src/bsp/lk/platform/zynq/gpio.c

/*
 * Copyright (c) 2012-2015 Travis Geiselbrecht
 * Copyright (c) 2015 Christopher Anderson
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files
 * (the "Software"), to deal in the Software without restriction,
 * including without limitation the rights to use, copy, modify, merge,
 * publish, distribute, sublicense, and/or sell copies of the Software,
 * and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#include <assert.h>
#include <debug.h>
#include <reg.h>
#include <stdio.h>
#include <string.h>
#include <dev/gpio.h>
#include <platform/gpio.h>
#include <platform/interrupts.h>
#include <target/gpioconfig.h>

#define MAX_GPIO 128

static inline uint16_t extract_bank(unsigned gpio_id) { return gpio_id / 32; }
static inline uint16_t extract_bit (unsigned gpio_id) { return gpio_id % 32; }

struct {
    int_handler callback;
    void *args;
} irq_callbacks[MAX_GPIO];

static enum handler_return gpio_int_handler(void *arg) {

    /* The mask register uses 1 to respresent masked, 0 for unmasked. Comparing that
     * register with the interrupt status register is the only way to determine
     * which gpio triggered the interrupt in the gic. */
    for (uint32_t bank = 0; bank < 4; bank++) {
        uint32_t mask = *REG32(GPIO_INT_MASK(bank));
        uint32_t stat = *REG32(GPIO_INT_STAT(bank));
        uint32_t active = ~mask & stat;

        if (active == 0) {
            continue;
        }

        //printf("mask 0x%08x stat 0x%08x active 0x%08x\n", mask, stat, active);
        while (active) {
            /* Find the rightmost set bit, calculate the associated gpio, and call the callback */
            uint16_t bit = 32 - clz(active) - 1;
            uint16_t gpio = bit + (bank * 32);

            active ^= (1 << bit);
            if (irq_callbacks[gpio].callback) {
                irq_callbacks[gpio].callback(irq_callbacks[gpio].args);
            }
            //printf("bit %u bank %u gpio %u was triggered\n", bit, bank, gpio);
        }

        *REG32(GPIO_INT_STAT(bank)) = stat;
    }

    return 0;
}

void zynq_unmask_gpio_interrupt(unsigned gpio)
{
    uint16_t bank = extract_bank(gpio);
    uint16_t bit  = extract_bit(gpio);

    RMWREG32(GPIO_INT_EN(bank), bit, 1, 1);
    RMWREG32(GPIO_INT_STAT(bank), bit, 1, 1);
}

void zynq_mask_gpio_interrupt(unsigned gpio)
{
    uint16_t bank = extract_bank(gpio);
    uint16_t bit  = extract_bit(gpio);

    RMWREG32(GPIO_INT_DIS(bank), bit, 1, 1);
}


void zynq_gpio_init(void)
{
    register_int_handler(GPIO_INT, gpio_int_handler, NULL);
    unmask_interrupt(GPIO_INT);

    // Note(johngro):
    //
    // The Zynq 700 series documentation describes two bits which affect the
    // input vs. output nature of the GPIOs (DIRM and OEN, or output enable).
    // On the surface, the docs seem to indicate that they do the same thing,
    // which is to enable or disable the output driver on the pin.  The docs
    // make it clear that the input function is always enabled, regardless of
    // the settings of either the DIRM or OEN bits (input state is readable via
    // the DATA_RO registers).  Also, they state that the output drivers cannot
    // be enabled if the TRISTATE bit is set on the pin in the SLCR unit.
    //
    // In practice, however, there seems to be a subtle, undocumented,
    // difference between these bits (At least whent the GPIOs in question are
    // MIOs, this behavior has not been verified on EMIOs).
    //
    // The OEN bit seems to do what you would want it to do (toggle the output
    // drivers on and off).  The desired drive state of the pin (reflected in
    // the DATA and MASK_DATA registers) holds the user setting regardless of
    // the state of the OEN bit, and the state of the line can be read via the
    // DATA_RO bit.
    //
    // When the DIRM bit is cleared, however, the state of the line seems to
    // become latched into the desired drive state of the pin instead of holding
    // its last programmed state.  For example; say the pin is being used to
    // as a line in an open collector bus, such as i2c.  The output drivers
    // are enabled (OEN and DIRM == 1), and the pin is being driven low (DATA ==
    // 0).  When it comes time to release the line, if a user clears OEN, the
    // driver will be disabled and the line will be pulled high by the external
    // pullup.  DATA will still read 0 (the desired drive state of the pin) and
    // DATA_RO will read 1 (the actual state of the line).  If, on the other
    // hand, the user clears the DIRM bit instead of the OEN bit, the driver
    // will be disabled and the line will be pulled high again, but this time
    // DATA will latch the value of the line itself (DATA == 1, DATA_RO == 1).
    //
    // Because of this behvior, we NEVER use the DIRM bit to control the driver
    // state of the pin.  During init, set all pins to input mode by first
    // clearing the OEN bits, and then making sure that the DIRM bits are all
    // set.
    for (unsigned int bank = 0; bank < 4; bank++) {
        *REG32(GPIO_OEN(bank))  = 0x00000000;
        *REG32(GPIO_DIRM(bank)) = 0xFFFFFFFF;
    }
}

void zynq_gpio_early_init(void)
{
}

void register_gpio_int_handler(unsigned gpio, int_handler handler, void *args)
{
    DEBUG_ASSERT(gpio < MAX_GPIO);
    DEBUG_ASSERT(handler);

    irq_callbacks[gpio].callback = handler;
    irq_callbacks[gpio].args = args;
}

void unregister_gpio_int_handler(unsigned gpio)
{
    DEBUG_ASSERT(gpio < MAX_GPIO);

    irq_callbacks[gpio].callback = NULL;
    irq_callbacks[gpio].args = NULL;
}

int gpio_config(unsigned gpio, unsigned flags)
{
    DEBUG_ASSERT(gpio < MAX_GPIO);

    uint16_t bank = extract_bank(gpio);
    uint16_t bit  = extract_bit(gpio);

    /* MIO region, exclude EMIO. MIO needs to be configured before the GPIO block. */
    if (bank < 2) {
        // Preserve all of the fields of the current pin configuration, except
        // for PULLUP and the MUX configurtaion.  Force the mux config to select
        // GPIO mode, and turn the pullup on or off as requested by the user.
        uint32_t mio_cfg = SLCR_REG(MIO_PIN_00 + (gpio * 4));
        mio_cfg &= MIO_TRI_ENABLE |
                   MIO_SPEED_FAST |
                   MIO_IO_TYPE_MASK |
                   MIO_DISABLE_RCVR;

        // No need to set any bits in the L[0123]_SEL fields; we want them to
        // all be zero.

        if (flags & GPIO_PULLUP) {
            mio_cfg |= MIO_PULLUP;
        }

        SLCR_REG(MIO_PIN_00 + (gpio * 4)) = mio_cfg;
    }

    if (flags & GPIO_OUTPUT || flags & GPIO_INPUT) {
        if (flags & GPIO_OUTPUT && flags & GPIO_INPUT) {
            printf("Cannot configure a gpio as both an input and output direction.\n");
            return -1;
        }

        // Note(johngro): use only the OEN bit to control the output driver.  Do
        // not use the DIRM bit; see the note in zynq_gpio_init.
        RMWREG32(GPIO_OEN(bank), bit, 1, ((flags & GPIO_OUTPUT) > 0));
    }

    if (flags & GPIO_EDGE || flags & GPIO_LEVEL) {
        if (flags & GPIO_EDGE && flags & GPIO_LEVEL) {
            printf("Cannot configure a gpio as both edge and level sensitive.\n");
            return -1;
        }
        RMWREG32(GPIO_INT_TYPE(bank), bit, 1, ((flags & GPIO_EDGE) > 0));
    }

    if (flags & GPIO_RISING || flags & GPIO_FALLING) {
        /* Zynq has a specific INT_ANY register for handling interrupts that trigger on both
         * rising and falling edges, but it specifically must only be used in edge mode */
        if (flags & GPIO_RISING && flags & GPIO_FALLING) {
            if ((flags & GPIO_EDGE) == 0) {
                printf("polarity must be rising or falling if level sensitivity is used.\n");
                return -1;
            }

            RMWREG32(GPIO_INT_ANY(bank), bit, 1, 1);
        } else {
            RMWREG32(GPIO_INT_POLARITY(bank), bit, 1, ((flags & GPIO_RISING) > 0));
            RMWREG32(GPIO_INT_ANY(bank), bit, 1, 0);
        }
    }

	return 0;
}

void gpio_set(unsigned gpio, unsigned on)
{
    DEBUG_ASSERT(gpio < MAX_GPIO);

    uint16_t bank = extract_bank(gpio);
    uint16_t bit  = extract_bit(gpio);
    uintptr_t reg;

    if (bit < 16) {
        reg = GPIO_MASK_DATA_LSW(bank);
    } else {
        reg = GPIO_MASK_DATA_MSW(bank);
        bit -= 16;
    }

    *REG32(reg) = (~(1 << bit) << 16) | (!!on << bit);
}

int gpio_get(unsigned gpio)
{
    DEBUG_ASSERT(gpio < MAX_GPIO);

    uint16_t bank = extract_bank(gpio);
    uint16_t bit  = extract_bit(gpio);

    return ((*REG32(GPIO_DATA_RO(bank)) & (1 << bit)) > 0);
}

#include <lib/console.h>
#ifdef WITH_LIB_CONSOLE
static int cmd_zynq_gpio(int argc, const cmd_args *argv)
{
    for (unsigned int bank = 0; bank < 4; bank++) {
        printf("DIRM_%u (0x%08x):           0x%08x\n", bank, GPIO_DIRM(bank), *REG32(GPIO_DIRM(bank)));
        printf("OEN_%u (0x%08x):            0x%08x\n", bank, GPIO_OEN(bank), *REG32(GPIO_OEN(bank)));
        printf("MASK_DATA_LSW_%u (0x%08x):  0x%08x\n", bank, GPIO_MASK_DATA_LSW(bank), *REG32(GPIO_MASK_DATA_LSW(bank)));
        printf("MASK_DATA_MSW_%u (0x%08x):  0x%08x\n", bank, GPIO_MASK_DATA_MSW(bank), *REG32(GPIO_MASK_DATA_MSW(bank)));
        printf("DATA_%u (0x%08x):           0x%08x\n", bank, GPIO_DATA(bank), *REG32(GPIO_DATA(bank)));
        printf("DATA_RO_%u (0x%08x):        0x%08x\n", bank, GPIO_DATA_RO(bank), *REG32(GPIO_DATA_RO(bank)));
        printf("INT_MASK_%u (0x%08x):       0x%08x\n", bank, GPIO_INT_MASK(bank), *REG32(GPIO_INT_MASK(bank)));
        printf("INT_STAT_%u (0x%08x):       0x%08x\n", bank, GPIO_INT_STAT(bank), *REG32(GPIO_INT_STAT(bank)));
        printf("INT_TYPE_%u (0x%08x):       0x%08x\n", bank, GPIO_INT_TYPE(bank), *REG32(GPIO_INT_TYPE(bank)));
        printf("INT_POLARITY_%u (0x%08x):   0x%08x\n", bank, GPIO_INT_POLARITY(bank), *REG32(GPIO_INT_POLARITY(bank)));
        printf("INT_ANY_%u (0x%08x):        0x%08x\n", bank, GPIO_INT_ANY(bank), *REG32(GPIO_INT_ANY(bank)));
    }
    return 0;
}
STATIC_COMMAND_START
#if LK_DEBUGLEVEL > 1
STATIC_COMMAND("zynq_gpio", "Dump Zynq GPIO registers", &cmd_zynq_gpio)
#endif
STATIC_COMMAND_END(zynq_gpio);

#endif