Author: ian
Date: Fri Mar 29 19:52:57 2013
New Revision: 248911
URL: http://svnweb.freebsd.org/changeset/base/248911
Log:
Add userland access to at91 gpio functionality via ioctl calls. Also,
add the ability for userland to be notified of changes on gpio pins via
a select(2)/read(2) interface.
Change the interrupt handler from filtered to threaded.
Because of the uiomove() calls in the new interface, change locking from
standard mutex to sx.
Add / restore the at91_gpio_high_z() function.
Reviewed by: imp (long ago)
Added:
head/sys/arm/include/at91_gpio.h (contents, props changed)
Modified:
head/sys/arm/at91/at91_pio.c
head/sys/arm/at91/at91_piovar.h
Modified: head/sys/arm/at91/at91_pio.c
==============================================================================
--- head/sys/arm/at91/at91_pio.c Fri Mar 29 19:04:18 2013
(r248910)
+++ head/sys/arm/at91/at91_pio.c Fri Mar 29 19:52:57 2013
(r248911)
@@ -1,5 +1,6 @@
/*-
* Copyright (c) 2006 M. Warner Losh. All rights reserved.
+ * Copyright (C) 2012 Ian Lepore. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,22 +36,31 @@ __FBSDID("$FreeBSD$");
#include <sys/mbuf.h>
#include <sys/malloc.h>
#include <sys/module.h>
-#include <sys/mutex.h>
+#include <sys/poll.h>
#include <sys/rman.h>
+#include <sys/selinfo.h>
+#include <sys/sx.h>
+#include <sys/uio.h>
+#include <machine/at91_gpio.h>
#include <machine/bus.h>
#include <arm/at91/at91reg.h>
#include <arm/at91/at91_pioreg.h>
#include <arm/at91/at91_piovar.h>
+#define MAX_CHANGE 64
+
struct at91_pio_softc
{
device_t dev; /* Myself */
void *intrhand; /* Interrupt handle */
struct resource *irq_res; /* IRQ resource */
struct resource *mem_res; /* Memory resource */
- struct mtx sc_mtx; /* basically a perimeter lock */
+ struct sx sc_mtx; /* basically a perimeter lock */
struct cdev *cdev;
+ struct selinfo selp;
+ int buflen;
+ uint8_t buf[MAX_CHANGE];
int flags;
#define OPENED 1
};
@@ -69,14 +79,13 @@ WR4(struct at91_pio_softc *sc, bus_size_
bus_write_4(sc->mem_res, off, val);
}
-#define AT91_PIO_LOCK(_sc) mtx_lock_spin(&(_sc)->sc_mtx)
-#define AT91_PIO_UNLOCK(_sc) mtx_unlock_spin(&(_sc)->sc_mtx)
+#define AT91_PIO_LOCK(_sc) sx_xlock(&(_sc)->sc_mtx)
+#define AT91_PIO_UNLOCK(_sc) sx_xunlock(&(_sc)->sc_mtx)
#define AT91_PIO_LOCK_INIT(_sc) \
- mtx_init(&_sc->sc_mtx, device_get_nameunit(_sc->dev), \
- "pio", MTX_SPIN)
-#define AT91_PIO_LOCK_DESTROY(_sc) mtx_destroy(&_sc->sc_mtx);
-#define AT91_PIO_ASSERT_LOCKED(_sc) mtx_assert(&_sc->sc_mtx,
MA_OWNED);
-#define AT91_PIO_ASSERT_UNLOCKED(_sc) mtx_assert(&_sc->sc_mtx,
MA_NOTOWNED);
+ sx_init(&_sc->sc_mtx, device_get_nameunit(_sc->dev))
+#define AT91_PIO_LOCK_DESTROY(_sc) sx_destroy(&_sc->sc_mtx);
+#define AT91_PIO_ASSERT_LOCKED(_sc) sx_assert(&_sc->sc_mtx,
SA_XLOCKED);
+#define AT91_PIO_ASSERT_UNLOCKED(_sc) sx_assert(&_sc->sc_mtx,
SA_UNLOCKED);
#define CDEV2SOFTC(dev) ((dev)->si_drv1)
static devclass_t at91_pio_devclass;
@@ -86,7 +95,7 @@ static devclass_t at91_pio_devclass;
static int at91_pio_probe(device_t dev);
static int at91_pio_attach(device_t dev);
static int at91_pio_detach(device_t dev);
-static int at91_pio_intr(void *);
+static void at91_pio_intr(void *);
/* helper routines */
static int at91_pio_activate(device_t dev);
@@ -95,6 +104,8 @@ static void at91_pio_deactivate(device_t
/* cdev routines */
static d_open_t at91_pio_open;
static d_close_t at91_pio_close;
+static d_read_t at91_pio_read;
+static d_poll_t at91_pio_poll;
static d_ioctl_t at91_pio_ioctl;
static struct cdevsw at91_pio_cdevsw =
@@ -102,6 +113,8 @@ static struct cdevsw at91_pio_cdevsw =
.d_version = D_VERSION,
.d_open = at91_pio_open,
.d_close = at91_pio_close,
+ .d_read = at91_pio_read,
+ .d_poll = at91_pio_poll,
.d_ioctl = at91_pio_ioctl
};
@@ -154,7 +167,7 @@ at91_pio_attach(device_t dev)
*/
WR4(sc, PIO_IDR, 0xffffffff);
err = bus_setup_intr(dev, sc->irq_res, INTR_TYPE_MISC,
- at91_pio_intr, NULL, sc, &sc->intrhand);
+ NULL, at91_pio_intr, sc, &sc->intrhand);
if (err) {
AT91_PIO_LOCK_DESTROY(sc);
goto out;
@@ -213,7 +226,7 @@ at91_pio_deactivate(device_t dev)
sc->intrhand = 0;
bus_generic_detach(sc->dev);
if (sc->mem_res)
- bus_release_resource(dev, SYS_RES_IOPORT,
+ bus_release_resource(dev, SYS_RES_MEMORY,
rman_get_rid(sc->mem_res), sc->mem_res);
sc->mem_res = 0;
if (sc->irq_res)
@@ -222,22 +235,26 @@ at91_pio_deactivate(device_t dev)
sc->irq_res = 0;
}
-static int
+static void
at91_pio_intr(void *xsc)
{
struct at91_pio_softc *sc = xsc;
-#if 0
uint32_t status;
+ int i;
/* Reading the status also clears the interrupt. */
- status = RD4(sc, PIO_SR);
- if (status == 0)
- return;
- AT91_PIO_LOCK(sc);
- AT91_PIO_UNLOCK(sc);
-#endif
- wakeup(sc);
- return (FILTER_HANDLED);
+ status = RD4(sc, PIO_ISR) & RD4(sc, PIO_IMR);
+ if (status != 0) {
+ AT91_PIO_LOCK(sc);
+ for (i = 0; status != 0 && sc->buflen < MAX_CHANGE; ++i) {
+ if (status & 1)
+ sc->buf[sc->buflen++] = (uint8_t)i;
+ status >>= 1;
+ }
+ AT91_PIO_UNLOCK(sc);
+ wakeup(sc);
+ selwakeup(&sc->selp);
+ }
}
static int
@@ -249,9 +266,6 @@ at91_pio_open(struct cdev *dev, int ofla
AT91_PIO_LOCK(sc);
if (!(sc->flags & OPENED)) {
sc->flags |= OPENED;
-#if 0
- /* Enable interrupts. */
-#endif
}
AT91_PIO_UNLOCK(sc);
return (0);
@@ -265,19 +279,192 @@ at91_pio_close(struct cdev *dev, int ffl
sc = CDEV2SOFTC(dev);
AT91_PIO_LOCK(sc);
sc->flags &= ~OPENED;
-#if 0
- /* Disable interrupts. */
-#endif
AT91_PIO_UNLOCK(sc);
return (0);
}
static int
+at91_pio_poll(struct cdev *dev, int events, struct thread *td)
+{
+ struct at91_pio_softc *sc;
+ int revents = 0;
+
+ sc = CDEV2SOFTC(dev);
+ AT91_PIO_LOCK(sc);
+ if (events & (POLLIN | POLLRDNORM)) {
+ if (sc->buflen != 0)
+ revents |= events & (POLLIN | POLLRDNORM);
+ else
+ selrecord(td, &sc->selp);
+ }
+ AT91_PIO_UNLOCK(sc);
+
+ return (revents);
+}
+
+static int
+at91_pio_read(struct cdev *dev, struct uio *uio, int flag)
+{
+ struct at91_pio_softc *sc;
+ int err, ret, len;
+
+ sc = CDEV2SOFTC(dev);
+ AT91_PIO_LOCK(sc);
+ err = 0;
+ ret = 0;
+ while (uio->uio_resid) {
+ while (sc->buflen == 0 && err == 0)
+ err = msleep(sc, &sc->sc_mtx, PCATCH | PZERO, "prd", 0);
+ if (err != 0)
+ break;
+ len = MIN(sc->buflen, uio->uio_resid);
+ err = uiomove(sc->buf, len, uio);
+ if (err != 0)
+ break;
+ /*
+ * If we read the whole thing no datacopy is needed,
+ * otherwise we move the data down.
+ */
+ ret += len;
+ if (sc->buflen == len)
+ sc->buflen = 0;
+ else {
+ bcopy(sc->buf + len, sc->buf, sc->buflen - len);
+ sc->buflen -= len;
+ }
+ /* If there's no data left, end the read. */
+ if (sc->buflen == 0)
+ break;
+ }
+ AT91_PIO_UNLOCK(sc);
+ return (err);
+}
+
+static void
+at91_pio_bang32(struct at91_pio_softc *sc, uint32_t bits, uint32_t datapin,
+ uint32_t clockpin)
+{
+ int i;
+
+ for (i = 0; i < 32; i++) {
+ if (bits & 0x80000000)
+ WR4(sc, PIO_SODR, datapin);
+ else
+ WR4(sc, PIO_CODR, datapin);
+ bits <<= 1;
+ WR4(sc, PIO_CODR, clockpin);
+ WR4(sc, PIO_SODR, clockpin);
+ }
+}
+
+static void
+at91_pio_bang(struct at91_pio_softc *sc, uint8_t bits, uint32_t bitcount,
+ uint32_t datapin, uint32_t clockpin)
+{
+ int i;
+
+ for (i = 0; i < bitcount; i++) {
+ if (bits & 0x80)
+ WR4(sc, PIO_SODR, datapin);
+ else
+ WR4(sc, PIO_CODR, datapin);
+ bits <<= 1;
+ WR4(sc, PIO_CODR, clockpin);
+ WR4(sc, PIO_SODR, clockpin);
+ }
+}
+
+static int
at91_pio_ioctl(struct cdev *dev, u_long cmd, caddr_t data, int fflag,
struct thread *td)
{
+ struct at91_pio_softc *sc;
+ struct at91_gpio_cfg *cfg;
+ struct at91_gpio_info *info;
+ struct at91_gpio_bang *bang;
+ struct at91_gpio_bang_many *bangmany;
+ uint32_t i, num;
+ uint8_t many[1024], *walker;
+ int err;
+ int bitcount;
- return (ENXIO);
+ sc = CDEV2SOFTC(dev);
+ switch(cmd) {
+ case AT91_GPIO_SET: /* turn bits on */
+ WR4(sc, PIO_SODR, *(uint32_t *)data);
+ return (0);
+ case AT91_GPIO_CLR: /* turn bits off */
+ WR4(sc, PIO_CODR, *(uint32_t *)data);
+ return (0);
+ case AT91_GPIO_READ: /* Get the status of input bits */
+ *(uint32_t *)data = RD4(sc, PIO_PDSR);
+ return (0);
+ case AT91_GPIO_CFG: /* Configure AT91_GPIO pins */
+ cfg = (struct at91_gpio_cfg *)data;
+ if (cfg->cfgmask & AT91_GPIO_CFG_INPUT) {
+ WR4(sc, PIO_OER, cfg->iomask & ~cfg->input);
+ WR4(sc, PIO_ODR, cfg->iomask & cfg->input);
+ }
+ if (cfg->cfgmask & AT91_GPIO_CFG_HI_Z) {
+ WR4(sc, PIO_MDDR, cfg->iomask & ~cfg->hi_z);
+ WR4(sc, PIO_MDER, cfg->iomask & cfg->hi_z);
+ }
+ if (cfg->cfgmask & AT91_GPIO_CFG_PULLUP) {
+ WR4(sc, PIO_PUDR, cfg->iomask & ~cfg->pullup);
+ WR4(sc, PIO_PUER, cfg->iomask & cfg->pullup);
+ }
+ if (cfg->cfgmask & AT91_GPIO_CFG_GLITCH) {
+ WR4(sc, PIO_IFDR, cfg->iomask & ~cfg->glitch);
+ WR4(sc, PIO_IFER, cfg->iomask & cfg->glitch);
+ }
+ if (cfg->cfgmask & AT91_GPIO_CFG_GPIO) {
+ WR4(sc, PIO_PDR, cfg->iomask & ~cfg->gpio);
+ WR4(sc, PIO_PER, cfg->iomask & cfg->gpio);
+ }
+ if (cfg->cfgmask & AT91_GPIO_CFG_PERIPH) {
+ WR4(sc, PIO_ASR, cfg->iomask & ~cfg->periph);
+ WR4(sc, PIO_BSR, cfg->iomask & cfg->periph);
+ }
+ if (cfg->cfgmask & AT91_GPIO_CFG_INTR) {
+ WR4(sc, PIO_IDR, cfg->iomask & ~cfg->intr);
+ WR4(sc, PIO_IER, cfg->iomask & cfg->intr);
+ }
+ return (0);
+ case AT91_GPIO_BANG:
+ bang = (struct at91_gpio_bang *)data;
+ at91_pio_bang32(sc, bang->bits, bang->datapin, bang->clockpin);
+ return (0);
+ case AT91_GPIO_BANG_MANY:
+ bangmany = (struct at91_gpio_bang_many *)data;
+ walker = (uint8_t *)bangmany->bits;
+ bitcount = bangmany->numbits;
+ while (bitcount > 0) {
+ num = MIN((bitcount + 7) / 8, sizeof(many));
+ err = copyin(walker, many, num);
+ if (err)
+ return err;
+ for (i = 0; i < num && bitcount > 0; i++, bitcount -=
8)
+ if (bitcount >= 8)
+ at91_pio_bang(sc, many[i], 8,
bangmany->datapin, bangmany->clockpin);
+ else
+ at91_pio_bang(sc, many[i], bitcount,
bangmany->datapin, bangmany->clockpin);
+ walker += num;
+ }
+ return (0);
+ case AT91_GPIO_INFO: /* Learn about this device's AT91_GPIO bits */
+ info = (struct at91_gpio_info *)data;
+ info->output_status = RD4(sc, PIO_ODSR);
+ info->input_status = RD4(sc, PIO_OSR);
+ info->highz_status = RD4(sc, PIO_MDSR);
+ info->pullup_status = RD4(sc, PIO_PUSR);
+ info->glitch_status = RD4(sc, PIO_IFSR);
+ info->enabled_status = RD4(sc, PIO_PSR);
+ info->periph_status = RD4(sc, PIO_ABSR);
+ info->intr_status = RD4(sc, PIO_IMR);
+ memset(info->extra_status, 0, sizeof(info->extra_status));
+ return (0);
+ }
+ return (ENOTTY);
}
/*
@@ -341,6 +528,17 @@ at91_pio_gpio_output(uint32_t pio, uint3
}
void
+at91_pio_gpio_high_z(uint32_t pio, uint32_t high_z_mask, int enable)
+{
+ uint32_t *PIO = (uint32_t *)(AT91_BASE + pio);
+
+ if (enable)
+ PIO[PIO_MDER / 4] = high_z_mask;
+ else
+ PIO[PIO_MDDR / 4] = high_z_mask;
+}
+
+void
at91_pio_gpio_set(uint32_t pio, uint32_t data_mask)
{
uint32_t *PIO = (uint32_t *)(AT91_BASE + pio);
Modified: head/sys/arm/at91/at91_piovar.h
==============================================================================
--- head/sys/arm/at91/at91_piovar.h Fri Mar 29 19:04:18 2013
(r248910)
+++ head/sys/arm/at91/at91_piovar.h Fri Mar 29 19:52:57 2013
(r248911)
@@ -36,6 +36,7 @@ void at91_pio_use_gpio(uint32_t pio, uin
void at91_pio_gpio_input(uint32_t pio, uint32_t input_enable_mask);
void at91_pio_gpio_output(uint32_t pio, uint32_t output_enable_mask,
int use_pullup);
+void at91_pio_gpio_high_z(uint32_t pio, uint32_t high_z_mask, int enable);
void at91_pio_gpio_set(uint32_t pio, uint32_t data_mask);
void at91_pio_gpio_clear(uint32_t pio, uint32_t data_mask);
uint8_t at91_pio_gpio_get(uint32_t pio, uint32_t data_mask);
Added: head/sys/arm/include/at91_gpio.h
==============================================================================
--- /dev/null 00:00:00 1970 (empty, because file is newly added)
+++ head/sys/arm/include/at91_gpio.h Fri Mar 29 19:52:57 2013
(r248911)
@@ -0,0 +1,108 @@
+/*-
+ * Copyright (C) 2006 M. Warner Losh. All rights reserved.
+ * Copyright (C) 2012 Ian Lepore. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * $FreeBSD$
+ */
+
+#ifndef _ARM_AT91_GPIO_H
+#define _ARM_AT91_GPIO_H
+
+#ifndef _KERNEL
+#include <sys/types.h>
+#endif
+#include <sys/ioccom.h>
+
+/* Userland GPIO API for Atmel AT91 series SOC.
+ *
+ * Open /dev/pioN (where N is 0 for PIOA, 1 for PIOB, etc), and use ioctl(2)
+ * calls to configure the pin(s) as needed.
+ *
+ * The userland interrupt support allows you to use read(2) and/or select(2) to
+ * get notified of interrupts on PIO pins for which you enabled interrupt
+ * notifications. Each time an interrupt occurs on a given pin, that pin
number
+ * is written into a buffer as a uint8_t. Thus, reading from /dev/pioN
delivers
+ * info on which interrupt(s) have occurred since the last read. You can also
+ * use select() to block until an interrupt occurs (you still need to read() to
+ * consume the interrupt number bytes from the buffer.)
+ */
+
+struct at91_gpio_info
+{
+ uint32_t output_status; /* Current state of output pins */
+ uint32_t input_status; /* 1->out 0->in bitmask */
+ uint32_t highz_status; /* 1->highz 0->driven bitmask */
+ uint32_t pullup_status; /* 1->floating 0->pullup engaged */
+ uint32_t glitch_status; /* 0-> no glitch filter 1->gf */
+ uint32_t enabled_status; /* 1->used for pio 0->other */
+ uint32_t periph_status; /* 0->A periph 1->B periph */
+ uint32_t intr_status; /* 1-> ISR enabled, 0->disabled */
+ uint32_t extra_status[8];/* Extra status info, device depend */
+};
+
+struct at91_gpio_cfg
+{
+ uint32_t cfgmask; /* which things change */
+#define AT91_GPIO_CFG_INPUT 0x01 /* configure input/output pins
*/
+#define AT91_GPIO_CFG_HI_Z 0x02 /* HiZ */
+#define AT91_GPIO_CFG_PULLUP 0x04 /* Enable/disable pullup
resistors */
+#define AT91_GPIO_CFG_GLITCH 0x08 /* Glitch filtering */
+#define AT91_GPIO_CFG_GPIO 0x10 /* Use pin for PIO or
peripheral */
+#define AT91_GPIO_CFG_PERIPH 0x20 /* Select which peripheral to
use */
+#define AT91_GPIO_CFG_INTR 0x40 /* Select pin for interrupts */
+ uint32_t iomask; /* Mask of bits to change */
+ uint32_t input; /* or output */
+ uint32_t hi_z; /* Disable output */
+ uint32_t pullup; /* Enable pullup resistor */
+ uint32_t glitch; /* Glitch filtering */
+ uint32_t gpio; /* Enabled for PIO (1) or periph (0) */
+ uint32_t periph; /* Select periph A (0) or periph B (1)
*/
+ uint32_t intr; /* Enable interrupt (1), or not (0) */
+};
+
+struct at91_gpio_bang
+{
+ uint32_t clockpin; /* clock pin MASK */
+ uint32_t datapin; /* Data pin MASK */
+ uint32_t bits; /* bits to clock out (all 32) */
+};
+
+struct at91_gpio_bang_many
+{
+ uint32_t clockpin; /* clock pin MASK */
+ uint32_t datapin; /* Data pin MASK */
+ void *bits; /* bits to clock out */
+ uint32_t numbits; /* Number of bits to clock out */
+};
+
+#define AT91_GPIO_SET _IOW('g', 0, uint32_t)
/* Turn bits on */
+#define AT91_GPIO_CLR _IOW('g', 1, uint32_t)
/* Turn bits off */
+#define AT91_GPIO_READ _IOR('g', 2, uint32_t)
/* Read input bit state */
+#define AT91_GPIO_INFO _IOR('g', 3, struct at91_gpio_info)
/* State of pio cfg */
+#define AT91_GPIO_CFG _IOW('g', 4, struct at91_gpio_cfg)
/* Configure pio */
+#define AT91_GPIO_BANG _IOW('g', 5, struct at91_gpio_bang)
/* bit bang 32 bits */
+#define AT91_GPIO_BANG_MANY _IOW('g', 6, struct
at91_gpio_bang_many)/* bit bang >32 bits */
+
+#endif /* _ARM_AT91_GPIO_H */
+
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