pinctrl: basic support for gpio

doc/raspi4b.txt

@@ -45,7 +45,7 @@ $ booti ${loadaddr} ${initrd_addr_r}:<SIZE-PRINTED-WHEN-LOADING-INITRD> ${fdt_ad
 env set ipaddr 13.0.0.2; env set fdt_addr_r 0x11000000; env set initrd_addr_r 0x04000000; tftpboot ${initrd_addr_r} 13.0.0.1:initrd.tar; tftpboot ${loadaddr} 13.0.0.1:kernel.bin; load mmc 0:1 ${fdt_addr_r} bcm2711-rpi-4-b.dtb; fdt addr ${fdt_addr_r}; fdt resize; fdt memory 0x0 0x3C000000; booti ${loadaddr} ${initrd_addr_r}:67108864 ${fdt_addr_r}
 
 dhcp;
-env set fdt_addr_r 0x04000000; env set initrd_addr_r 0x20000000; tftpboot ${initrd_addr_r} 192.168.88.10:initrd.img; tftpboot ${loadaddr} 192.168.88.10:yggdrasil-kernel.bin; load mmc 1:1 ${fdt_addr_r} bcm2711-rpi-4-b.dtb; fdt addr ${fdt_addr_r}; fdt resize; fdt memory 0x0 0x3C000000; booti ${loadaddr} ${initrd_addr_r}:0x4000000 ${fdt_addr_r}
+env set initrd_addr_r 0x20000000; tftpboot ${initrd_addr_r} 192.168.88.10:initrd.img; tftpboot ${loadaddr} 192.168.88.10:yggdrasil-kernel.bin; load mmc 1:1 ${fdt_addr_r} bcm2711-rpi-4-b.dtb; fdt addr ${fdt_addr_r}; fdt resize; fdt memory 0x0 0x3C000000; booti ${loadaddr} ${initrd_addr_r}:0x4000000 ${fdt_addr_r}
 
 
 Missing drivers:

kernel/lib/device-api/src/gpio.rs

@@ -0,0 +1,69 @@
+use alloc::sync::Arc;
+use yggdrasil_abi::error::Error;
+
+use crate::device::Device;
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum InputPinBias {
+    PullUp,
+    PullDown,
+    Floating,
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum OutputPinBias {
+    PushPull,
+    OpenDrain,
+    HighZ,
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum GpioPinLevel {
+    High,
+    Low,
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum SinglePinDirection {
+    Output,
+    Input,
+}
+
+pub struct GpioPinConfig {
+    pub input: bool,
+    pub output: bool,
+    pub input_bias: Option<InputPinBias>,
+    pub output_bias: Option<OutputPinBias>,
+    pub active_level: GpioPinLevel,
+    pub initial_level: GpioPinLevel,
+}
+
+pub struct PinHandle {
+    pub index: u32,
+    pub config: GpioPinConfig,
+    pub parent: Arc<dyn GpioController>,
+}
+
+pub trait GpioController: Device {
+    fn write_gpio(&self, pin: &PinHandle, value: bool) -> Result<(), Error>;
+    fn read_gpio(&self, pin: &PinHandle) -> Result<bool, Error>;
+
+    fn setup_gpio(&self, pin: &PinHandle, event: Option<u64>) -> Result<(), Error>;
+}
+
+impl PinHandle {
+    pub fn configure(&self) -> Result<(), Error> {
+        self.parent.setup_gpio(self, None)
+    }
+}
+
+impl GpioPinConfig {
+    pub fn force_single_direction(&self) -> Option<SinglePinDirection> {
+        match (self.input, self.output) {
+            (true, false) => Some(SinglePinDirection::Input),
+            (false, true) => Some(SinglePinDirection::Output),
+            (false, false) => None,
+            (true, true) => None,
+        }
+    }
+}

kernel/lib/device-api/src/lib.rs

@@ -7,6 +7,7 @@ extern crate alloc;
 pub mod bus;
 pub mod clock;
 pub mod device;
+pub mod gpio;
 pub mod interrupt;
 pub mod serial;
 pub mod timer;

kernel/lib/device-tree/src/driver/controller.rs

@@ -2,11 +2,12 @@
 use alloc::sync::Arc;
 use device_api::{
     clock::{ClockHandle, ResetHandle},
+    gpio::PinHandle,
     interrupt::FullIrq,
 };
 use fdt_rs::spec::Phandle;
 
-use crate::{DeviceTreePropertyRead, TProp};
+use crate::{driver::DeviceTreeGpioPins, DeviceTreePropertyRead, TProp};
 
 use super::{lookup_phandle, Node};
 
@@ -20,6 +21,12 @@ pub(crate) struct ResetIter<'dt> {
     pub(crate) offset: usize,
 }
 
+pub(crate) struct GpioIter<'o, 'dt> {
+    pub(crate) options: &'o DeviceTreeGpioPins,
+    pub(crate) gpios: TProp<'dt>,
+    pub(crate) offset: usize,
+}
+
 impl Iterator for ClockIter<'_> {
     type Item = ClockHandle;
 
@@ -52,6 +59,22 @@ impl Iterator for ResetIter<'_> {
     }
 }
 
+impl Iterator for GpioIter<'_, '_> {
+    type Item = PinHandle;
+
+    fn next(&mut self) -> Option<Self::Item> {
+        if self.offset >= self.gpios.len() {
+            return None;
+        }
+        let phandle = self.gpios.read_cell(self.offset, 1)? as Phandle;
+        let gpioc = lookup_phandle(phandle, true)?;
+        let gpioc = gpioc.as_pin_controller()?;
+        let (pin, len) = gpioc.map_gpio(&self.gpios, self.offset + 1, self.options)?;
+        self.offset += len + 1;
+        Some(pin)
+    }
+}
+
 // Interrupt controller handling
 
 /// Reads interrupt information, as interpreted by `interrupt_controller`, from `property` at a

kernel/lib/device-tree/src/driver/mod.rs

@@ -1,6 +1,7 @@
 //! Device tree-based driver definitions
 
 use alloc::sync::Arc;
+use device_api::gpio::GpioPinLevel;
 use yggdrasil_abi::error::Error;
 
 mod controller;
@@ -22,6 +23,16 @@ pub use traits::{
 };
 pub use tree::{find_node, unflatten_device_tree, walk_device_tree, Node};
 
+/// Contextual information about a GPIO pin being configured
+pub struct DeviceTreeGpioPins {
+    /// Whether to enable input on the pin
+    pub input: bool,
+    /// Whether to enable output on the pin
+    pub output: bool,
+    /// Initial level to configure the GPIO with
+    pub initial_level: GpioPinLevel,
+}
+
 /// Specifies initialization sequence requirement for a driver
 #[derive(Clone, Copy, Debug, PartialEq, Eq, PartialOrd, Ord)]
 pub enum InitSequence {

kernel/lib/device-tree/src/driver/traits.rs

@@ -6,11 +6,12 @@ use device_api::{
     bus::Bus,
     clock::{ClockHandle, ResetHandle},
     device::Device,
+    gpio::PinHandle,
     interrupt::{ExternalInterruptController, FullIrq},
 };
 use libk::error::Error;
 
-use crate::TProp;
+use crate::{driver::DeviceTreeGpioPins, TProp};
 
 use super::{InitSequence, Node};
 
@@ -56,6 +57,14 @@ pub struct ProbeContext {
 pub trait DeviceTreePinController {
     /// Configure a pin group
     fn configure_pin_group(self: Arc<Self>, pins: &Arc<Node>) -> Result<(), Error>;
+    /// Reads GPIO pin information from `property` at given `offset` and maps it to a
+    /// [PinHandle], returning the handle + the size of the GPIO entry.
+    fn map_gpio(
+        self: Arc<Self>,
+        property: &TProp,
+        offset: usize,
+        info: &DeviceTreeGpioPins,
+    ) -> Option<(PinHandle, usize)>;
 }
 
 impl ProbeContext {

kernel/lib/device-tree/src/driver/tree.rs

@@ -9,6 +9,7 @@ use device_api::{
     bus::Bus,
     clock::{ClockController, ClockHandle, ResetHandle},
     device::{Device, DeviceInitContext},
+    gpio::PinHandle,
     interrupt::{ExternalInterruptController, FullIrq, MessageInterruptController},
 };
 use fdt_rs::spec::Phandle;
@@ -18,7 +19,9 @@ use libk_util::OneTimeInit;
 use yggdrasil_abi::error::Error;
 
 use crate::{
-    driver::{traits::DeviceTreePinController, DeviceTreeSyscon},
+    driver::{
+        controller::GpioIter, traits::DeviceTreePinController, DeviceTreeGpioPins, DeviceTreeSyscon,
+    },
     tree, DeviceTree, DeviceTreeNodeExt, DeviceTreePropertyRead, TNode, TProp,
 };
 
@@ -349,6 +352,24 @@ impl Node {
             .map(|range| PhysicalAddress::from_u64(range.start))
     }
 
+    /// Returns an iterator over the node's defined `gpios`
+    pub fn gpios<'a>(
+        &self,
+        options: &'a DeviceTreeGpioPins,
+    ) -> Option<impl Iterator<Item = PinHandle> + 'a> {
+        let gpios = self.property("gpios")?;
+        Some(GpioIter {
+            gpios,
+            options,
+            offset: 0,
+        })
+    }
+
+    /// Returns a `gpios` entry with given index
+    pub fn gpio(&self, options: &DeviceTreeGpioPins, index: usize) -> Option<PinHandle> {
+        self.gpios(options)?.nth(index)
+    }
+
     /// Returns an input `clock` handle for a given reset name
     pub fn named_clock(&self, name: &str) -> Option<ClockHandle> {
         self.property("clock-names")?

kernel/lib/device-tree/src/driver/util.rs

@@ -1,12 +1,15 @@
 //! General helpers and utilities for device tree drivers
 
 use alloc::sync::Arc;
-use device_api::interrupt::{FullIrq, MessageInterruptController};
+use device_api::{
+    gpio::{GpioPinConfig, GpioPinLevel, InputPinBias, OutputPinBias},
+    interrupt::{FullIrq, MessageInterruptController},
+};
 use fdt_rs::prelude::PropReader;
 use yggdrasil_abi::net::MacAddress;
 
 use crate::{
-    driver::{lookup_phandle, map_interrupt_at},
+    driver::{lookup_phandle, map_interrupt_at, DeviceTreeGpioPins},
     DeviceTreePropertyRead, TProp,
 };
 
@@ -272,3 +275,40 @@ pub fn read_mac_address(node: &Arc<Node>) -> Option<MacAddress> {
     let mac_bytes: [u8; 6] = property.raw().try_into().ok()?;
     Some(MacAddress::from(mac_bytes))
 }
+
+/// Parse a generic gpio configuration from the device tree 1-cell format
+pub fn generic_gpio_config(cell: u32, gpio: &DeviceTreeGpioPins) -> GpioPinConfig {
+    const GPIO_ACTIVE_LOW: u32 = 1 << 0;
+    const GPIO_SINGLE_ENDED: u32 = 1 << 1;
+    const GPIO_LINE_OPEN_DRAIN: u32 = 1 << 2;
+    const GPIO_PULL_UP: u32 = 1 << 4;
+    const GPIO_PULL_DOWN: u32 = 1 << 5;
+    const GPIO_PULL_DISABLE: u32 = 1 << 6;
+    const GPIO_OPEN_DRAIN: u32 = GPIO_LINE_OPEN_DRAIN | GPIO_SINGLE_ENDED;
+
+    let active_level = if cell & GPIO_ACTIVE_LOW != 0 {
+        GpioPinLevel::Low
+    } else {
+        GpioPinLevel::High
+    };
+    let output_bias = match cell & (GPIO_SINGLE_ENDED | GPIO_LINE_OPEN_DRAIN) {
+        0 => Some(OutputPinBias::PushPull),
+        GPIO_OPEN_DRAIN | GPIO_SINGLE_ENDED => Some(OutputPinBias::OpenDrain),
+        _ => None,
+    };
+    let input_bias = match cell & (GPIO_PULL_UP | GPIO_PULL_DOWN | GPIO_PULL_DISABLE) {
+        GPIO_PULL_DISABLE => Some(InputPinBias::Floating),
+        GPIO_PULL_UP => Some(InputPinBias::PullUp),
+        GPIO_PULL_DOWN => Some(InputPinBias::PullDown),
+        _ => None,
+    };
+
+    GpioPinConfig {
+        input: gpio.input,
+        output: gpio.output,
+        initial_level: gpio.initial_level,
+        input_bias,
+        output_bias,
+        active_level,
+    }
+}

kernel/libk/src/event.rs

@@ -0,0 +1,44 @@
+use core::sync::atomic::{AtomicU64, Ordering};
+
+use alloc::{boxed::Box, collections::BTreeMap};
+
+use device_api::gpio::PinHandle;
+use libk_util::{ring::LossyRingQueue, sync::spin_rwlock::IrqSafeRwLock};
+use yggdrasil_abi::error::Error;
+
+static GPIO_EVENT_QUEUE: LossyRingQueue<u64> = LossyRingQueue::with_capacity(64);
+static GPIO_EVENT_MAP: IrqSafeRwLock<BTreeMap<u64, Box<dyn Fn() + Send>>> =
+    IrqSafeRwLock::new(BTreeMap::new());
+static GPIO_EVENT_ID: AtomicU64 = AtomicU64::new(1);
+
+pub trait GpioEvent {
+    fn configure_with_interrupt(&self, handler: Box<dyn Fn() + Send>) -> Result<(), Error>;
+}
+
+impl GpioEvent for PinHandle {
+    fn configure_with_interrupt(&self, handler: Box<dyn Fn() + Send>) -> Result<(), Error> {
+        let ev = bind_gpio_event(handler);
+        self.parent.setup_gpio(self, Some(ev))
+    }
+}
+
+pub async fn gpio_event_handler_task() {
+    loop {
+        let id = GPIO_EVENT_QUEUE.read().await;
+
+        let lock = GPIO_EVENT_MAP.read();
+        if let Some(handler) = lock.get(&id) {
+            handler();
+        }
+    }
+}
+
+pub fn bind_gpio_event(handler: Box<dyn Fn() + Send>) -> u64 {
+    let id = GPIO_EVENT_ID.fetch_add(1, Ordering::Acquire);
+    GPIO_EVENT_MAP.write().insert(id, handler);
+    id
+}
+
+pub fn signal_gpio_event(ev: u64) {
+    GPIO_EVENT_QUEUE.write(ev);
+}

kernel/libk/src/lib.rs

@@ -36,6 +36,7 @@ pub mod arch;
 pub mod config;
 pub mod debug;
 pub mod device;
+pub mod event;
 pub mod fs;
 pub mod module;
 pub mod random;

kernel/src/device/gpio.rs

@@ -0,0 +1,130 @@
+//! GPIO drivers
+
+use abi::error::Error;
+use alloc::{boxed::Box, string::String, sync::Arc, vec::Vec};
+use device_api::{
+    device::{Device, DeviceInitContext},
+    gpio::{GpioPinLevel, PinHandle},
+};
+use device_tree::driver::{device_tree_driver, DeviceTreeGpioPins, Node, ProbeContext};
+use libk::event::GpioEvent;
+
+struct LedPin {
+    name: String,
+    handle: PinHandle,
+}
+
+struct KeyPin {
+    name: String,
+    handle: PinHandle,
+}
+
+trait Pin: Sized + Send + Sync + 'static {
+    fn from_device_tree(node: &Arc<Node>) -> Option<Self>;
+    fn configure(&self) -> Result<(), Error>;
+    fn name(&self) -> &str;
+}
+
+struct PinGroup<P: Pin> {
+    name: String,
+    pins: Vec<P>,
+}
+
+impl<P: Pin> PinGroup<P> {
+    fn from_device_tree(node: &Arc<Node>) -> Option<Arc<dyn Device>> {
+        let pins = node
+            .children()
+            .filter_map(P::from_device_tree)
+            .collect::<Vec<_>>();
+        if pins.is_empty() {
+            return None;
+        }
+        let name = node.name().unwrap_or("pin-group");
+        Some(Arc::new(Self {
+            pins,
+            name: name.into(),
+        }))
+    }
+}
+
+impl<P: Pin> Device for PinGroup<P> {
+    unsafe fn init(self: Arc<Self>, _cx: DeviceInitContext) -> Result<(), Error> {
+        for pin in self.pins.iter() {
+            if let Err(error) = pin.configure() {
+                log::error!("gpio {} setup error: {:?}", pin.name(), error);
+            }
+        }
+        Ok(())
+    }
+
+    fn display_name(&self) -> &str {
+        &self.name
+    }
+}
+
+impl Pin for LedPin {
+    fn from_device_tree(node: &Arc<Node>) -> Option<Self> {
+        let handle = node.gpio(
+            &DeviceTreeGpioPins {
+                input: false,
+                output: true,
+                initial_level: GpioPinLevel::Low,
+            },
+            0,
+        )?;
+        let name = node.name().unwrap_or("gpio-led").into();
+        Some(Self { name, handle })
+    }
+
+    fn configure(&self) -> Result<(), Error> {
+        self.handle.configure()
+    }
+
+    fn name(&self) -> &str {
+        &self.name
+    }
+}
+
+impl Pin for KeyPin {
+    fn from_device_tree(node: &Arc<Node>) -> Option<Self> {
+        let handle = node.gpio(
+            &DeviceTreeGpioPins {
+                input: true,
+                output: false,
+                initial_level: GpioPinLevel::Low,
+            },
+            0,
+        )?;
+        let name = node.name().unwrap_or("gpio-key").into();
+        Some(Self { name, handle })
+    }
+
+    fn configure(&self) -> Result<(), Error> {
+        let name = self.name.clone();
+        self.handle.configure_with_interrupt(Box::new(move || {
+            log::info!("GPIO key {name:?} triggered");
+        }))
+    }
+
+    fn name(&self) -> &str {
+        &self.name
+    }
+}
+
+device_tree_driver! {
+    compatible: ["gpio-leds"],
+    driver: {
+        fn probe(&self, node: &Arc<Node>, _context: &mut ProbeContext) -> Option<Arc<dyn Device>> {
+            PinGroup::<LedPin>::from_device_tree(node)
+        }
+    }
+}
+
+device_tree_driver! {
+    compatible: ["gpio-keys"],
+    driver: {
+        fn probe(&self, node: &Arc<Node>, _context: &mut ProbeContext) -> Option<Arc<dyn Device>> {
+            PinGroup::<KeyPin>::from_device_tree(node)
+        }
+    }
+}

kernel/src/device/mod.rs

@@ -6,6 +6,7 @@ use libk_util::OneTimeInit;
 pub mod bus;
 pub mod clock;
 pub mod display;
+pub mod gpio;
 pub mod interrupt;
 pub mod mbox;
 pub mod pinctrl;

kernel/src/device/pinctrl/bcm2711_gpio.rs

@@ -2,12 +2,17 @@ use abi::error::Error;
 use alloc::sync::Arc;
 use device_api::{
     device::{Device, DeviceInitContext},
-    interrupt::FullIrq,
+    gpio::{GpioController, PinHandle},
+    interrupt::{FullIrq, InterruptHandler, IrqVector},
 };
 use device_tree::{
-    driver::{device_tree_driver, DeviceTreePinController, Node, ProbeContext},
-    DeviceTreePropertyRead,
+    driver::{
+        device_tree_driver, util::generic_gpio_config, DeviceTreeGpioPins, DeviceTreePinController,
+        Node, ProbeContext,
+    },
+    DeviceTreePropertyRead, TProp,
 };
+use libk::device::external_interrupt_controller;
 use libk_mm::device::DeviceMemoryIo;
 use libk_util::sync::IrqSafeSpinlock;
 use tock_registers::{
@@ -137,6 +142,12 @@ impl Device for Bcm2711Gpio {
             regs.configure_pin_interrupts(pin, false, false, false, false);
         }
 
+        let intc = external_interrupt_controller()?;
+        for irq in self.irqs.iter() {
+            intc.register_irq(irq.irq, irq.options, self.clone())?;
+            intc.enable_irq(irq.irq)?;
+        }
+
         Ok(())
     }
 
@@ -145,6 +156,33 @@ impl Device for Bcm2711Gpio {
     }
 }
 
+impl InterruptHandler for Bcm2711Gpio {
+    fn handle_irq(self: Arc<Self>, _vector: IrqVector) -> bool {
+        log::warn!("TODO: handle bcm2711-gpio interrupts");
+        false
+    }
+}
+
+impl GpioController for Bcm2711Gpio {
+    fn setup_gpio(&self, pin: &PinHandle, _event: Option<u64>) -> Result<(), Error> {
+        log::warn!(
+            "TOOD: bcm2711 gpio pin #{} setup: input={}, output={}",
+            pin.index,
+            pin.config.input,
+            pin.config.output
+        );
+        Ok(())
+    }
+
+    fn read_gpio(&self, _pin: &PinHandle) -> Result<bool, Error> {
+        todo!()
+    }
+
+    fn write_gpio(&self, _pin: &PinHandle, _value: bool) -> Result<(), Error> {
+        todo!()
+    }
+}
+
 impl DeviceTreePinController for Bcm2711Gpio {
     fn configure_pin_group(self: Arc<Self>, group: &Arc<Node>) -> Result<(), Error> {
         let pins = group.property("brcm,pins").ok_or(Error::InvalidArgument)?;
@@ -171,6 +209,24 @@ impl DeviceTreePinController for Bcm2711Gpio {
 
         Ok(())
     }
+
+    fn map_gpio(
+        self: Arc<Self>,
+        property: &TProp,
+        offset: usize,
+        info: &DeviceTreeGpioPins,
+    ) -> Option<(PinHandle, usize)> {
+        let (pin, options) = property.read_cells_at(offset, (1, 1))?;
+        let config = generic_gpio_config(options as u32, info);
+        Some((
+            PinHandle {
+                index: pin as u32,
+                config,
+                parent: self,
+            },
+            2,
+        ))
+    }
 }
 
 device_tree_driver! {

kernel/src/device/pinctrl/jh7110_pinctrl.rs

@@ -3,14 +3,15 @@ use alloc::{sync::Arc, vec::Vec};
 use device_api::{
     clock::{ClockHandle, ResetHandle},
     device::{Device, DeviceInitContext},
+    gpio::{GpioController, PinHandle},
 };
 use device_tree::{
     driver::{
         device_tree_driver,
-        util::{GenericPinctrlBiasConfig, GenericPinctrlConfig},
-        DeviceTreePinController, Node, ProbeContext,
+        util::{generic_gpio_config, GenericPinctrlBiasConfig, GenericPinctrlConfig},
+        DeviceTreeGpioPins, DeviceTreePinController, Node, ProbeContext,
     },
-    DeviceTreePropertyRead,
+    DeviceTreePropertyRead, TProp,
 };
 use libk_mm::{address::PhysicalAddress, device::DeviceMemoryIoMut};
 use libk_util::{sync::IrqSafeSpinlock, OneTimeInit};
@@ -267,6 +268,26 @@ impl<R: GpioRegs> Device for Gpio<R> {
     }
 }
 
+impl<R: GpioRegs> GpioController for Gpio<R> {
+    fn setup_gpio(&self, pin: &PinHandle, _event: Option<u64>) -> Result<(), Error> {
+        log::warn!(
+            "TODO: setup gpio #{} input={}, output={}",
+            pin.index,
+            pin.config.input,
+            pin.config.output
+        );
+        Err(Error::NotImplemented)
+    }
+
+    fn read_gpio(&self, _pin: &PinHandle) -> Result<bool, Error> {
+        Err(Error::NotImplemented)
+    }
+
+    fn write_gpio(&self, _pin: &PinHandle, _value: bool) -> Result<(), Error> {
+        Err(Error::NotImplemented)
+    }
+}
+
 impl<R: GpioRegs> DeviceTreePinController for Gpio<R> {
     fn configure_pin_group(self: Arc<Self>, pins: &Arc<Node>) -> Result<(), Error> {
         self.ensure_init()?;
@@ -283,6 +304,24 @@ impl<R: GpioRegs> DeviceTreePinController for Gpio<R> {
         }
         Ok(())
     }
+
+    fn map_gpio(
+        self: Arc<Self>,
+        property: &TProp,
+        offset: usize,
+        info: &DeviceTreeGpioPins,
+    ) -> Option<(PinHandle, usize)> {
+        let (pin, options) = property.read_cells_at(offset, (1, 1))?;
+        let config = generic_gpio_config(options as u32, info);
+        Some((
+            PinHandle {
+                index: pin as u32,
+                config,
+                parent: self,
+            },
+            2,
+        ))
+    }
 }
 
 impl GpioRegs for SysRegs {

kernel/src/device/pinctrl/pl061.rs

@@ -1,13 +1,25 @@
+use core::sync::atomic::{AtomicU64, Ordering};
+
 use abi::error::Error;
 use alloc::{sync::Arc, vec::Vec};
 use device_api::{
     clock::{ClockHandle, ResetHandle},
     device::{Device, DeviceInitContext},
+    gpio::{GpioController, GpioPinLevel, PinHandle, SinglePinDirection},
+    interrupt::{FullIrq, InterruptHandler, IrqVector},
 };
-use device_tree::driver::{device_tree_driver, DeviceTreePinController, Node, ProbeContext};
+use device_tree::{
+    driver::{
+        device_tree_driver, util::generic_gpio_config, DeviceTreeGpioPins, DeviceTreePinController,
+        Node, ProbeContext,
+    },
+    DeviceTreePropertyRead, TProp,
+};
+use libk::{device::external_interrupt_controller, event::signal_gpio_event};
 use libk_mm::device::DeviceMemoryIo;
 use libk_util::sync::IrqSafeSpinlock;
 use tock_registers::{
+    interfaces::{Readable, Writeable},
     register_structs,
     registers::{ReadOnly, ReadWrite, WriteOnly},
 };
@@ -35,8 +47,10 @@ register_structs! {
 struct Pl061 {
     #[allow(unused)]
     regs: IrqSafeSpinlock<DeviceMemoryIo<'static, Regs>>,
+    irq: FullIrq,
     clocks: Vec<ClockHandle>,
     resets: Vec<ResetHandle>,
+    gpio_events: [AtomicU64; 8],
 }
 
 impl Device for Pl061 {
@@ -47,6 +61,14 @@ impl Device for Pl061 {
         for reset in self.resets.iter() {
             reset.deassert()?;
         }
+
+        Ok(())
+    }
+
+    unsafe fn init_irq(self: Arc<Self>) -> Result<(), Error> {
+        let intc = external_interrupt_controller()?;
+        intc.register_irq(self.irq.irq, self.irq.options, self.clone())?;
+        intc.enable_irq(self.irq.irq)?;
         Ok(())
     }
 
@@ -55,11 +77,113 @@ impl Device for Pl061 {
     }
 }
 
+impl InterruptHandler for Pl061 {
+    fn handle_irq(self: Arc<Self>, _vector: IrqVector) -> bool {
+        let status = {
+            let lock = self.regs.lock();
+            let val = lock.GPIOMIS.get();
+            lock.GPIOIC.set(0xFF);
+            val
+        };
+
+        for bit in 0..8 {
+            let ev = self.gpio_events[bit].load(Ordering::Acquire);
+            if ev != 0 {
+                signal_gpio_event(ev);
+            }
+        }
+
+        status != 0
+    }
+}
+
+impl GpioController for Pl061 {
+    fn write_gpio(&self, _pin: &PinHandle, _value: bool) -> Result<(), Error> {
+        todo!()
+    }
+
+    fn read_gpio(&self, _pin: &PinHandle) -> Result<bool, Error> {
+        todo!()
+    }
+
+    fn setup_gpio(&self, pin: &PinHandle, event: Option<u64>) -> Result<(), Error> {
+        let regs = self.regs.lock();
+
+        let direction = pin
+            .config
+            .force_single_direction()
+            .ok_or(Error::InvalidArgument)
+            .inspect_err(|_| {
+                log::warn!(
+                    "pl061: gpio #{} has invalid direction input={}, output={}",
+                    pin.index,
+                    pin.config.input,
+                    pin.config.output
+                )
+            })?;
+
+        // Enable software control
+        regs.GPIOAFSEL.set(regs.GPIOAFSEL.get() & !(1 << pin.index));
+
+        match direction {
+            SinglePinDirection::Output => {
+                log::info!("pl061: gpio #{} set as output", pin.index);
+                regs.GPIODIR.set(regs.GPIODIR.get() | (1 << pin.index));
+                // Disable interrupt
+                regs.GPIOIE.set(regs.GPIOIE.get() & !(1 << pin.index));
+
+                let level = match pin.config.initial_level {
+                    GpioPinLevel::Low => 0,
+                    GpioPinLevel::High => 1,
+                };
+                let mut val = regs.GPIODATA[0].get();
+                val &= !(1 << pin.index);
+                val |= level << pin.index;
+                regs.GPIODATA[0].set(val);
+            }
+            SinglePinDirection::Input => {
+                log::info!("pl061: gpio #{} set as input", pin.index);
+                regs.GPIODIR.set(regs.GPIODIR.get() & !(1 << pin.index));
+
+                if let Some(event) = event {
+                    self.gpio_events[pin.index as usize].store(event, Ordering::Release);
+
+                    regs.GPIOIS.set(regs.GPIOIS.get() & !(1 << pin.index));
+                    regs.GPIOIBE.set(regs.GPIOIBE.get() & !(1 << pin.index));
+                    regs.GPIOIEV.set(regs.GPIOIEV.get() | (1 << pin.index));
+                    regs.GPIOIE.set(regs.GPIOIE.get() | (1 << pin.index));
+                    regs.GPIOIC.set(1 << pin.index);
+                }
+            }
+        }
+
+        Ok(())
+    }
+}
+
 impl DeviceTreePinController for Pl061 {
     fn configure_pin_group(self: Arc<Self>, _pins: &Arc<Node>) -> Result<(), Error> {
         // TODO implement this when I get some board with this pinctrl
         todo!()
     }
+
+    fn map_gpio(
+        self: Arc<Self>,
+        property: &TProp,
+        offset: usize,
+        info: &DeviceTreeGpioPins,
+    ) -> Option<(PinHandle, usize)> {
+        let (pin, options) = property.read_cells_at(offset, (1, 1))?;
+        let config = generic_gpio_config(options as u32, info);
+        Some((
+            PinHandle {
+                index: pin as u32,
+                config,
+                parent: self,
+            },
+            2,
+        ))
+    }
 }
 
 device_tree_driver! {
@@ -76,14 +200,17 @@ device_tree_driver! {
             } else {
                 Vec::new()
             };
+            let irq = node.interrupt(0)?;
 
             let base = node.map_base(context, 0)?;
             let regs = unsafe { DeviceMemoryIo::map(base, Default::default()) }.ok()?;
 
             let pinctrl = Arc::new(Pl061 {
                 regs: IrqSafeSpinlock::new(regs),
+                irq,
                 clocks,
                 resets,
+                gpio_events: [const { AtomicU64::new(0) }; 8]
             });
 
             node.make_pin_controller(pinctrl.clone());

kernel/src/init.rs

@@ -37,6 +37,7 @@ pub fn kinit() -> Result<(), Error> {
     #[cfg(any(rust_analyzer, target_arch = "riscv64", target_arch = "aarch64"))]
     {
         use device_tree::driver::InitSequence;
+        use libk::event;
 
         device_tree::driver::lazy_init(
             |_| (),
@@ -55,6 +56,8 @@ pub fn kinit() -> Result<(), Error> {
             },
             InitSequence::Late,
         );
+
+        runtime::spawn(event::gpio_event_handler_task()).ok();
     }
     // Initialize PCI devices
     if let Err(error) = PciBusManager::setup_bus_devices(false) {