New kernel drivers and device migrations (#563)
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Ken Van Hoeylandt
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cmake_minimum_required(VERSION 3.20)
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include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake")
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file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
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tactility_add_module(tca95xx-16bit-module
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SRCS ${SOURCE_FILES}
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INCLUDE_DIRS include/
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REQUIRES TactilityKernel
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)
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Apache License
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==============
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_Version 2.0, January 2004_
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@@ -0,0 +1,11 @@
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# TCA9535 / TCA9539 I/O expander
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A driver for the TI `TCA9535` and `TCA9539` 16-bit I2C-bus I/O expanders. Both parts
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share the same PCA9555-compatible register map (differing only in package and interrupt
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pin): two 8-bit ports for input, output, polarity inversion, and direction, addressed as
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pins 0-15 (port 0 = pins 0-7, port 1 = pins 8-15).
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It does not support pull-up/down resistors or high-impedance outputs; requesting those
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flags returns `ERROR_NOT_SUPPORTED`.
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License: [Apache v2.0](LICENSE-Apache-2.0.md)
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@@ -0,0 +1,5 @@
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description: TI TCA9535 16-bit I2C-bus I/O expander (PCA9555-register-compatible)
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include: ["i2c-device.yaml"]
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compatible: "ti,tca9535"
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@@ -0,0 +1,5 @@
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description: TI TCA9539 16-bit I2C-bus I/O expander (PCA9555-register-compatible)
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include: ["i2c-device.yaml"]
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compatible: "ti,tca9539"
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@@ -0,0 +1,3 @@
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dependencies:
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- TactilityKernel
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bindings: bindings
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@@ -0,0 +1,21 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include <tactility/bindings/bindings.h>
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#include <drivers/tca95xx.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// One DEFINE_DEVICETREE per compatible string -- the devicetree compiler derives the
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// expected config typedef name from the compatible string's suffix (e.g. "ti,tca9535"
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// -> tca9535_config_dt), not from a name we choose, so each supported chip needs its own
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// typedef even though they share the same underlying config layout (see dummy-i2s-amp-module's
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// bindings header for the same pattern).
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DEFINE_DEVICETREE(tca9535, struct Tca95xxConfig)
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DEFINE_DEVICETREE(tca9539, struct Tca95xxConfig)
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,17 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct Tca95xxConfig {
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/** Address on bus */
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uint8_t address;
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};
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,16 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include <tactility/module.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// The devicetree compiler derives the expected module symbol name from this component's
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// folder name ("tca95xx-16bit-module" -> tca95xx_16bit_module), not from a name we choose.
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extern struct Module tca95xx_16bit_module;
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,32 @@
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// SPDX-License-Identifier: Apache-2.0
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#include <tactility/check.h>
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#include <tactility/driver.h>
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#include <tactility/module.h>
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extern "C" {
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extern Driver tca95xx_driver;
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static error_t start() {
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/* We crash when construct fails, because if a single driver fails to construct,
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* there is no guarantee that the previously constructed drivers can be destroyed */
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check(driver_construct_add(&tca95xx_driver) == ERROR_NONE);
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return ERROR_NONE;
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}
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static error_t stop() {
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/* We crash when destruct fails, because if a single driver fails to destruct,
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* there is no guarantee that the previously destroyed drivers can be recovered */
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check(driver_remove_destruct(&tca95xx_driver) == ERROR_NONE);
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return ERROR_NONE;
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}
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Module tca95xx_16bit_module = {
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.name = "tca95xx",
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.start = start,
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.stop = stop,
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.symbols = nullptr,
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.internal = nullptr
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};
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}
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@@ -0,0 +1,194 @@
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// SPDX-License-Identifier: Apache-2.0
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#include <drivers/tca95xx.h>
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#include <tca95xx_module.h>
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#include <tactility/device.h>
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#include <tactility/driver.h>
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#include <tactility/drivers/gpio_controller.h>
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#include <tactility/drivers/gpio_descriptor.h>
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#include <tactility/drivers/i2c_controller.h>
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#include <tactility/log.h>
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#define TAG "TCA95XX"
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#define GET_CONFIG(device) (static_cast<const Tca95xxConfig*>((device)->config))
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// PCA9555-compatible register map: one register per function per 8-pin port.
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constexpr auto TCA95XX_REGISTER_INPUT_PORT0 = 0x00;
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constexpr auto TCA95XX_REGISTER_OUTPUT_PORT0 = 0x02;
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constexpr auto TCA95XX_REGISTER_POLARITY_PORT0 = 0x04;
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constexpr auto TCA95XX_REGISTER_CONFIG_PORT0 = 0x06;
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static inline uint8_t port_of(GpioDescriptor* descriptor) {
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return descriptor->pin >> 3;
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}
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static inline uint8_t bit_of(GpioDescriptor* descriptor) {
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return 1 << (descriptor->pin & 0x7);
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}
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static error_t start(Device* device) {
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auto* parent = device_get_parent(device);
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check(device_get_type(parent) == &I2C_CONTROLLER_TYPE);
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return gpio_controller_init_descriptors(device, 16, nullptr);
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}
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static error_t stop(Device* device) {
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check(gpio_controller_deinit_descriptors(device) == ERROR_NONE);
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return ERROR_NONE;
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}
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extern "C" {
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static error_t set_level(GpioDescriptor* descriptor, bool high) {
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auto* device = descriptor->controller;
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auto* parent = device_get_parent(device);
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auto address = GET_CONFIG(device)->address;
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auto reg = static_cast<uint8_t>(TCA95XX_REGISTER_OUTPUT_PORT0 + port_of(descriptor));
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auto bit = bit_of(descriptor);
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// i2c_controller_register8_{set,reset}_bits() do a separate read then
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// write; without this lock, concurrent updates to different pins on the
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||||
// same output port register can clobber each other.
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device_lock(device);
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||||
error_t err = high
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||||
? i2c_controller_register8_set_bits(parent, address, reg, bit, portMAX_DELAY)
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||||
: i2c_controller_register8_reset_bits(parent, address, reg, bit, portMAX_DELAY);
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||||
device_unlock(device);
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||||
return err;
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||||
}
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||||
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||||
static error_t get_level(GpioDescriptor* descriptor, bool* high) {
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||||
auto* device = descriptor->controller;
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||||
auto* parent = device_get_parent(device);
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||||
auto address = GET_CONFIG(device)->address;
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||||
auto reg = static_cast<uint8_t>(TCA95XX_REGISTER_INPUT_PORT0 + port_of(descriptor));
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||||
uint8_t bits;
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||||
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||||
error_t err = i2c_controller_register8_get(parent, address, reg, &bits, portMAX_DELAY);
|
||||
if (err != ERROR_NONE) {
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||||
return err;
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||||
}
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||||
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||||
*high = (bits & bit_of(descriptor)) != 0;
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||||
return ERROR_NONE;
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||||
}
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||||
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||||
static error_t set_flags(GpioDescriptor* descriptor, gpio_flags_t flags) {
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||||
// The TCA95xx only supports direction and polarity inversion. Pull-up/down and
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||||
// high-impedance are not present in its PCA9555-compatible register map.
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||||
if (flags & (GPIO_FLAG_PULL_UP | GPIO_FLAG_PULL_DOWN | GPIO_FLAG_HIGH_IMPEDANCE)) {
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||||
return ERROR_NOT_SUPPORTED;
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||||
}
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||||
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||||
// The polarity register only inverts what's read back from an input pin;
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||||
// set_level() still drives outputs at the raw level. Accepting ACTIVE_LOW
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||||
// on an output would silently not do what it implies.
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||||
if ((flags & GPIO_FLAG_ACTIVE_LOW) && (flags & GPIO_FLAG_DIRECTION_OUTPUT)) {
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||||
return ERROR_NOT_SUPPORTED;
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||||
}
|
||||
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||||
auto* device = descriptor->controller;
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||||
auto* parent = device_get_parent(device);
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||||
auto address = GET_CONFIG(device)->address;
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||||
auto config_reg = static_cast<uint8_t>(TCA95XX_REGISTER_CONFIG_PORT0 + port_of(descriptor));
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||||
auto polarity_reg = static_cast<uint8_t>(TCA95XX_REGISTER_POLARITY_PORT0 + port_of(descriptor));
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||||
auto bit = bit_of(descriptor);
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||||
error_t err;
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||||
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||||
// Locked as a whole: direction and polarity are two separate RMW register
|
||||
// writes, and both should apply atomically with respect to other set_flags
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||||
// / set_level calls on this device.
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||||
device_lock(device);
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||||
|
||||
// Direction: configuration bit is 1 for input, 0 for output.
|
||||
if (flags & GPIO_FLAG_DIRECTION_OUTPUT) {
|
||||
err = i2c_controller_register8_reset_bits(parent, address, config_reg, bit, portMAX_DELAY);
|
||||
} else {
|
||||
err = i2c_controller_register8_set_bits(parent, address, config_reg, bit, portMAX_DELAY);
|
||||
}
|
||||
|
||||
if (err != ERROR_NONE) {
|
||||
device_unlock(device);
|
||||
return err;
|
||||
}
|
||||
|
||||
// Polarity inversion (mainly relevant for active-low inputs).
|
||||
if (flags & GPIO_FLAG_ACTIVE_LOW) {
|
||||
err = i2c_controller_register8_set_bits(parent, address, polarity_reg, bit, portMAX_DELAY);
|
||||
} else {
|
||||
err = i2c_controller_register8_reset_bits(parent, address, polarity_reg, bit, portMAX_DELAY);
|
||||
}
|
||||
|
||||
device_unlock(device);
|
||||
return err;
|
||||
}
|
||||
|
||||
static error_t get_flags(GpioDescriptor* descriptor, gpio_flags_t* flags) {
|
||||
auto* device = descriptor->controller;
|
||||
auto* parent = device_get_parent(device);
|
||||
auto address = GET_CONFIG(device)->address;
|
||||
auto config_reg = static_cast<uint8_t>(TCA95XX_REGISTER_CONFIG_PORT0 + port_of(descriptor));
|
||||
auto polarity_reg = static_cast<uint8_t>(TCA95XX_REGISTER_POLARITY_PORT0 + port_of(descriptor));
|
||||
auto bit = bit_of(descriptor);
|
||||
uint8_t val;
|
||||
error_t err;
|
||||
|
||||
gpio_flags_t f = GPIO_FLAG_NONE;
|
||||
|
||||
err = i2c_controller_register8_get(parent, address, config_reg, &val, portMAX_DELAY);
|
||||
if (err != ERROR_NONE) return err;
|
||||
f |= (val & bit) ? GPIO_FLAG_DIRECTION_INPUT : GPIO_FLAG_DIRECTION_OUTPUT;
|
||||
|
||||
err = i2c_controller_register8_get(parent, address, polarity_reg, &val, portMAX_DELAY);
|
||||
if (err != ERROR_NONE) return err;
|
||||
f |= (val & bit) ? GPIO_FLAG_ACTIVE_LOW : GPIO_FLAG_ACTIVE_HIGH;
|
||||
|
||||
*flags = f;
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
static error_t get_native_pin_number(GpioDescriptor* descriptor, void* pin_number) {
|
||||
return ERROR_NOT_SUPPORTED;
|
||||
}
|
||||
|
||||
static error_t add_callback(GpioDescriptor* descriptor, void (*callback)(void*), void* arg) {
|
||||
return ERROR_NOT_SUPPORTED;
|
||||
}
|
||||
|
||||
static error_t remove_callback(GpioDescriptor* descriptor) {
|
||||
return ERROR_NOT_SUPPORTED;
|
||||
}
|
||||
|
||||
static error_t enable_interrupt(GpioDescriptor* descriptor) {
|
||||
return ERROR_NOT_SUPPORTED;
|
||||
}
|
||||
|
||||
static error_t disable_interrupt(GpioDescriptor* descriptor) {
|
||||
return ERROR_NOT_SUPPORTED;
|
||||
}
|
||||
|
||||
const static GpioControllerApi tca95xx_gpio_api = {
|
||||
.set_level = set_level,
|
||||
.get_level = get_level,
|
||||
.set_flags = set_flags,
|
||||
.get_flags = get_flags,
|
||||
.get_native_pin_number = get_native_pin_number,
|
||||
.add_callback = add_callback,
|
||||
.remove_callback = remove_callback,
|
||||
.enable_interrupt = enable_interrupt,
|
||||
.disable_interrupt = disable_interrupt
|
||||
};
|
||||
|
||||
Driver tca95xx_driver = {
|
||||
.name = "tca95xx",
|
||||
.compatible = (const char*[]) { "ti,tca9535", "ti,tca9539", nullptr },
|
||||
.start_device = start,
|
||||
.stop_device = stop,
|
||||
.api = static_cast<const void*>(&tca95xx_gpio_api),
|
||||
.device_type = &GPIO_CONTROLLER_TYPE,
|
||||
.owner = &tca95xx_16bit_module,
|
||||
.internal = nullptr
|
||||
};
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user