| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | /** | |||
| 2 | * @file gpio/core.c | |||
| 3 | * @brief EFI-related GPIO code for external gpio chips | |||
| 4 | * | |||
| 5 | * @date Mar 8, 2019 | |||
| 6 | * @author Andrey Gusakov, (c) 2019 | |||
| 7 | */ | |||
| 8 | ||||
| 9 | #include "pch.h" | |||
| 10 | #include "gpio/gpio_ext.h" | |||
| 11 | #include "smart_gpio.h" | |||
| 12 | ||||
| 13 | #define STRING2(x) #x | |||
| 14 | #define STRING(x) STRING2(x) | |||
| 15 | #pragma message(STRING(BOARD_EXT_GPIOCHIPS)) | |||
| 16 | ||||
| 17 | #if (BOARD_EXT_GPIOCHIPS > 0) | |||
| 18 | ||||
| 19 | /*==========================================================================*/ | |||
| 20 | /* Local definitions. */ | |||
| 21 | /*==========================================================================*/ | |||
| 22 | ||||
| 23 | /*==========================================================================*/ | |||
| 24 | /* Exported variables. */ | |||
| 25 | /*==========================================================================*/ | |||
| 26 | ||||
| 27 | /*==========================================================================*/ | |||
| 28 | /* Local variables and types. */ | |||
| 29 | /*==========================================================================*/ | |||
| 30 | ||||
| 31 | /* TODO: change array to list? */ | |||
| 32 | struct gpiochip { | |||
| 33 | brain_pin_e base; | |||
| 34 | size_t size; | |||
| 35 | GpioChip *chip; | |||
| 36 | const char *name; | |||
| 37 | /* optional names of each gpio */ | |||
| 38 | const char **gpio_names; | |||
| 39 | }; | |||
| 40 | ||||
| 41 | static gpiochip chips[BOARD_EXT_GPIOCHIPS]; | |||
| 42 | ||||
| 43 | #if EFI_PROD_CODE | |||
| 44 | ||||
| 45 | /* TODO: move inside gpio chip driver? */ | |||
| 46 | class external_hardware_pwm : public hardware_pwm { | |||
| 47 | public: | |||
| 48 | bool hasInit() const { | |||
| 49 | return m_chip != nullptr; | |||
| 50 | } | |||
| 51 | ||||
| 52 | int start(const char* msg, gpiochip* chip, size_t pin, float frequency, float duty) { | |||
| 53 | int ret; | |||
| 54 | ||||
| 55 | ret = chip->chip->setPadPWM(pin, frequency, duty); | |||
| 56 | if (ret >= 0) { | |||
| 57 | m_chip = chip; | |||
| 58 | m_pin = pin; | |||
| 59 | m_frequency = frequency; | |||
| 60 | } else { | |||
| 61 | /* This is not an error, will fallback to SW PWM */ | |||
| 62 | //firmwareError(ObdCode::CUSTOM_GPIO_CHIP_FAILED_PWM, "Faield to enable PWM mode for chip %s on pin \"%s\"", msg, chip->name, pin); | |||
| 63 | efiPrintf("Faield to enable PWM mode for chip %s on pin %d \"%s\"", chip->name, pin, msg); | |||
| 64 | return -1; | |||
| 65 | } | |||
| 66 | return 0; | |||
| 67 | } | |||
| 68 | ||||
| 69 | void setDuty(float duty) override { | |||
| 70 | if (!m_chip) { | |||
| 71 | criticalError("Attempted to set duty on null external PWM device"); | |||
| 72 | return; | |||
| 73 | } | |||
| 74 | ||||
| 75 | m_chip->chip->setPadPWM(m_pin, m_frequency, duty); | |||
| 76 | } | |||
| 77 | ||||
| 78 | private: | |||
| 79 | gpiochip* m_chip = nullptr; | |||
| 80 | size_t m_pin = 0; | |||
| 81 | float m_frequency = 0; | |||
| 82 | }; | |||
| 83 | ||||
| 84 | /* TODO: is 5 enought? */ | |||
| 85 | static external_hardware_pwm extPwms[5]; | |||
| 86 | ||||
| 87 | #endif | |||
| 88 | ||||
| 89 | /*==========================================================================*/ | |||
| 90 | /* Local functions. */ | |||
| 91 | /*==========================================================================*/ | |||
| 92 | ||||
| 93 | /** | |||
| 94 | * @return pointer to GPIO device for specified pin | |||
| 95 | */ | |||
| 96 | 10 | static gpiochip *gpiochip_find(brain_pin_e pin) | ||
| 97 | { | |||
| 98 |
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30 | for (int i = 0; i < BOARD_EXT_GPIOCHIPS; i++) { |
| 99 | 24 | gpiochip *chip = &chips[i]; | ||
| 100 | ||||
| 101 |
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24 | if ((pin >= chip->base) && (pin < (chip->base + chip->size))) |
| 102 | 4 | return chip; | ||
| 103 | } | |||
| 104 | ||||
| 105 | 6 | return nullptr; | ||
| 106 | } | |||
| 107 | ||||
| 108 | #if EFI_PROD_CODE | |||
| 109 | ||||
| 110 | static external_hardware_pwm* gpiochip_getNextPwmDevice() { | |||
| 111 | for (size_t i = 0; i < efi::size(extPwms); i++) { | |||
| 112 | if (!extPwms[i].hasInit()) { | |||
| 113 | return &extPwms[i]; | |||
| 114 | } | |||
| 115 | } | |||
| 116 | ||||
| 117 | criticalError("Run out of gpiochip PWM devices!"); | |||
| 118 | return nullptr; | |||
| 119 | } | |||
| 120 | ||||
| 121 | #endif | |||
| 122 | ||||
| 123 | /*==========================================================================*/ | |||
| 124 | /* Exported functions. */ | |||
| 125 | /*==========================================================================*/ | |||
| 126 | ||||
| 127 | /** | |||
| 128 | * return numeric part of EXTERNAL pin name. | |||
| 129 | * @details | |||
| 130 | */ | |||
| 131 | ||||
| 132 | ✗ | int gpiochips_getPinOffset(brain_pin_e pin) | ||
| 133 | { | |||
| 134 | ✗ | gpiochip *chip = gpiochip_find(pin); | ||
| 135 | ||||
| 136 | ✗ | if (chip) | ||
| 137 | ✗ | return pin - chip->base; | ||
| 138 | ||||
| 139 | ✗ | return EFI_ERROR_CODE; | ||
| 140 | } | |||
| 141 | ||||
| 142 | ||||
| 143 | /** | |||
| 144 | * @brief Get external chip name | |||
| 145 | * @details return gpiochip name | |||
| 146 | */ | |||
| 147 | ||||
| 148 | ✗ | const char *gpiochips_getChipName(brain_pin_e pin) { | ||
| 149 | ✗ | gpiochip *chip = gpiochip_find(pin); | ||
| 150 | ||||
| 151 | ✗ | if (chip) | ||
| 152 | ✗ | return chip->name; | ||
| 153 | ||||
| 154 | ✗ | return nullptr; | ||
| 155 | } | |||
| 156 | ||||
| 157 | /** | |||
| 158 | * @brief Get external chip port name | |||
| 159 | * @details return pin name or gpiochip name (if no pins names provided) | |||
| 160 | */ | |||
| 161 | ||||
| 162 | ✗ | const char *gpiochips_getPinName(brain_pin_e pin) | ||
| 163 | { | |||
| 164 | int offset; | |||
| 165 | ✗ | gpiochip *chip = gpiochip_find(pin); | ||
| 166 | ||||
| 167 | ✗ | if (chip) { | ||
| 168 | ✗ | offset = pin - chip->base; | ||
| 169 | ✗ | if ((chip->gpio_names) && (chip->gpio_names[offset])) | ||
| 170 | ✗ | return chip->gpio_names[offset]; | ||
| 171 | } | |||
| 172 | ||||
| 173 | ✗ | return nullptr; | ||
| 174 | } | |||
| 175 | ||||
| 176 | /** | |||
| 177 | * @brief Register gpiochip | |||
| 178 | * @details should be called from board file. Can be called before os ready. | |||
| 179 | * All chips should be registered before gpiochips_init() called. | |||
| 180 | * returns -101 in case of no free chips left | |||
| 181 | * returns -100 in case of no ops provided, incorrect chip size | |||
| 182 | * returns -102 or -103 in case chip overlaps already registered chip(s) | |||
| 183 | * else returns chip base | |||
| 184 | */ | |||
| 185 | ||||
| 186 |
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6 | int gpiochip_register(brain_pin_e base, const char *name, GpioChip& gpioChip, size_t size) { | |
| 187 | /* zero size? */ | |||
| 188 |
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6 | if (!size) |
| 189 | 2 | return -100; | ||
| 190 | ||||
| 191 | /* outside? */ | |||
| 192 |
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4 | if ((base + size - 1 > BRAIN_PIN_LAST) || (base <= BRAIN_PIN_ONCHIP_LAST)) |
| 193 | ✗ | return -101; | ||
| 194 | ||||
| 195 | /* check for overlap with other chips */ | |||
| 196 |
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13 | for (int i = 0; i < BOARD_EXT_GPIOCHIPS; i++) { |
| 197 |
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10 | if (chips[i].base != Gpio::Unassigned) { |
| 198 | #define in_range(a, b, c) (((a) > (b)) && ((a) < (c))) | |||
| 199 |
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4 | if (in_range(base, chips[i].base, chips[i].base + chips[i].size)) |
| 200 | 1 | return -102; | ||
| 201 |
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3 | if (in_range(base + size, chips[i].base, chips[i].base + chips[i].size)) |
| 202 | ✗ | return -103; | ||
| 203 | } | |||
| 204 | } | |||
| 205 | ||||
| 206 | 3 | gpiochip *chip = nullptr; | ||
| 207 | ||||
| 208 | /* find free gpiochip struct */ | |||
| 209 |
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6 | for (int i = 0; i < BOARD_EXT_GPIOCHIPS; i++) { |
| 210 |
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6 | if (chips[i].base == Gpio::Unassigned) { |
| 211 | 3 | chip = &chips[i]; | ||
| 212 | 3 | break; | ||
| 213 | } | |||
| 214 | } | |||
| 215 | ||||
| 216 | /* no free chips left */ | |||
| 217 |
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3 | if (!chip) { |
| 218 | ✗ | return -104; | ||
| 219 | } | |||
| 220 | ||||
| 221 | /* register chip */ | |||
| 222 | 3 | chip->name = name; | ||
| 223 | 3 | chip->chip = &gpioChip; | ||
| 224 | 3 | chip->base = base; | ||
| 225 | 3 | chip->size = size; | ||
| 226 | 3 | chip->gpio_names = nullptr; | ||
| 227 | ||||
| 228 | // TODO: this cast seems wrong? | |||
| 229 | 3 | return (int)base; | ||
| 230 | } | |||
| 231 | ||||
| 232 | ||||
| 233 | /** | |||
| 234 | * @brief Unregister gpiochip | |||
| 235 | * @details removes chip from list | |||
| 236 | * TODO: call deinit? | |||
| 237 | */ | |||
| 238 | ||||
| 239 | ✗ | int gpiochip_unregister(brain_pin_e base) | ||
| 240 | { | |||
| 241 | ✗ | gpiochip *chip = gpiochip_find(base); | ||
| 242 | ||||
| 243 | ✗ | if (!chip) | ||
| 244 | ✗ | return -105; | ||
| 245 | ||||
| 246 | /* gpiochip_find - returns chip if base within its range, but we need it to be base */ | |||
| 247 | ✗ | if (chip->base != base) | ||
| 248 | ✗ | return -106; | ||
| 249 | ||||
| 250 | /* unregister chip */ | |||
| 251 | ✗ | chip->name = nullptr; | ||
| 252 | ✗ | chip->chip = nullptr; | ||
| 253 | ✗ | chip->base = Gpio::Unassigned; | ||
| 254 | ✗ | chip->size = 0; | ||
| 255 | ✗ | chip->gpio_names = nullptr; | ||
| 256 | ||||
| 257 | ✗ | return 0; | ||
| 258 | } | |||
| 259 | ||||
| 260 | /** | |||
| 261 | * @brief Set pins names for registered gpiochip | |||
| 262 | * @details should be called after chip registration. May be called several times | |||
| 263 | * Names array size should be aqual to chip gpio count | |||
| 264 | */ | |||
| 265 | ||||
| 266 | ✗ | int gpiochips_setPinNames(brain_pin_e base, const char **names) | ||
| 267 | { | |||
| 268 | ✗ | gpiochip *chip = gpiochip_find(base); | ||
| 269 | ||||
| 270 | ✗ | if (!chip) | ||
| 271 | ✗ | return -113; | ||
| 272 | ||||
| 273 | ✗ | chip->gpio_names = names; | ||
| 274 | ||||
| 275 | ✗ | return 0; | ||
| 276 | } | |||
| 277 | ||||
| 278 | /** | |||
| 279 | * @brief Init all registered gpiochips | |||
| 280 | * @details will call gpiochip init ops for all registered chips | |||
| 281 | * calles when OS is ready, so gpiochip can start threads, use drivers and so on. | |||
| 282 | */ | |||
| 283 | ||||
| 284 | 1 | int gpiochips_init(void) { | ||
| 285 | 1 | int pins_added = 0; | ||
| 286 | ||||
| 287 |
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4 | for (int i = 0; i < BOARD_EXT_GPIOCHIPS; i++) { |
| 288 | 3 | gpiochip *chip = &chips[i]; | ||
| 289 | ||||
| 290 |
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3 | if (chip->base == Gpio::Unassigned) |
| 291 | ✗ | continue; | ||
| 292 | ||||
| 293 | 3 | int ret = chip->chip->init(); | ||
| 294 |
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3 | if (ret < 0) { |
| 295 | #if EFI_PROD_CODE | |||
| 296 | // todo: adjust unit tests to validate this fatal | |||
| 297 | criticalError("Failed to init chip %d: %d", i, ret); | |||
| 298 | #else | |||
| 299 | 1 | chip->base = Gpio::Unassigned; | ||
| 300 | #endif | |||
| 301 | } else { | |||
| 302 | 2 | pins_added += chip->size; | ||
| 303 | } | |||
| 304 | } | |||
| 305 | ||||
| 306 | 1 | return pins_added; | ||
| 307 | } | |||
| 308 | ||||
| 309 | /** | |||
| 310 | * @brief Set pin mode of gpiochip | |||
| 311 | * @details set pad mode for given pin. | |||
| 312 | * return -107 if driver does not implemet setPadMode ops | |||
| 313 | * else return value from gpiochip driver. | |||
| 314 | */ | |||
| 315 | /* this fuction uses iomode_t that is related to STM32 (or other MCU) | |||
| 316 | * output modes. Use some common enums? */ | |||
| 317 | ✗ | int gpiochips_setPadMode(brain_pin_e pin, iomode_t mode) | ||
| 318 | { | |||
| 319 | ✗ | gpiochip *chip = gpiochip_find(pin); | ||
| 320 | ||||
| 321 | ✗ | if (!chip) | ||
| 322 | ✗ | return -107; | ||
| 323 | ||||
| 324 | ✗ | return chip->chip->setPadMode(pin - chip->base, mode); | ||
| 325 | } | |||
| 326 | ||||
| 327 | /** | |||
| 328 | * @brief Set value to gpio of gpiochip | |||
| 329 | * @details actual output value depent on current gpiochip implementation | |||
| 330 | * for smart switch inactive supposed to be closed switch (no current flows) | |||
| 331 | * returns -1 in case of pin not belong to any gpio chip | |||
| 332 | * returns -1 in case of chip does not support seting output value (input only) | |||
| 333 | * else return value from gpiochip driver; | |||
| 334 | */ | |||
| 335 | ||||
| 336 |
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6 | int gpiochips_writePad(brain_pin_e pin, int value) { | |
| 337 | #if EFI_PROD_CODE | |||
| 338 | extern bool isInHardFaultHandler; | |||
| 339 | // todo: technical debt, how do we turn off smart GPIO?! | |||
| 340 | if (isInHardFaultHandler) { | |||
| 341 | return -130; | |||
| 342 | } | |||
| 343 | #endif // EFI_PROD_CODE | |||
| 344 | 6 | gpiochip *chip = gpiochip_find(pin); | ||
| 345 | ||||
| 346 |
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6 | if (!chip) { |
| 347 | // todo: make readPad fail in a similar way? | |||
| 348 | 4 | criticalError("Failed migration? Time to reset settings? gpiochip not found for pin %d", pin); | ||
| 349 | ✗ | return -108; | ||
| 350 | } | |||
| 351 | ||||
| 352 | 2 | return chip->chip->writePad(pin - chip->base, value); | ||
| 353 | } | |||
| 354 | ||||
| 355 | /** | |||
| 356 | * @brief Get value to gpio of gpiochip | |||
| 357 | * @details actual input value depent on current gpiochip implementation | |||
| 358 | * returns -1 in case of pin not belong to any gpio chip | |||
| 359 | * returns -1 in case of chip does not support getting output value (output only) | |||
| 360 | * else return value from gpiochip driver; | |||
| 361 | */ | |||
| 362 | ||||
| 363 |
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4 | int gpiochips_readPad(brain_pin_e pin) | |
| 364 | { | |||
| 365 | 4 | gpiochip *chip = gpiochip_find(pin); | ||
| 366 | ||||
| 367 |
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4 | if (!chip) |
| 368 | 2 | return -109; | ||
| 369 | ||||
| 370 | 2 | return chip->chip->readPad(pin - chip->base); | ||
| 371 | } | |||
| 372 | ||||
| 373 | /** | |||
| 374 | * @brief Get diagnostic for given gpio | |||
| 375 | * @details actual output value depend on gpiochip capabilities | |||
| 376 | * returns PIN_UNKNOWN in case of pin not belong to any gpio chip | |||
| 377 | * returns PIN_OK in case of chip does not support getting diagnostic | |||
| 378 | * else return brain_pin_diag_e from gpiochip driver; | |||
| 379 | */ | |||
| 380 | ||||
| 381 | ✗ | brain_pin_diag_e gpiochips_getDiag(brain_pin_e pin) { | ||
| 382 | ✗ | gpiochip *chip = gpiochip_find(pin); | ||
| 383 | ||||
| 384 | ✗ | if (!chip) | ||
| 385 | ✗ | return PIN_UNKNOWN; | ||
| 386 | ||||
| 387 | ✗ | return chip->chip->getDiag(pin - chip->base); | ||
| 388 | } | |||
| 389 | ||||
| 390 | /** | |||
| 391 | * @brief Get total pin count allocated for external gpio chips. | |||
| 392 | * @details Will also include unused pins for chips that was registered | |||
| 393 | * but later fails to init. | |||
| 394 | */ | |||
| 395 | ||||
| 396 | 2 | int gpiochips_get_total_pins(void) | ||
| 397 | { | |||
| 398 | int i; | |||
| 399 | 2 | int cnt = 0; | ||
| 400 | ||||
| 401 |
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8 | for (i = 0; i < BOARD_EXT_GPIOCHIPS; i++) { |
| 402 | 6 | gpiochip *chip = &chips[i]; | ||
| 403 | ||||
| 404 |
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6 | if (chip->base == Gpio::Unassigned) |
| 405 | 2 | continue; | ||
| 406 | ||||
| 407 | 4 | cnt += chip->size; | ||
| 408 | } | |||
| 409 | ||||
| 410 | 2 | return cnt; | ||
| 411 | } | |||
| 412 | ||||
| 413 | ✗ | void gpiochips_debug(void) | ||
| 414 | { | |||
| 415 | int i; | |||
| 416 | ||||
| 417 | ✗ | for (i = 0; i < BOARD_EXT_GPIOCHIPS; i++) { | ||
| 418 | ✗ | gpiochip *chip = &chips[i]; | ||
| 419 | ||||
| 420 | ✗ | if (chip->base == Gpio::Unassigned) | ||
| 421 | ✗ | continue; | ||
| 422 | ||||
| 423 | ✗ | efiPrintf("%s (base %d, size %d):\n", chip->name, (int)chip->base, chip->size); | ||
| 424 | ✗ | chip->chip->debug(); | ||
| 425 | } | |||
| 426 | ✗ | } | ||
| 427 | ||||
| 428 | #if EFI_PROD_CODE | |||
| 429 | ||||
| 430 | /** | |||
| 431 | * @brief Try to init PWM on given pin | |||
| 432 | * @details success of call depends on chip capabilities | |||
| 433 | * returns nullptr in case there is no chip for given pin | |||
| 434 | * returns nullptr in case of pin is not PWM capable | |||
| 435 | * returns nullptr in case all extPwms are already used | |||
| 436 | * returns hardware_pwm if succes, later user can call ->setDuty to change duty | |||
| 437 | */ | |||
| 438 | ||||
| 439 | hardware_pwm* gpiochip_tryInitPwm(const char* msg, brain_pin_e pin, float frequency, float duty) | |||
| 440 | { | |||
| 441 | gpiochip *chip = gpiochip_find(pin); | |||
| 442 | ||||
| 443 | if (!chip) { | |||
| 444 | return nullptr; | |||
| 445 | } | |||
| 446 | ||||
| 447 | /* TODO: implement reintialization of same pin with different settings reusing same external_hardware_pwm */ | |||
| 448 | if (external_hardware_pwm *device = gpiochip_getNextPwmDevice()) { | |||
| 449 | if (device->start(msg, chip, pin - chip->base, frequency, duty) >= 0) { | |||
| 450 | return device; | |||
| 451 | } | |||
| 452 | } | |||
| 453 | ||||
| 454 | return nullptr; | |||
| 455 | } | |||
| 456 | ||||
| 457 | #endif | |||
| 458 | ||||
| 459 | #else /* BOARD_EXT_GPIOCHIPS > 0 */ | |||
| 460 | ||||
| 461 | int gpiochips_getPinOffset(brain_pin_e pin) { | |||
| 462 | (void)pin; | |||
| 463 | ||||
| 464 | return -111; | |||
| 465 | } | |||
| 466 | ||||
| 467 | const char *gpiochips_getChipName(brain_pin_e pin) { | |||
| 468 | (void)pin; | |||
| 469 | ||||
| 470 | return nullptr; | |||
| 471 | } | |||
| 472 | ||||
| 473 | const char *gpiochips_getPinName(brain_pin_e pin) { | |||
| 474 | (void)pin; | |||
| 475 | ||||
| 476 | return nullptr; | |||
| 477 | } | |||
| 478 | ||||
| 479 | int gpiochip_register(brain_pin_e base, const char *name, GpioChip&, size_t size) { | |||
| 480 | (void)base; (void)name; (void)size; | |||
| 481 | ||||
| 482 | return 0; | |||
| 483 | } | |||
| 484 | ||||
| 485 | int gpiochips_setPinNames(brain_pin_e pin, const char **names) | |||
| 486 | { | |||
| 487 | (void)pin; (void)names; | |||
| 488 | ||||
| 489 | return 0; | |||
| 490 | } | |||
| 491 | ||||
| 492 | int gpiochips_init(void) { | |||
| 493 | return 0; | |||
| 494 | } | |||
| 495 | ||||
| 496 | int gpiochips_get_total_pins(void) | |||
| 497 | { | |||
| 498 | return 0; | |||
| 499 | } | |||
| 500 | ||||
| 501 | void gpiochips_debug(void) | |||
| 502 | { | |||
| 503 | } | |||
| 504 | ||||
| 505 | #endif /* BOARD_EXT_GPIOCHIPS > 0 */ | |||
| 506 |