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// Very basic support via a Linux gpiod device
//
// Copyright (C) 2017-2021 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <fcntl.h> // open
#include <stdio.h> // snprintf
#include <stdlib.h> // atexit
#include <string.h> // memset
#include <sys/ioctl.h> // ioctl
#include <unistd.h> // close
#include </usr/include/linux/gpio.h> // GPIOHANDLE_REQUEST_OUTPUT
#include "command.h" // shutdown
#include "gpio.h" // gpio_out_write
#include "internal.h" // report_errno
#include "sched.h" // sched_shutdown
#define GPIO_CONSUMER "klipper"
DECL_ENUMERATION_RANGE("pin", "gpio0", GPIO(0, 0), MAX_GPIO_LINES);
DECL_ENUMERATION_RANGE("pin", "gpiochip0/gpio0", GPIO(0, 0), MAX_GPIO_LINES);
DECL_ENUMERATION_RANGE("pin", "gpiochip1/gpio0", GPIO(1, 0), MAX_GPIO_LINES);
DECL_ENUMERATION_RANGE("pin", "gpiochip2/gpio0", GPIO(2, 0), MAX_GPIO_LINES);
DECL_ENUMERATION_RANGE("pin", "gpiochip3/gpio0", GPIO(3, 0), MAX_GPIO_LINES);
DECL_ENUMERATION_RANGE("pin", "gpiochip4/gpio0", GPIO(4, 0), MAX_GPIO_LINES);
DECL_ENUMERATION_RANGE("pin", "gpiochip5/gpio0", GPIO(5, 0), MAX_GPIO_LINES);
DECL_ENUMERATION_RANGE("pin", "gpiochip6/gpio0", GPIO(6, 0), MAX_GPIO_LINES);
DECL_ENUMERATION_RANGE("pin", "gpiochip7/gpio0", GPIO(7, 0), MAX_GPIO_LINES);
struct gpio_line {
int chipid;
int offset;
int fd;
int state;
};
static struct gpio_line gpio_lines[8 * MAX_GPIO_LINES];
static int gpio_chip_fd[8] = { -1, -1, -1, -1, -1, -1, -1, -1 };
static int
get_chip_fd(uint8_t chipId)
{
if (gpio_chip_fd[chipId] >= 0)
return gpio_chip_fd[chipId];
char chipFilename[64];
snprintf(chipFilename, sizeof(chipFilename), "/dev/gpiochip%u", chipId);
int ret = access(chipFilename, F_OK);
if (ret < 0) {
report_errno("gpio access", ret);
shutdown("GPIO chip device not found");
}
int fd = open(chipFilename, O_RDWR | O_CLOEXEC);
if (fd < 0) {
report_errno("gpio open", fd);
shutdown("Unable to open GPIO chip device");
}
gpio_chip_fd[chipId] = fd;
int i;
for (i=0; i<MAX_GPIO_LINES; i++) {
gpio_lines[GPIO(chipId, i)].offset = i;
gpio_lines[GPIO(chipId, i)].fd = -1;
gpio_lines[GPIO(chipId, i)].chipid = chipId;
}
return fd;
}
struct gpio_out
gpio_out_setup(uint32_t pin, uint8_t val)
{
struct gpio_line *line = &gpio_lines[pin];
line->offset = GPIO2PIN(pin);
line->chipid = GPIO2PORT(pin);
struct gpio_out g = { .line = line };
gpio_out_reset(g,val);
return g;
}
static void
gpio_release_line(struct gpio_line *line)
{
if (line->fd > 0) {
close(line->fd);
line->fd = -1;
}
}
void
gpio_out_reset(struct gpio_out g, uint8_t val)
{
gpio_release_line(g.line);
struct gpiohandle_request req;
memset(&req, 0, sizeof(req));
req.lines = 1;
req.flags = GPIOHANDLE_REQUEST_OUTPUT;
req.lineoffsets[0] = g.line->offset;
req.default_values[0] = !!val;
strncpy(req.consumer_label, GPIO_CONSUMER, sizeof(req.consumer_label) - 1);
int fd = get_chip_fd(g.line->chipid);
int ret = ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &req);
if (ret < 0) {
report_errno("gpio_out_reset get line", ret);
shutdown("Unable to open out GPIO chip line");
}
set_close_on_exec(req.fd);
g.line->fd = req.fd;
g.line->state = !!val;
}
void
gpio_out_write(struct gpio_out g, uint8_t val)
{
struct gpiohandle_data data;
memset(&data, 0, sizeof(data));
data.values[0] = !!val;
ioctl(g.line->fd, GPIOHANDLE_SET_LINE_VALUES_IOCTL, &data);
g.line->state = !!val;
}
void
gpio_out_toggle_noirq(struct gpio_out g)
{
gpio_out_write(g, !g.line->state);
}
void
gpio_out_toggle(struct gpio_out g)
{
gpio_out_toggle_noirq(g);
}
struct gpio_in
gpio_in_setup(uint32_t pin, int8_t pull_up)
{
struct gpio_line *line = &gpio_lines[pin];
line->offset = GPIO2PIN(pin);
line->chipid = GPIO2PORT(pin);
struct gpio_in g = { .line = line };
gpio_in_reset(g, pull_up);
return g;
}
void
gpio_in_reset(struct gpio_in g, int8_t pull_up)
{
gpio_release_line(g.line);
struct gpiohandle_request req;
memset(&req, 0, sizeof(req));
req.lines = 1;
req.flags = GPIOHANDLE_REQUEST_INPUT;
#if defined(GPIOD_LINE_REQUEST_FLAG_BIAS_PULL_UP)
if (pull_up > 0) {
req.flags |= GPIOD_LINE_REQUEST_FLAG_BIAS_PULL_UP;
} else if (pull_up < 0) {
req.flags |= GPIOD_LINE_REQUEST_FLAG_BIAS_PULL_DOWN;
}
#endif
req.lineoffsets[0] = g.line->offset;
strncpy(req.consumer_label, GPIO_CONSUMER, sizeof(req.consumer_label) - 1);
int fd = get_chip_fd(g.line->chipid);
int ret = ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &req);
if (ret < 0) {
report_errno("gpio_in_reset get line", ret);
shutdown("Unable to open in GPIO chip line");
}
set_close_on_exec(req.fd);
g.line->fd = req.fd;
}
uint8_t
gpio_in_read(struct gpio_in g)
{
struct gpiohandle_data data;
memset(&data, 0, sizeof(data));
ioctl(g.line->fd, GPIOHANDLE_GET_LINE_VALUES_IOCTL, &data);
return data.values[0];
}
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