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esp32: release claimed gpios on shutdown #60

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Merged
loopj merged 1 commit into from
Sep 25, 2026
Merged

esp32: release claimed gpios on shutdown #60

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30 changes: 27 additions & 3 deletions src/backend/esp32/joybus.c
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
#include <esp_intr_alloc.h>
#include <esp_rom_gpio.h>
#include <esp_rom_sys.h>
#include <esp_system.h>
#include <esp_timer.h>
#include <esp_private/periph_ctrl.h>
#include <hal/gpio_ll.h>
Expand Down Expand Up @@ -100,6 +101,25 @@ extern volatile rmt_symbol_word_t RMTMEM[JOYBUS_RMT_CHANNELS_PER_GROUP][SOC_RMT_
// Absolute RMT channels claimed by enabled joybus buses (bit N = channel N)
static uint32_t joybus_rmt_claimed_channels;

// GPIOs driven by enabled joybus buses (bit N = GPIO N)
static uint64_t joybus_claimed_gpios;

// Return a pad to plain GPIO with its output disabled
static void release_gpio(gpio_num_t gpio)
{
esp_rom_gpio_connect_out_signal(gpio, SIG_GPIO_OUT_IDX, false, false);
gpio_ll_output_disable(&GPIO, gpio);
}

// Release every enabled bus's pad before a restart
static void release_gpios_on_restart(void)
{
for (int gpio = 0; gpio < SOC_GPIO_PIN_COUNT; gpio++) {
if (joybus_claimed_gpios & (1ull << gpio))
release_gpio(gpio);
}
}

// De-assert the RMT peripheral reset without first asserting it like
// rmt_ll_reset_register does. This allows us to coexist with other RMT drivers
#if SOC_RCC_IS_INDEPENDENT
Expand Down Expand Up @@ -641,6 +661,10 @@ static int joybus_esp32_enable(struct joybus *bus)
enable_rx(bus, rmt_clk_freq);
enable_tx(bus, rmt_clk_freq);

// Mark the gpio as claimed by libjoybus so we can release it on restart
joybus_claimed_gpios |= 1ull << data->gpio;
esp_register_shutdown_handler(release_gpios_on_restart);

// Enter the appropriate initial state based on the bus mode
if (bus->mode == JOYBUS_MODE_TARGET) {
enter_target_rx_mode(bus);
Expand All @@ -661,9 +685,9 @@ static int joybus_esp32_disable(struct joybus *bus)
rmt_ll_rx_enable(&RMT, data->rmt_rx_ch, false);
rmt_ll_tx_stop(&RMT, data->rmt_tx_ch);

// Hand the pad back to GPIO, since a pad routed to a peripheral takes its output enable from it
esp_rom_gpio_connect_out_signal(data->gpio, SIG_GPIO_OUT_IDX, false, false);
gpio_ll_output_disable(&GPIO, data->gpio);
// Hand the pad back to GPIO
release_gpio(data->gpio);
joybus_claimed_gpios &= ~(1ull << data->gpio);

// Disable interrupts for this bus's channels
uint32_t intr_mask = RMT_LL_EVENT_TX_MASK(data->rmt_tx_ch) | RMT_LL_EVENT_RX_MASK(data->rmt_rx_ch);
Expand Down
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