRIVE].u_int;
// Generate pin configuration
if ((args[PIN_INIT_ARG_VALUE].u_obj != MP_OBJ_NULL) && (mp_obj_is_true(args[PIN_INIT_ARG_VALUE].u_obj))) {
pin_config.outputLogic = 1U;
} else {
pin_config.outputLogic = 0U;
}
pin_config.direction = mode == PIN_MODE_IN ? kGPIO_DigitalInput : kGPIO_DigitalOutput;
pin_config.interruptMode = kGPIO_NoIntmode;
af_obj = pin_find_af(self, PIN_AF_MODE_ALT5); // GPIO is always ALT5
if (af_obj == NULL) {
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("requested AF %d not available for pin %d"), PIN_AF_MODE_ALT5, mode);
}
// Generate pad configuration
if (args[PIN_INIT_ARG_PULL].u_obj != mp_const_none) {
pull = (uint8_t)mp_obj_get_int(args[PIN_INIT_ARG_PULL].u_obj);
}
pad_config = pin_generate_config(pull, mode, drive, self->configRegister);
// Configure PAD as GPIO
IOMUXC_SetPinMux(self->muxRegister, af_obj->af_mode, 0, 0, self->configRegister, 1U); // Software Input On Field: Input Path is determined by functionality
IOMUXC_SetPinConfig(self->muxRegister, af_obj->af_mode, 0, 0, self->configRegister, pad_config);
GPIO_PinInit(self->gpio, self->pin, &pin_config);
}
return mp_const_none;
}
STATIC void machine_pin_obj_print(const mp_print_t *print, mp_obj_t o, mp_print_kind_t kind) {
(void)kind;
const machine_pin_obj_t *self = MP_OBJ_TO_PTR(o);
mp_printf(print, "Pin(%s)", qstr_str(self->name));
}
// pin(id, mode, pull, ...)
mp_obj_t mp_pin_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
const machine_pin_obj_t *pin = pin_find(args[0]);
if (n_args > 1 || n_kw > 0) {
// pin mode given, so configure this GPIO
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
machine_pin_obj_init_helper(pin, n_args - 1, args + 1, &kw_args);
}
return (mp_obj_t)pin;
}
// pin.off()
STATIC mp_obj_t machine_pin_off(mp_obj_t self_in) {
machine_pin_obj_t *self = self_in;
mp_hal_pin_low(self);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_off_obj, machine_pin_off);
// pin.on()
STATIC mp_obj_t machine_pin_on(mp_obj_t self_in) {
machine_pin_obj_t *self = self_in;
mp_hal_pin_high(self);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_on_obj, machine_pin_on);
// pin.value([value])
STATIC mp_obj_t machine_pin_value(size_t n_args, const mp_obj_t *args) {
return machine_pin_obj_call(args[0], (n_args - 1), 0, args + 1);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_value_obj, 1, 2, machine_pin_value);
// pin.init(mode, pull, [kwargs])
STATIC mp_obj_t machine_pin_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
return machine_pin_obj_init_helper(args[0], n_args - 1, args + 1, kw_args);
}
MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_init_obj, 1, machine_pin_init);
// pin.irq(handler=None, trigger=IRQ_FALLING|IRQ_RISING, hard=False)
STATIC mp_obj_t machine_pin_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_handler, ARG_trigger, ARG_hard };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_handler, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_trigger, MP_ARG_INT, {.u_int = 3} },
{ MP_QSTR_hard, MP_ARG_BOOL, {.u_bool = false} },
};
machine_pin_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// Get the IRQ object.
uint32_t gpio_nr = GPIO_get_instance(self->gpio);
uint32_t index = GET_PIN_IRQ_INDEX(gpio_nr, self->pin);
if (index >= ARRAY_SIZE(MP_STATE_PORT(machine_pin_irq_objects))) {
mp_raise_ValueError(MP_ERROR_TEXT("IRQ not supported on given Pin"));
}
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[index]);
// Allocate the IRQ object if it doesn't already exist.
if (irq == NULL) {
irq = m_new_obj(machine_pin_irq_obj_t);
irq->base.base.type = &mp_irq_type;
irq->base.methods = (mp_irq_methods_t *)&machine_pin_irq_methods;
irq->base.parent = MP_OBJ_FROM_PTR(self);
irq->base.handler = mp_const_none;
irq->base.ishard = false;
MP_STATE_PORT(machine_pin_irq_objects[index]) = irq;
}
if (n_args > 1 || kw_args->used != 0) {
// Configure IRQ.
uint32_t irq_num = self->pin < 16 ? GPIO_combined_low_irqs[gpio_nr] : GPIO_combined_high_irqs[gpio_nr];
// Disable all IRQs from the affected source while data is updated.
DisableIRQ(irq_num);
GPIO_PortDisableInterrupts(self->gpio, 1U << self->pin);
// Update IRQ data.
irq->base.handler = args[ARG_handler].u_obj;
irq->base.ishard = args[ARG_hard].u_bool;
irq->flags = 0;
if (args[ARG_trigger].u_int >= ARRAY_SIZE(IRQ_mapping)) {
mp_raise_ValueError(MP_ERROR_TEXT("IRQ mode not supported"));
}
irq->trigger = IRQ_mapping[args[ARG_trigger].u_int];
// Enable IRQ if a handler is given.
if (args[ARG_handler].u_obj != mp_const_none) {
// Set the pin mode
GPIO_PinSetInterruptConfig(self->gpio, self->pin, irq->trigger);
// Enable the specific Pin interrupt
GPIO_PortEnableInterrupts(self->gpio, 1U << self->pin);
}
// Enable LEVEL1 interrupt again
EnableIRQ(irq_num);
}
return MP_OBJ_FROM_PTR(irq);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_irq_obj, 1, machine_pin_irq);
STATIC const mp_rom_map_elem_t machine_pin_locals_dict_table[] = {
// instance methods
{ MP_ROM_QSTR(MP_QSTR_off), MP_ROM_PTR(&machine_pin_off_obj) },
{ MP_ROM_QSTR(MP_QSTR_on), MP_ROM_PTR(&machine_pin_on_obj) },
{ MP_ROM_QSTR(MP_QSTR_low), MP_ROM_PTR(&machine_pin_off_obj) },
{ MP_ROM_QSTR(MP_QSTR_high), MP_ROM_PTR(&machine_pin_on_obj) },
{ MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_pin_value_obj) },
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_pin_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_pin_irq_obj) },
// class attributes
{ MP_ROM_QSTR(MP_QSTR_board), MP_ROM_PTR(&machine_pin_board_pins_obj_type) },
{ MP_ROM_QSTR(MP_QSTR_cpu), MP_ROM_PTR(&machine_pin_cpu_pins_obj_type) },
// class constants
{ MP_ROM_QSTR(MP_QSTR_IN), MP_ROM_INT(PIN_MODE_IN) },
{ MP_ROM_QSTR(MP_QSTR_OUT), MP_ROM_INT(PIN_MODE_OUT) },
{ MP_ROM_QSTR(MP_QSTR_OPEN_DRAIN), MP_ROM_INT(PIN_MODE_OPEN_DRAIN) },
{ MP_ROM_QSTR(MP_QSTR_PULL_UP), MP_ROM_INT(PIN_PULL_UP_100K) },
{ MP_ROM_QSTR(MP_QSTR_PULL_UP_47K), MP_ROM_INT(PIN_PULL_UP_47K) },
{ MP_ROM_QSTR(MP_QSTR_PULL_UP_22K), MP_ROM_INT(PIN_PULL_UP_22K) },
{ MP_ROM_QSTR(MP_QSTR_PULL_DOWN), MP_ROM_INT(PIN_PULL_DOWN_100K) },
{ MP_ROM_QSTR(MP_QSTR_PULL_HOLD), MP_ROM_INT(PIN_PULL_HOLD) },
{ MP_ROM_QSTR(MP_QSTR_DRIVE_OFF), MP_ROM_INT(PIN_DRIVE_OFF) },
{ MP_ROM_QSTR(MP_QSTR_DRIVE_0), MP_ROM_INT(PIN_DRIVE_0) }, // R0 (150 Ohm @3.3V / 260 Ohm @ 1.8V)
{ MP_ROM_QSTR(MP_QSTR_DRIVE_1), MP_ROM_INT(PIN_DRIVE_1) }, // R0/2
{ MP_ROM_QSTR(MP_QSTR_DRIVE_2), MP_ROM_INT(PIN_DRIVE_2) }, // R0/3
{ MP_ROM_QSTR(MP_QSTR_DRIVE_3), MP_ROM_INT(PIN_DRIVE_3) }, // R0/4
{ MP_ROM_QSTR(MP_QSTR_DRIVE_4), MP_ROM_INT(PIN_DRIVE_4) }, // R0/5
{ MP_ROM_QSTR(MP_QSTR_DRIVE_5), MP_ROM_INT(PIN_DRIVE_5) }, // R0/6
{ MP_ROM_QSTR(MP_QSTR_DRIVE_6), MP_ROM_INT(PIN_DRIVE_6) }, // R0/7
{ MP_ROM_QSTR(MP_QSTR_IRQ_RISING), MP_ROM_INT(1) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_FALLING), MP_ROM_INT(2) },
};
STATIC MP_DEFINE_CONST_DICT(machine_pin_locals_dict, machine_pin_locals_dict_table);
STATIC mp_uint_t machine_pin_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) {
(void)errcode;
machine_pin_obj_t *self = self_in;
switch (request) {
case MP_PIN_READ: {
return mp_hal_pin_read(self);
}
case MP_PIN_WRITE: {
mp_hal_pin_write(self, arg);
return 0;
}
}
return -1;
}
STATIC const mp_pin_p_t machine_pin_obj_protocol = {
.ioctl = machine_pin_ioctl,
};
const mp_obj_type_t machine_pin_type = {
{&mp_type_type},
.name = MP_QSTR_Pin,
.print = machine_pin_obj_print,
.call = machine_pin_obj_call,
.make_new = mp_pin_make_new,
.protocol = &machine_pin_obj_protocol,
.locals_dict = (mp_obj_dict_t *)&machine_pin_locals_dict,
};
// FIXME: Create actual pin_af type!!!
const mp_obj_type_t machine_pin_af_type = {
{&mp_type_type},
.name = MP_QSTR_PinAF,
.print = machine_pin_obj_print,
.make_new = mp_pin_make_new,
.locals_dict = (mp_obj_dict_t *)&machine_pin_locals_dict,
};
STATIC mp_uint_t machine_pin_irq_trigger(mp_obj_t self_in, mp_uint_t new_trigger) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
uint32_t gpio_nr = GPIO_get_instance(self->gpio);
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[GET_PIN_IRQ_INDEX(gpio_nr, self->pin)]);
uint32_t irq_num = self->pin < 16 ? GPIO_combined_low_irqs[gpio_nr] : GPIO_combined_high_irqs[gpio_nr];
DisableIRQ(irq_num);
irq->flags = 0;
irq->trigger = new_trigger;
// Configure the interrupt.
GPIO_PinSetInterruptConfig(self->gpio, self->pin, irq->trigger);
// Enable LEVEL1 interrupt.
EnableIRQ(irq_num);
// Enable the specific pin interrupt.
GPIO_PortEnableInterrupts(self->gpio, 1U << self->pin);
return 0;
}
STATIC mp_uint_t machine_pin_irq_info(mp_obj_t self_in, mp_uint_t info_type) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
uint32_t gpio_nr = GPIO_get_instance(self->gpio);
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[GET_PIN_IRQ_INDEX(gpio_nr, self->pin)]);
if (info_type == MP_IRQ_INFO_FLAGS) {
return irq->flags;
} else if (info_type == MP_IRQ_INFO_TRIGGERS) {
return irq->trigger;
}
return 0;
}
STATIC const mp_irq_methods_t machine_pin_irq_methods = {
.trigger = machine_pin_irq_trigger,
.info = machine_pin_irq_info,
};
MP_REGISTER_ROOT_POINTER(void *machine_pin_irq_objects[MICROPY_HW_NUM_PIN_IRQS]);
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