rt-thread/bsp/nxp/imx/imx6ull-smart/drivers/drv_pin.c

/*
 * Copyright (c) 2006-2023, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2020-01-13     Lyons        edit and remove irq setting
 * 2021-06-23     RiceChen     refactor gpio driver and support gpio IRQ
 */

#include <rthw.h>
#include <rtdevice.h>

#include "drv_pin.h"
#include "drv_common.h"
#include "fsl_gpio.h"
#include "fsl_iomuxc.h"

rt_uint32_t iomuxc_base      = IOMUXC_BASE;
rt_uint32_t iomuxc_snvs_base = IOMUXC_SNVS_BASE;

struct pin_mask
{
    GPIO_Type  *gpio;
    rt_int32_t valid_mask;
    clock_ip_name_t gpio_clock;
};

struct pin_mask mask_tab[5] =
{
    {GPIO1, 0xffffffff, kCLOCK_Gpio1},     /* GPIO1 */
    {GPIO2, 0x003fffff, kCLOCK_Gpio2},     /* GPIO2 */
    {GPIO3, 0x1fffffff, kCLOCK_Gpio3},     /* GPIO3,29~31 not supported */
    {GPIO4, 0x1fffffff, kCLOCK_Gpio4},     /* GPIO4,29~31 not supported */
    {GPIO5, 0x00000fff, kCLOCK_Gpio5}      /* GPIO5,12~31 not supported */
};

const rt_int8_t gpio_reg_offset[5][32] =
{
    { 6,  7,  8,  9, 10, 11, 12, 13, 14, 15,  0,  1,  2,  3,  4,  5, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31,},
    {32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 94, 95, 96, 97, 98, 99, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,},
    {48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, -1, -1, -1,},
    {77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93,100,101,102,103,104,105,106,107,108,109,110,111, -1, -1, -1,},
    { 2,  3,  4,  5,  6,  7,  8,  9, 10, 11,  0,  1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,},
};

static struct rt_pin_irq_hdr pin_irq_hdr_tab[] =
{
    // GPIO1
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    // GPIO2
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    // GPIO3
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    // GPIO4
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    // GPIO5
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
};

static void imx6ull_pin_mode(struct rt_device *device, rt_base_t pin, rt_uint8_t mode)
{
    GPIO_Type *gpio_base = RT_NULL;
    gpio_pin_config_t config;
    rt_uint32_t config_value = 0;
    rt_int8_t port, pin_num, reg_offset;
    rt_uint32_t mux_base_addr, config_base_addr;

    port = pin >> 5;
    pin_num = pin & 31;

    config.outputLogic = PIN_LOW;
    config.interruptMode = kGPIO_NoIntmode;

    switch (mode)
    {
        case PIN_MODE_OUTPUT:
        {
            config.direction = kGPIO_DigitalOutput;
            config_value = 0x0030U;
        }
        break;

        case PIN_MODE_INPUT:
        {
            config.direction = kGPIO_DigitalInput;
            config_value = 0x0830U;
        }
        break;

        case PIN_MODE_INPUT_PULLDOWN:
        {
            config.direction = kGPIO_DigitalInput;
            config_value = 0x3030U;
        }
        break;

        case PIN_MODE_INPUT_PULLUP:
        {
            config.direction = kGPIO_DigitalInput;
            config_value = 0xB030U;
        }
        break;

        case PIN_MODE_OUTPUT_OD:
        {
            config.direction = kGPIO_DigitalOutput;
            config_value = 0x0830U;
        }
        break;
    }

    reg_offset = gpio_reg_offset[port][pin_num];
    gpio_base = (GPIO_Type *)imx6ull_get_periph_paddr((rt_uint32_t)mask_tab[port].gpio);

    if(gpio_base != GPIO5)
    {
        IOMUXC_Type *periph = (IOMUXC_Type*)iomuxc_base;

        mux_base_addr    = (rt_uint32_t)&periph->SW_MUX_CTL_PAD[reg_offset];
        config_base_addr = (rt_uint32_t)&periph->SW_PAD_CTL_PAD[reg_offset];
    }
    else
    {
        IOMUXC_SNVS_Type *periph = (IOMUXC_SNVS_Type*)iomuxc_snvs_base;

        mux_base_addr    = (rt_uint32_t)&periph->SW_MUX_CTL_PAD[reg_offset];
        config_base_addr = (rt_uint32_t)&periph->SW_PAD_CTL_PAD[reg_offset];
    }
    IOMUXC_SetPinMux(mux_base_addr, 0x5U, 0x00000000U, 0x0U, config_base_addr, 1);
    IOMUXC_SetPinConfig(mux_base_addr, 0x5U, 0x00000000U, 0x0U, config_base_addr, config_value);

    GPIO_PinInit(mask_tab[port].gpio, pin_num, &config);
}

static void imx6ull_pin_write(struct rt_device *device, rt_base_t pin, rt_uint8_t value)
{
    rt_int8_t port = 0, pin_num = 0;

    port = pin >> 5;
    pin_num = pin & 31;

    GPIO_WritePinOutput(mask_tab[port].gpio, pin_num, value);
}

static rt_ssize_t imx6ull_pin_read(struct rt_device *device, rt_base_t pin)
{
    rt_ssize_t value = 0;
    rt_int8_t port = 0, pin_num = 0;

    value = PIN_LOW;
    port = pin >> 5;
    pin_num = pin & 31;

    value = GPIO_ReadPadStatus(mask_tab[port].gpio, pin_num);

    return value;
}

static rt_err_t imx6ull_pin_attach_irq(struct rt_device *device, rt_base_t pin,
                                       rt_uint8_t mode, void (*hdr)(void *args),
                                       void *args)
{
    rt_base_t level = 0;

    level = rt_hw_interrupt_disable();

    if (pin_irq_hdr_tab[pin].pin == pin &&
        pin_irq_hdr_tab[pin].hdr == hdr &&
        pin_irq_hdr_tab[pin].mode == mode &&
        pin_irq_hdr_tab[pin].args == args)
    {
        rt_hw_interrupt_enable(level);
        return RT_EOK;
    }

    pin_irq_hdr_tab[pin].pin  = pin;
    pin_irq_hdr_tab[pin].hdr  = hdr;
    pin_irq_hdr_tab[pin].mode = mode;
    pin_irq_hdr_tab[pin].args = args;
    rt_hw_interrupt_enable(level);

    return RT_EOK;
}

static rt_err_t imx6ull_pin_detach_irq(struct rt_device *device, rt_base_t pin)
{
    rt_base_t level = 0;

    level = rt_hw_interrupt_disable();

    if (pin_irq_hdr_tab[pin].pin == -1)
    {
        rt_hw_interrupt_enable(level);
        return RT_EOK;
    }
    pin_irq_hdr_tab[pin].pin = -1;
    pin_irq_hdr_tab[pin].hdr = RT_NULL;
    pin_irq_hdr_tab[pin].mode = 0;
    pin_irq_hdr_tab[pin].args = RT_NULL;

    rt_hw_interrupt_enable(level);

    return RT_EOK;
}

static rt_err_t imx6ull_pin_irq_enable(struct rt_device *device, rt_base_t pin, rt_uint8_t enabled)
{
    gpio_interrupt_mode_t int_mode;
    rt_int8_t port = 0, pin_num = 0;

    port = pin >> 5;
    pin_num = pin & 31;

    if (pin_irq_hdr_tab[pin].pin == -1)
    {
        rt_kprintf("rtt pin: %d callback function not initialized!\n", pin);
        return RT_ENOSYS;
    }

    if (enabled == PIN_IRQ_ENABLE)
    {
        switch (pin_irq_hdr_tab[pin].mode)
        {
        case PIN_IRQ_MODE_RISING:
            int_mode = kGPIO_IntRisingEdge;
            break;
        case PIN_IRQ_MODE_FALLING:
            int_mode = kGPIO_IntFallingEdge;
            break;
        case PIN_IRQ_MODE_RISING_FALLING:
            int_mode = kGPIO_IntRisingOrFallingEdge;
            break;
        case PIN_IRQ_MODE_HIGH_LEVEL:
            int_mode = kGPIO_IntHighLevel;
            break;
        case PIN_IRQ_MODE_LOW_LEVEL:
            int_mode = kGPIO_IntLowLevel;
            break;
        default:
            int_mode = kGPIO_IntRisingEdge;
            break;
        }

        GPIO_SetPinInterruptConfig(mask_tab[port].gpio, pin_num, int_mode);
        GPIO_EnableInterrupts(mask_tab[port].gpio, 1U << pin_num);
    }
    else if (enabled == PIN_IRQ_DISABLE)
    {
        GPIO_DisableInterrupts(mask_tab[port].gpio, pin_num);
    }
    else
    {
        return RT_EINVAL;
    }

    return RT_EOK;
}

static void imx6ull_isr(rt_int16_t index_offset, rt_int8_t pin_start, GPIO_Type *base)
{
    rt_int32_t isr_status = 0, index = 0;
    rt_int8_t i = 0, pin_end = 0;


    pin_end = pin_start + 15;
    isr_status = GPIO_GetPinsInterruptFlags(base) & base->IMR;

    for (i = pin_start; i <= pin_end ; i++)
    {
        if (isr_status & (1 << i))
        {
            GPIO_ClearPinsInterruptFlags(base, (1 << i));
            index = index_offset + i;
            if (pin_irq_hdr_tab[index].hdr != RT_NULL)
            {
                pin_irq_hdr_tab[index].hdr(pin_irq_hdr_tab[index].args);
            }
        }
    }
}

/* GPIO1 index offset is 0 */
void GPIO1_Combined_0_15_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(0, 0, mask_tab[0].gpio);

    rt_interrupt_leave();
}

void GPIO1_Combined_16_31_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(0, 15, mask_tab[0].gpio);

    rt_interrupt_leave();
}

/* GPIO2 index offset is 32 */
void GPIO2_Combined_0_15_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(32, 0, mask_tab[1].gpio);

    rt_interrupt_leave();
}

void GPIO2_Combined_16_31_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(32, 15, mask_tab[1].gpio);

    rt_interrupt_leave();
}

/* GPIO3 index offset is 64 */
void GPIO3_Combined_0_15_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(64, 0, mask_tab[2].gpio);

    rt_interrupt_leave();
}

void GPIO3_Combined_16_31_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(64, 15, mask_tab[2].gpio);

    rt_interrupt_leave();
}

/* GPIO4 index offset is 96 */
void GPIO4_Combined_0_15_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(96, 0, mask_tab[3].gpio);

    rt_interrupt_leave();
}
void GPIO4_Combined_16_31_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(96, 15, mask_tab[3].gpio);

    rt_interrupt_leave();
}

/* GPIO5 index offset is 128 */
void GPIO5_Combined_0_15_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(128, 0, mask_tab[4].gpio);

    rt_interrupt_leave();
}

/* GPIO5 index offset is 128 */
void GPIO5_Combined_16_31_IRQHandler(int irqno, void *param)
{
    rt_interrupt_enter();

    imx6ull_isr(128, 0, mask_tab[4].gpio);

    rt_interrupt_leave();
}

static const struct rt_pin_ops gpio_ops =
{
    .pin_mode = imx6ull_pin_mode,
    .pin_write = imx6ull_pin_write,
    .pin_read = imx6ull_pin_read,
    .pin_attach_irq = imx6ull_pin_attach_irq,
    .pin_detach_irq = imx6ull_pin_detach_irq,
    .pin_irq_enable = imx6ull_pin_irq_enable,
    .pin_get = RT_NULL,
};

static void imx6ull_pin_interrupt_install(void)
{
    rt_hw_interrupt_install(IMX_INT_GPIO1_INT15_0,  GPIO1_Combined_0_15_IRQHandler,  RT_NULL, "GPIO1_0_15");
    rt_hw_interrupt_install(IMX_INT_GPIO1_INT31_16, GPIO1_Combined_16_31_IRQHandler, RT_NULL, "GPIO1_16_31");
    rt_hw_interrupt_install(IMX_INT_GPIO2_INT15_0,  GPIO2_Combined_0_15_IRQHandler,  RT_NULL, "GPIO2_0_15");
    rt_hw_interrupt_install(IMX_INT_GPIO2_INT31_16, GPIO2_Combined_16_31_IRQHandler, RT_NULL, "GPIO2_16_31");
    rt_hw_interrupt_install(IMX_INT_GPIO3_INT15_0,  GPIO3_Combined_0_15_IRQHandler,  RT_NULL, "GPIO3_0_15");
    rt_hw_interrupt_install(IMX_INT_GPIO3_INT31_16, GPIO3_Combined_16_31_IRQHandler, RT_NULL, "GPIO3_16_31");
    rt_hw_interrupt_install(IMX_INT_GPIO4_INT15_0,  GPIO4_Combined_0_15_IRQHandler,  RT_NULL, "GPIO4_0_15");
    rt_hw_interrupt_install(IMX_INT_GPIO4_INT31_16, GPIO4_Combined_16_31_IRQHandler, RT_NULL, "GPIO4_16_31");
    rt_hw_interrupt_install(IMX_INT_GPIO5_INT15_0,  GPIO5_Combined_0_15_IRQHandler,  RT_NULL, "GPIO5_0_15");
    rt_hw_interrupt_install(IMX_INT_GPIO5_INT31_16, GPIO5_Combined_16_31_IRQHandler, RT_NULL, "GPIO5_16_31");

    rt_hw_interrupt_umask(IMX_INT_GPIO1_INT15_0);
    rt_hw_interrupt_umask(IMX_INT_GPIO1_INT31_16);
    rt_hw_interrupt_umask(IMX_INT_GPIO2_INT15_0);
    rt_hw_interrupt_umask(IMX_INT_GPIO2_INT31_16);
    rt_hw_interrupt_umask(IMX_INT_GPIO3_INT15_0);
    rt_hw_interrupt_umask(IMX_INT_GPIO3_INT31_16);
    rt_hw_interrupt_umask(IMX_INT_GPIO4_INT15_0);
    rt_hw_interrupt_umask(IMX_INT_GPIO4_INT31_16);
    rt_hw_interrupt_umask(IMX_INT_GPIO5_INT15_0);
    rt_hw_interrupt_umask(IMX_INT_GPIO5_INT31_16);
}

int imx6ull_hw_pin_init(void)
{
    iomuxc_base = (size_t)imx6ull_get_periph_vaddr(iomuxc_base);
    iomuxc_snvs_base = (size_t)imx6ull_get_periph_vaddr(iomuxc_snvs_base);

    for(int port = 0; port < sizeof(mask_tab) / sizeof(mask_tab[0]); port++)
    {
        mask_tab[port].gpio = (GPIO_Type *)imx6ull_get_periph_vaddr((rt_uint32_t)mask_tab[port].gpio);
        CLOCK_EnableClock(mask_tab[port].gpio_clock);
    }

    imx6ull_pin_interrupt_install();

    rt_device_pin_register("pin", &gpio_ops, RT_NULL);

    rt_kprintf("pin driver init success\n");
    return RT_EOK;
}
INIT_BOARD_EXPORT(imx6ull_hw_pin_init);