start gpio driver

.gitignore

@@ -5,5 +5,5 @@ uimage
 *.o
 *.cc
 *.hh
-keyboard
+gpio
 lcd

boot-programs/gpio.ccp

@@ -0,0 +1,208 @@
+#pypp 0
+// Iris: micro-kernel for a capability-based operating system.
+// boot-programs/gpio.ccp: GPIO driver, controlling all devices without special hardware.
+// Copyright 2009 Bas Wijnen <wijnen@debian.org>
+//
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "devices.hh"
+#define ARCH
+#include "arch.hh"
+
+// GPIO pins for the devices (port.pin)
+
+// keyboard
+// 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
+// Rows = 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7
+// For some reason, it only works if the rows are input and the columns are output.
+// interrupts: yes, with all columns set to output 0, the first key press can be detected as an interrupt.
+
+// touchpad buttons
+// Left: 0.16
+// Right: 0.13
+// interrupts: yes, for any change.
+
+// Lock leds
+// Num lock: 2.22
+// Caps lock: 0.27
+// Scroll lock: 0.9
+// interrupts: no, output only.
+
+// Power output (setting to 0 switches off the machine): 2.2
+// interrupts: no, output only.
+
+// Power button: 3.1 (note that this is also a keyboard column.)
+// Battery presence and charge detection: 3.29 (note that this is also a keyboard column.)
+// interrupts: no; it would be possible, but setting these to input makes it impossible to detect certain key presses as interrupts.
+
+class Keyboard:
+	enum { NUM_COLS = 17 }
+	enum { COL_MASK = 0x2000ffff }
+	enum { ROW_MASK = 0x000000ff }
+
+	unsigned keys[NUM_COLS]
+	void event (bool release, unsigned row, unsigned col):
+
+	public:
+	Keyboard ():
+		// Set all columns to input and disable the pull-ups.
+		GPIO_GPDIR (3) &= ~COL_MASK
+		GPIO_GPPUR (3) &= ~COL_MASK
+
+		// Set all rows to input and enable the pull-ups.
+		GPIO_GPDIR (0) &= ~ROW_MASK
+		GPIO_GPPUR (0) |= ROW_MASK
+		// Enable interrupts on falling edge.
+		GPIO_GPIDLR (0) = (GPIO_GPIDLR (0) & 0xffff) | (GPIO_IRQ_FALLEDG * 0xaaaa)
+		GPIO_GPIER (0) |= 0xff
+
+		for unsigned i = 0; i < NUM_COLS; ++i:
+			keys[i] = 0xff
+	void scan ():
+		// Set all columns to 0 when the become output.
+		GPIO_GPDR (3) &= ~COL_MASK
+		bool key_pressed = false
+		int const cols[NUM_COLS] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 29 }
+		for unsigned col = 0; col < NUM_COLS; ++col:
+			GPIO_GPDIR (3) = (GPIO_GPDIR (3) & ~COL_MASK) | (1 << cols[col])
+			udelay (100)
+			unsigned data = GPIO_GPDR (0) & ROW_MASK
+			// Generate events.
+			for unsigned row = 0; row < 8; ++row:
+				if (data ^ keys[col]) & (1 << row):
+					event (data & (1 << row), row, col)
+			keys[col] = data
+			if data != ROW_MASK:
+				key_pressed = true
+		if key_pressed:
+			// TODO: schedule keyboard scan.
+
+class Touchpad:
+	enum { LEFT = 1 << 16 }
+	enum { RIGHT = 1 << 13 }
+	unsigned old_state
+	void event ():
+		unsigned state = GPIO_GPDR (0)
+		if (state ^ old_state) & LEFT:
+			if state & LEFT:
+				GPIO_GPIDUR (0) = (GPIO_GPIDUR (0) & (3 << (2 * 0))) | (GPIO_IRQ_FALLEDG << (2 * 0))
+			else:
+				GPIO_GPIDUR (0) = (GPIO_GPIDUR (0) & (3 << (2 * 0))) | (GPIO_IRQ_RAISEDG << (2 * 0))
+		if (state ^ old_state) & RIGHT:
+			if state & RIGHT:
+				GPIO_GPIDLR (0) = (GPIO_GPIDLR (0) & (3 << (2 * 13))) | (GPIO_IRQ_FALLEDG << (2 * 13))
+			else:
+				GPIO_GPIDLR (0) = (GPIO_GPIDLR (0) & (3 << (2 * 13))) | (GPIO_IRQ_RAISEDG << (2 * 13))
+		old_state = state
+	public:
+	Touchpad ():
+		// Set pins to input with pull-ups.
+		GPIO_GPDIR (0) &= ~(LEFT | RIGHT)
+		GPIO_GPPUR (0) |= LEFT | RIGHT
+		// Enable interrupts.
+		GPIO_GPIDUR (0) = (GPIO_GPIDUR (0) & (3 << (2 * 0))) | (GPIO_IRQ_FALLEDG << (2 * 0))
+		GPIO_GPIDLR (0) = (GPIO_GPIDLR (0) & (3 << (2 * 13))) | (GPIO_IRQ_FALLEDG << (2 * 13))
+		old_state = 0
+		// See if they are already pressed.  If so, the interrupt detection is changed.
+		event ()
+		// Now enable the interrupts.
+		GPIO_GPIER (0) |= LEFT | RIGHT
+
+class Lockleds:
+	// Note that num lock is in port 2.  The others are in port 0.
+	enum { NUM = 1 << 22 }
+	enum { CAPS = 1 << 27 }
+	enum { SCROLL = 1 << 9 }
+	public:
+	Lockleds ():
+		GPIO_GPDR (2) &= ~NUM
+		GPIO_GPDR (0) &= ~(SCROLL | CAPS)
+		GPIO_GPDIR (2) |= NUM
+		GPIO_GPDIR (0) |= CAPS | SCROLL
+	void set (bool num, bool caps, bool scroll):
+		if num:
+			GPIO_GPDR (2) &= ~NUM
+		else:
+			GPIO_GPDR (2) |= NUM
+		if caps:
+			GPIO_GPDR (0) &= ~CAPS
+		else:
+			GPIO_GPDR (0) |= CAPS
+		if scroll:
+			GPIO_GPDR (0) &= ~SCROLL
+		else:
+			GPIO_GPDR (0) |= SCROLL
+
+class Power:
+	// Power out is in port 2, the rest in port 3.
+	enum { PWR_OUT = 1 << 2 }
+	enum { PWR_IN = 1 << 1 }
+	enum { BATTERY = 1 << 29 }
+	unsigned old_state
+	bool was_present
+	void poll ():
+		// Switch off keyboard interrupts, because this may interfere with them.
+		GPIO_GPIER (0) &= ~0xff
+		GPIO_GPDIR (3) &= ~(PWR_IN | BATTERY)
+		GPIO_GPPUR (3) &= ~(PWR_IN | BATTERY)
+		udelay (100)
+		unsigned state = GPIO_GPDR (3)
+		if (state ^ old_state) & PWR_IN:
+			// TODO: event
+		if (state ^ old_state) & BATTERY:
+			if !(state & BATTERY):
+				GPIO_GPPUR (3) |= BATTERY
+				udelay (100)
+				if GPIO_GPDR (3) & BATTERY:
+					if !was_present:
+						// TODO: event
+					was_present = true
+				else:
+					if was_present:
+						// TODO: event
+					was_present = false
+		old_state = state
+		GPIO_GPPUR (3) &= ~BATTERY
+		GPIO_GPDIR (3) &= ~(PWR_IN | BATTERY)
+		udelay (100)
+		GPIO_GPIER (3) |= 0xff
+	public:
+	Power ():
+		GPIO_GPDR (2) |= PWR_OUT
+		GPIO_GPDIR (2) |= PWR_OUT
+		was_present = true
+		old_state = BATTERY
+		poll ()
+	void poweroff ():
+		GPIO_GPDR (2) &= ~PWR_OUT
+		while true:
+			// Do nothing; wait until the device stops running.
+
+int main ():
+	map_gpio ()
+
+	Keyboard kbd
+	Touchpad tp
+	Lockleds leds
+	Power power
+
+	while true:
+		Message msg
+		wait (&msg)
+		switch msg.protected_data:
+			case IRQ_GPIO0:
+			case IRQ_GPIO1:
+			case IRQ_GPIO2:
+			case IRQ_GPIO3:
+				// TODO

boot-programs/keyboard.ccp

@@ -1,73 +0,0 @@
-#pypp 0
-// Iris: micro-kernel for a capability-based operating system.
-// boot-programs/keyboard.ccp: Testing userspace thread.
-// Copyright 2009 Bas Wijnen <wijnen@debian.org>
-//
-// This program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-#include "devices.hh"
-#define ARCH
-#include "arch.hh"
-
-// GPIO pins for the keyboard: (port.pin)
-// 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
-// Rows = 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7
-// For some reason, it only works if the rows are input and the columns are output.
-
-static void event (bool release, unsigned row, unsigned col):
-
-#define COL_MASK 0x2000ffff
-#define ROW_MASK 0x000000ff
-
-int main ():
-	map_gpio ()
-
-	// Disable all interrupts.
-	GPIO_GPIER (3) &= ~COL_MASK
-	GPIO_GPIER (0) &= ~ROW_MASK
-
-	// Set all to GPIO.
-	GPIO_GPALR (3) = 0
-	GPIO_GPAUR (3) &= ~0x0c000000
-	GPIO_GPALR (0) &= ~0x0003ffff
-
-	// Set all rows to input and enable the pull-ups.
-	GPIO_GPDIR (0) &= ~ROW_MASK
-	GPIO_GPPUR (0) |= ROW_MASK
-
-	// Set all columns to input and disable the pull-ups; set to 0 when output.
-	GPIO_GPDIR (3) &= ~COL_MASK
-	GPIO_GPPUR (3) &= ~COL_MASK
-	GPIO_GPDR (3) &= ~COL_MASK
-
-	#define NUM_COLS 17
-	unsigned keys[NUM_COLS]
-	for unsigned i = 0; i < NUM_COLS; ++i:
-		keys[i] = 0xff
-
-	// Pin numbers for the cols, relative to the start of the port (so minus 0x60).
-	event (false, 0, 0)
-	int const cols[NUM_COLS] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 29 }
-	while true:
-		// read keyboard
-		for unsigned col = 0; col < NUM_COLS; ++col:
-			GPIO_GPDIR (3) = (GPIO_GPDIR (3) & ~COL_MASK) | (1 << cols[col])
-			udelay (100)
-			unsigned data = GPIO_GPDR (0) & ROW_MASK
-			// Generate events.
-			for unsigned row = 0; row < 8; ++row:
-				if (data ^ keys[col]) & (1 << row):
-					event (data & (1 << row), row, col)
-			keys[col] = data
-		schedule ()

mips/Makefile.arch

@@ -28,7 +28,7 @@ arch_kernel_sources = mips/interrupts.cc mips/test.cc mips/arch.cc
 boot_sources = mips/init.cc
 BUILT_SOURCES = $(kernel_sources) $(boot_sources)
 arch_headers = mips/arch.hh mips/jz4730.hh
-boot_threads = keyboard lcd
+boot_threads = gpio lcd
 
 uimage:
 

mips/entry.S

@@ -236,5 +236,5 @@ thread0:
 	.incbin "lcd"
 	.balign 0x1000
 thread1:
-	.incbin "keyboard"
+	.incbin "gpio"
 thread2:

mips/init.ccp

@@ -238,6 +238,13 @@ void init (unsigned mem):
 	// Set up initial threads.
 	init_threads ()
 
+	// Disable all gpio pins initially.
+	for unsigned i = 0; i < 4; ++i:
+		GPIO_GPIER (i) = 0
+		GPIO_GPDIR (i) = 0
+		GPIO_GPPUR (i) = 0
+		GPIO_GPALR (i) = 0
+		GPIO_GPAUR (i) = 0
 	// Set up the rest of the hardware (copied from Linux).
 	cpm_idle_mode ()
 	cpm_enable_cko1 ()
@@ -253,10 +260,6 @@ void init (unsigned mem):
 	gpio_as_lcd_master ()
 	gpio_as_ssi()
 	gpio_as_msc ()
-	GPIO_GPDIR (GPIO_PWM0_PORT) |= 1 << GPIO_PWM0
-	GPIO_GPDR (GPIO_PWM0_PORT) |= 1 << GPIO_PWM0
-	GPIO_GPDIR (GPIO_USB_CLK_EN_PORT) |= 1 << GPIO_USB_CLK_EN
-	GPIO_GPDR (GPIO_USB_CLK_EN_PORT) |= 1 << GPIO_USB_CLK_EN
 
 	// Start the operating system timer, and set it to give an interrupt immediately.
 	// This is better, because the kernel starts with jumping into the idle task and