New kernel drivers and device migrations (#563)
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Ken Van Hoeylandt
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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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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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error_t err = i2c_controller_register8_get(parent, address, reg, &bits, portMAX_DELAY);
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if (err != ERROR_NONE) {
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return err;
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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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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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// 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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// Locked as a whole: direction and polarity are two separate RMW register
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// 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.
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if (flags & GPIO_FLAG_DIRECTION_OUTPUT) {
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err = i2c_controller_register8_reset_bits(parent, address, config_reg, bit, portMAX_DELAY);
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} else {
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err = i2c_controller_register8_set_bits(parent, address, config_reg, bit, portMAX_DELAY);
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}
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if (err != ERROR_NONE) {
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device_unlock(device);
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return err;
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}
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// Polarity inversion (mainly relevant for active-low inputs).
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if (flags & GPIO_FLAG_ACTIVE_LOW) {
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err = i2c_controller_register8_set_bits(parent, address, polarity_reg, bit, portMAX_DELAY);
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} else {
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err = i2c_controller_register8_reset_bits(parent, address, polarity_reg, bit, portMAX_DELAY);
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}
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device_unlock(device);
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return err;
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}
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static error_t get_flags(GpioDescriptor* descriptor, gpio_flags_t* flags) {
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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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uint8_t val;
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error_t err;
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gpio_flags_t f = GPIO_FLAG_NONE;
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err = i2c_controller_register8_get(parent, address, config_reg, &val, portMAX_DELAY);
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if (err != ERROR_NONE) return err;
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f |= (val & bit) ? GPIO_FLAG_DIRECTION_INPUT : GPIO_FLAG_DIRECTION_OUTPUT;
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err = i2c_controller_register8_get(parent, address, polarity_reg, &val, portMAX_DELAY);
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if (err != ERROR_NONE) return err;
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f |= (val & bit) ? GPIO_FLAG_ACTIVE_LOW : GPIO_FLAG_ACTIVE_HIGH;
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*flags = f;
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return ERROR_NONE;
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}
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static error_t get_native_pin_number(GpioDescriptor* descriptor, void* pin_number) {
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return ERROR_NOT_SUPPORTED;
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}
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static error_t add_callback(GpioDescriptor* descriptor, void (*callback)(void*), void* arg) {
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return ERROR_NOT_SUPPORTED;
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}
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static error_t remove_callback(GpioDescriptor* descriptor) {
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return ERROR_NOT_SUPPORTED;
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}
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static error_t enable_interrupt(GpioDescriptor* descriptor) {
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return ERROR_NOT_SUPPORTED;
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}
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static error_t disable_interrupt(GpioDescriptor* descriptor) {
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return ERROR_NOT_SUPPORTED;
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}
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const static GpioControllerApi tca95xx_gpio_api = {
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.set_level = set_level,
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.get_level = get_level,
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.set_flags = set_flags,
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.get_flags = get_flags,
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.get_native_pin_number = get_native_pin_number,
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.add_callback = add_callback,
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.remove_callback = remove_callback,
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.enable_interrupt = enable_interrupt,
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.disable_interrupt = disable_interrupt
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};
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Driver tca95xx_driver = {
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.name = "tca95xx",
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.compatible = (const char*[]) { "ti,tca9535", "ti,tca9539", nullptr },
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.start_device = start,
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.stop_device = stop,
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.api = static_cast<const void*>(&tca95xx_gpio_api),
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.device_type = &GPIO_CONTROLLER_TYPE,
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.owner = &tca95xx_16bit_module,
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.internal = nullptr
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};
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}
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