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incubator-nuttx/drivers/ioexpander/ioe_rpmsg.c

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/****************************************************************************
* drivers/ioexpander/ioe_rpmsg.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <stdio.h>
#include <sys/param.h>
#include <nuttx/ioexpander/ioe_rpmsg.h>
#include <nuttx/kmalloc.h>
#include <nuttx/nuttx.h>
#include <nuttx/semaphore.h>
#include <nuttx/rptun/openamp.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define IOE_RPMSG_EPT_FORMAT "rpmsg-ioe-%s"
#define IOE_RPMSG_DIRECTION 0
#define IOE_RPMSG_OPTION 1
#define IOE_RPMSG_WRITEPIN 2
#define IOE_RPMSG_READPIN 3
#define IOE_RPMSG_ATTACH 4
#define IOE_RPMSG_DETACH 5
#define IOE_RPMSG_IRQ 6
/****************************************************************************
* Private Types
****************************************************************************/
struct ioe_rpmsg_cookie_s
{
int32_t result;
sem_t sem;
};
begin_packed_struct struct ioe_rpmsg_header_s
{
uint32_t command;
int32_t result;
uint64_t cookie;
} end_packed_struct;
begin_packed_struct struct ioe_rpmsg_direction_s
{
struct ioe_rpmsg_header_s header;
uint8_t pin;
uint8_t val;
} end_packed_struct;
#define ioe_rpmsg_writepin_s ioe_rpmsg_direction_s
begin_packed_struct struct ioe_rpmsg_option_s
{
struct ioe_rpmsg_header_s header;
uint64_t val;
uint32_t opt;
uint8_t pin;
} end_packed_struct;
begin_packed_struct struct ioe_rpmsg_readpin_s
{
struct ioe_rpmsg_header_s header;
uint8_t pin;
} end_packed_struct;
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
begin_packed_struct struct ioe_rpmsg_attach_s
{
struct ioe_rpmsg_header_s header;
uint64_t pinset;
uint64_t cbfunc;
uint64_t cbarg;
} end_packed_struct;
#define ioe_rpmsg_irq_s ioe_rpmsg_attach_s
begin_packed_struct struct ioe_rpmsg_detach_s
{
struct ioe_rpmsg_header_s header;
uint32_t cbidx;
} end_packed_struct;
struct ioe_rpmsg_cb_s
{
uint64_t pendset;
uint64_t cbfunc;
uint64_t cbarg;
FAR void *handler;
FAR struct rpmsg_endpoint *ept;
struct work_s work;
};
#endif
struct ioe_rpmsg_server_s
{
FAR struct ioexpander_dev_s *ioe;
FAR const char *name;
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
struct ioe_rpmsg_cb_s cb[CONFIG_IOEXPANDER_RPMSG_INT_NCALLBACKS];
#endif
};
struct ioe_rpmsg_client_s
{
struct ioexpander_dev_s ioe;
FAR const char *cpuname;
FAR const char *name;
sem_t sem;
struct rpmsg_endpoint ept;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int ioe_rpmsg_client_ept_cb(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
static int ioe_rpmsg_server_ept_cb(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
static int ioe_rpmsg_direction_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
static int ioe_rpmsg_option_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
static int ioe_rpmsg_writepin_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
static int ioe_rpmsg_readpin_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
static int ioe_rpmsg_attach_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
static int ioe_rpmsg_detach_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
static int ioe_rpmsg_irq_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_);
#endif
static int ioe_rpmsg_direction(FAR struct ioexpander_dev_s *dev,
uint8_t pin, int dir);
static int ioe_rpmsg_option(FAR struct ioexpander_dev_s *dev,
uint8_t pin, int opt,
void *regval);
static int ioe_rpmsg_writepin(FAR struct ioexpander_dev_s *dev,
uint8_t pin, bool value);
static int ioe_rpmsg_readpin(FAR struct ioexpander_dev_s *dev,
uint8_t pin, FAR bool *value);
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
static void *ioe_rpmsg_attach(FAR struct ioexpander_dev_s *dev,
ioe_pinset_t pinset,
ioe_callback_t callback,
FAR void *arg);
static int ioe_rpmsg_detach(FAR struct ioexpander_dev_s *dev,
FAR void *handle);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static const rpmsg_ept_cb g_ioe_rpmsg_handler[] =
{
[IOE_RPMSG_DIRECTION] = ioe_rpmsg_direction_handler,
[IOE_RPMSG_OPTION] = ioe_rpmsg_option_handler,
[IOE_RPMSG_WRITEPIN] = ioe_rpmsg_writepin_handler,
[IOE_RPMSG_READPIN] = ioe_rpmsg_readpin_handler,
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
[IOE_RPMSG_ATTACH] = ioe_rpmsg_attach_handler,
[IOE_RPMSG_DETACH] = ioe_rpmsg_detach_handler,
#endif
};
static const struct ioexpander_ops_s g_ioe_rpmsg_ops =
{
ioe_rpmsg_direction,
ioe_rpmsg_option,
ioe_rpmsg_writepin,
ioe_rpmsg_readpin,
ioe_rpmsg_readpin
#ifdef CONFIG_IOEXPANDER_MULTIPIN
, NULL
, NULL
, NULL
#endif
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
, ioe_rpmsg_attach
, ioe_rpmsg_detach
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
static int ioe_rpmsg_wait_ready(FAR struct rpmsg_endpoint *ept)
{
int ret = 0;
if (!is_rpmsg_ept_ready(ept))
{
FAR struct ioe_rpmsg_client_s *priv =
container_of(ept, struct ioe_rpmsg_client_s, ept);
ret = rpmsg_wait(ept, &priv->sem);
if (ret < 0)
{
return ret;
}
rpmsg_post(ept, &priv->sem);
}
return ret;
}
static int ioe_rpmsg_sendrecv(FAR struct rpmsg_endpoint *ept,
uint32_t command,
FAR struct ioe_rpmsg_header_s *msg,
int len)
{
struct ioe_rpmsg_cookie_s cookie =
{
0
};
int ret;
ret = ioe_rpmsg_wait_ready(ept);
if (ret < 0)
{
return ret;
}
nxsem_init(&cookie.sem, 0, 0);
msg->command = command;
msg->result = -ENXIO;
msg->cookie = (uintptr_t)&cookie;
ret = rpmsg_send(ept, msg, len);
if (ret >= 0)
{
ret = rpmsg_wait(ept, &cookie.sem);
if (ret >= 0)
{
ret = cookie.result;
}
}
nxsem_destroy(&cookie.sem);
return ret;
}
static int ioe_rpmsg_direction(FAR struct ioexpander_dev_s *dev, uint8_t pin,
int dir)
{
FAR struct ioe_rpmsg_client_s *priv = (struct ioe_rpmsg_client_s *)dev;
struct ioe_rpmsg_direction_s msg;
msg.pin = pin;
msg.val = dir;
return ioe_rpmsg_sendrecv(&priv->ept, IOE_RPMSG_DIRECTION,
(struct ioe_rpmsg_header_s *)&msg, sizeof(msg));
}
static int ioe_rpmsg_readpin(FAR struct ioexpander_dev_s *dev, uint8_t pin,
FAR bool *value)
{
FAR struct ioe_rpmsg_client_s *priv = (struct ioe_rpmsg_client_s *)dev;
struct ioe_rpmsg_readpin_s msg;
int ret;
msg.pin = pin;
ret = ioe_rpmsg_sendrecv(&priv->ept, IOE_RPMSG_READPIN,
(struct ioe_rpmsg_header_s *)&msg, sizeof(msg));
if (ret >= 0)
{
*value = ret;
}
return ret;
}
static int ioe_rpmsg_writepin(FAR struct ioexpander_dev_s *dev, uint8_t pin,
bool value)
{
FAR struct ioe_rpmsg_client_s *priv = (struct ioe_rpmsg_client_s *)dev;
struct ioe_rpmsg_writepin_s msg;
msg.pin = pin;
msg.val = value;
return ioe_rpmsg_sendrecv(&priv->ept, IOE_RPMSG_WRITEPIN,
(struct ioe_rpmsg_header_s *)&msg, sizeof(msg));
}
static int ioe_rpmsg_option(FAR struct ioexpander_dev_s *dev, uint8_t pin,
int opt, void *regval)
{
FAR struct ioe_rpmsg_client_s *priv = (struct ioe_rpmsg_client_s *)dev;
struct ioe_rpmsg_option_s msg;
msg.pin = pin;
msg.opt = opt;
msg.val = (uintptr_t)regval;
return ioe_rpmsg_sendrecv(&priv->ept, IOE_RPMSG_OPTION,
(struct ioe_rpmsg_header_s *)&msg, sizeof(msg));
}
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
static void *ioe_rpmsg_attach(FAR struct ioexpander_dev_s *dev,
ioe_pinset_t pinset,
ioe_callback_t callback,
FAR void *arg)
{
FAR struct ioe_rpmsg_client_s *priv = (struct ioe_rpmsg_client_s *)dev;
struct ioe_rpmsg_attach_s msg;
int ret;
msg.pinset = pinset;
msg.cbfunc = (uintptr_t)callback;
msg.cbarg = (uintptr_t)arg;
ret = ioe_rpmsg_sendrecv(&priv->ept, IOE_RPMSG_ATTACH,
(struct ioe_rpmsg_header_s *)&msg, sizeof(msg));
if (ret >= 0)
{
return (FAR void *)(ret + 1);
}
return NULL;
}
static int ioe_rpmsg_detach(FAR struct ioexpander_dev_s *dev,
FAR void *handle)
{
FAR struct ioe_rpmsg_client_s *priv = (struct ioe_rpmsg_client_s *)dev;
struct ioe_rpmsg_detach_s msg;
msg.cbidx = (uintptr_t)handle - 1;
return ioe_rpmsg_sendrecv(&priv->ept, IOE_RPMSG_DETACH,
(struct ioe_rpmsg_header_s *)&msg, sizeof(msg));
}
#endif
static int ioe_rpmsg_direction_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_direction_s *msg = data;
FAR struct ioe_rpmsg_server_s *priv = priv_;
msg->header.result = IOEXP_SETDIRECTION(priv->ioe, msg->pin, msg->val);
return rpmsg_send(ept, msg, len);
}
static int ioe_rpmsg_option_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_option_s *msg = data;
FAR struct ioe_rpmsg_server_s *priv = priv_;
msg->header.result = IOEXP_SETOPTION(priv->ioe, msg->pin, msg->opt,
(void *)(uintptr_t)msg->val);
return rpmsg_send(ept, msg, len);
}
static int ioe_rpmsg_writepin_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_writepin_s *msg = data;
FAR struct ioe_rpmsg_server_s *priv = priv_;
msg->header.result = IOEXP_WRITEPIN(priv->ioe, msg->pin, msg->val);
return rpmsg_send(ept, msg, len);
}
static int ioe_rpmsg_readpin_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_readpin_s *msg = data;
FAR struct ioe_rpmsg_server_s *priv = priv_;
bool val;
msg->header.result = IOEXP_READPIN(priv->ioe, msg->pin, &val);
if (msg->header.result >= 0)
{
msg->header.result = val;
}
return rpmsg_send(ept, msg, len);
}
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
static void ioe_rpmsg_irqworker(FAR void *priv_)
{
FAR struct ioe_rpmsg_cb_s *cb = priv_;
struct ioe_rpmsg_irq_s msg;
msg.pinset = cb->pendset;
msg.cbfunc = cb->cbfunc;
msg.cbarg = cb->cbarg;
msg.header.command = IOE_RPMSG_IRQ;
msg.header.cookie = 0;
rpmsg_send(cb->ept, &msg, sizeof(msg));
cb->pendset = 0;
}
static int ioe_rpmsg_irq_cb(FAR struct ioexpander_dev_s *dev,
ioe_pinset_t pinset, FAR void *priv_)
{
FAR struct ioe_rpmsg_cb_s *cb = priv_;
cb->pendset |= pinset;
work_queue(HPWORK, &cb->work, ioe_rpmsg_irqworker, cb, 0);
return OK;
}
static int ioe_rpmsg_attach_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_attach_s *msg = data;
FAR struct ioe_rpmsg_server_s *priv = priv_;
int i;
for (i = 0; i < CONFIG_IOEXPANDER_RPMSG_INT_NCALLBACKS; i++)
{
if (!priv->cb[i].handler)
{
priv->cb[i].handler = IOEP_ATTACH(priv->ioe, msg->pinset,
ioe_rpmsg_irq_cb, &priv->cb[i]);
if (priv->cb[i].handler)
{
priv->cb[i].cbfunc = msg->cbfunc;
priv->cb[i].cbarg = msg->cbarg;
priv->cb[i].ept = ept;
msg->header.result = i;
}
break;
}
}
return rpmsg_send(ept, msg, len);
}
static int ioe_rpmsg_detach_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_detach_s *msg = data;
FAR struct ioe_rpmsg_server_s *priv = priv_;
msg->header.result = IOEP_DETACH(priv->ioe, priv->cb[msg->cbidx].handler);
if (msg->header.result >= 0)
{
priv->cb[msg->cbidx].pendset = 0;
priv->cb[msg->cbidx].cbfunc = 0;
priv->cb[msg->cbidx].cbarg = 0;
priv->cb[msg->cbidx].ept = NULL;
}
return rpmsg_send(ept, msg, len);
}
static int ioe_rpmsg_irq_handler(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_irq_s *msg = data;
FAR struct ioe_rpmsg_client_s *priv = priv_;
ioe_callback_t cb = (ioe_callback_t)(uintptr_t)msg->cbfunc;
cb(&priv->ioe, msg->pinset, (FAR void *)(uintptr_t)msg->cbarg);
return 0;
}
#endif
static int ioe_rpmsg_client_ept_cb(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_header_s *msg = data;
struct ioe_rpmsg_cookie_s *cookie =
(struct ioe_rpmsg_cookie_s *)(uintptr_t)msg->cookie;
if (cookie)
{
cookie->result = msg->result;
rpmsg_post(ept, &cookie->sem);
}
#ifdef CONFIG_IOEXPANDER_INT_ENABLE
else if (msg->command == IOE_RPMSG_IRQ)
{
ioe_rpmsg_irq_handler(ept, data, len, src, priv_);
}
#endif
return 0;
}
static void ioe_rpmsg_client_created(FAR struct rpmsg_device *rdev,
FAR void *priv_)
{
FAR struct ioe_rpmsg_client_s *priv = priv_;
if (!strcmp(priv->cpuname, rpmsg_get_cpuname(rdev)))
{
char eptname[RPMSG_NAME_SIZE];
snprintf(eptname, RPMSG_NAME_SIZE, IOE_RPMSG_EPT_FORMAT, priv->name);
priv->ept.priv = priv;
rpmsg_create_ept(&priv->ept, rdev, eptname, RPMSG_ADDR_ANY,
RPMSG_ADDR_ANY, ioe_rpmsg_client_ept_cb, NULL);
rpmsg_post(&priv->ept, &priv->sem);
}
}
static void ioe_rpmsg_client_destroy(FAR struct rpmsg_device *rdev,
FAR void *priv_)
{
FAR struct ioe_rpmsg_client_s *priv = priv_;
if (!strcmp(priv->cpuname, rpmsg_get_cpuname(rdev)))
{
rpmsg_wait(&priv->ept, &priv->sem);
rpmsg_destroy_ept(&priv->ept);
}
}
static int ioe_rpmsg_server_ept_cb(FAR struct rpmsg_endpoint *ept,
FAR void *data, size_t len,
uint32_t src, FAR void *priv_)
{
FAR struct ioe_rpmsg_header_s *msg = data;
uint32_t cmd = msg->command;
if (cmd < nitems(g_ioe_rpmsg_handler) && g_ioe_rpmsg_handler[cmd])
{
return g_ioe_rpmsg_handler[cmd](ept, data, len, src, priv_);
}
return 0;
}
static void ioe_rpmsg_server_unbind(FAR struct rpmsg_endpoint *ept)
{
rpmsg_destroy_ept(ept);
kmm_free(ept);
}
static bool ioe_rpmsg_server_match(FAR struct rpmsg_device *rdev,
FAR void *priv_,
FAR const char *name,
uint32_t dest)
{
FAR struct ioe_rpmsg_server_s *priv = priv_;
char eptname[RPMSG_NAME_SIZE];
snprintf(eptname, RPMSG_NAME_SIZE, IOE_RPMSG_EPT_FORMAT, priv->name);
return !strcmp(name, eptname);
}
static void ioe_rpmsg_server_bind(FAR struct rpmsg_device *rdev,
FAR void *priv_,
FAR const char *name,
uint32_t dest)
{
FAR struct ioe_rpmsg_server_s *priv = priv_;
FAR struct rpmsg_endpoint *ept;
ept = kmm_zalloc(sizeof(struct rpmsg_endpoint));
if (!ept)
{
return;
}
ept->priv = priv;
rpmsg_create_ept(ept, rdev, name, RPMSG_ADDR_ANY, RPMSG_ADDR_ANY,
ioe_rpmsg_server_ept_cb, ioe_rpmsg_server_unbind);
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: ioe_rpmsg_server_initialize
*
* Description:
* Initialize IO expander rpmsg server
*
****************************************************************************/
int ioe_rpmsg_server_initialize(FAR const char *name,
FAR struct ioexpander_dev_s *ioe)
{
FAR struct ioe_rpmsg_server_s *priv;
int ret;
if (!name || !ioe)
{
return -EINVAL;
}
priv = kmm_zalloc(sizeof(struct ioe_rpmsg_server_s));
if (!priv)
{
return -ENOMEM;
}
priv->name = name;
priv->ioe = ioe;
ret = rpmsg_register_callback(priv, NULL, NULL,
ioe_rpmsg_server_match,
ioe_rpmsg_server_bind);
if (ret < 0)
{
kmm_free(priv);
}
return ret;
}
/****************************************************************************
* Name: ioe_rpmsg_client_initialize
*
* Description:
* Initialize IO expander rpmsg client
*
****************************************************************************/
FAR struct ioexpander_dev_s *
ioe_rpmsg_client_initialize(FAR const char *cpuname, FAR const char *name)
{
FAR struct ioe_rpmsg_client_s *priv;
int ret;
if (!cpuname || !name)
{
return NULL;
}
priv = kmm_zalloc(sizeof(struct ioe_rpmsg_client_s));
if (!priv)
{
return NULL;
}
priv->ioe.ops = &g_ioe_rpmsg_ops;
priv->cpuname = cpuname;
priv->name = name;
nxsem_init(&priv->sem, 0, 0);
ret = rpmsg_register_callback(priv, ioe_rpmsg_client_created,
ioe_rpmsg_client_destroy, NULL, NULL);
if (ret < 0)
{
kmm_free(priv);
return NULL;
}
else
{
return &priv->ioe;
}
}
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