diff --git a/.gitignore b/.gitignore
index e5fbf74..9440b79 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,6 +10,15 @@ docker-compose.override.yml
 
 # Environment files (may contain secrets)
 .env
+
+# Python virtual environments
+
+.venv/
+venv/
+
+# ESP32 build cache (esp-idf-sys managed)
+
+.embuild/
 .env.local
 .env.*.local
 
diff --git a/Cargo.toml b/Cargo.toml
index cafc225..f2c097f 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,3 +1,7 @@
+[workspace]
+members = ["."]
+resolver = "2"
+
 [package]
 name = "zeroclaw"
 version = "0.1.0"
diff --git a/firmware/zeroclaw-esp32/.cargo/config.toml b/firmware/zeroclaw-esp32/.cargo/config.toml
index 8746ad1..56dd71b 100644
--- a/firmware/zeroclaw-esp32/.cargo/config.toml
+++ b/firmware/zeroclaw-esp32/.cargo/config.toml
@@ -2,4 +2,10 @@
 target = "riscv32imc-esp-espidf"
 
 [target.riscv32imc-esp-espidf]
+linker = "ldproxy"
 runner = "espflash flash --monitor"
+# ESP-IDF 5.x uses 64-bit time_t
+rustflags = ["-C", "default-linker-libraries", "--cfg", "espidf_time64"]
+
+[unstable]
+build-std = ["std", "panic_abort"]
diff --git a/firmware/zeroclaw-esp32/Cargo.lock b/firmware/zeroclaw-esp32/Cargo.lock
index 2580883..69e989b 100644
--- a/firmware/zeroclaw-esp32/Cargo.lock
+++ b/firmware/zeroclaw-esp32/Cargo.lock
@@ -58,24 +58,22 @@ checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
 [[package]]
 name = "bindgen"
-version = "0.63.0"
+version = "0.71.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36d860121800b2a9a94f9b5604b332d5cffb234ce17609ea479d723dbc9d3885"
+checksum = "5f58bf3d7db68cfbac37cfc485a8d711e87e064c3d0fe0435b92f7a407f9d6b3"
 dependencies = [
- "bitflags 1.3.2",
+ "bitflags 2.11.0",
  "cexpr",
  "clang-sys",
- "lazy_static",
- "lazycell",
+ "itertools",
  "log",
- "peeking_take_while",
+ "prettyplease",
  "proc-macro2",
  "quote",
  "regex",
  "rustc-hash",
  "shlex",
- "syn 1.0.109",
- "which",
+ "syn 2.0.116",
 ]
 
 [[package]]
@@ -374,14 +372,15 @@ checksum = "dc2d050bdc5c21e0862a89256ed8029ae6c290a93aecefc73084b3002cdebb01"
 
 [[package]]
 name = "embassy-sync"
-version = "0.5.0"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd938f25c0798db4280fcd8026bf4c2f48789aebf8f77b6e5cf8a7693ba114ec"
+checksum = "73974a3edbd0bd286759b3d483540f0ebef705919a5f56f4fc7709066f71689b"
 dependencies = [
  "cfg-if",
  "critical-section",
  "embedded-io-async",
- "futures-util",
+ "futures-core",
+ "futures-sink",
  "heapless",
 ]
 
@@ -446,16 +445,15 @@ dependencies = [
 
 [[package]]
 name = "embedded-svc"
-version = "0.27.1"
+version = "0.28.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac6f87e7654f28018340aa55f933803017aefabaa5417820a3b2f808033c7bbc"
+checksum = "a7770e30ab55cfbf954c00019522490d6ce26a3334bede05a732ba61010e98e0"
 dependencies = [
  "defmt 0.3.100",
  "embedded-io",
  "embedded-io-async",
  "enumset",
  "heapless",
- "no-std-net",
  "num_enum",
  "serde",
  "strum 0.25.0",
@@ -463,9 +461,9 @@ dependencies = [
 
 [[package]]
 name = "embuild"
-version = "0.31.4"
+version = "0.33.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4caa4f198bb9152a55c0103efb83fa4edfcbb8625f4c9e94ae8ec8e23827c563"
+checksum = "e188ad2bbe82afa841ea4a29880651e53ab86815db036b2cb9f8de3ac32dad75"
 dependencies = [
  "anyhow",
  "bindgen",
@@ -475,6 +473,7 @@ dependencies = [
  "globwalk",
  "home",
  "log",
+ "regex",
  "remove_dir_all",
  "serde",
  "serde_json",
@@ -533,9 +532,8 @@ dependencies = [
 
 [[package]]
 name = "esp-idf-hal"
-version = "0.43.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7adf3fb19a9ca016cbea1ab8a7b852ac69df8fcde4923c23d3b155efbc42a74"
+version = "0.45.2"
+source = "git+https://github.com/esp-rs/esp-idf-hal#bc48639bd626c72afc1e25e5d497b5c639161d30"
 dependencies = [
  "atomic-waker",
  "embassy-sync",
@@ -552,14 +550,12 @@ dependencies = [
  "heapless",
  "log",
  "nb 1.1.0",
- "num_enum",
 ]
 
 [[package]]
 name = "esp-idf-svc"
-version = "0.48.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2180642ca122a7fec1ec417a9b1a77aa66aaa067fdf1daae683dd8caba84f26b"
+version = "0.51.0"
+source = "git+https://github.com/esp-rs/esp-idf-svc#dee202f146c7681e54eabbf118a216fc0195d203"
 dependencies = [
  "embassy-futures",
  "embedded-hal-async",
@@ -567,6 +563,7 @@ dependencies = [
  "embuild",
  "enumset",
  "esp-idf-hal",
+ "futures-io",
  "heapless",
  "log",
  "num_enum",
@@ -575,14 +572,13 @@ dependencies = [
 
 [[package]]
 name = "esp-idf-sys"
-version = "0.34.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2e148f97c04ed3e9181a08bcdc9560a515aad939b0ba7f50a0022e294665e0af"
+version = "0.36.1"
+source = "git+https://github.com/esp-rs/esp-idf-sys#64667a38fb8004e1fc3b032488af6857ca3cd849"
 dependencies = [
  "anyhow",
- "bindgen",
  "build-time",
  "cargo_metadata",
+ "cmake",
  "const_format",
  "embuild",
  "envy",
@@ -649,21 +645,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7e3450815272ef58cec6d564423f6e755e25379b217b0bc688e295ba24df6b1d"
 
 [[package]]
-name = "futures-task"
+name = "futures-io"
 version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "037711b3d59c33004d3856fbdc83b99d4ff37a24768fa1be9ce3538a1cde4393"
+checksum = "cecba35d7ad927e23624b22ad55235f2239cfa44fd10428eecbeba6d6a717718"
 
 [[package]]
-name = "futures-util"
+name = "futures-sink"
 version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6"
-dependencies = [
- "futures-core",
- "futures-task",
- "pin-project-lite",
-]
+checksum = "c39754e157331b013978ec91992bde1ac089843443c49cbc7f46150b0fad0893"
 
 [[package]]
 name = "getrandom"
@@ -827,6 +818,15 @@ dependencies = [
  "serde_core",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "itoa"
 version = "1.0.17"
@@ -843,18 +843,6 @@ dependencies = [
  "wasm-bindgen",
 ]
 
-[[package]]
-name = "lazy_static"
-version = "1.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
-
-[[package]]
-name = "lazycell"
-version = "1.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
-
 [[package]]
 name = "leb128fmt"
 version = "0.1.0"
@@ -945,12 +933,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "no-std-net"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1bcece43b12349917e096cddfa66107277f123e6c96a5aea78711dc601a47152"
-
 [[package]]
 name = "nom"
 version = "7.1.3"
@@ -1007,18 +989,6 @@ version = "1.21.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
 
-[[package]]
-name = "peeking_take_while"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
-
-[[package]]
-name = "pin-project-lite"
-version = "0.2.16"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
-
 [[package]]
 name = "prettyplease"
 version = "0.2.37"
@@ -1138,9 +1108,9 @@ dependencies = [
 
 [[package]]
 name = "rustc-hash"
-version = "1.1.0"
+version = "2.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
+checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
 
 [[package]]
 name = "rustix"
diff --git a/firmware/zeroclaw-esp32/Cargo.toml b/firmware/zeroclaw-esp32/Cargo.toml
index 70d2611..2ec056f 100644
--- a/firmware/zeroclaw-esp32/Cargo.toml
+++ b/firmware/zeroclaw-esp32/Cargo.toml
@@ -14,15 +14,21 @@ edition = "2021"
 license = "MIT"
 description = "ZeroClaw ESP32 peripheral firmware — GPIO over JSON serial"
 
+[patch.crates-io]
+# Use latest esp-rs crates to fix u8/i8 char pointer compatibility with ESP-IDF 5.x
+esp-idf-sys = { git = "https://github.com/esp-rs/esp-idf-sys" }
+esp-idf-hal = { git = "https://github.com/esp-rs/esp-idf-hal" }
+esp-idf-svc = { git = "https://github.com/esp-rs/esp-idf-svc" }
+
 [dependencies]
-esp-idf-svc = "0.48"
+esp-idf-svc = { git = "https://github.com/esp-rs/esp-idf-svc" }
 log = "0.4"
 anyhow = "1.0"
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 
 [build-dependencies]
-embuild = "0.31"
+embuild = { version = "0.33", features = ["espidf"] }
 
 [profile.release]
 opt-level = "s"
diff --git a/firmware/zeroclaw-esp32/README.md b/firmware/zeroclaw-esp32/README.md
index 804aaca..f4b2c08 100644
--- a/firmware/zeroclaw-esp32/README.md
+++ b/firmware/zeroclaw-esp32/README.md
@@ -2,8 +2,11 @@
 
 Peripheral firmware for ESP32 — speaks the same JSON-over-serial protocol as the STM32 firmware. Flash this to your ESP32, then configure ZeroClaw on the host to connect via serial.
 
+**New to this?** See [SETUP.md](SETUP.md) for step-by-step commands and troubleshooting.
+
 ## Protocol
 
+
 - **Request** (host → ESP32): `{"id":"1","cmd":"gpio_write","args":{"pin":13,"value":1}}\n`
 - **Response** (ESP32 → host): `{"id":"1","ok":true,"result":"done"}\n`
 
@@ -11,19 +14,44 @@ Commands: `gpio_read`, `gpio_write`.
 
 ## Prerequisites
 
-1. **ESP toolchain** (espup):
+1. **RISC-V ESP-IDF** (ESP32-C2/C3): Uses nightly Rust with `build-std`.
+
+   **Python**: ESP-IDF requires Python 3.10–3.13 (not 3.14). If you have Python 3.14:
+   ```sh
+   brew install python@3.12
+   ```
+
+   **virtualenv** (needed by ESP-IDF tools; PEP 668 workaround on macOS):
+   ```sh
+   /opt/homebrew/opt/python@3.12/bin/python3.12 -m pip install virtualenv --break-system-packages
+   ```
+
+   **Rust tools**:
+   ```sh
+   cargo install espflash ldproxy
+   ```
+
+   The project's `rust-toolchain.toml` pins nightly + rust-src. `esp-idf-sys` downloads ESP-IDF automatically on first build. Use Python 3.12 for the build:
+   ```sh
+   export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
+   ```
+
+2. **Xtensa targets** (ESP32, ESP32-S2, ESP32-S3): Use espup instead:
    ```sh
    cargo install espup espflash
    espup install
-   source ~/export-esp.sh   # or ~/export-esp.fish for Fish
+   source ~/export-esp.sh
    ```
-
-2. **Target**: ESP32-C3 (RISC-V) by default. Edit `.cargo/config.toml` for other targets (e.g. `xtensa-esp32-espidf` for original ESP32).
+   Then edit `.cargo/config.toml` to change the target (e.g. `xtensa-esp32-espidf`).
 
 ## Build & Flash
 
 ```sh
 cd firmware/zeroclaw-esp32
+# Use Python 3.12 (required if you have 3.14)
+export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
+# Optional: pin MCU (esp32c3 or esp32c2)
+export MCU=esp32c3
 cargo build --release
 espflash flash target/riscv32imc-esp-espidf/release/zeroclaw-esp32 --monitor
 ```
diff --git a/firmware/zeroclaw-esp32/SETUP.md b/firmware/zeroclaw-esp32/SETUP.md
new file mode 100644
index 0000000..0624f4d
--- /dev/null
+++ b/firmware/zeroclaw-esp32/SETUP.md
@@ -0,0 +1,156 @@
+# ESP32 Firmware Setup Guide
+
+Step-by-step setup for building the ZeroClaw ESP32 firmware. Follow this if you run into issues.
+
+## Quick Start (copy-paste)
+
+```sh
+# 1. Install Python 3.12 (ESP-IDF needs 3.10–3.13, not 3.14)
+brew install python@3.12
+
+# 2. Install virtualenv (PEP 668 workaround on macOS)
+/opt/homebrew/opt/python@3.12/bin/python3.12 -m pip install virtualenv --break-system-packages
+
+# 3. Install Rust tools
+cargo install espflash ldproxy
+
+# 4. Build
+cd firmware/zeroclaw-esp32
+export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
+cargo build --release
+
+# 5. Flash (connect ESP32 via USB)
+espflash flash target/riscv32imc-esp-espidf/release/zeroclaw-esp32 --monitor
+```
+
+---
+
+## Detailed Steps
+
+### 1. Python
+
+ESP-IDF requires Python 3.10–3.13. **Python 3.14 is not supported.**
+
+```sh
+brew install python@3.12
+```
+
+### 2. virtualenv
+
+ESP-IDF tools need `virtualenv`. On macOS with Homebrew Python, PEP 668 blocks `pip install`; use:
+
+```sh
+/opt/homebrew/opt/python@3.12/bin/python3.12 -m pip install virtualenv --break-system-packages
+```
+
+### 3. Rust Tools
+
+```sh
+cargo install espflash ldproxy
+```
+
+- **espflash**: flash and monitor
+- **ldproxy**: linker for ESP-IDF builds
+
+### 4. Use Python 3.12 for Builds
+
+Before every build (or add to `~/.zshrc`):
+
+```sh
+export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
+```
+
+### 5. Build
+
+```sh
+cd firmware/zeroclaw-esp32
+cargo build --release
+```
+
+First build downloads and compiles ESP-IDF (~5–15 min).
+
+### 6. Flash
+
+```sh
+espflash flash target/riscv32imc-esp-espidf/release/zeroclaw-esp32 --monitor
+```
+
+---
+
+## Troubleshooting
+
+### "No space left on device"
+
+Free disk space. Common targets:
+
+```sh
+# Cargo cache (often 5–20 GB)
+rm -rf ~/.cargo/registry/cache ~/.cargo/registry/src
+
+# Unused Rust toolchains
+rustup toolchain list
+rustup toolchain uninstall <name>
+
+# iOS Simulator runtimes (~35 GB)
+xcrun simctl delete unavailable
+
+# Temp files
+rm -rf /var/folders/*/T/cargo-install*
+```
+
+### "can't find crate for `core`" / "riscv32imc-esp-espidf target may not be installed"
+
+This project uses **nightly Rust with build-std**, not espup. Ensure:
+
+- `rust-toolchain.toml` exists (pins nightly + rust-src)
+- You are **not** sourcing `~/export-esp.sh` (that's for Xtensa targets)
+- Run `cargo build` from `firmware/zeroclaw-esp32`
+
+### "externally-managed-environment" / "No module named 'virtualenv'"
+
+Install virtualenv with the PEP 668 workaround:
+
+```sh
+/opt/homebrew/opt/python@3.12/bin/python3.12 -m pip install virtualenv --break-system-packages
+```
+
+### "expected `i64`, found `i32`" (time_t mismatch)
+
+Already fixed in `.cargo/config.toml` with `espidf_time64` for ESP-IDF 5.x. If you use ESP-IDF 4.4, switch to `espidf_time32`.
+
+### "expected `*const u8`, found `*const i8`" (esp-idf-svc)
+
+Already fixed via `[patch.crates-io]` in `Cargo.toml` using esp-rs crates from git. Do not remove the patch.
+
+### 10,000+ files in `git status`
+
+The `.embuild/` directory (ESP-IDF cache) has ~100k+ files. It is in `.gitignore`. If you see them, ensure `.gitignore` contains:
+
+```
+.embuild/
+```
+
+---
+
+## Optional: Auto-load Python 3.12
+
+Add to `~/.zshrc`:
+
+```sh
+# ESP32 firmware build
+export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
+```
+
+---
+
+## Xtensa Targets (ESP32, ESP32-S2, ESP32-S3)
+
+For non–RISC-V chips, use espup instead:
+
+```sh
+cargo install espup espflash
+espup install
+source ~/export-esp.sh
+```
+
+Then edit `.cargo/config.toml` to use `xtensa-esp32-espidf` (or the correct target).
diff --git a/firmware/zeroclaw-esp32/rust-toolchain.toml b/firmware/zeroclaw-esp32/rust-toolchain.toml
new file mode 100644
index 0000000..f70d225
--- /dev/null
+++ b/firmware/zeroclaw-esp32/rust-toolchain.toml
@@ -0,0 +1,3 @@
+[toolchain]
+channel = "nightly"
+components = ["rust-src"]
diff --git a/firmware/zeroclaw-esp32/src/main.rs b/firmware/zeroclaw-esp32/src/main.rs
index b1a487c..a85b67d 100644
--- a/firmware/zeroclaw-esp32/src/main.rs
+++ b/firmware/zeroclaw-esp32/src/main.rs
@@ -6,8 +6,9 @@
 //! Protocol: same as STM32 — see docs/hardware-peripherals-design.md
 
 use esp_idf_svc::hal::gpio::PinDriver;
-use esp_idf_svc::hal::prelude::*;
-use esp_idf_svc::hal::uart::*;
+use esp_idf_svc::hal::peripherals::Peripherals;
+use esp_idf_svc::hal::uart::{UartConfig, UartDriver};
+use esp_idf_svc::hal::units::Hertz;
 use log::info;
 use serde::{Deserialize, Serialize};
 
@@ -36,9 +37,13 @@ fn main() -> anyhow::Result<()> {
     let peripherals = Peripherals::take()?;
     let pins = peripherals.pins;
 
+    // Create GPIO output drivers first (they take ownership of pins)
+    let mut gpio2 = PinDriver::output(pins.gpio2)?;
+    let mut gpio13 = PinDriver::output(pins.gpio13)?;
+
     // UART0: TX=21, RX=20 (ESP32) — ESP32-C3 may use different pins; adjust for your board
     let config = UartConfig::new().baudrate(Hertz(115_200));
-    let mut uart = UartDriver::new(
+    let uart = UartDriver::new(
         peripherals.uart0,
         pins.gpio21,
         pins.gpio20,
@@ -60,7 +65,8 @@ fn main() -> anyhow::Result<()> {
                     if b == b'\n' {
                         if !line.is_empty() {
                             if let Ok(line_str) = std::str::from_utf8(&line) {
-                                if let Ok(resp) = handle_request(line_str, &peripherals) {
+                                if let Ok(resp) = handle_request(line_str, &mut gpio2, &mut gpio13)
+                                {
                                     let out = serde_json::to_string(&resp).unwrap_or_default();
                                     let _ = uart.write(format!("{}\n", out).as_bytes());
                                 }
@@ -80,10 +86,15 @@ fn main() -> anyhow::Result<()> {
     }
 }
 
-fn handle_request(
+fn handle_request<G2, G13>(
     line: &str,
-    peripherals: &esp_idf_svc::hal::peripherals::Peripherals,
-) -> anyhow::Result<Response> {
+    gpio2: &mut PinDriver<'_, G2>,
+    gpio13: &mut PinDriver<'_, G13>,
+) -> anyhow::Result<Response>
+where
+    G2: esp_idf_svc::hal::gpio::OutputMode,
+    G13: esp_idf_svc::hal::gpio::OutputMode,
+{
     let req: Request = serde_json::from_str(line.trim())?;
     let id = req.id.clone();
 
@@ -98,13 +109,13 @@ fn handle_request(
         }
         "gpio_read" => {
             let pin_num = req.args.get("pin").and_then(|v| v.as_u64()).unwrap_or(0) as i32;
-            let value = gpio_read(peripherals, pin_num)?;
+            let value = gpio_read(pin_num)?;
             Ok(value.to_string())
         }
         "gpio_write" => {
             let pin_num = req.args.get("pin").and_then(|v| v.as_u64()).unwrap_or(0) as i32;
             let value = req.args.get("value").and_then(|v| v.as_u64()).unwrap_or(0);
-            gpio_write(peripherals, pin_num, value)?;
+            gpio_write(gpio2, gpio13, pin_num, value)?;
             Ok("done".into())
         }
         _ => Err(anyhow::anyhow!("Unknown command: {}", req.cmd)),
@@ -126,28 +137,26 @@ fn handle_request(
     }
 }
 
-fn gpio_read(_peripherals: &esp_idf_svc::hal::peripherals::Peripherals, _pin: i32) -> anyhow::Result<u8> {
+fn gpio_read(_pin: i32) -> anyhow::Result<u8> {
     // TODO: implement input pin read — requires storing InputPin drivers per pin
     Ok(0)
 }
 
-fn gpio_write(
-    peripherals: &esp_idf_svc::hal::peripherals::Peripherals,
+fn gpio_write<G2, G13>(
+    gpio2: &mut PinDriver<'_, G2>,
+    gpio13: &mut PinDriver<'_, G13>,
     pin: i32,
     value: u64,
-) -> anyhow::Result<()> {
-    let pins = peripherals.pins;
-    let level = value != 0;
+) -> anyhow::Result<()>
+where
+    G2: esp_idf_svc::hal::gpio::OutputMode,
+    G13: esp_idf_svc::hal::gpio::OutputMode,
+{
+    let level = esp_idf_svc::hal::gpio::Level::from(value != 0);
 
     match pin {
-        2 => {
-            let mut out = PinDriver::output(pins.gpio2)?;
-            out.set_level(esp_idf_svc::hal::gpio::Level::from(level))?;
-        }
-        13 => {
-            let mut out = PinDriver::output(pins.gpio13)?;
-            out.set_level(esp_idf_svc::hal::gpio::Level::from(level))?;
-        }
+        2 => gpio2.set_level(level)?,
+        13 => gpio13.set_level(level)?,
         _ => anyhow::bail!("Pin {} not configured (add to gpio_write)", pin),
     }
     Ok(())