zephyr/drivers/gpio/gpio_rpi_pico.c

243 lines
6.9 KiB
C

/*
* Copyright (c) 2021, Yonatan Schachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <errno.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/irq.h>
/* pico-sdk includes */
#include <hardware/gpio.h>
#include <hardware/regs/intctrl.h>
#include <hardware/structs/iobank0.h>
#include <zephyr/drivers/gpio/gpio_utils.h>
#define DT_DRV_COMPAT raspberrypi_pico_gpio
#define ALL_EVENTS (GPIO_IRQ_EDGE_FALL | GPIO_IRQ_EDGE_RISE \
| GPIO_IRQ_LEVEL_LOW | GPIO_IRQ_LEVEL_HIGH)
struct gpio_rpi_config {
struct gpio_driver_config common;
void (*bank_config_func)(void);
};
struct gpio_rpi_data {
struct gpio_driver_data common;
sys_slist_t callbacks;
uint32_t int_enabled_mask;
uint32_t single_ended_mask;
uint32_t open_drain_mask;
};
static int gpio_rpi_configure(const struct device *dev,
gpio_pin_t pin,
gpio_flags_t flags)
{
struct gpio_rpi_data *data = dev->data;
gpio_set_pulls(pin,
(flags & GPIO_PULL_UP) != 0U,
(flags & GPIO_PULL_DOWN) != 0U);
/* Avoid gpio_init, since that also clears previously set direction/high/low */
gpio_set_function(pin, GPIO_FUNC_SIO);
if (flags & GPIO_OUTPUT) {
if (flags & GPIO_SINGLE_ENDED) {
data->single_ended_mask |= BIT(pin);
/* Setting the initial state of output data, and output enable.
* The output data will not change from here on, only output
* enable will. If none of the GPIO_OUTPUT_INIT_* flags have
* been set then fall back to the non-agressive input mode.
*/
if (flags & GPIO_LINE_OPEN_DRAIN) {
data->open_drain_mask |= BIT(pin);
gpio_put(pin, 0);
gpio_set_dir(pin, flags & GPIO_OUTPUT_INIT_LOW);
} else {
data->open_drain_mask &= ~(BIT(pin));
gpio_put(pin, 1);
gpio_set_dir(pin, flags & GPIO_OUTPUT_INIT_HIGH);
}
} else {
data->single_ended_mask &= ~(BIT(pin));
if (flags & GPIO_OUTPUT_INIT_HIGH) {
gpio_put(pin, 1);
} else if (flags & GPIO_OUTPUT_INIT_LOW) {
gpio_put(pin, 0);
}
gpio_set_dir(pin, GPIO_OUT);
}
} else if (flags & GPIO_INPUT) {
gpio_set_dir(pin, GPIO_IN);
}
return 0;
}
static int gpio_rpi_port_get_raw(const struct device *dev, uint32_t *value)
{
*value = gpio_get_all();
return 0;
}
static int gpio_rpi_port_set_masked_raw(const struct device *port,
uint32_t mask, uint32_t value)
{
struct gpio_rpi_data *data = port->data;
/* First handle push-pull pins: */
gpio_put_masked(mask & ~data->single_ended_mask, value);
/* Then handle open-drain pins: */
gpio_set_dir_masked(mask & data->single_ended_mask & data->open_drain_mask, ~value);
/* Then handle open-source pins: */
gpio_set_dir_masked(mask & data->single_ended_mask & ~data->open_drain_mask, value);
return 0;
}
static int gpio_rpi_port_set_bits_raw(const struct device *port,
uint32_t pins)
{
struct gpio_rpi_data *data = port->data;
/* First handle push-pull pins: */
gpio_set_mask(pins & ~data->single_ended_mask);
/* Then handle open-drain pins: */
gpio_set_dir_in_masked(pins & data->single_ended_mask & data->open_drain_mask);
/* Then handle open-source pins: */
gpio_set_dir_out_masked(pins & data->single_ended_mask & ~data->open_drain_mask);
return 0;
}
static int gpio_rpi_port_clear_bits_raw(const struct device *port,
uint32_t pins)
{
struct gpio_rpi_data *data = port->data;
/* First handle push-pull pins: */
gpio_clr_mask(pins & ~data->single_ended_mask);
/* Then handle open-drain pins: */
gpio_set_dir_out_masked(pins & data->single_ended_mask & data->open_drain_mask);
/* Then handle open-source pins: */
gpio_set_dir_in_masked(pins & data->single_ended_mask & ~data->open_drain_mask);
return 0;
}
static int gpio_rpi_port_toggle_bits(const struct device *port,
uint32_t pins)
{
struct gpio_rpi_data *data = port->data;
/* First handle push-pull pins: */
gpio_xor_mask(pins & ~data->single_ended_mask);
/* Then handle single-ended pins: */
/* (unfortunately there's no pico-sdk api call that can be used for this,
* but it's possible by accessing the registers directly)
*/
sio_hw->gpio_oe_togl = (pins & data->single_ended_mask);
return 0;
}
static int gpio_rpi_pin_interrupt_configure(const struct device *dev,
gpio_pin_t pin,
enum gpio_int_mode mode,
enum gpio_int_trig trig)
{
struct gpio_rpi_data *data = dev->data;
uint32_t events = 0;
gpio_set_irq_enabled(pin, ALL_EVENTS, false);
if (mode != GPIO_INT_DISABLE) {
if (mode & GPIO_INT_EDGE) {
if (trig & GPIO_INT_LOW_0) {
events |= GPIO_IRQ_EDGE_FALL;
}
if (trig & GPIO_INT_HIGH_1) {
events |= GPIO_IRQ_EDGE_RISE;
}
} else {
if (trig & GPIO_INT_LOW_0) {
events |= GPIO_IRQ_LEVEL_LOW;
}
if (trig & GPIO_INT_HIGH_1) {
events |= GPIO_IRQ_LEVEL_HIGH;
}
}
gpio_set_irq_enabled(pin, events, true);
}
WRITE_BIT(data->int_enabled_mask, pin, mode != GPIO_INT_DISABLE);
return 0;
}
static int gpio_rpi_manage_callback(const struct device *dev,
struct gpio_callback *callback, bool set)
{
struct gpio_rpi_data *data = dev->data;
return gpio_manage_callback(&data->callbacks, callback, set);
}
static const struct gpio_driver_api gpio_rpi_driver_api = {
.pin_configure = gpio_rpi_configure,
.port_get_raw = gpio_rpi_port_get_raw,
.port_set_masked_raw = gpio_rpi_port_set_masked_raw,
.port_set_bits_raw = gpio_rpi_port_set_bits_raw,
.port_clear_bits_raw = gpio_rpi_port_clear_bits_raw,
.port_toggle_bits = gpio_rpi_port_toggle_bits,
.pin_interrupt_configure = gpio_rpi_pin_interrupt_configure,
.manage_callback = gpio_rpi_manage_callback,
};
static void gpio_rpi_isr(const struct device *dev)
{
struct gpio_rpi_data *data = dev->data;
io_irq_ctrl_hw_t *irq_ctrl_base;
const io_rw_32 *status_reg;
uint32_t events;
uint32_t pin;
irq_ctrl_base = &iobank0_hw->proc0_irq_ctrl;
for (pin = 0; pin < NUM_BANK0_GPIOS; pin++) {
status_reg = &irq_ctrl_base->ints[pin / 8];
events = (*status_reg >> 4 * (pin % 8)) & ALL_EVENTS;
if (events) {
gpio_acknowledge_irq(pin, ALL_EVENTS);
gpio_fire_callbacks(&data->callbacks, dev, BIT(pin));
}
}
}
static int gpio_rpi_bank_init(const struct device *dev)
{
const struct gpio_rpi_config *config = dev->config;
config->bank_config_func();
return 0;
}
#define GPIO_RPI_INIT(idx) \
static void bank_##idx##_config_func(void) \
{ \
IRQ_CONNECT(DT_INST_IRQN(idx), DT_INST_IRQ(idx, priority), \
gpio_rpi_isr, DEVICE_DT_INST_GET(idx), 0); \
irq_enable(DT_INST_IRQN(idx)); \
} \
static const struct gpio_rpi_config gpio_rpi_##idx##_config = { \
.bank_config_func = bank_##idx##_config_func, \
.common = \
{ \
.port_pin_mask = GPIO_PORT_PIN_MASK_FROM_DT_INST(idx), \
} \
}; \
\
static struct gpio_rpi_data gpio_rpi_##idx##_data; \
\
DEVICE_DT_INST_DEFINE(idx, gpio_rpi_bank_init, NULL, \
&gpio_rpi_##idx##_data, \
&gpio_rpi_##idx##_config, \
POST_KERNEL, CONFIG_GPIO_INIT_PRIORITY, \
&gpio_rpi_driver_api);
DT_INST_FOREACH_STATUS_OKAY(GPIO_RPI_INIT)