Merge branch 'main' into master

37 files changed, 1597 insertions, 201 deletions

diff --git a/shared-bindings/_bleio/Address.c b/shared-bindings/_bleio/Address.c
index ccbab1b9d..9beaff2ab 100644
--- a/shared-bindings/_bleio/Address.c
+++ b/shared-bindings/_bleio/Address.c
@@ -78,7 +78,7 @@ STATIC mp_obj_t bleio_address_make_new(const mp_obj_type_t *type, size_t n_args,
 }
 
 //|     address_bytes: Any = ...
-//|     """The bytes that make up the device address (read-only).
+//|     r"""The bytes that make up the device address (read-only).
 //|
 //|     Note that the ``bytes`` object returned is in little-endian order:
 //|     The least significant byte is ``address_bytes[0]``. So the address will
diff --git a/shared-bindings/_pew/PewPew.c b/shared-bindings/_pew/PewPew.c
index 82bf04a61..352ef38f2 100644
--- a/shared-bindings/_pew/PewPew.c
+++ b/shared-bindings/_pew/PewPew.c
@@ -31,7 +31,7 @@
 #include "shared-bindings/digitalio/DigitalInOut.h"
 #include "shared-bindings/util.h"
 #include "PewPew.h"
-#include "shared-module/_pew/PewPew.h"
+#include "common-hal/_pew/PewPew.h"
 #include "supervisor/shared/translate.h"
 
 //| class PewPew:
diff --git a/shared-bindings/_pew/__init__.c b/shared-bindings/_pew/__init__.c
index 6e0070d8e..498beaf1c 100644
--- a/shared-bindings/_pew/__init__.c
+++ b/shared-bindings/_pew/__init__.c
@@ -27,7 +27,7 @@
 #include "py/runtime.h"
 #include "py/mphal.h"
 #include "PewPew.h"
-#include "shared-module/_pew/PewPew.h"
+#include "common-hal/_pew/PewPew.h"
 
 STATIC mp_obj_t get_pressed(void) {
     pew_obj_t *pew = MP_STATE_VM(pew_singleton);
diff --git a/shared-bindings/audioio/__init__.c b/shared-bindings/audioio/__init__.c
index 7ec927834..a9c58e864 100644
--- a/shared-bindings/audioio/__init__.c
+++ b/shared-bindings/audioio/__init__.c
@@ -33,15 +33,6 @@
 #include "shared-bindings/audioio/__init__.h"
 #include "shared-bindings/audioio/AudioOut.h"
 
-#if CIRCUITPY_AUDIOIO_COMPAT
-#include "shared-bindings/audiomixer/Mixer.h"
-#include "shared-bindings/audiocore/RawSample.h"
-#include "shared-bindings/audiocore/WaveFile.h"
-#endif
-#if CIRCUITPY_AUDIOMIXER
-#include "shared-bindings/audiomixer/Mixer.h"
-#endif
-
 //| """Support for audio output
 //|
 //| The `audioio` module contains classes to provide access to audio IO.
@@ -62,13 +53,6 @@
 STATIC const mp_rom_map_elem_t audioio_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_audioio) },
     { MP_ROM_QSTR(MP_QSTR_AudioOut), MP_ROM_PTR(&audioio_audioout_type) },
-#if CIRCUITPY_AUDIOIO_COMPAT
-    #if CIRCUITPY_AUDIOMIXER
-    { MP_ROM_QSTR(MP_QSTR_Mixer), MP_ROM_PTR(&audiomixer_mixer_type) },
-    #endif
-    { MP_ROM_QSTR(MP_QSTR_RawSample), MP_ROM_PTR(&audioio_rawsample_type) },
-    { MP_ROM_QSTR(MP_QSTR_WaveFile), MP_ROM_PTR(&audioio_wavefile_type) },
-#endif
 };
 
 STATIC MP_DEFINE_CONST_DICT(audioio_module_globals, audioio_module_globals_table);
diff --git a/shared-bindings/bitbangio/I2C.c b/shared-bindings/bitbangio/I2C.c
index 2043fc903..43fe11e62 100644
--- a/shared-bindings/bitbangio/I2C.c
+++ b/shared-bindings/bitbangio/I2C.c
@@ -45,6 +45,14 @@
 //|         physical level it consists of 2 wires: SCL and SDA, the clock and data
 //|         lines respectively.
 //|
+//|         .. seealso:: Using this class directly requires careful lock management.
+//|             Instead, use :class:`~adafruit_bus_device.i2c_device.I2CDevice` to
+//|             manage locks.
+//|
+//|         .. seealso:: Using this class to directly read registers requires manual
+//|             bit unpacking. Instead, use an existing driver or make one with
+//|             :ref:`Register <register-module-reference>` data descriptors.
+//|
 //|         :param ~microcontroller.Pin scl: The clock pin
 //|         :param ~microcontroller.Pin sda: The data pin
 //|         :param int frequency: The clock frequency of the bus
@@ -158,7 +166,7 @@ STATIC mp_obj_t bitbangio_i2c_obj_unlock(mp_obj_t self_in) {
 MP_DEFINE_CONST_FUN_OBJ_1(bitbangio_i2c_unlock_obj, bitbangio_i2c_obj_unlock);
 
 //|     def readfrom_into(self, address: int, buffer: bytearray, *, start: int = 0, end: int = None) -> Any:
-//|         """Read into ``buffer`` from the slave specified by ``address``.
+//|         """Read into ``buffer`` from the device selected by ``address``.
 //|         The number of bytes read will be the length of ``buffer``.
 //|         At least one byte must be read.
 //|
@@ -210,7 +218,7 @@ STATIC mp_obj_t bitbangio_i2c_readfrom_into(size_t n_args, const mp_obj_t *pos_a
 MP_DEFINE_CONST_FUN_OBJ_KW(bitbangio_i2c_readfrom_into_obj, 3, bitbangio_i2c_readfrom_into);
 
 //|     def writeto(self, address: int, buffer: bytearray, *, start: int = 0, end: int = None, stop: bool = True) -> Any:
-//|         """Write the bytes from ``buffer`` to the slave specified by ``address`` and then transmits a
+//|         """Write the bytes from ``buffer`` to the device selected by ``address`` and then transmits a
 //|         stop bit. Use `writeto_then_readfrom` when needing a write, no stop and repeated start
 //|         before a read.
 //|
@@ -270,7 +278,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_KW(bitbangio_i2c_writeto_obj, 1, bitbangio_i2c_wr
 
 
 //|     def writeto_then_readfrom(self, address: int, out_buffer: bytearray, in_buffer: bytearray, *, out_start: int = 0, out_end: int = None, in_start: int = 0, in_end: int = None) -> Any:
-//|         """Write the bytes from ``out_buffer`` to the slave specified by ``address``, generate no stop
+//|         """Write the bytes from ``out_buffer`` to the device selected by ``address``, generate no stop
 //|         bit, generate a repeated start and read into ``in_buffer``. ``out_buffer`` and
 //|         ``in_buffer`` can be the same buffer because they are used sequentially.
 //|
diff --git a/shared-bindings/bitbangio/SPI.c b/shared-bindings/bitbangio/SPI.c
index 08bbf1257..6d31037c7 100644
--- a/shared-bindings/bitbangio/SPI.c
+++ b/shared-bindings/bitbangio/SPI.c
@@ -43,19 +43,29 @@
 //|     """A 3-4 wire serial protocol
 //|
 //|     SPI is a serial protocol that has exclusive pins for data in and out of the
-//|     master.  It is typically faster than :py:class:`~bitbangio.I2C` because a
-//|     separate pin is used to control the active slave rather than a transmitted
+//|     main device.  It is typically faster than :py:class:`~bitbangio.I2C` because a
+//|     separate pin is used to select a device rather than a transmitted
 //|     address. This class only manages three of the four SPI lines: `!clock`,
-//|     `!MOSI`, `!MISO`. Its up to the client to manage the appropriate slave
-//|     select line. (This is common because multiple slaves can share the `!clock`,
-//|     `!MOSI` and `!MISO` lines and therefore the hardware.)"""
+//|     `!MOSI`, `!MISO`. Its up to the client to manage the appropriate
+//|     select line, often abbreviated `!CS` or `!SS`. (This is common because
+//|     multiple secondaries can share the `!clock`, `!MOSI` and `!MISO` lines
+//|     and therefore the hardware.)"""
 //|
 //|     def __init__(self, clock: microcontroller.Pin, MOSI: microcontroller.Pin = None, MISO: microcontroller.Pin = None):
 //|         """Construct an SPI object on the given pins.
 //|
+//|         .. seealso:: Using this class directly requires careful lock management.
+//|             Instead, use :class:`~adafruit_bus_device.spi_device.SPIDevice` to
+//|             manage locks.
+//|
+//|         .. seealso:: Using this class to directly read registers requires manual
+//|             bit unpacking. Instead, use an existing driver or make one with
+//|             :ref:`Register <register-module-reference>` data descriptors.
+//|
+//|
 //|         :param ~microcontroller.Pin clock: the pin to use for the clock.
-//|         :param ~microcontroller.Pin MOSI: the Master Out Slave In pin.
-//|         :param ~microcontroller.Pin MISO: the Master In Slave Out pin."""
+//|         :param ~microcontroller.Pin MOSI: the Main Out Selected In pin.
+//|         :param ~microcontroller.Pin MISO: the Main In Selected Out pin."""
 //|         ...
 //|
 
diff --git a/shared-bindings/busio/I2C.c b/shared-bindings/busio/I2C.c
index 7e8af765f..b61dd93f3 100644
--- a/shared-bindings/busio/I2C.c
+++ b/shared-bindings/busio/I2C.c
@@ -177,7 +177,7 @@ STATIC mp_obj_t busio_i2c_obj_unlock(mp_obj_t self_in) {
 MP_DEFINE_CONST_FUN_OBJ_1(busio_i2c_unlock_obj, busio_i2c_obj_unlock);
 
 //|     def readfrom_into(self, address: int, buffer: bytearray, *, start: int = 0, end: int = None) -> Any:
-//|          """Read into ``buffer`` from the slave specified by ``address``.
+//|          """Read into ``buffer`` from the device selected by ``address``.
 //|          The number of bytes read will be the length of ``buffer``.
 //|          At least one byte must be read.
 //|
@@ -229,7 +229,7 @@ STATIC mp_obj_t busio_i2c_readfrom_into(size_t n_args, const mp_obj_t *pos_args,
 MP_DEFINE_CONST_FUN_OBJ_KW(busio_i2c_readfrom_into_obj, 3, busio_i2c_readfrom_into);
 
 //|     def writeto(self, address: int, buffer: bytearray, *, start: int = 0, end: int = None, stop: bool = True) -> Any:
-//|          """Write the bytes from ``buffer`` to the slave specified by ``address``.
+//|          """Write the bytes from ``buffer`` to the device selected by ``address``.
 //|          Transmits a stop bit when stop is True. Setting stop=False is deprecated and stop will be
 //|          removed in CircuitPython 6.x. Use `writeto_then_readfrom` when needing a write, no stop and
 //|          repeated start before a read.
@@ -288,7 +288,7 @@ STATIC mp_obj_t busio_i2c_writeto(size_t n_args, const mp_obj_t *pos_args, mp_ma
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(busio_i2c_writeto_obj, 1, busio_i2c_writeto);
 
 //|     def writeto_then_readfrom(self, address: int, out_buffer: bytearray, in_buffer: bytearray, *, out_start: int = 0, out_end: int = None, in_start: int = 0, in_end: int = None) -> Any:
-//|          """Write the bytes from ``out_buffer`` to the slave specified by ``address``, generate no stop
+//|          """Write the bytes from ``out_buffer`` to the device selected by ``address``, generate no stop
 //|          bit, generate a repeated start and read into ``in_buffer``. ``out_buffer`` and
 //|          ``in_buffer`` can be the same buffer because they are used sequentially.
 //|
diff --git a/shared-bindings/busio/SPI.c b/shared-bindings/busio/SPI.c
index 2ba9a4c22..793ab4f67 100644
--- a/shared-bindings/busio/SPI.c
+++ b/shared-bindings/busio/SPI.c
@@ -45,12 +45,13 @@
 //|     """A 3-4 wire serial protocol
 //|
 //|     SPI is a serial protocol that has exclusive pins for data in and out of the
-//|     master.  It is typically faster than :py:class:`~busio.I2C` because a
-//|     separate pin is used to control the active slave rather than a transitted
+//|     main device.  It is typically faster than :py:class:`~bitbangio.I2C` because a
+//|     separate pin is used to select a device rather than a transmitted
 //|     address. This class only manages three of the four SPI lines: `!clock`,
-//|     `!MOSI`, `!MISO`. Its up to the client to manage the appropriate slave
-//|     select line. (This is common because multiple slaves can share the `!clock`,
-//|     `!MOSI` and `!MISO` lines and therefore the hardware.)"""
+//|     `!MOSI`, `!MISO`. Its up to the client to manage the appropriate
+//|     select line, often abbreviated `!CS` or `!SS`. (This is common because
+//|     multiple secondaries can share the `!clock`, `!MOSI` and `!MISO` lines
+//|     and therefore the hardware.)"""
 //|
 //|     def __init__(self, clock: microcontroller.Pin, MOSI: microcontroller.Pin = None, MISO: microcontroller.Pin = None):
 //|
@@ -72,8 +73,8 @@
 //|             :ref:`Register <register-module-reference>` data descriptors.
 //|
 //|         :param ~microcontroller.Pin clock: the pin to use for the clock.
-//|         :param ~microcontroller.Pin MOSI: the Master Out Slave In pin.
-//|         :param ~microcontroller.Pin MISO: the Master In Slave Out pin."""
+//|         :param ~microcontroller.Pin MOSI: the Main Out Selected In pin.
+//|         :param ~microcontroller.Pin MISO: the Main In Selected Out pin."""
 //|         ...
 //|
 
@@ -417,3 +418,10 @@ const mp_obj_type_t busio_spi_type = {
    .make_new = busio_spi_make_new,
    .locals_dict = (mp_obj_dict_t*)&busio_spi_locals_dict,
 };
+
+busio_spi_obj_t *validate_obj_is_spi_bus(mp_obj_t obj) {
+    if (!MP_OBJ_IS_TYPE(obj, &busio_spi_type)) {
+        mp_raise_TypeError_varg(translate("Expected a %q"), busio_spi_type.name);
+    }
+    return MP_OBJ_TO_PTR(obj);
+}
diff --git a/shared-bindings/busio/SPI.h b/shared-bindings/busio/SPI.h
index b7b0715d1..3a8b6dbc1 100644
--- a/shared-bindings/busio/SPI.h
+++ b/shared-bindings/busio/SPI.h
@@ -56,7 +56,7 @@ extern bool common_hal_busio_spi_write(busio_spi_obj_t *self, const uint8_t *dat
 extern bool common_hal_busio_spi_read(busio_spi_obj_t *self, uint8_t *data, size_t len, uint8_t write_value);
 
 // Reads and write len bytes simultaneously.
-extern bool common_hal_busio_spi_transfer(busio_spi_obj_t *self, uint8_t *data_out, uint8_t *data_in, size_t len);
+extern bool common_hal_busio_spi_transfer(busio_spi_obj_t *self, const uint8_t *data_out, uint8_t *data_in, size_t len);
 
 // Return actual SPI bus frequency.
 uint32_t common_hal_busio_spi_get_frequency(busio_spi_obj_t* self);
@@ -70,4 +70,6 @@ uint8_t common_hal_busio_spi_get_polarity(busio_spi_obj_t* self);
 // This is used by the supervisor to claim SPI devices indefinitely.
 extern void common_hal_busio_spi_never_reset(busio_spi_obj_t *self);
 
+extern busio_spi_obj_t *validate_obj_is_spi_bus(mp_obj_t obj_in);
+
 #endif // MICROPY_INCLUDED_SHARED_BINDINGS_BUSIO_SPI_H
diff --git a/shared-bindings/busio/UART.c b/shared-bindings/busio/UART.c
index 8c0811266..018ded182 100644
--- a/shared-bindings/busio/UART.c
+++ b/shared-bindings/busio/UART.c
@@ -52,8 +52,8 @@
 //|         :param ~microcontroller.Pin rx: the pin to receive on, or ``None`` if this ``UART`` is transmit-only.
 //|         :param ~microcontroller.Pin rts: the pin for rts, or ``None`` if rts not in use.
 //|         :param ~microcontroller.Pin cts: the pin for cts, or ``None`` if cts not in use.
-//|         :param ~microcontroller.Pin rs485_dir: the pin for rs485 direction setting, or ``None`` if rs485 not in use.
-//|         :param bool rs485_invert: set to invert the sense of the rs485_dir pin.
+//|         :param ~microcontroller.Pin rs485_dir: the output pin for rs485 direction setting, or ``None`` if rs485 not in use.
+//|         :param bool rs485_invert: rs485_dir pin active high when set. Active low otherwise.
 //|         :param int baudrate: the transmit and receive speed.
 //|         :param int bits:  the number of bits per byte, 7, 8 or 9.
 //|         :param Parity parity:  the parity used for error checking.
@@ -87,8 +87,8 @@ STATIC mp_obj_t busio_uart_make_new(const mp_obj_type_t *type, size_t n_args, co
     enum { ARG_tx, ARG_rx, ARG_baudrate, ARG_bits, ARG_parity, ARG_stop, ARG_timeout, ARG_receiver_buffer_size,
            ARG_rts, ARG_cts, ARG_rs485_dir,ARG_rs485_invert};
     static const mp_arg_t allowed_args[] = {
-        { MP_QSTR_tx, MP_ARG_REQUIRED | MP_ARG_OBJ },
-        { MP_QSTR_rx, MP_ARG_REQUIRED | MP_ARG_OBJ },
+        { MP_QSTR_tx, MP_ARG_OBJ, {.u_obj = mp_const_none} },
+        { MP_QSTR_rx, MP_ARG_OBJ, {.u_obj = mp_const_none} },
         { MP_QSTR_baudrate, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 9600} },
         { MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} },
         { MP_QSTR_parity, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
@@ -115,11 +115,11 @@ STATIC mp_obj_t busio_uart_make_new(const mp_obj_type_t *type, size_t n_args, co
         mp_raise_ValueError(translate("bits must be 7, 8 or 9"));
     }
 
-    uart_parity_t parity = PARITY_NONE;
+    busio_uart_parity_t parity = BUSIO_UART_PARITY_NONE;
     if (args[ARG_parity].u_obj == &busio_uart_parity_even_obj) {
-        parity = PARITY_EVEN;
+        parity = BUSIO_UART_PARITY_EVEN;
     } else if (args[ARG_parity].u_obj == &busio_uart_parity_odd_obj) {
-        parity = PARITY_ODD;
+        parity = BUSIO_UART_PARITY_ODD;
     }
 
     uint8_t stop = args[ARG_stop].u_int;
diff --git a/shared-bindings/busio/UART.h b/shared-bindings/busio/UART.h
index 3aed4e534..ce8da1445 100644
--- a/shared-bindings/busio/UART.h
+++ b/shared-bindings/busio/UART.h
@@ -34,17 +34,17 @@
 extern const mp_obj_type_t busio_uart_type;
 
 typedef enum {
-    PARITY_NONE,
-    PARITY_EVEN,
-    PARITY_ODD
-} uart_parity_t;
+    BUSIO_UART_PARITY_NONE,
+    BUSIO_UART_PARITY_EVEN,
+    BUSIO_UART_PARITY_ODD
+} busio_uart_parity_t;
 
 // Construct an underlying UART object.
 extern void common_hal_busio_uart_construct(busio_uart_obj_t *self,
     const mcu_pin_obj_t * tx, const mcu_pin_obj_t * rx,
     const mcu_pin_obj_t * rts, const mcu_pin_obj_t * cts,
     const mcu_pin_obj_t * rs485_dir, bool rs485_invert,
-    uint32_t baudrate, uint8_t bits, uart_parity_t parity, uint8_t stop,
+    uint32_t baudrate, uint8_t bits, busio_uart_parity_t parity, uint8_t stop,
     mp_float_t timeout, uint16_t receiver_buffer_size, byte* receiver_buffer,
     bool sigint_enabled);
 
diff --git a/shared-bindings/displayio/Display.c b/shared-bindings/displayio/Display.c
index 62ef0f5d0..6e454f34b 100644
--- a/shared-bindings/displayio/Display.c
+++ b/shared-bindings/displayio/Display.c
@@ -50,7 +50,7 @@
 //|     contain the initialization sequence at minimum."""
 //|
 //|     def __init__(self, display_bus: Any, init_sequence: buffer, *, width: int, height: int, colstart: int = 0, rowstart: int = 0, rotation: int = 0, color_depth: int = 16, grayscale: bool = False, pixels_in_byte_share_row: bool = True, bytes_per_cell: int = 1, reverse_pixels_in_byte: bool = False, set_column_command: int = 0x2a, set_row_command: int = 0x2b, write_ram_command: int = 0x2c, set_vertical_scroll: int = 0, backlight_pin: microcontroller.Pin = None, brightness_command: int = None, brightness: bool = 1.0, auto_brightness: bool = False, single_byte_bounds: bool = False, data_as_commands: bool = False, auto_refresh: bool = True, native_frames_per_second: int = 60):
-//|         """Create a Display object on the given display bus (`displayio.FourWire` or `displayio.ParallelBus`).
+//|         r"""Create a Display object on the given display bus (`displayio.FourWire` or `displayio.ParallelBus`).
 //|
 //|         The ``init_sequence`` is bitpacked to minimize the ram impact. Every command begins with a
 //|         command byte followed by a byte to determine the parameter count and if a delay is need after.
diff --git a/shared-bindings/displayio/Palette.c b/shared-bindings/displayio/Palette.c
index 871b2b06a..37cfbd82e 100644
--- a/shared-bindings/displayio/Palette.c
+++ b/shared-bindings/displayio/Palette.c
@@ -85,7 +85,7 @@ STATIC mp_obj_t group_unary_op(mp_unary_op_t op, mp_obj_t self_in) {
 }
 
 //|     def __setitem__(self, index: Any, value: Any) -> Any:
-//|         """Sets the pixel color at the given index. The index should be an integer in the range 0 to color_count-1.
+//|         r"""Sets the pixel color at the given index. The index should be an integer in the range 0 to color_count-1.
 //|
 //|         The value argument represents a color, and can be from 0x000000 to 0xFFFFFF (to represent an RGB value).
 //|         Value can be an int, bytes (3 bytes (RGB) or 4 bytes (RGB + pad byte)), bytearray,
diff --git a/shared-bindings/gnss/GNSS.c b/shared-bindings/gnss/GNSS.c
new file mode 100644
index 000000000..929e02ab8
--- /dev/null
+++ b/shared-bindings/gnss/GNSS.c
@@ -0,0 +1,227 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * 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 "shared-bindings/gnss/GNSS.h"
+#include "shared-bindings/time/__init__.h"
+#include "shared-bindings/util.h"
+
+#include "py/objproperty.h"
+#include "py/runtime.h"
+
+//| class GNSS:
+//|     """Get updated positioning information from Global Navigation Satellite System (GNSS)
+//|
+//|     Usage::
+//|
+//|         import gnss
+//|         import time
+//|
+//|         nav = gnss.GNSS([gnss.SatelliteSystem.GPS, gnss.SatelliteSystem.GLONASS])
+//|         last_print = time.monotonic()
+//|         while True:
+//|             nav.update()
+//|             current = time.monotonic()
+//|             if current - last_print >= 1.0:
+//|                 last_print = current
+//|                 if nav.fix is gnss.PositionFix.INVALID:
+//|                     print("Waiting for fix...")
+//|                     continue
+//|                 print("Latitude: {0:.6f} degrees".format(nav.latitude))
+//|                 print("Longitude: {0:.6f} degrees".format(nav.longitude))"""
+//|
+
+//|     def __init__(self, ):
+//|         """Turn on the GNSS.
+//|
+//|         :param gnss.SatelliteSystem system: satellite system to use"""
+//|         ...
+//|
+STATIC mp_obj_t gnss_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    gnss_obj_t *self = m_new_obj(gnss_obj_t);
+    self->base.type = &gnss_type;
+    enum { ARG_system };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_system, MP_ARG_REQUIRED | MP_ARG_OBJ },
+    };
+    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);
+
+    unsigned long selection = 0;
+    if (MP_OBJ_IS_TYPE(args[ARG_system].u_obj, &gnss_satellitesystem_type)) {
+        selection |= gnss_satellitesystem_obj_to_type(args[ARG_system].u_obj);
+    } else if (MP_OBJ_IS_TYPE(args[ARG_system].u_obj, &mp_type_list)) {
+        size_t systems_size = 0;
+        mp_obj_t *systems;
+        mp_obj_list_get(args[ARG_system].u_obj, &systems_size, &systems);
+        for (size_t i = 0; i < systems_size; ++i) {
+            if (!MP_OBJ_IS_TYPE(systems[i], &gnss_satellitesystem_type)) {
+                mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
+            }
+            selection |= gnss_satellitesystem_obj_to_type(systems[i]);
+        }
+    } else {
+        mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
+    }
+
+    common_hal_gnss_construct(self, selection);
+    return MP_OBJ_FROM_PTR(self);
+}
+
+//|     def deinit(self, ) -> Any:
+//|         """Turn off the GNSS."""
+//|         ...
+//|
+STATIC mp_obj_t gnss_obj_deinit(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    common_hal_gnss_deinit(self);
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_deinit_obj, gnss_obj_deinit);
+
+STATIC void check_for_deinit(gnss_obj_t *self) {
+    if (common_hal_gnss_deinited(self)) {
+        raise_deinited_error();
+    }
+}
+
+//|     def update(self, ) -> Any:
+//|         """Update GNSS positioning information."""
+//|         ...
+//|
+STATIC mp_obj_t gnss_obj_update(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+
+    common_hal_gnss_update(self);
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_update_obj, gnss_obj_update);
+
+//|     latitude: Any = ...
+//|     """Latitude of current position in degrees (float)."""
+//|
+STATIC mp_obj_t gnss_obj_get_latitude(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return mp_obj_new_float(common_hal_gnss_get_latitude(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_latitude_obj, gnss_obj_get_latitude);
+
+const mp_obj_property_t gnss_latitude_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_latitude_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     longitude: Any = ...
+//|     """Longitude of current position in degrees (float)."""
+//|
+STATIC mp_obj_t gnss_obj_get_longitude(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return mp_obj_new_float(common_hal_gnss_get_longitude(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_longitude_obj, gnss_obj_get_longitude);
+
+const mp_obj_property_t gnss_longitude_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_longitude_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     altitude: Any = ...
+//|     """Altitude of current position in meters (float)."""
+//|
+STATIC mp_obj_t gnss_obj_get_altitude(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return mp_obj_new_float(common_hal_gnss_get_altitude(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_altitude_obj, gnss_obj_get_altitude);
+
+const mp_obj_property_t gnss_altitude_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_altitude_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     timestamp: Any = ...
+//|     """Time when the position data was updated."""
+//|
+STATIC mp_obj_t gnss_obj_get_timestamp(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    timeutils_struct_time_t tm;
+    common_hal_gnss_get_timestamp(self, &tm);
+    return struct_time_from_tm(&tm);
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_timestamp_obj, gnss_obj_get_timestamp);
+
+const mp_obj_property_t gnss_timestamp_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_timestamp_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     fix: Any = ...
+//|     """Fix mode."""
+//|
+STATIC mp_obj_t gnss_obj_get_fix(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return gnss_positionfix_type_to_obj(common_hal_gnss_get_fix(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_fix_obj, gnss_obj_get_fix);
+
+const mp_obj_property_t gnss_fix_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_fix_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+STATIC const mp_rom_map_elem_t gnss_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&gnss_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR_update), MP_ROM_PTR(&gnss_update_obj) },
+
+    { MP_ROM_QSTR(MP_QSTR_latitude), MP_ROM_PTR(&gnss_latitude_obj) },
+    { MP_ROM_QSTR(MP_QSTR_longitude), MP_ROM_PTR(&gnss_longitude_obj) },
+    { MP_ROM_QSTR(MP_QSTR_altitude), MP_ROM_PTR(&gnss_altitude_obj) },
+    { MP_ROM_QSTR(MP_QSTR_timestamp), MP_ROM_PTR(&gnss_timestamp_obj) },
+    { MP_ROM_QSTR(MP_QSTR_fix), MP_ROM_PTR(&gnss_fix_obj) }
+};
+STATIC MP_DEFINE_CONST_DICT(gnss_locals_dict, gnss_locals_dict_table);
+
+const mp_obj_type_t gnss_type = {
+   { &mp_type_type },
+   .name = MP_QSTR_GNSS,
+   .make_new = gnss_make_new,
+   .locals_dict = (mp_obj_dict_t*)&gnss_locals_dict,
+};
diff --git a/shared-bindings/gnss/GNSS.h b/shared-bindings/gnss/GNSS.h
new file mode 100644
index 000000000..61ae35b12
--- /dev/null
+++ b/shared-bindings/gnss/GNSS.h
@@ -0,0 +1,49 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * 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.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H
+#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H
+
+#include "common-hal/gnss/GNSS.h"
+#include "shared-bindings/gnss/SatelliteSystem.h"
+#include "shared-bindings/gnss/PositionFix.h"
+
+#include "lib/timeutils/timeutils.h"
+
+extern const mp_obj_type_t gnss_type;
+
+void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection);
+void common_hal_gnss_deinit(gnss_obj_t *self);
+bool common_hal_gnss_deinited(gnss_obj_t *self);
+void common_hal_gnss_update(gnss_obj_t *self);
+
+mp_float_t common_hal_gnss_get_latitude(gnss_obj_t *self);
+mp_float_t common_hal_gnss_get_longitude(gnss_obj_t *self);
+mp_float_t common_hal_gnss_get_altitude(gnss_obj_t *self);
+void common_hal_gnss_get_timestamp(gnss_obj_t *self, timeutils_struct_time_t *tm);
+gnss_positionfix_t common_hal_gnss_get_fix(gnss_obj_t *self);
+
+#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H
diff --git a/shared-bindings/gnss/PositionFix.c b/shared-bindings/gnss/PositionFix.c
new file mode 100644
index 000000000..106a28c34
--- /dev/null
+++ b/shared-bindings/gnss/PositionFix.c
@@ -0,0 +1,108 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * 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 "shared-bindings/gnss/PositionFix.h"
+
+//| class PositionFix:
+//|     """Position fix mode"""
+//|
+//|     def __init__(self, ):
+//|         """Enum-like class to define the position fix mode."""
+//|
+//|     INVALID: Any = ...
+//|     """No measurement.
+//|
+//|     :type gnss.PositionFix:"""
+//|
+//|     FIX_2D: Any = ...
+//|     """2D fix.
+//|
+//|     :type gnss.PositionFix:"""
+//|
+//|     FIX_3D: Any = ...
+//|     """3D fix.
+//|
+//|     :type gnss.PositionFix:"""
+//|
+const mp_obj_type_t gnss_positionfix_type;
+
+const gnss_positionfix_obj_t gnss_positionfix_invalid_obj = {
+    { &gnss_positionfix_type },
+};
+
+const gnss_positionfix_obj_t gnss_positionfix_fix2d_obj = {
+    { &gnss_positionfix_type },
+};
+
+const gnss_positionfix_obj_t gnss_positionfix_fix3d_obj = {
+    { &gnss_positionfix_type },
+};
+
+gnss_positionfix_t gnss_positionfix_obj_to_type(mp_obj_t obj) {
+    gnss_positionfix_t posfix = POSITIONFIX_INVALID;
+    if (obj == MP_ROM_PTR(&gnss_positionfix_fix2d_obj)) {
+        posfix = POSITIONFIX_2D;
+    } else if (obj == MP_ROM_PTR(&gnss_positionfix_fix3d_obj)) {
+        posfix = POSITIONFIX_3D;
+    }
+    return posfix;
+}
+
+mp_obj_t gnss_positionfix_type_to_obj(gnss_positionfix_t posfix) {
+    switch (posfix) {
+        case POSITIONFIX_2D:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_fix2d_obj);
+        case POSITIONFIX_3D:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_fix3d_obj);
+        case POSITIONFIX_INVALID:
+        default:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_invalid_obj);
+    }
+}
+
+STATIC const mp_rom_map_elem_t gnss_positionfix_locals_dict_table[] = {
+    {MP_ROM_QSTR(MP_QSTR_INVALID), MP_ROM_PTR(&gnss_positionfix_invalid_obj)},
+    {MP_ROM_QSTR(MP_QSTR_FIX_2D), MP_ROM_PTR(&gnss_positionfix_fix2d_obj)},
+    {MP_ROM_QSTR(MP_QSTR_FIX_3D), MP_ROM_PTR(&gnss_positionfix_fix3d_obj)},
+};
+STATIC MP_DEFINE_CONST_DICT(gnss_positionfix_locals_dict, gnss_positionfix_locals_dict_table);
+
+STATIC void gnss_positionfix_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
+    qstr posfix = MP_QSTR_INVALID;
+    if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_positionfix_fix2d_obj)) {
+        posfix = MP_QSTR_FIX_2D;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_positionfix_fix3d_obj)) {
+        posfix = MP_QSTR_FIX_3D;
+    }
+    mp_printf(print, "%q.%q.%q", MP_QSTR_gnss, MP_QSTR_PositionFix, posfix);
+}
+
+const mp_obj_type_t gnss_positionfix_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_PositionFix,
+    .print = gnss_positionfix_print,
+    .locals_dict = (mp_obj_t)&gnss_positionfix_locals_dict,
+};
diff --git a/shared-bindings/gnss/PositionFix.h b/shared-bindings/gnss/PositionFix.h
new file mode 100644
index 000000000..64497cb59
--- /dev/null
+++ b/shared-bindings/gnss/PositionFix.h
@@ -0,0 +1,50 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * 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.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H
+#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H
+
+#include "py/obj.h"
+
+typedef enum {
+    POSITIONFIX_INVALID,
+    POSITIONFIX_2D,
+    POSITIONFIX_3D,
+} gnss_positionfix_t;
+
+const mp_obj_type_t gnss_positionfix_type;
+
+gnss_positionfix_t gnss_positionfix_obj_to_type(mp_obj_t obj);
+mp_obj_t gnss_positionfix_type_to_obj(gnss_positionfix_t mode);
+
+typedef struct {
+    mp_obj_base_t base;
+} gnss_positionfix_obj_t;
+extern const gnss_positionfix_obj_t gnss_positionfix_invalid_obj;
+extern const gnss_positionfix_obj_t gnss_positionfix_fix2d_obj;
+extern const gnss_positionfix_obj_t gnss_positionfix_fix3d_obj;
+
+#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H
diff --git a/shared-bindings/gnss/SatelliteSystem.c b/shared-bindings/gnss/SatelliteSystem.c
new file mode 100644
index 000000000..badc02b96
--- /dev/null
+++ b/shared-bindings/gnss/SatelliteSystem.c
@@ -0,0 +1,145 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * 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 "shared-bindings/gnss/SatelliteSystem.h"
+
+//| class SatelliteSystem:
+//|     """Satellite system type"""
+//|
+//|     def __init__(self, ):
+//|         """Enum-like class to define the satellite system type."""
+//|
+//|     GPS: Any = ...
+//|     """Global Positioning System.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+//|     GLONASS: Any = ...
+//|     """GLObal NAvigation Satellite System.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+//|     SBAS: Any = ...
+//|     """Satellite Based Augmentation System.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+//|     QZSS_L1CA: Any = ...
+//|     """Quasi-Zenith Satellite System L1C/A.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+//|     QZSS_L1S: Any = ...
+//|     """Quasi-Zenith Satellite System L1S.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+const mp_obj_type_t gnss_satellitesystem_type;
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_gps_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_glonass_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_sbas_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1ca_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1s_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+gnss_satellitesystem_t gnss_satellitesystem_obj_to_type(mp_obj_t obj) {
+    if (obj == MP_ROM_PTR(&gnss_satellitesystem_gps_obj)) {
+        return SATELLITESYSTEM_GPS;
+    } else if (obj == MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)) {
+        return SATELLITESYSTEM_GLONASS;
+    } else if (obj == MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)) {
+        return SATELLITESYSTEM_SBAS;
+    } else if (obj == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)) {
+        return SATELLITESYSTEM_QZSS_L1CA;
+    } else if (obj == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)) {
+        return SATELLITESYSTEM_QZSS_L1S;
+    }
+    return SATELLITESYSTEM_NONE;
+}
+
+mp_obj_t gnss_satellitesystem_type_to_obj(gnss_satellitesystem_t system) {
+    switch (system) {
+        case SATELLITESYSTEM_GPS:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_gps_obj);
+        case SATELLITESYSTEM_GLONASS:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_glonass_obj);
+        case SATELLITESYSTEM_SBAS:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_sbas_obj);
+        case SATELLITESYSTEM_QZSS_L1CA:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj);
+        case SATELLITESYSTEM_QZSS_L1S:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj);
+        case SATELLITESYSTEM_NONE:
+        default:
+            return (mp_obj_t)MP_ROM_PTR(&mp_const_none_obj);
+    }
+}
+
+STATIC const mp_rom_map_elem_t gnss_satellitesystem_locals_dict_table[] = {
+    {MP_ROM_QSTR(MP_QSTR_GPS), MP_ROM_PTR(&gnss_satellitesystem_gps_obj)},
+    {MP_ROM_QSTR(MP_QSTR_GLONASS), MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)},
+    {MP_ROM_QSTR(MP_QSTR_SBAS), MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)},
+    {MP_ROM_QSTR(MP_QSTR_QZSS_L1CA), MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)},
+    {MP_ROM_QSTR(MP_QSTR_QZSS_L1S), MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)},
+};
+STATIC MP_DEFINE_CONST_DICT(gnss_satellitesystem_locals_dict, gnss_satellitesystem_locals_dict_table);
+
+STATIC void gnss_satellitesystem_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
+    qstr system = MP_QSTR_None;
+    if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_gps_obj)) {
+        system = MP_QSTR_GPS;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)) {
+        system = MP_QSTR_GLONASS;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)) {
+        system = MP_QSTR_SBAS;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)) {
+        system = MP_QSTR_QZSS_L1CA;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)) {
+        system = MP_QSTR_QZSS_L1S;
+    }
+    mp_printf(print, "%q.%q.%q", MP_QSTR_gnss, MP_QSTR_SatelliteSystem, system);
+}
+
+const mp_obj_type_t gnss_satellitesystem_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_SatelliteSystem,
+    .print = gnss_satellitesystem_print,
+    .locals_dict = (mp_obj_t)&gnss_satellitesystem_locals_dict,
+};
diff --git a/shared-bindings/gnss/SatelliteSystem.h b/shared-bindings/gnss/SatelliteSystem.h
new file mode 100644
index 000000000..484e861ab
--- /dev/null
+++ b/shared-bindings/gnss/SatelliteSystem.h
@@ -0,0 +1,55 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * 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.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H
+#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H
+
+#include "py/obj.h"
+
+typedef enum {
+    SATELLITESYSTEM_NONE       = 0,
+    SATELLITESYSTEM_GPS        = (1U << 0),
+    SATELLITESYSTEM_GLONASS    = (1U << 1),
+    SATELLITESYSTEM_SBAS       = (1U << 2),
+    SATELLITESYSTEM_QZSS_L1CA  = (1U << 3),
+    SATELLITESYSTEM_QZSS_L1S   = (1U << 4),
+} gnss_satellitesystem_t;
+
+const mp_obj_type_t gnss_satellitesystem_type;
+
+gnss_satellitesystem_t gnss_satellitesystem_obj_to_type(mp_obj_t obj);
+mp_obj_t gnss_satellitesystem_type_to_obj(gnss_satellitesystem_t mode);
+
+typedef struct {
+    mp_obj_base_t base;
+} gnss_satellitesystem_obj_t;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_gps_obj;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_glonass_obj;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_sbas_obj;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1ca_obj;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1s_obj;
+
+#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H
diff --git a/shared-bindings/gnss/__init__.c b/shared-bindings/gnss/__init__.c
new file mode 100644
index 000000000..b3cf722f1
--- /dev/null
+++ b/shared-bindings/gnss/__init__.c
@@ -0,0 +1,53 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * 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 "py/obj.h"
+#include "py/runtime.h"
+#include "py/mphal.h"
+#include "shared-bindings/gnss/GNSS.h"
+#include "shared-bindings/gnss/SatelliteSystem.h"
+#include "shared-bindings/gnss/PositionFix.h"
+#include "shared-bindings/util.h"
+
+//| """Global Navigation Satellite System
+//|
+//| The `gnss` module contains classes to control the GNSS and acquire positioning information."""
+//|
+STATIC const mp_rom_map_elem_t gnss_module_globals_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_gnss) },
+    { MP_ROM_QSTR(MP_QSTR_GNSS), MP_ROM_PTR(&gnss_type) },
+
+    // Enum-like Classes.
+    { MP_ROM_QSTR(MP_QSTR_SatelliteSystem), MP_ROM_PTR(&gnss_satellitesystem_type) },
+    { MP_ROM_QSTR(MP_QSTR_PositionFix), MP_ROM_PTR(&gnss_positionfix_type) },
+};
+
+STATIC MP_DEFINE_CONST_DICT(gnss_module_globals, gnss_module_globals_table);
+
+const mp_obj_module_t gnss_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_dict_t*)&gnss_module_globals,
+};
diff --git a/shared-bindings/i2cslave/I2CSlave.c b/shared-bindings/i2cperipheral/I2CPeripheral.c
index 80875ce75..4a3900174 100644
--- a/shared-bindings/i2cslave/I2CSlave.c
+++ b/shared-bindings/i2cperipheral/I2CPeripheral.c
@@ -25,7 +25,7 @@
  */
 
 #include "shared-bindings/microcontroller/Pin.h"
-#include "shared-bindings/i2cslave/I2CSlave.h"
+#include "shared-bindings/i2cperipheral/I2CPeripheral.h"
 #include "shared-bindings/time/__init__.h"
 #include "shared-bindings/util.h"
 
@@ -39,22 +39,22 @@
 #include "py/objproperty.h"
 #include "py/runtime.h"
 
-STATIC mp_obj_t mp_obj_new_i2cslave_i2c_slave_request(i2cslave_i2c_slave_obj_t *slave, uint8_t address, bool is_read, bool is_restart) {
-    i2cslave_i2c_slave_request_obj_t *self = m_new_obj(i2cslave_i2c_slave_request_obj_t);
-    self->base.type = &i2cslave_i2c_slave_request_type;
-    self->slave = slave;
+STATIC mp_obj_t mp_obj_new_i2cperipheral_i2c_peripheral_request(i2cperipheral_i2c_peripheral_obj_t *peripheral, uint8_t address, bool is_read, bool is_restart) {
+    i2cperipheral_i2c_peripheral_request_obj_t *self = m_new_obj(i2cperipheral_i2c_peripheral_request_obj_t);
+    self->base.type = &i2cperipheral_i2c_peripheral_request_type;
+    self->peripheral = peripheral;
     self->address = address;
     self->is_read = is_read;
     self->is_restart = is_restart;
     return (mp_obj_t)self;
 }
 
-//| class I2CSlave:
-//|     """Two wire serial protocol slave"""
+//| class I2CPeripheral:
+//|     """Two wire serial protocol peripheral"""
 //|
 //|     def __init__(self, scl: microcontroller.Pin, sda: microcontroller.Pin, addresses: tuple, smbus: bool = False):
 //|         """I2C is a two-wire protocol for communicating between devices.
-//|         This implements the slave side.
+//|         This implements the peripheral (sensor, secondary) side.
 //|
 //|         :param ~microcontroller.Pin scl: The clock pin
 //|         :param ~microcontroller.Pin sda: The data pin
@@ -62,9 +62,9 @@ STATIC mp_obj_t mp_obj_new_i2cslave_i2c_slave_request(i2cslave_i2c_slave_obj_t *
 //|         :param bool smbus: Use SMBUS timings if the hardware supports it"""
 //|         ...
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
-    i2cslave_i2c_slave_obj_t *self = m_new_obj(i2cslave_i2c_slave_obj_t);
-    self->base.type = &i2cslave_i2c_slave_type;
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    i2cperipheral_i2c_peripheral_obj_t *self = m_new_obj(i2cperipheral_i2c_peripheral_obj_t);
+    self->base.type = &i2cperipheral_i2c_peripheral_type;
     enum { ARG_scl, ARG_sda, ARG_addresses, ARG_smbus };
     static const mp_arg_t allowed_args[] = {
         { MP_QSTR_scl, MP_ARG_REQUIRED | MP_ARG_OBJ },
@@ -98,7 +98,7 @@ STATIC mp_obj_t i2cslave_i2c_slave_make_new(const mp_obj_type_t *type, size_t n_
         mp_raise_ValueError(translate("addresses is empty"));
     }
 
-    common_hal_i2cslave_i2c_slave_construct(self, scl, sda, addresses, i, args[ARG_smbus].u_bool);
+    common_hal_i2cperipheral_i2c_peripheral_construct(self, scl, sda, addresses, i, args[ARG_smbus].u_bool);
     return (mp_obj_t)self;
 }
 
@@ -106,13 +106,13 @@ STATIC mp_obj_t i2cslave_i2c_slave_make_new(const mp_obj_type_t *type, size_t n_
 //|         """Releases control of the underlying hardware so other classes can use it."""
 //|         ...
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_obj_deinit(mp_obj_t self_in) {
-    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cslave_i2c_slave_type));
-    i2cslave_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    common_hal_i2cslave_i2c_slave_deinit(self);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_obj_deinit(mp_obj_t self_in) {
+    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cperipheral_i2c_peripheral_type));
+    i2cperipheral_i2c_peripheral_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    common_hal_i2cperipheral_i2c_peripheral_deinit(self);
     return mp_const_none;
 }
-MP_DEFINE_CONST_FUN_OBJ_1(i2cslave_i2c_slave_deinit_obj, i2cslave_i2c_slave_obj_deinit);
+MP_DEFINE_CONST_FUN_OBJ_1(i2cperipheral_i2c_peripheral_deinit_obj, i2cperipheral_i2c_peripheral_obj_deinit);
 
 //|     def __enter__(self, ) -> Any:
 //|         """No-op used in Context Managers."""
@@ -125,25 +125,25 @@ MP_DEFINE_CONST_FUN_OBJ_1(i2cslave_i2c_slave_deinit_obj, i2cslave_i2c_slave_obj_
 //|         :ref:`lifetime-and-contextmanagers` for more info."""
 //|         ...
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_obj___exit__(size_t n_args, const mp_obj_t *args) {
-    mp_check_self(MP_OBJ_IS_TYPE(args[0], &i2cslave_i2c_slave_type));
-    i2cslave_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(args[0]);
-    common_hal_i2cslave_i2c_slave_deinit(self);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_obj___exit__(size_t n_args, const mp_obj_t *args) {
+    mp_check_self(MP_OBJ_IS_TYPE(args[0], &i2cperipheral_i2c_peripheral_type));
+    i2cperipheral_i2c_peripheral_obj_t *self = MP_OBJ_TO_PTR(args[0]);
+    common_hal_i2cperipheral_i2c_peripheral_deinit(self);
     return mp_const_none;
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(i2cslave_i2c_slave___exit___obj, 4, 4, i2cslave_i2c_slave_obj___exit__);
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(i2cperipheral_i2c_peripheral___exit___obj, 4, 4, i2cperipheral_i2c_peripheral_obj___exit__);
 
 //|     def request(self, timeout: float = -1) -> Any:
-//|         """Wait for an I2C request from a master.
+//|         """Wait for an I2C request.
 //|
 //|         :param float timeout: Timeout in seconds. Zero means wait forever, a negative value means check once
 //|         :return: I2C Slave Request or None if timeout=-1 and there's no request
-//|         :rtype: ~i2cslave.I2CSlaveRequest"""
+//|         :rtype: ~i2cperipheral.I2CPeripheralRequest"""
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
-    mp_check_self(MP_OBJ_IS_TYPE(pos_args[0], &i2cslave_i2c_slave_type));
-    i2cslave_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
-    if(common_hal_i2cslave_i2c_slave_deinited(self)) {
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    mp_check_self(MP_OBJ_IS_TYPE(pos_args[0], &i2cperipheral_i2c_peripheral_type));
+    i2cperipheral_i2c_peripheral_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
+    if(common_hal_i2cperipheral_i2c_peripheral_deinited(self)) {
         raise_deinited_error();
     }
     enum { ARG_timeout };
@@ -180,7 +180,7 @@ STATIC mp_obj_t i2cslave_i2c_slave_request(size_t n_args, const mp_obj_t *pos_ar
             return mp_const_none;
         }
 
-        int status = common_hal_i2cslave_i2c_slave_is_addressed(self, &address, &is_read, &is_restart);
+        int status = common_hal_i2cperipheral_i2c_peripheral_is_addressed(self, &address, &is_read, &is_restart);
         if (status < 0) {
             // On error try one more time before bailing out
             if (last_error) {
@@ -198,7 +198,7 @@ STATIC mp_obj_t i2cslave_i2c_slave_request(size_t n_args, const mp_obj_t *pos_ar
             continue;
         }
 
-        return mp_obj_new_i2cslave_i2c_slave_request(self, address, is_read, is_restart);
+        return mp_obj_new_i2cperipheral_i2c_peripheral_request(self, address, is_read, is_restart);
     } while (forever || common_hal_time_monotonic() < timeout_end);
 
     if (timeout_ms > 0) {
@@ -206,39 +206,39 @@ STATIC mp_obj_t i2cslave_i2c_slave_request(size_t n_args, const mp_obj_t *pos_ar
     }
     return mp_const_none;
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_KW(i2cslave_i2c_slave_request_obj, 1, i2cslave_i2c_slave_request);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(i2cperipheral_i2c_peripheral_request_obj, 1, i2cperipheral_i2c_peripheral_request);
 
-STATIC const mp_rom_map_elem_t i2cslave_i2c_slave_locals_dict_table[] = {
-    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&i2cslave_i2c_slave_deinit_obj) },
+STATIC const mp_rom_map_elem_t i2cperipheral_i2c_peripheral_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_deinit_obj) },
     { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
-    { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&i2cslave_i2c_slave___exit___obj) },
-    { MP_ROM_QSTR(MP_QSTR_request), MP_ROM_PTR(&i2cslave_i2c_slave_request_obj) },
+    { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&i2cperipheral_i2c_peripheral___exit___obj) },
+    { MP_ROM_QSTR(MP_QSTR_request), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request_obj) },
 
 };
 
-STATIC MP_DEFINE_CONST_DICT(i2cslave_i2c_slave_locals_dict, i2cslave_i2c_slave_locals_dict_table);
+STATIC MP_DEFINE_CONST_DICT(i2cperipheral_i2c_peripheral_locals_dict, i2cperipheral_i2c_peripheral_locals_dict_table);
 
-const mp_obj_type_t i2cslave_i2c_slave_type = {
+const mp_obj_type_t i2cperipheral_i2c_peripheral_type = {
    { &mp_type_type },
-   .name = MP_QSTR_I2CSlave,
-   .make_new = i2cslave_i2c_slave_make_new,
-   .locals_dict = (mp_obj_dict_t*)&i2cslave_i2c_slave_locals_dict,
+   .name = MP_QSTR_I2CPeripheral,
+   .make_new = i2cperipheral_i2c_peripheral_make_new,
+   .locals_dict = (mp_obj_dict_t*)&i2cperipheral_i2c_peripheral_locals_dict,
 };
 
-//| class I2CSlaveRequest:
+//| class I2CPeripheralRequest:
 //|
-//|     def __init__(self, slave: i2cslave.I2CSlave, address: int, is_read: bool, is_restart: bool):
-//|         """I2C transfer request from a master.
-//|         This cannot be instantiated directly, but is returned by :py:meth:`I2CSlave.request`.
+//|     def __init__(self, peripheral: i2cperipheral.I2CPeripheral, address: int, is_read: bool, is_restart: bool):
+//|         """Information about an I2C transfer request
+//|         This cannot be instantiated directly, but is returned by :py:meth:`I2CPeripheral.request`.
 //|
-//|         :param slave: The I2C Slave receiving this request
+//|         :param peripheral: The I2CPeripheral object receiving this request
 //|         :param address: I2C address
-//|         :param is_read: I2C Master read request
+//|         :param is_read: True if the main peripheral is requesting data
 //|         :param is_restart: Repeated Start Condition"""
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
     mp_arg_check_num(n_args, kw_args, 4, 4, false);
-    return mp_obj_new_i2cslave_i2c_slave_request(args[0], mp_obj_get_int(args[1]), mp_obj_is_true(args[2]), mp_obj_is_true(args[3]));
+    return mp_obj_new_i2cperipheral_i2c_peripheral_request(args[0], mp_obj_get_int(args[1]), mp_obj_is_true(args[2]), mp_obj_is_true(args[3]));
 }
 
 //|     def __enter__(self, ) -> Any:
@@ -251,56 +251,56 @@ STATIC mp_obj_t i2cslave_i2c_slave_request_make_new(const mp_obj_type_t *type, s
 //|         """Close the request."""
 //|         ...
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request_obj___exit__(size_t n_args, const mp_obj_t *args) {
-    mp_check_self(MP_OBJ_IS_TYPE(args[0], &i2cslave_i2c_slave_request_type));
-    i2cslave_i2c_slave_request_obj_t *self = MP_OBJ_TO_PTR(args[0]);
-    common_hal_i2cslave_i2c_slave_close(self->slave);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_obj___exit__(size_t n_args, const mp_obj_t *args) {
+    mp_check_self(MP_OBJ_IS_TYPE(args[0], &i2cperipheral_i2c_peripheral_request_type));
+    i2cperipheral_i2c_peripheral_request_obj_t *self = MP_OBJ_TO_PTR(args[0]);
+    common_hal_i2cperipheral_i2c_peripheral_close(self->peripheral);
     return mp_const_none;
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(i2cslave_i2c_slave_request___exit___obj, 4, 4, i2cslave_i2c_slave_request_obj___exit__);
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(i2cperipheral_i2c_peripheral_request___exit___obj, 4, 4, i2cperipheral_i2c_peripheral_request_obj___exit__);
 
 //|     address: int = ...
 //|     """The I2C address of the request."""
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request_get_address(mp_obj_t self_in) {
-    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cslave_i2c_slave_request_type));
-    i2cslave_i2c_slave_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_get_address(mp_obj_t self_in) {
+    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cperipheral_i2c_peripheral_request_type));
+    i2cperipheral_i2c_peripheral_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
     return mp_obj_new_int(self->address);
 }
-MP_DEFINE_CONST_PROP_GET(i2cslave_i2c_slave_request_address_obj, i2cslave_i2c_slave_request_get_address);
+MP_DEFINE_CONST_PROP_GET(i2cperipheral_i2c_peripheral_request_address_obj, i2cperipheral_i2c_peripheral_request_get_address);
 
 //|     is_read: bool = ...
-//|     """The I2C master is reading from the device."""
+//|     """The I2C main controller is reading from this peripheral."""
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request_get_is_read(mp_obj_t self_in) {
-    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cslave_i2c_slave_request_type));
-    i2cslave_i2c_slave_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_get_is_read(mp_obj_t self_in) {
+    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cperipheral_i2c_peripheral_request_type));
+    i2cperipheral_i2c_peripheral_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
     return mp_obj_new_bool(self->is_read);
 }
-MP_DEFINE_CONST_PROP_GET(i2cslave_i2c_slave_request_is_read_obj, i2cslave_i2c_slave_request_get_is_read);
+MP_DEFINE_CONST_PROP_GET(i2cperipheral_i2c_peripheral_request_is_read_obj, i2cperipheral_i2c_peripheral_request_get_is_read);
 
 //|     is_restart: bool = ...
 //|     """Is Repeated Start Condition."""
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request_get_is_restart(mp_obj_t self_in) {
-    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cslave_i2c_slave_request_type));
-    i2cslave_i2c_slave_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_get_is_restart(mp_obj_t self_in) {
+    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cperipheral_i2c_peripheral_request_type));
+    i2cperipheral_i2c_peripheral_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
     return mp_obj_new_bool(self->is_restart);
 }
-MP_DEFINE_CONST_PROP_GET(i2cslave_i2c_slave_request_is_restart_obj, i2cslave_i2c_slave_request_get_is_restart);
+MP_DEFINE_CONST_PROP_GET(i2cperipheral_i2c_peripheral_request_is_restart_obj, i2cperipheral_i2c_peripheral_request_get_is_restart);
 
 //|     def read(self, n: int = -1, ack: bool = True) -> bytearray:
 //|         """Read data.
-//|         If ack=False, the caller is responsible for calling :py:meth:`I2CSlaveRequest.ack`.
+//|         If ack=False, the caller is responsible for calling :py:meth:`I2CPeripheralRequest.ack`.
 //|
 //|         :param n: Number of bytes to read (negative means all)
 //|         :param ack: Whether or not to send an ACK after the n'th byte
 //|         :return: Bytes read"""
 //|         ...
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request_read(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
-    mp_check_self(MP_OBJ_IS_TYPE(pos_args[0], &i2cslave_i2c_slave_request_type));
-    i2cslave_i2c_slave_request_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_read(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    mp_check_self(MP_OBJ_IS_TYPE(pos_args[0], &i2cperipheral_i2c_peripheral_request_type));
+    i2cperipheral_i2c_peripheral_request_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
     enum { ARG_n, ARG_ack };
     static const mp_arg_t allowed_args[] = {
         { MP_QSTR_n,          MP_ARG_INT, {.u_int = -1} },
@@ -329,7 +329,7 @@ STATIC mp_obj_t i2cslave_i2c_slave_request_read(size_t n_args, const mp_obj_t *p
         }
 
         uint8_t data;
-        int num = common_hal_i2cslave_i2c_slave_read_byte(self->slave, &data);
+        int num = common_hal_i2cperipheral_i2c_peripheral_read_byte(self->peripheral, &data);
         if (num == 0) {
             break;
         }
@@ -338,16 +338,16 @@ STATIC mp_obj_t i2cslave_i2c_slave_request_read(size_t n_args, const mp_obj_t *p
         buffer[i++] = data;
         if (i == n) {
             if (ack) {
-                common_hal_i2cslave_i2c_slave_ack(self->slave, true);
+                common_hal_i2cperipheral_i2c_peripheral_ack(self->peripheral, true);
             }
             break;
         }
-        common_hal_i2cslave_i2c_slave_ack(self->slave, true);
+        common_hal_i2cperipheral_i2c_peripheral_ack(self->peripheral, true);
     }
 
     return mp_obj_new_bytearray(i, buffer);
 }
-MP_DEFINE_CONST_FUN_OBJ_KW(i2cslave_i2c_slave_request_read_obj, 1, i2cslave_i2c_slave_request_read);
+MP_DEFINE_CONST_FUN_OBJ_KW(i2cperipheral_i2c_peripheral_request_read_obj, 1, i2cperipheral_i2c_peripheral_request_read);
 
 //|     def write(self, buffer: bytearray) -> int:
 //|         """Write the data contained in buffer.
@@ -356,9 +356,9 @@ MP_DEFINE_CONST_FUN_OBJ_KW(i2cslave_i2c_slave_request_read_obj, 1, i2cslave_i2c_
 //|         :return: Number of bytes written"""
 //|         ...
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request_write(mp_obj_t self_in, mp_obj_t buf_in) {
-    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cslave_i2c_slave_request_type));
-    i2cslave_i2c_slave_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_write(mp_obj_t self_in, mp_obj_t buf_in) {
+    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cperipheral_i2c_peripheral_request_type));
+    i2cperipheral_i2c_peripheral_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
 
     if (!self->is_read) {
         mp_raise_OSError(MP_EACCES);
@@ -373,7 +373,7 @@ STATIC mp_obj_t i2cslave_i2c_slave_request_write(mp_obj_t self_in, mp_obj_t buf_
             break;
         }
 
-        int num = common_hal_i2cslave_i2c_slave_write_byte(self->slave, ((uint8_t *)(bufinfo.buf))[i]);
+        int num = common_hal_i2cperipheral_i2c_peripheral_write_byte(self->peripheral, ((uint8_t *)(bufinfo.buf))[i]);
         if (num == 0) {
             return mp_obj_new_int(i);
         }
@@ -381,55 +381,55 @@ STATIC mp_obj_t i2cslave_i2c_slave_request_write(mp_obj_t self_in, mp_obj_t buf_
 
     return mp_obj_new_int(bufinfo.len);
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_2(i2cslave_i2c_slave_request_write_obj, i2cslave_i2c_slave_request_write);
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(i2cperipheral_i2c_peripheral_request_write_obj, i2cperipheral_i2c_peripheral_request_write);
 
 //|     def ack(self, ack: bool = True) -> Any:
 //|         """Acknowledge or Not Acknowledge last byte received.
-//|         Use together with :py:meth:`I2CSlaveRequest.read` ack=False.
+//|         Use together with :py:meth:`I2CPeripheralRequest.read` ack=False.
 //|
 //|         :param ack: Whether to send an ACK or NACK"""
 //|         ...
 //|
-STATIC mp_obj_t i2cslave_i2c_slave_request_ack(uint n_args, const mp_obj_t *args) {
-    mp_check_self(MP_OBJ_IS_TYPE(args[0], &i2cslave_i2c_slave_request_type));
-    i2cslave_i2c_slave_request_obj_t *self = MP_OBJ_TO_PTR(args[0]);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_ack(uint n_args, const mp_obj_t *args) {
+    mp_check_self(MP_OBJ_IS_TYPE(args[0], &i2cperipheral_i2c_peripheral_request_type));
+    i2cperipheral_i2c_peripheral_request_obj_t *self = MP_OBJ_TO_PTR(args[0]);
     bool ack = (n_args == 1) ? true : mp_obj_is_true(args[1]);
 
     if (self->is_read) {
         mp_raise_OSError(MP_EACCES);
     }
 
-    common_hal_i2cslave_i2c_slave_ack(self->slave, ack);
+    common_hal_i2cperipheral_i2c_peripheral_ack(self->peripheral, ack);
     return mp_const_none;
 }
-MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(i2cslave_i2c_slave_request_ack_obj, 1, 2, i2cslave_i2c_slave_request_ack);
+MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(i2cperipheral_i2c_peripheral_request_ack_obj, 1, 2, i2cperipheral_i2c_peripheral_request_ack);
 
-STATIC mp_obj_t i2cslave_i2c_slave_request_close(mp_obj_t self_in) {
-    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cslave_i2c_slave_request_type));
-    i2cslave_i2c_slave_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
+STATIC mp_obj_t i2cperipheral_i2c_peripheral_request_close(mp_obj_t self_in) {
+    mp_check_self(MP_OBJ_IS_TYPE(self_in, &i2cperipheral_i2c_peripheral_request_type));
+    i2cperipheral_i2c_peripheral_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
 
-    common_hal_i2cslave_i2c_slave_close(self->slave);
+    common_hal_i2cperipheral_i2c_peripheral_close(self->peripheral);
     return mp_const_none;
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(i2cslave_i2c_slave_request_close_obj, i2cslave_i2c_slave_request_close);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(i2cperipheral_i2c_peripheral_request_close_obj, i2cperipheral_i2c_peripheral_request_close);
 
-STATIC const mp_rom_map_elem_t i2cslave_i2c_slave_request_locals_dict_table[] = {
+STATIC const mp_rom_map_elem_t i2cperipheral_i2c_peripheral_request_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
-    { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&i2cslave_i2c_slave_request___exit___obj) },
-    { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&i2cslave_i2c_slave_request_address_obj) },
-    { MP_ROM_QSTR(MP_QSTR_is_read), MP_ROM_PTR(&i2cslave_i2c_slave_request_is_read_obj) },
-    { MP_ROM_QSTR(MP_QSTR_is_restart), MP_ROM_PTR(&i2cslave_i2c_slave_request_is_restart_obj) },
-    { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&i2cslave_i2c_slave_request_read_obj) },
-    { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&i2cslave_i2c_slave_request_write_obj) },
-    { MP_ROM_QSTR(MP_QSTR_ack), MP_ROM_PTR(&i2cslave_i2c_slave_request_ack_obj) },
-    { MP_ROM_QSTR(MP_QSTR_close), MP_ROM_PTR(&i2cslave_i2c_slave_request_close_obj) },
+    { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request___exit___obj) },
+    { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request_address_obj) },
+    { MP_ROM_QSTR(MP_QSTR_is_read), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request_is_read_obj) },
+    { MP_ROM_QSTR(MP_QSTR_is_restart), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request_is_restart_obj) },
+    { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request_read_obj) },
+    { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request_write_obj) },
+    { MP_ROM_QSTR(MP_QSTR_ack), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request_ack_obj) },
+    { MP_ROM_QSTR(MP_QSTR_close), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_request_close_obj) },
 };
 
-STATIC MP_DEFINE_CONST_DICT(i2cslave_i2c_slave_request_locals_dict, i2cslave_i2c_slave_request_locals_dict_table);
+STATIC MP_DEFINE_CONST_DICT(i2cperipheral_i2c_peripheral_request_locals_dict, i2cperipheral_i2c_peripheral_request_locals_dict_table);
 
-const mp_obj_type_t i2cslave_i2c_slave_request_type = {
+const mp_obj_type_t i2cperipheral_i2c_peripheral_request_type = {
    { &mp_type_type },
-   .name = MP_QSTR_I2CSlaveRequest,
-   .make_new = i2cslave_i2c_slave_request_make_new,
-   .locals_dict = (mp_obj_dict_t*)&i2cslave_i2c_slave_request_locals_dict,
+   .name = MP_QSTR_I2CPeripheralRequest,
+   .make_new = i2cperipheral_i2c_peripheral_request_make_new,
+   .locals_dict = (mp_obj_dict_t*)&i2cperipheral_i2c_peripheral_request_locals_dict,
 };
diff --git a/shared-bindings/i2cslave/I2CSlave.h b/shared-bindings/i2cperipheral/I2CPeripheral.h
index abb761416..3035cfbfe 100644
--- a/shared-bindings/i2cslave/I2CSlave.h
+++ b/shared-bindings/i2cperipheral/I2CPeripheral.h
@@ -30,31 +30,31 @@
 #include "py/obj.h"
 
 #include "common-hal/microcontroller/Pin.h"
-#include "common-hal/i2cslave/I2CSlave.h"
+#include "common-hal/i2cperipheral/I2CPeripheral.h"
 
 typedef struct {
     mp_obj_base_t base;
-    i2cslave_i2c_slave_obj_t *slave;
+    i2cperipheral_i2c_peripheral_obj_t *peripheral;
     uint16_t address;
     bool is_read;
     bool is_restart;
-} i2cslave_i2c_slave_request_obj_t;
+} i2cperipheral_i2c_peripheral_request_obj_t;
 
-extern const mp_obj_type_t i2cslave_i2c_slave_request_type;
+extern const mp_obj_type_t i2cperipheral_i2c_peripheral_request_type;
 
-extern const mp_obj_type_t i2cslave_i2c_slave_type;
+extern const mp_obj_type_t i2cperipheral_i2c_peripheral_type;
 
-extern void common_hal_i2cslave_i2c_slave_construct(i2cslave_i2c_slave_obj_t *self,
+extern void common_hal_i2cperipheral_i2c_peripheral_construct(i2cperipheral_i2c_peripheral_obj_t *self,
         const mcu_pin_obj_t* scl, const mcu_pin_obj_t* sda,
         uint8_t *addresses, unsigned int num_addresses, bool smbus);
-extern void common_hal_i2cslave_i2c_slave_deinit(i2cslave_i2c_slave_obj_t *self);
-extern bool common_hal_i2cslave_i2c_slave_deinited(i2cslave_i2c_slave_obj_t *self);
+extern void common_hal_i2cperipheral_i2c_peripheral_deinit(i2cperipheral_i2c_peripheral_obj_t *self);
+extern bool common_hal_i2cperipheral_i2c_peripheral_deinited(i2cperipheral_i2c_peripheral_obj_t *self);
 
-extern int common_hal_i2cslave_i2c_slave_is_addressed(i2cslave_i2c_slave_obj_t *self,
+extern int common_hal_i2cperipheral_i2c_peripheral_is_addressed(i2cperipheral_i2c_peripheral_obj_t *self,
         uint8_t *address, bool *is_read, bool *is_restart);
-extern int common_hal_i2cslave_i2c_slave_read_byte(i2cslave_i2c_slave_obj_t *self, uint8_t *data);
-extern int common_hal_i2cslave_i2c_slave_write_byte(i2cslave_i2c_slave_obj_t *self, uint8_t data);
-extern void common_hal_i2cslave_i2c_slave_ack(i2cslave_i2c_slave_obj_t *self, bool ack);
-extern void common_hal_i2cslave_i2c_slave_close(i2cslave_i2c_slave_obj_t *self);
+extern int common_hal_i2cperipheral_i2c_peripheral_read_byte(i2cperipheral_i2c_peripheral_obj_t *self, uint8_t *data);
+extern int common_hal_i2cperipheral_i2c_peripheral_write_byte(i2cperipheral_i2c_peripheral_obj_t *self, uint8_t data);
+extern void common_hal_i2cperipheral_i2c_peripheral_ack(i2cperipheral_i2c_peripheral_obj_t *self, bool ack);
+extern void common_hal_i2cperipheral_i2c_peripheral_close(i2cperipheral_i2c_peripheral_obj_t *self);
 
 #endif // MICROPY_INCLUDED_SHARED_BINDINGS_BUSIO_I2C_SLAVE_H
diff --git a/shared-bindings/i2cslave/__init__.c b/shared-bindings/i2cperipheral/__init__.c
index 41b42fef8..e2cb8509d 100644
--- a/shared-bindings/i2cslave/__init__.c
+++ b/shared-bindings/i2cperipheral/__init__.c
@@ -30,32 +30,32 @@
 #include "py/runtime.h"
 
 #include "shared-bindings/microcontroller/Pin.h"
-//#include "shared-bindings/i2cslave/__init__.h"
-#include "shared-bindings/i2cslave/I2CSlave.h"
+//#include "shared-bindings/i2cperipheral/__init__.h"
+#include "shared-bindings/i2cperipheral/I2CPeripheral.h"
 
 #include "py/runtime.h"
 
-//| """Two wire serial protocol slave
+//| """Two wire serial protocol peripheral
 //|
-//| The `i2cslave` module contains classes to support a I2C slave.
+//| The `i2cperipheral` module contains classes to support an I2C peripheral.
 //|
-//| Example emulating 2 devices::
+//| Example emulating a peripheral with 2 addresses (read and write)::
 //|
 //|   import board
-//|   from i2cslave import I2CSlave
+//|   from i2cperipheral import I2CPeripheral
 //|
 //|   regs = [0] * 16
 //|   index = 0
 //|
-//|   with I2CSlave(board.SCL, board.SDA, (0x40, 0x41)) as slave:
+//|   with I2CPeripheral(board.SCL, board.SDA, (0x40, 0x41)) as device:
 //|       while True:
-//|           r = slave.request()
+//|           r = device.request()
 //|           if not r:
 //|               # Maybe do some housekeeping
 //|               continue
-//|           with r:  # Closes the transfer if necessary by sending a NACK or feeding the master dummy bytes
+//|           with r:  # Closes the transfer if necessary by sending a NACK or feeding dummy bytes
 //|               if r.address == 0x40:
-//|                   if not r.is_read:  # Master write which is Slave read
+//|                   if not r.is_read:  # Main write which is Selected read
 //|                       b = r.read(1)
 //|                       if not b or b[0] > 15:
 //|                           break
@@ -63,11 +63,11 @@
 //|                       b = r.read(1)
 //|                       if b:
 //|                           regs[index] = b[0]
-//|                   elif r.is_restart:  # Combined transfer: This is the Master read message
+//|                   elif r.is_restart:  # Combined transfer: This is the Main read message
 //|                       n = r.write(bytes([regs[index]]))
 //|                   #else:
 //|                       # A read transfer is not supported in this example
-//|                       # If the Master tries, it will get 0xff byte(s) by the ctx manager (r.close())
+//|                       # If the microcontroller tries, it will get 0xff byte(s) by the ctx manager (r.close())
 //|               elif r.address == 0x41:
 //|                   if not r.is_read:
 //|                       b = r.read(1)
@@ -75,7 +75,7 @@
 //|                           # do something
 //|                           pass
 //|
-//| This example sets up an I2C slave that can be accessed from Linux like this::
+//| This example sets up an I2C device that can be accessed from Linux like this::
 //|
 //|   $ i2cget -y 1 0x40 0x01
 //|   0x00
@@ -84,22 +84,23 @@
 //|   0xaa
 //|
 //| .. warning::
-//|    I2CSlave makes use of clock stretching in order to slow down the master.
-//|    Make sure the I2C master supports this.
+//|    I2CPeripheral makes use of clock stretching in order to slow down
+//|    the host.
+//|    Make sure the I2C host supports this.
 //|
 //|    Raspberry Pi in particular does not support this with its I2C hw block.
 //|    This can be worked around by using the ``i2c-gpio`` bit banging driver.
 //|    Since the RPi firmware uses the hw i2c, it's not possible to emulate a HAT eeprom."""
 //|
 
-STATIC const mp_rom_map_elem_t i2cslave_module_globals_table[] = {
-    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_i2cslave) },
-    { MP_ROM_QSTR(MP_QSTR_I2CSlave), MP_ROM_PTR(&i2cslave_i2c_slave_type) },
+STATIC const mp_rom_map_elem_t i2cperipheral_module_globals_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_i2cperipheral) },
+    { MP_ROM_QSTR(MP_QSTR_I2CPeripheral), MP_ROM_PTR(&i2cperipheral_i2c_peripheral_type) },
 };
 
-STATIC MP_DEFINE_CONST_DICT(i2cslave_module_globals, i2cslave_module_globals_table);
+STATIC MP_DEFINE_CONST_DICT(i2cperipheral_module_globals, i2cperipheral_module_globals_table);
 
-const mp_obj_module_t i2cslave_module = {
+const mp_obj_module_t i2cperipheral_module = {
     .base = { &mp_type_module },
-    .globals = (mp_obj_dict_t*)&i2cslave_module_globals,
+    .globals = (mp_obj_dict_t*)&i2cperipheral_module_globals,
 };
diff --git a/shared-bindings/index.rst b/shared-bindings/index.rst
index d94177394..bf04ae18b 100644
--- a/shared-bindings/index.rst
+++ b/shared-bindings/index.rst
@@ -19,5 +19,5 @@ Modules
     :glob:
     :maxdepth: 2
 
-    ../autoapi/*/index
+    ../shared-bindings/*/index
     help
diff --git a/shared-bindings/microcontroller/Pin.c b/shared-bindings/microcontroller/Pin.c
index 765e602e5..d5b971ae5 100644
--- a/shared-bindings/microcontroller/Pin.c
+++ b/shared-bindings/microcontroller/Pin.c
@@ -101,6 +101,18 @@ mcu_pin_obj_t *validate_obj_is_free_pin(mp_obj_t obj) {
     return pin;
 }
 
+// Validate every element in the list to be a free pin.
+void validate_list_is_free_pins(qstr what, mcu_pin_obj_t **pins_out, mp_int_t max_pins, mp_obj_t seq, uint8_t *count_out) {
+    mp_int_t len = MP_OBJ_SMALL_INT_VALUE(mp_obj_len(seq));
+    if (len > max_pins) {
+        mp_raise_ValueError_varg(translate("At most %d %q may be specified (not %d)"), max_pins, what, len);
+    }
+    *count_out = len;
+    for (mp_int_t i=0; i<len; i++) {
+        pins_out[i] = validate_obj_is_free_pin(mp_obj_subscr(seq, MP_OBJ_NEW_SMALL_INT(i), MP_OBJ_SENTINEL));
+    }
+}
+
 // Validate that the obj is a free pin or None. Return an mcu_pin_obj_t* or NULL, correspondingly.
 mcu_pin_obj_t *validate_obj_is_free_pin_or_none(mp_obj_t obj) {
     if (obj == mp_const_none) {
diff --git a/shared-bindings/microcontroller/Pin.h b/shared-bindings/microcontroller/Pin.h
index bb5256b55..f6659db7d 100644
--- a/shared-bindings/microcontroller/Pin.h
+++ b/shared-bindings/microcontroller/Pin.h
@@ -37,6 +37,7 @@ mcu_pin_obj_t *validate_obj_is_pin(mp_obj_t obj);
 mcu_pin_obj_t *validate_obj_is_pin_or_none(mp_obj_t obj);
 mcu_pin_obj_t *validate_obj_is_free_pin(mp_obj_t obj);
 mcu_pin_obj_t *validate_obj_is_free_pin_or_none(mp_obj_t obj);
+void validate_list_is_free_pins(qstr what, mcu_pin_obj_t **pins_out, mp_int_t max_pins, mp_obj_t seq, uint8_t *count_out);
 
 void assert_pin_free(const mcu_pin_obj_t* pin);
 
diff --git a/shared-bindings/nvm/ByteArray.c b/shared-bindings/nvm/ByteArray.c
index 326f719a8..06d7d4c95 100644
--- a/shared-bindings/nvm/ByteArray.c
+++ b/shared-bindings/nvm/ByteArray.c
@@ -32,7 +32,7 @@
 #include "supervisor/shared/translate.h"
 
 //| class ByteArray:
-//|     """Presents a stretch of non-volatile memory as a bytearray.
+//|     r"""Presents a stretch of non-volatile memory as a bytearray.
 //|
 //|     Non-volatile memory is available as a byte array that persists over reloads
 //|     and power cycles. Each assignment causes an erase and write cycle so its recommended to assign
diff --git a/shared-bindings/rgbmatrix/RGBMatrix.c b/shared-bindings/rgbmatrix/RGBMatrix.c
index cbf570958..c833faa6e 100644
--- a/shared-bindings/rgbmatrix/RGBMatrix.c
+++ b/shared-bindings/rgbmatrix/RGBMatrix.c
@@ -50,13 +50,10 @@ STATIC uint8_t validate_pin(mp_obj_t obj) {
 }
 
 STATIC void validate_pins(qstr what, uint8_t* pin_nos, mp_int_t max_pins, mp_obj_t seq, uint8_t *count_out) {
-    mp_int_t len = MP_OBJ_SMALL_INT_VALUE(mp_obj_len(seq));
-    if (len > max_pins) {
-        mp_raise_ValueError_varg(translate("At most %d %q may be specified (not %d)"), max_pins, what, len);
-    }
-    *count_out = len;
-    for (mp_int_t i=0; i<len; i++) {
-        pin_nos[i] = validate_pin(mp_obj_subscr(seq, MP_OBJ_NEW_SMALL_INT(i), MP_OBJ_SENTINEL));
+    mcu_pin_obj_t *pins[max_pins];
+    validate_list_is_free_pins(what, pins, max_pins, seq, count_out);
+    for (mp_int_t i=0; i<*count_out; i++) {
+        pin_nos[i] = common_hal_mcu_pin_number(pins[i]);
     }
 }
 
diff --git a/shared-bindings/sdcardio/SDCard.c b/shared-bindings/sdcardio/SDCard.c
new file mode 100644
index 000000000..1d8c4bafb
--- /dev/null
+++ b/shared-bindings/sdcardio/SDCard.c
@@ -0,0 +1,183 @@
+/*
+ * This file is part of the Micro Python project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020 Jeff Epler for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/obj.h"
+#include "py/objproperty.h"
+#include "py/runtime.h"
+#include "py/objarray.h"
+
+#include "shared-bindings/sdcardio/SDCard.h"
+#include "shared-module/sdcardio/SDCard.h"
+#include "common-hal/busio/SPI.h"
+#include "shared-bindings/busio/SPI.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "supervisor/flash.h"
+
+//| class SDCard:
+//|     """SD Card Block Interface
+//|
+//|     Controls an SD card over SPI.  This built-in module has higher read
+//|     performance than the library adafruit_sdcard, but it is only compatible with
+//|     `busio.SPI`, not `bitbangio.SPI`.  Usually an SDCard object is used
+//|     with ``storage.VfsFat`` to allow file I/O to an SD card."""
+//|
+//|     def __init__(bus:busio.SPI, cs=digitalio.DigitalInOut, baudrate=8000000):
+//|         """Construct an SPI SD Card object with the given properties
+//|
+//|         :param busio.SPI spi: The SPI bus
+//|         :param microcontroller.Pin cs: The chip select connected to the card
+//|         :param int baudrate: The SPI data rate to use after card setup
+//|
+//|         Note that during detection and configuration, a hard-coded low baudrate is used.
+//|         Data transfers use the specified baurate (rounded down to one that is supported by
+//|         the microcontroller)
+//|
+//|         Example usage:
+//|
+//|         .. code-block:: python
+//|
+//|             import os
+//|
+//|             import board
+//|             import sdcardio
+//|             import storage
+//|
+//|             sd = sdcardio.SDCard(board.SPI(), board.SD_CS)
+//|             vfs = storage.VfsFat(sd)
+//|             storage.mount(vfs, '/sd')
+//|             os.listdir('/sd')"""
+
+STATIC mp_obj_t sdcardio_sdcard_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    enum { ARG_spi, ARG_cs, ARG_baudrate, ARG_sdio, NUM_ARGS };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_spi, MP_ARG_OBJ, {.u_obj = mp_const_none } },
+        { MP_QSTR_cs, MP_ARG_OBJ, {.u_obj = mp_const_none } },
+        { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 8000000} },
+        { MP_QSTR_sdio, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_int = 8000000} },
+    };
+    MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_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);
+
+    busio_spi_obj_t *spi = validate_obj_is_spi_bus(args[ARG_spi].u_obj);
+    mcu_pin_obj_t *cs = validate_obj_is_free_pin(args[ARG_cs].u_obj);
+
+    sdcardio_sdcard_obj_t *self = m_new_obj(sdcardio_sdcard_obj_t);
+    self->base.type = &sdcardio_SDCard_type;
+
+    common_hal_sdcardio_sdcard_construct(self, spi, cs, args[ARG_baudrate].u_int);
+
+    return self;
+}
+
+
+//|     def count() -> int:
+//|         """Returns the total number of sectors
+//|
+//|         Due to technical limitations, this is a function and not a property.
+//|
+//|         :return: The number of 512-byte blocks, as a number"""
+//|
+mp_obj_t sdcardio_sdcard_count(mp_obj_t self_in) {
+    sdcardio_sdcard_obj_t *self = (sdcardio_sdcard_obj_t*)self_in;
+    return mp_obj_new_int_from_ull(common_hal_sdcardio_sdcard_get_blockcount(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(sdcardio_sdcard_count_obj, sdcardio_sdcard_count);
+
+//|     def deinit() -> None:
+//|         """Disable permanently.
+//|
+//|         :return: None"""
+//|
+mp_obj_t sdcardio_sdcard_deinit(mp_obj_t self_in) {
+    sdcardio_sdcard_obj_t *self = (sdcardio_sdcard_obj_t*)self_in;
+    common_hal_sdcardio_sdcard_deinit(self);
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(sdcardio_sdcard_deinit_obj, sdcardio_sdcard_deinit);
+
+
+//|     def readblocks(start_block: int, buf: bytearray) -> None:
+//|
+//|         """Read one or more blocks from the card
+//|
+//|         :param int start_block: The block to start reading from
+//|         :param bytearray buf: The buffer to write into.  Length must be multiple of 512.
+//|
+//|         :return: None"""
+//|
+
+mp_obj_t sdcardio_sdcard_readblocks(mp_obj_t self_in, mp_obj_t start_block_in, mp_obj_t buf_in) {
+    uint32_t start_block = mp_obj_get_int(start_block_in);
+    mp_buffer_info_t bufinfo;
+    mp_get_buffer_raise(buf_in, &bufinfo, MP_BUFFER_WRITE);
+    sdcardio_sdcard_obj_t *self = (sdcardio_sdcard_obj_t*)self_in;
+    int result = common_hal_sdcardio_sdcard_readblocks(self, start_block, &bufinfo);
+    if (result < 0) {
+        mp_raise_OSError(-result);
+    }
+    return mp_const_none;
+}
+
+MP_DEFINE_CONST_FUN_OBJ_3(sdcardio_sdcard_readblocks_obj, sdcardio_sdcard_readblocks);
+
+//|     def writeblocks(start_block: int, buf: bytearray) -> None:
+//|
+//|         """Write one or more blocks to the card
+//|
+//|         :param int start_block: The block to start writing from
+//|         :param bytearray buf: The buffer to read from.  Length must be multiple of 512.
+//|
+//|         :return: None"""
+//|
+
+mp_obj_t sdcardio_sdcard_writeblocks(mp_obj_t self_in, mp_obj_t start_block_in, mp_obj_t buf_in) {
+    uint32_t start_block = mp_obj_get_int(start_block_in);
+    mp_buffer_info_t bufinfo;
+    mp_get_buffer_raise(buf_in, &bufinfo, MP_BUFFER_READ);
+    sdcardio_sdcard_obj_t *self = (sdcardio_sdcard_obj_t*)self_in;
+    int result = common_hal_sdcardio_sdcard_writeblocks(self, start_block, &bufinfo);
+    if (result < 0) {
+        mp_raise_OSError(-result);
+    }
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_3(sdcardio_sdcard_writeblocks_obj, sdcardio_sdcard_writeblocks);
+
+STATIC const mp_rom_map_elem_t sdcardio_sdcard_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_count), MP_ROM_PTR(&sdcardio_sdcard_count_obj) },
+    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&sdcardio_sdcard_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR_readblocks), MP_ROM_PTR(&sdcardio_sdcard_readblocks_obj) },
+    { MP_ROM_QSTR(MP_QSTR_writeblocks), MP_ROM_PTR(&sdcardio_sdcard_writeblocks_obj) },
+};
+STATIC MP_DEFINE_CONST_DICT(sdcardio_sdcard_locals_dict, sdcardio_sdcard_locals_dict_table);
+
+const mp_obj_type_t sdcardio_SDCard_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_SDCard,
+    .make_new = sdcardio_sdcard_make_new,
+    .locals_dict = (mp_obj_dict_t*)&sdcardio_sdcard_locals_dict,
+};
diff --git a/shared-bindings/sdcardio/SDCard.h b/shared-bindings/sdcardio/SDCard.h
new file mode 100644
index 000000000..5986d5b81
--- /dev/null
+++ b/shared-bindings/sdcardio/SDCard.h
@@ -0,0 +1,30 @@
+/*
+ * This file is part of the Micro Python project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017, 2018 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2020 Jeff Epler for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+extern const mp_obj_type_t sdcardio_SDCard_type;
diff --git a/shared-bindings/sdcardio/__init__.c b/shared-bindings/sdcardio/__init__.c
new file mode 100644
index 000000000..746aa5588
--- /dev/null
+++ b/shared-bindings/sdcardio/__init__.c
@@ -0,0 +1,47 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020 Jeff Epler for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+#include <stdint.h>
+
+#include "py/obj.h"
+#include "py/runtime.h"
+
+#include "shared-bindings/sdcardio/SDCard.h"
+
+//| """Interface to an SD card via the SPI bus"""
+
+STATIC const mp_rom_map_elem_t sdcardio_module_globals_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_sdcardio) },
+    { MP_ROM_QSTR(MP_QSTR_SDCard), MP_ROM_PTR(&sdcardio_SDCard_type) },
+};
+
+STATIC MP_DEFINE_CONST_DICT(sdcardio_module_globals, sdcardio_module_globals_table);
+
+const mp_obj_module_t sdcardio_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_dict_t*)&sdcardio_module_globals,
+};
diff --git a/shared-bindings/sdcardio/__init__.h b/shared-bindings/sdcardio/__init__.h
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/shared-bindings/sdcardio/__init__.h
diff --git a/shared-bindings/sdioio/SDCard.c b/shared-bindings/sdioio/SDCard.c
new file mode 100644
index 000000000..77b41ce12
--- /dev/null
+++ b/shared-bindings/sdioio/SDCard.c
@@ -0,0 +1,296 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2016 Scott Shawcroft
+ *
+ * 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.
+ */
+
+// This file contains all of the Python API definitions for the
+// sdioio.SDCard class.
+
+#include <string.h>
+
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-bindings/sdioio/SDCard.h"
+#include "shared-bindings/util.h"
+
+#include "lib/utils/buffer_helper.h"
+#include "lib/utils/context_manager_helpers.h"
+#include "py/mperrno.h"
+#include "py/objproperty.h"
+#include "py/runtime.h"
+#include "supervisor/shared/translate.h"
+
+//| class SDCard:
+//|     """SD Card Block Interface with SDIO
+//|
+//|     Controls an SD card over SDIO.  SDIO is a parallel protocol designed
+//|     for SD cards.  It uses a clock pin, a command pin, and 1 or 4
+//|     data pins.  It can be operated at a high frequency such as
+//|     25MHz.  Usually an SDCard object is used with ``storage.VfsFat``
+//|     to allow file I/O to an SD card."""
+//|
+//|     def __init__(*, clock: digitalio.DigitalInOut, command: digitalio.DigitalInOut, data: List[digitalio.DigitalInOut], frequency: int):
+//|         """Construct an SDIO SD Card object with the given properties
+//|
+//|         :param ~microcontroller.Pin clock: the pin to use for the clock.
+//|         :param ~microcontroller.Pin command: the pin to use for the command.
+//|         :param data: A sequence of pins to use for data.
+//|         :param frequency: The frequency of the bus in Hz
+//|
+//|         Example usage:
+//|
+//|         .. code-block:: python
+//|
+//|             import os
+//|
+//|             import board
+//|             import sdioio
+//|             import storage
+//|
+//|             sd = sdioio.SDCard(
+//|                 clock=board.SDIO_CLOCK,
+//|                 command=board.SDIO_COMMAND,
+//|                 data=board.SDIO_DATA,
+//|                 frequency=25000000)
+//|             vfs = storage.VfsFat(sd)
+//|             storage.mount(vfs, '/sd')
+//|             os.listdir('/sd')"""
+//|         ...
+//|
+
+STATIC mp_obj_t sdioio_sdcard_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    sdioio_sdcard_obj_t *self = m_new_obj(sdioio_sdcard_obj_t);
+    self->base.type = &sdioio_SDCard_type;
+    enum { ARG_clock, ARG_command, ARG_data, ARG_frequency, NUM_ARGS };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_clock, MP_ARG_REQUIRED | MP_ARG_KW_ONLY | MP_ARG_OBJ },
+        { MP_QSTR_command, MP_ARG_REQUIRED | MP_ARG_KW_ONLY | MP_ARG_OBJ },
+        { MP_QSTR_data, MP_ARG_REQUIRED | MP_ARG_KW_ONLY | MP_ARG_OBJ },
+        { MP_QSTR_frequency, MP_ARG_REQUIRED | MP_ARG_KW_ONLY | MP_ARG_INT },
+    };
+    MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_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);
+
+    const mcu_pin_obj_t* clock = validate_obj_is_free_pin(args[ARG_clock].u_obj);
+    const mcu_pin_obj_t* command = validate_obj_is_free_pin(args[ARG_command].u_obj);
+    mcu_pin_obj_t *data_pins[4];
+    uint8_t num_data;
+    validate_list_is_free_pins(MP_QSTR_data, data_pins, MP_ARRAY_SIZE(data_pins), args[ARG_data].u_obj, &num_data);
+
+    common_hal_sdioio_sdcard_construct(self, clock, command, num_data, data_pins, args[ARG_frequency].u_int);
+    return MP_OBJ_FROM_PTR(self);
+}
+
+STATIC void check_for_deinit(sdioio_sdcard_obj_t *self) {
+    if (common_hal_sdioio_sdcard_deinited(self)) {
+        raise_deinited_error();
+    }
+}
+
+//|     def configure(*, frequency=0, width=0) -> None:
+//|         """Configures the SDIO bus.
+//|
+//|         :param int frequency: the desired clock rate in Hertz. The actual clock rate may be higher or lower due to the granularity of available clock settings.  Check the `frequency` attribute for the actual clock rate.
+//|         :param int width: the number of data lines to use.  Must be 1 or 4 and must also not exceed the number of data lines at construction
+//|
+//|         .. note:: Leaving a value unspecified or 0 means the current setting is kept"""
+//|
+STATIC mp_obj_t sdioio_sdcard_configure(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    enum { ARG_frequency, ARG_width, NUM_ARGS };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_frequency, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
+        { MP_QSTR_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
+    };
+    sdioio_sdcard_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
+    check_for_deinit(self);
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS );
+    mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+
+    mp_int_t frequency = args[ARG_frequency].u_int;
+    if (frequency < 0) {
+        mp_raise_ValueError_varg(translate("Invalid %q"), MP_QSTR_baudrate);
+    }
+
+    uint8_t width = args[ARG_width].u_int;
+    if (width != 0 && width != 1 && width != 4) {
+        mp_raise_ValueError_varg(translate("Invalid %q"), MP_QSTR_width);
+    }
+
+    if (!common_hal_sdioio_sdcard_configure(self, frequency, width)) {
+        mp_raise_OSError(MP_EIO);
+    }
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_KW(sdioio_sdcard_configure_obj, 1, sdioio_sdcard_configure);
+
+//|     def count() -> int:
+//|         """Returns the total number of sectors
+//|
+//|         Due to technical limitations, this is a function and not a property.
+//|
+//|         :return: The number of 512-byte blocks, as a number"""
+//|
+STATIC mp_obj_t sdioio_sdcard_count(mp_obj_t self_in) {
+    sdioio_sdcard_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return MP_OBJ_NEW_SMALL_INT(common_hal_sdioio_sdcard_get_count(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(sdioio_sdcard_count_obj, sdioio_sdcard_count);
+
+//|     def readblocks(start_block: int, buf: bytearray) -> None:
+//|
+//|         """Read one or more blocks from the card
+//|
+//|         :param int start_block: The block to start reading from
+//|         :param bytearray buf: The buffer to write into.  Length must be multiple of 512.
+//|
+//|         :return: None"""
+mp_obj_t sdioio_sdcard_readblocks(mp_obj_t self_in, mp_obj_t start_block_in, mp_obj_t buf_in) {
+    uint32_t start_block = mp_obj_get_int(start_block_in);
+    mp_buffer_info_t bufinfo;
+    mp_get_buffer_raise(buf_in, &bufinfo, MP_BUFFER_WRITE);
+    sdioio_sdcard_obj_t *self = (sdioio_sdcard_obj_t*)self_in;
+    int result = common_hal_sdioio_sdcard_readblocks(self, start_block, &bufinfo);
+    if (result < 0) {
+        mp_raise_OSError(-result);
+    }
+    return mp_const_none;
+}
+
+MP_DEFINE_CONST_FUN_OBJ_3(sdioio_sdcard_readblocks_obj, sdioio_sdcard_readblocks);
+
+//|     def writeblocks(start_block: int, buf: bytearray) -> None:
+//|
+//|         """Write one or more blocks to the card
+//|
+//|         :param int start_block: The block to start writing from
+//|         :param bytearray buf: The buffer to read from.  Length must be multiple of 512.
+//|
+//|         :return: None"""
+//|
+mp_obj_t sdioio_sdcard_writeblocks(mp_obj_t self_in, mp_obj_t start_block_in, mp_obj_t buf_in) {
+    uint32_t start_block = mp_obj_get_int(start_block_in);
+    mp_buffer_info_t bufinfo;
+    mp_get_buffer_raise(buf_in, &bufinfo, MP_BUFFER_WRITE);
+    sdioio_sdcard_obj_t *self = (sdioio_sdcard_obj_t*)self_in;
+    int result = common_hal_sdioio_sdcard_writeblocks(self, start_block, &bufinfo);
+    if (result < 0) {
+        mp_raise_OSError(-result);
+    }
+    return mp_const_none;
+}
+
+MP_DEFINE_CONST_FUN_OBJ_3(sdioio_sdcard_writeblocks_obj, sdioio_sdcard_writeblocks);
+
+//|     @property
+//|     def frequency(self) -> int:
+//|         """The actual SDIO bus frequency. This may not match the frequency
+//|         requested due to internal limitations."""
+//|         ...
+//|
+STATIC mp_obj_t sdioio_sdcard_obj_get_frequency(mp_obj_t self_in) {
+    sdioio_sdcard_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return MP_OBJ_NEW_SMALL_INT(common_hal_sdioio_sdcard_get_frequency(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(sdioio_sdcard_get_frequency_obj, sdioio_sdcard_obj_get_frequency);
+
+const mp_obj_property_t sdioio_sdcard_frequency_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&sdioio_sdcard_get_frequency_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     @property
+//|     def width(self) -> int:
+//|         """The actual SDIO bus width, in bits"""
+//|         ...
+//|
+STATIC mp_obj_t sdioio_sdcard_obj_get_width(mp_obj_t self_in) {
+    sdioio_sdcard_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return MP_OBJ_NEW_SMALL_INT(common_hal_sdioio_sdcard_get_width(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(sdioio_sdcard_get_width_obj, sdioio_sdcard_obj_get_width);
+
+const mp_obj_property_t sdioio_sdcard_width_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&sdioio_sdcard_get_width_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     def deinit() -> None:
+//|         """Disable permanently.
+//|
+//|         :return: None"""
+STATIC mp_obj_t sdioio_sdcard_obj_deinit(mp_obj_t self_in) {
+    sdioio_sdcard_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    common_hal_sdioio_sdcard_deinit(self);
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(sdioio_sdcard_deinit_obj, sdioio_sdcard_obj_deinit);
+
+//|     def __enter__(self, ) -> Any:
+//|         """No-op used by Context Managers.
+//|         Provided by context manager helper."""
+//|         ...
+//|
+
+//|     def __exit__(self, ) -> Any:
+//|         """Automatically deinitializes the hardware when exiting a context. See
+//|         :ref:`lifetime-and-contextmanagers` for more info."""
+//|         ...
+//|
+STATIC mp_obj_t sdioio_sdcard_obj___exit__(size_t n_args, const mp_obj_t *args) {
+    (void)n_args;
+    common_hal_sdioio_sdcard_deinit(args[0]);
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(sdioio_sdcard_obj___exit___obj, 4, 4, sdioio_sdcard_obj___exit__);
+
+STATIC const mp_rom_map_elem_t sdioio_sdcard_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&sdioio_sdcard_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
+    { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&sdioio_sdcard_obj___exit___obj) },
+
+    { MP_ROM_QSTR(MP_QSTR_configure), MP_ROM_PTR(&sdioio_sdcard_configure_obj) },
+    { MP_ROM_QSTR(MP_QSTR_frequency), MP_ROM_PTR(&sdioio_sdcard_frequency_obj) },
+    { MP_ROM_QSTR(MP_QSTR_width), MP_ROM_PTR(&sdioio_sdcard_width_obj) },
+
+    { MP_ROM_QSTR(MP_QSTR_count), MP_ROM_PTR(&sdioio_sdcard_count_obj) },
+    { MP_ROM_QSTR(MP_QSTR_readblocks), MP_ROM_PTR(&sdioio_sdcard_readblocks_obj) },
+    { MP_ROM_QSTR(MP_QSTR_writeblocks), MP_ROM_PTR(&sdioio_sdcard_writeblocks_obj) },
+};
+STATIC MP_DEFINE_CONST_DICT(sdioio_sdcard_locals_dict, sdioio_sdcard_locals_dict_table);
+
+const mp_obj_type_t sdioio_SDCard_type = {
+   { &mp_type_type },
+   .name = MP_QSTR_SDCard,
+   .make_new = sdioio_sdcard_make_new,
+   .locals_dict = (mp_obj_dict_t*)&sdioio_sdcard_locals_dict,
+};
diff --git a/shared-bindings/sdioio/SDCard.h b/shared-bindings/sdioio/SDCard.h
new file mode 100644
index 000000000..7f62ee7a6
--- /dev/null
+++ b/shared-bindings/sdioio/SDCard.h
@@ -0,0 +1,66 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2016 Scott Shawcroft
+ *
+ * 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.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_BUSIO_SDIO_H
+#define MICROPY_INCLUDED_SHARED_BINDINGS_BUSIO_SDIO_H
+
+#include "py/obj.h"
+
+#include "common-hal/microcontroller/Pin.h"
+#include "common-hal/sdioio/SDCard.h"
+
+// Type object used in Python. Should be shared between ports.
+extern const mp_obj_type_t sdioio_SDCard_type;
+
+// Construct an underlying SDIO object.
+extern void common_hal_sdioio_sdcard_construct(sdioio_sdcard_obj_t *self,
+    const mcu_pin_obj_t * clock, const mcu_pin_obj_t * command,
+    uint8_t num_data, mcu_pin_obj_t ** data, uint32_t frequency);
+
+extern void common_hal_sdioio_sdcard_deinit(sdioio_sdcard_obj_t *self);
+extern bool common_hal_sdioio_sdcard_deinited(sdioio_sdcard_obj_t *self);
+
+extern bool common_hal_sdioio_sdcard_configure(sdioio_sdcard_obj_t *self, uint32_t baudrate, uint8_t width);
+
+extern void common_hal_sdioio_sdcard_unlock(sdioio_sdcard_obj_t *self);
+
+// Return actual SDIO bus frequency.
+uint32_t common_hal_sdioio_sdcard_get_frequency(sdioio_sdcard_obj_t* self);
+
+// Return SDIO bus width.
+uint8_t common_hal_sdioio_sdcard_get_width(sdioio_sdcard_obj_t* self);
+
+// Return number of device blocks
+uint32_t common_hal_sdioio_sdcard_get_count(sdioio_sdcard_obj_t* self);
+
+// Read or write blocks
+int common_hal_sdioio_sdcard_readblocks(sdioio_sdcard_obj_t* self, uint32_t start_block, mp_buffer_info_t *bufinfo);
+int common_hal_sdioio_sdcard_writeblocks(sdioio_sdcard_obj_t* self, uint32_t start_block, mp_buffer_info_t *bufinfo);
+
+// This is used by the supervisor to claim SDIO devices indefinitely.
+extern void common_hal_sdioio_sdcard_never_reset(sdioio_sdcard_obj_t *self);
+
+#endif // MICROPY_INCLUDED_SHARED_BINDINGS_BUSIO_SDIO_H
diff --git a/shared-bindings/sdioio/__init__.c b/shared-bindings/sdioio/__init__.c
new file mode 100644
index 000000000..b88e5c3a9
--- /dev/null
+++ b/shared-bindings/sdioio/__init__.c
@@ -0,0 +1,47 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020 Jeff Epler for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+#include <stdint.h>
+
+#include "py/obj.h"
+#include "py/runtime.h"
+
+#include "shared-bindings/sdioio/SDCard.h"
+
+//| """Interface to an SD card via the SDIO bus"""
+
+STATIC const mp_rom_map_elem_t sdioio_module_globals_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_sdio) },
+    { MP_ROM_QSTR(MP_QSTR_SDCard), MP_ROM_PTR(&sdioio_SDCard_type) },
+};
+
+STATIC MP_DEFINE_CONST_DICT(sdioio_module_globals, sdioio_module_globals_table);
+
+const mp_obj_module_t sdioio_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_dict_t*)&sdioio_module_globals,
+};
diff --git a/shared-bindings/sdioio/__init__.h b/shared-bindings/sdioio/__init__.h
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/shared-bindings/sdioio/__init__.h
diff --git a/shared-bindings/ulab/filter/__init__.pyi b/shared-bindings/ulab/filter/__init__.pyi
index fff404300..5e7202e06 100644
--- a/shared-bindings/ulab/filter/__init__.pyi
+++ b/shared-bindings/ulab/filter/__init__.pyi
@@ -17,3 +17,20 @@ def convolve(r, c=None):
 
     Convolution is most time-efficient when both inputs are of float type."""
     ...
+
+def sosfilt(sos : ulab.array, x : ulab.array, *, xi : Optional[ulab.array] = None) -> Union[ulab.array, Tuple[ulab.array, ulab.array]]:
+    """
+    :param ulab.array sos: Array of second-order filter coefficients, must have shape (n_sections, 6). Each row corresponds to a second-order section, with the first three columns providing the numerator coefficients and the last three providing the denominator coefficients.
+    :param ulab.array x: The data to be filtered
+    :param ulab.array zi: Optional initial conditions for the filter
+
+    :return: If ``xi`` is not specified, the filter result alone is returned.  If ``xi`` is specified, the return value is a 2-tuple of the filter result and the final filter conditions.
+
+    Filter data along one dimension using cascaded second-order sections.
+
+    Filter a data sequence, x, using a digital IIR filter defined by sos.
+
+    The filter function is implemented as a series of second-order filters with direct-form II transposed structure. It is designed to minimize numerical precision errors for high-order filters.
+
+    Filter coefficients can be generated by using scipy's filter generators such as ``signal.ellip(..., output='sos')``."""
+    ...