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git://projects.qi-hardware.com/iris.git
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start gpio driver
This commit is contained in:
Bas Wijnen
parent
bee84d53ec
commit
dbeaddc0ca
2
.gitignore
vendored
2
.gitignore
vendored
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@ -5,5 +5,5 @@ uimage
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*.o
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*.cc
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*.hh
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keyboard
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gpio
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lcd
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208
boot-programs/gpio.ccp
Normal file
208
boot-programs/gpio.ccp
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@ -0,0 +1,208 @@
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#pypp 0
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// Iris: micro-kernel for a capability-based operating system.
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// boot-programs/gpio.ccp: GPIO driver, controlling all devices without special hardware.
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// Copyright 2009 Bas Wijnen <wijnen@debian.org>
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//
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// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#include "devices.hh"
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#define ARCH
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#include "arch.hh"
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// GPIO pins for the devices (port.pin)
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// keyboard
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// Cols = 3.0, 3.1, 3.2, 3.3, 3.4, 3.5, 3.6, 3.7, 3.8, 3.9, 3.10, 3.11, 3.12, 3.13, 3.14, 3.15, 3.29
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// Rows = 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7
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// For some reason, it only works if the rows are input and the columns are output.
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// interrupts: yes, with all columns set to output 0, the first key press can be detected as an interrupt.
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// touchpad buttons
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// Left: 0.16
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// Right: 0.13
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// interrupts: yes, for any change.
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// Lock leds
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// Num lock: 2.22
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// Caps lock: 0.27
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// Scroll lock: 0.9
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// interrupts: no, output only.
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// Power output (setting to 0 switches off the machine): 2.2
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// interrupts: no, output only.
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// Power button: 3.1 (note that this is also a keyboard column.)
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// Battery presence and charge detection: 3.29 (note that this is also a keyboard column.)
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// interrupts: no; it would be possible, but setting these to input makes it impossible to detect certain key presses as interrupts.
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class Keyboard:
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enum { NUM_COLS = 17 }
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enum { COL_MASK = 0x2000ffff }
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enum { ROW_MASK = 0x000000ff }
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unsigned keys[NUM_COLS]
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void event (bool release, unsigned row, unsigned col):
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public:
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Keyboard ():
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// Set all columns to input and disable the pull-ups.
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GPIO_GPDIR (3) &= ~COL_MASK
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GPIO_GPPUR (3) &= ~COL_MASK
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// Set all rows to input and enable the pull-ups.
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GPIO_GPDIR (0) &= ~ROW_MASK
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GPIO_GPPUR (0) |= ROW_MASK
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// Enable interrupts on falling edge.
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GPIO_GPIDLR (0) = (GPIO_GPIDLR (0) & 0xffff) | (GPIO_IRQ_FALLEDG * 0xaaaa)
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GPIO_GPIER (0) |= 0xff
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for unsigned i = 0; i < NUM_COLS; ++i:
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keys[i] = 0xff
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void scan ():
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// Set all columns to 0 when the become output.
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GPIO_GPDR (3) &= ~COL_MASK
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bool key_pressed = false
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int const cols[NUM_COLS] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 29 }
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for unsigned col = 0; col < NUM_COLS; ++col:
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GPIO_GPDIR (3) = (GPIO_GPDIR (3) & ~COL_MASK) | (1 << cols[col])
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udelay (100)
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unsigned data = GPIO_GPDR (0) & ROW_MASK
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// Generate events.
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for unsigned row = 0; row < 8; ++row:
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if (data ^ keys[col]) & (1 << row):
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event (data & (1 << row), row, col)
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keys[col] = data
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if data != ROW_MASK:
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key_pressed = true
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if key_pressed:
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// TODO: schedule keyboard scan.
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class Touchpad:
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enum { LEFT = 1 << 16 }
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enum { RIGHT = 1 << 13 }
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unsigned old_state
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void event ():
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unsigned state = GPIO_GPDR (0)
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if (state ^ old_state) & LEFT:
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if state & LEFT:
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GPIO_GPIDUR (0) = (GPIO_GPIDUR (0) & (3 << (2 * 0))) | (GPIO_IRQ_FALLEDG << (2 * 0))
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else:
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GPIO_GPIDUR (0) = (GPIO_GPIDUR (0) & (3 << (2 * 0))) | (GPIO_IRQ_RAISEDG << (2 * 0))
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if (state ^ old_state) & RIGHT:
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if state & RIGHT:
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GPIO_GPIDLR (0) = (GPIO_GPIDLR (0) & (3 << (2 * 13))) | (GPIO_IRQ_FALLEDG << (2 * 13))
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else:
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GPIO_GPIDLR (0) = (GPIO_GPIDLR (0) & (3 << (2 * 13))) | (GPIO_IRQ_RAISEDG << (2 * 13))
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old_state = state
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public:
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Touchpad ():
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// Set pins to input with pull-ups.
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GPIO_GPDIR (0) &= ~(LEFT | RIGHT)
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GPIO_GPPUR (0) |= LEFT | RIGHT
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// Enable interrupts.
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GPIO_GPIDUR (0) = (GPIO_GPIDUR (0) & (3 << (2 * 0))) | (GPIO_IRQ_FALLEDG << (2 * 0))
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GPIO_GPIDLR (0) = (GPIO_GPIDLR (0) & (3 << (2 * 13))) | (GPIO_IRQ_FALLEDG << (2 * 13))
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old_state = 0
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// See if they are already pressed. If so, the interrupt detection is changed.
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event ()
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// Now enable the interrupts.
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GPIO_GPIER (0) |= LEFT | RIGHT
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class Lockleds:
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// Note that num lock is in port 2. The others are in port 0.
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enum { NUM = 1 << 22 }
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enum { CAPS = 1 << 27 }
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enum { SCROLL = 1 << 9 }
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public:
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Lockleds ():
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GPIO_GPDR (2) &= ~NUM
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GPIO_GPDR (0) &= ~(SCROLL | CAPS)
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GPIO_GPDIR (2) |= NUM
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GPIO_GPDIR (0) |= CAPS | SCROLL
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void set (bool num, bool caps, bool scroll):
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if num:
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GPIO_GPDR (2) &= ~NUM
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else:
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GPIO_GPDR (2) |= NUM
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if caps:
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GPIO_GPDR (0) &= ~CAPS
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else:
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GPIO_GPDR (0) |= CAPS
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if scroll:
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GPIO_GPDR (0) &= ~SCROLL
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else:
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GPIO_GPDR (0) |= SCROLL
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class Power:
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// Power out is in port 2, the rest in port 3.
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enum { PWR_OUT = 1 << 2 }
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enum { PWR_IN = 1 << 1 }
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enum { BATTERY = 1 << 29 }
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unsigned old_state
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bool was_present
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void poll ():
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// Switch off keyboard interrupts, because this may interfere with them.
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GPIO_GPIER (0) &= ~0xff
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GPIO_GPDIR (3) &= ~(PWR_IN | BATTERY)
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GPIO_GPPUR (3) &= ~(PWR_IN | BATTERY)
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udelay (100)
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unsigned state = GPIO_GPDR (3)
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if (state ^ old_state) & PWR_IN:
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// TODO: event
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if (state ^ old_state) & BATTERY:
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if !(state & BATTERY):
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GPIO_GPPUR (3) |= BATTERY
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udelay (100)
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if GPIO_GPDR (3) & BATTERY:
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if !was_present:
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// TODO: event
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was_present = true
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else:
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if was_present:
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// TODO: event
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was_present = false
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old_state = state
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GPIO_GPPUR (3) &= ~BATTERY
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GPIO_GPDIR (3) &= ~(PWR_IN | BATTERY)
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udelay (100)
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GPIO_GPIER (3) |= 0xff
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public:
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Power ():
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GPIO_GPDR (2) |= PWR_OUT
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GPIO_GPDIR (2) |= PWR_OUT
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was_present = true
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old_state = BATTERY
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poll ()
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void poweroff ():
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GPIO_GPDR (2) &= ~PWR_OUT
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while true:
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// Do nothing; wait until the device stops running.
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int main ():
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map_gpio ()
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Keyboard kbd
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Touchpad tp
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Lockleds leds
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Power power
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while true:
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Message msg
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wait (&msg)
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switch msg.protected_data:
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case IRQ_GPIO0:
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case IRQ_GPIO1:
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case IRQ_GPIO2:
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case IRQ_GPIO3:
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// TODO
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@ -1,73 +0,0 @@
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#pypp 0
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// Iris: micro-kernel for a capability-based operating system.
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// boot-programs/keyboard.ccp: Testing userspace thread.
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// Copyright 2009 Bas Wijnen <wijnen@debian.org>
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//
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// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#include "devices.hh"
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#define ARCH
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#include "arch.hh"
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// GPIO pins for the keyboard: (port.pin)
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// Cols = 3.0, 3.1, 3.2, 3.3, 3.4, 3.5, 3.6, 3.7, 3.8, 3.9, 3.10, 3.11, 3.12, 3.13, 3.14, 3.15, 3.29
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// Rows = 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7
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// For some reason, it only works if the rows are input and the columns are output.
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static void event (bool release, unsigned row, unsigned col):
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#define COL_MASK 0x2000ffff
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#define ROW_MASK 0x000000ff
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int main ():
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map_gpio ()
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// Disable all interrupts.
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GPIO_GPIER (3) &= ~COL_MASK
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GPIO_GPIER (0) &= ~ROW_MASK
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// Set all to GPIO.
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GPIO_GPALR (3) = 0
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GPIO_GPAUR (3) &= ~0x0c000000
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GPIO_GPALR (0) &= ~0x0003ffff
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// Set all rows to input and enable the pull-ups.
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GPIO_GPDIR (0) &= ~ROW_MASK
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GPIO_GPPUR (0) |= ROW_MASK
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// Set all columns to input and disable the pull-ups; set to 0 when output.
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GPIO_GPDIR (3) &= ~COL_MASK
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GPIO_GPPUR (3) &= ~COL_MASK
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GPIO_GPDR (3) &= ~COL_MASK
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#define NUM_COLS 17
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unsigned keys[NUM_COLS]
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for unsigned i = 0; i < NUM_COLS; ++i:
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keys[i] = 0xff
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// Pin numbers for the cols, relative to the start of the port (so minus 0x60).
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event (false, 0, 0)
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int const cols[NUM_COLS] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 29 }
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while true:
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// read keyboard
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for unsigned col = 0; col < NUM_COLS; ++col:
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GPIO_GPDIR (3) = (GPIO_GPDIR (3) & ~COL_MASK) | (1 << cols[col])
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udelay (100)
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unsigned data = GPIO_GPDR (0) & ROW_MASK
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// Generate events.
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for unsigned row = 0; row < 8; ++row:
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if (data ^ keys[col]) & (1 << row):
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event (data & (1 << row), row, col)
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keys[col] = data
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schedule ()
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@ -28,7 +28,7 @@ arch_kernel_sources = mips/interrupts.cc mips/test.cc mips/arch.cc
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boot_sources = mips/init.cc
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BUILT_SOURCES = $(kernel_sources) $(boot_sources)
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arch_headers = mips/arch.hh mips/jz4730.hh
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boot_threads = keyboard lcd
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boot_threads = gpio lcd
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uimage:
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@ -236,5 +236,5 @@ thread0:
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.incbin "lcd"
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.balign 0x1000
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thread1:
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.incbin "keyboard"
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.incbin "gpio"
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thread2:
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@ -238,6 +238,13 @@ void init (unsigned mem):
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// Set up initial threads.
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init_threads ()
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// Disable all gpio pins initially.
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for unsigned i = 0; i < 4; ++i:
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GPIO_GPIER (i) = 0
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GPIO_GPDIR (i) = 0
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GPIO_GPPUR (i) = 0
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GPIO_GPALR (i) = 0
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GPIO_GPAUR (i) = 0
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// Set up the rest of the hardware (copied from Linux).
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cpm_idle_mode ()
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cpm_enable_cko1 ()
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@ -253,10 +260,6 @@ void init (unsigned mem):
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gpio_as_lcd_master ()
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gpio_as_ssi()
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gpio_as_msc ()
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GPIO_GPDIR (GPIO_PWM0_PORT) |= 1 << GPIO_PWM0
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GPIO_GPDR (GPIO_PWM0_PORT) |= 1 << GPIO_PWM0
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GPIO_GPDIR (GPIO_USB_CLK_EN_PORT) |= 1 << GPIO_USB_CLK_EN
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GPIO_GPDR (GPIO_USB_CLK_EN_PORT) |= 1 << GPIO_USB_CLK_EN
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// Start the operating system timer, and set it to give an interrupt immediately.
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// This is better, because the kernel starts with jumping into the idle task and
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