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7c2db759ec
Update Documentation/gpio.txt, primarily to include the new "gpiolib" infrastructure. Signed-off-by: David Brownell <dbrownell@users.sourceforge.net> Cc: Jean Delvare <khali@linux-fr.org> Cc: Eric Miao <eric.miao@marvell.com> Cc: Sam Ravnborg <sam@ravnborg.org> Cc: Haavard Skinnemoen <hskinnemoen@atmel.com> Cc: Philipp Zabel <philipp.zabel@gmail.com> Cc: Russell King <rmk@arm.linux.org.uk> Cc: Ben Gardner <bgardner@wabtec.com> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
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425 lines
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Plaintext
GPIO Interfaces
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This provides an overview of GPIO access conventions on Linux.
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What is a GPIO?
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===============
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A "General Purpose Input/Output" (GPIO) is a flexible software-controlled
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digital signal. They are provided from many kinds of chip, and are familiar
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to Linux developers working with embedded and custom hardware. Each GPIO
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represents a bit connected to a particular pin, or "ball" on Ball Grid Array
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(BGA) packages. Board schematics show which external hardware connects to
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which GPIOs. Drivers can be written generically, so that board setup code
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passes such pin configuration data to drivers.
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System-on-Chip (SOC) processors heavily rely on GPIOs. In some cases, every
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non-dedicated pin can be configured as a GPIO; and most chips have at least
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several dozen of them. Programmable logic devices (like FPGAs) can easily
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provide GPIOs; multifunction chips like power managers, and audio codecs
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often have a few such pins to help with pin scarcity on SOCs; and there are
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also "GPIO Expander" chips that connect using the I2C or SPI serial busses.
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Most PC southbridges have a few dozen GPIO-capable pins (with only the BIOS
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firmware knowing how they're used).
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The exact capabilities of GPIOs vary between systems. Common options:
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- Output values are writable (high=1, low=0). Some chips also have
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options about how that value is driven, so that for example only one
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value might be driven ... supporting "wire-OR" and similar schemes
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for the other value (notably, "open drain" signaling).
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- Input values are likewise readable (1, 0). Some chips support readback
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of pins configured as "output", which is very useful in such "wire-OR"
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cases (to support bidirectional signaling). GPIO controllers may have
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input de-glitch/debounce logic, sometimes with software controls.
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- Inputs can often be used as IRQ signals, often edge triggered but
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sometimes level triggered. Such IRQs may be configurable as system
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wakeup events, to wake the system from a low power state.
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- Usually a GPIO will be configurable as either input or output, as needed
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by different product boards; single direction ones exist too.
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- Most GPIOs can be accessed while holding spinlocks, but those accessed
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through a serial bus normally can't. Some systems support both types.
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On a given board each GPIO is used for one specific purpose like monitoring
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MMC/SD card insertion/removal, detecting card writeprotect status, driving
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a LED, configuring a transceiver, bitbanging a serial bus, poking a hardware
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watchdog, sensing a switch, and so on.
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GPIO conventions
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================
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Note that this is called a "convention" because you don't need to do it this
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way, and it's no crime if you don't. There **are** cases where portability
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is not the main issue; GPIOs are often used for the kind of board-specific
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glue logic that may even change between board revisions, and can't ever be
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used on a board that's wired differently. Only least-common-denominator
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functionality can be very portable. Other features are platform-specific,
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and that can be critical for glue logic.
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Plus, this doesn't require any implementation framework, just an interface.
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One platform might implement it as simple inline functions accessing chip
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registers; another might implement it by delegating through abstractions
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used for several very different kinds of GPIO controller. (There is some
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optional code supporting such an implementation strategy, described later
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in this document, but drivers acting as clients to the GPIO interface must
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not care how it's implemented.)
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That said, if the convention is supported on their platform, drivers should
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use it when possible. Platforms should declare GENERIC_GPIO support in
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Kconfig (boolean true), which multi-platform drivers can depend on when
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using the include file:
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#include <asm/gpio.h>
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If you stick to this convention then it'll be easier for other developers to
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see what your code is doing, and help maintain it.
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Note that these operations include I/O barriers on platforms which need to
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use them; drivers don't need to add them explicitly.
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Identifying GPIOs
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-----------------
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GPIOs are identified by unsigned integers in the range 0..MAX_INT. That
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reserves "negative" numbers for other purposes like marking signals as
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"not available on this board", or indicating faults. Code that doesn't
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touch the underlying hardware treats these integers as opaque cookies.
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Platforms define how they use those integers, and usually #define symbols
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for the GPIO lines so that board-specific setup code directly corresponds
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to the relevant schematics. In contrast, drivers should only use GPIO
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numbers passed to them from that setup code, using platform_data to hold
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board-specific pin configuration data (along with other board specific
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data they need). That avoids portability problems.
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So for example one platform uses numbers 32-159 for GPIOs; while another
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uses numbers 0..63 with one set of GPIO controllers, 64-79 with another
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type of GPIO controller, and on one particular board 80-95 with an FPGA.
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The numbers need not be contiguous; either of those platforms could also
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use numbers 2000-2063 to identify GPIOs in a bank of I2C GPIO expanders.
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Whether a platform supports multiple GPIO controllers is currently a
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platform-specific implementation issue.
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Using GPIOs
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-----------
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One of the first things to do with a GPIO, often in board setup code when
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setting up a platform_device using the GPIO, is mark its direction:
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/* set as input or output, returning 0 or negative errno */
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int gpio_direction_input(unsigned gpio);
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int gpio_direction_output(unsigned gpio, int value);
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The return value is zero for success, else a negative errno. It should
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be checked, since the get/set calls don't have error returns and since
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misconfiguration is possible. You should normally issue these calls from
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a task context. However, for spinlock-safe GPIOs it's OK to use them
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before tasking is enabled, as part of early board setup.
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For output GPIOs, the value provided becomes the initial output value.
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This helps avoid signal glitching during system startup.
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For compatibility with legacy interfaces to GPIOs, setting the direction
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of a GPIO implicitly requests that GPIO (see below) if it has not been
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requested already. That compatibility may be removed in the future;
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explicitly requesting GPIOs is strongly preferred.
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Setting the direction can fail if the GPIO number is invalid, or when
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that particular GPIO can't be used in that mode. It's generally a bad
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idea to rely on boot firmware to have set the direction correctly, since
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it probably wasn't validated to do more than boot Linux. (Similarly,
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that board setup code probably needs to multiplex that pin as a GPIO,
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and configure pullups/pulldowns appropriately.)
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Spinlock-Safe GPIO access
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-------------------------
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Most GPIO controllers can be accessed with memory read/write instructions.
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That doesn't need to sleep, and can safely be done from inside IRQ handlers.
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(That includes hardirq contexts on RT kernels.)
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Use these calls to access such GPIOs:
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/* GPIO INPUT: return zero or nonzero */
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int gpio_get_value(unsigned gpio);
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/* GPIO OUTPUT */
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void gpio_set_value(unsigned gpio, int value);
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The values are boolean, zero for low, nonzero for high. When reading the
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value of an output pin, the value returned should be what's seen on the
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pin ... that won't always match the specified output value, because of
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issues including open-drain signaling and output latencies.
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The get/set calls have no error returns because "invalid GPIO" should have
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been reported earlier from gpio_direction_*(). However, note that not all
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platforms can read the value of output pins; those that can't should always
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return zero. Also, using these calls for GPIOs that can't safely be accessed
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without sleeping (see below) is an error.
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Platform-specific implementations are encouraged to optimize the two
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calls to access the GPIO value in cases where the GPIO number (and for
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output, value) are constant. It's normal for them to need only a couple
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of instructions in such cases (reading or writing a hardware register),
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and not to need spinlocks. Such optimized calls can make bitbanging
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applications a lot more efficient (in both space and time) than spending
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dozens of instructions on subroutine calls.
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GPIO access that may sleep
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--------------------------
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Some GPIO controllers must be accessed using message based busses like I2C
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or SPI. Commands to read or write those GPIO values require waiting to
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get to the head of a queue to transmit a command and get its response.
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This requires sleeping, which can't be done from inside IRQ handlers.
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Platforms that support this type of GPIO distinguish them from other GPIOs
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by returning nonzero from this call (which requires a valid GPIO number,
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either explicitly or implicitly requested):
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int gpio_cansleep(unsigned gpio);
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To access such GPIOs, a different set of accessors is defined:
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/* GPIO INPUT: return zero or nonzero, might sleep */
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int gpio_get_value_cansleep(unsigned gpio);
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/* GPIO OUTPUT, might sleep */
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void gpio_set_value_cansleep(unsigned gpio, int value);
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Other than the fact that these calls might sleep, and will not be ignored
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for GPIOs that can't be accessed from IRQ handlers, these calls act the
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same as the spinlock-safe calls.
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Claiming and Releasing GPIOs (OPTIONAL)
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---------------------------------------
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To help catch system configuration errors, two calls are defined.
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However, many platforms don't currently support this mechanism.
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/* request GPIO, returning 0 or negative errno.
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* non-null labels may be useful for diagnostics.
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*/
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int gpio_request(unsigned gpio, const char *label);
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/* release previously-claimed GPIO */
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void gpio_free(unsigned gpio);
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Passing invalid GPIO numbers to gpio_request() will fail, as will requesting
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GPIOs that have already been claimed with that call. The return value of
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gpio_request() must be checked. You should normally issue these calls from
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a task context. However, for spinlock-safe GPIOs it's OK to request GPIOs
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before tasking is enabled, as part of early board setup.
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These calls serve two basic purposes. One is marking the signals which
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are actually in use as GPIOs, for better diagnostics; systems may have
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several hundred potential GPIOs, but often only a dozen are used on any
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given board. Another is to catch conflicts, identifying errors when
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(a) two or more drivers wrongly think they have exclusive use of that
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signal, or (b) something wrongly believes it's safe to remove drivers
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needed to manage a signal that's in active use. That is, requesting a
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GPIO can serve as a kind of lock.
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These two calls are optional because not not all current Linux platforms
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offer such functionality in their GPIO support; a valid implementation
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could return success for all gpio_request() calls. Unlike the other calls,
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the state they represent doesn't normally match anything from a hardware
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register; it's just a software bitmap which clearly is not necessary for
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correct operation of hardware or (bug free) drivers.
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Note that requesting a GPIO does NOT cause it to be configured in any
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way; it just marks that GPIO as in use. Separate code must handle any
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pin setup (e.g. controlling which pin the GPIO uses, pullup/pulldown).
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Also note that it's your responsibility to have stopped using a GPIO
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before you free it.
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GPIOs mapped to IRQs
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--------------------
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GPIO numbers are unsigned integers; so are IRQ numbers. These make up
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two logically distinct namespaces (GPIO 0 need not use IRQ 0). You can
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map between them using calls like:
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/* map GPIO numbers to IRQ numbers */
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int gpio_to_irq(unsigned gpio);
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/* map IRQ numbers to GPIO numbers */
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int irq_to_gpio(unsigned irq);
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Those return either the corresponding number in the other namespace, or
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else a negative errno code if the mapping can't be done. (For example,
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some GPIOs can't be used as IRQs.) It is an unchecked error to use a GPIO
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number that wasn't set up as an input using gpio_direction_input(), or
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to use an IRQ number that didn't originally come from gpio_to_irq().
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These two mapping calls are expected to cost on the order of a single
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addition or subtraction. They're not allowed to sleep.
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Non-error values returned from gpio_to_irq() can be passed to request_irq()
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or free_irq(). They will often be stored into IRQ resources for platform
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devices, by the board-specific initialization code. Note that IRQ trigger
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options are part of the IRQ interface, e.g. IRQF_TRIGGER_FALLING, as are
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system wakeup capabilities.
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Non-error values returned from irq_to_gpio() would most commonly be used
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with gpio_get_value(), for example to initialize or update driver state
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when the IRQ is edge-triggered.
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Emulating Open Drain Signals
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----------------------------
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Sometimes shared signals need to use "open drain" signaling, where only the
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low signal level is actually driven. (That term applies to CMOS transistors;
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"open collector" is used for TTL.) A pullup resistor causes the high signal
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level. This is sometimes called a "wire-AND"; or more practically, from the
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negative logic (low=true) perspective this is a "wire-OR".
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One common example of an open drain signal is a shared active-low IRQ line.
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Also, bidirectional data bus signals sometimes use open drain signals.
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Some GPIO controllers directly support open drain outputs; many don't. When
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you need open drain signaling but your hardware doesn't directly support it,
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there's a common idiom you can use to emulate it with any GPIO pin that can
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be used as either an input or an output:
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LOW: gpio_direction_output(gpio, 0) ... this drives the signal
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and overrides the pullup.
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HIGH: gpio_direction_input(gpio) ... this turns off the output,
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so the pullup (or some other device) controls the signal.
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If you are "driving" the signal high but gpio_get_value(gpio) reports a low
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value (after the appropriate rise time passes), you know some other component
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is driving the shared signal low. That's not necessarily an error. As one
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common example, that's how I2C clocks are stretched: a slave that needs a
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slower clock delays the rising edge of SCK, and the I2C master adjusts its
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signaling rate accordingly.
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What do these conventions omit?
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===============================
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One of the biggest things these conventions omit is pin multiplexing, since
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this is highly chip-specific and nonportable. One platform might not need
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explicit multiplexing; another might have just two options for use of any
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given pin; another might have eight options per pin; another might be able
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to route a given GPIO to any one of several pins. (Yes, those examples all
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come from systems that run Linux today.)
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Related to multiplexing is configuration and enabling of the pullups or
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pulldowns integrated on some platforms. Not all platforms support them,
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or support them in the same way; and any given board might use external
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pullups (or pulldowns) so that the on-chip ones should not be used.
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(When a circuit needs 5 kOhm, on-chip 100 kOhm resistors won't do.)
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There are other system-specific mechanisms that are not specified here,
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like the aforementioned options for input de-glitching and wire-OR output.
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Hardware may support reading or writing GPIOs in gangs, but that's usually
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configuration dependent: for GPIOs sharing the same bank. (GPIOs are
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commonly grouped in banks of 16 or 32, with a given SOC having several such
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banks.) Some systems can trigger IRQs from output GPIOs, or read values
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from pins not managed as GPIOs. Code relying on such mechanisms will
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necessarily be nonportable.
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Dynamic definition of GPIOs is not currently standard; for example, as
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a side effect of configuring an add-on board with some GPIO expanders.
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These calls are purely for kernel space, but a userspace API could be built
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on top of them.
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GPIO implementor's framework (OPTIONAL)
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=======================================
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As noted earlier, there is an optional implementation framework making it
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easier for platforms to support different kinds of GPIO controller using
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the same programming interface.
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As a debugging aid, if debugfs is available a /sys/kernel/debug/gpio file
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will be found there. That will list all the controllers registered through
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this framework, and the state of the GPIOs currently in use.
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Controller Drivers: gpio_chip
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-----------------------------
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In this framework each GPIO controller is packaged as a "struct gpio_chip"
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with information common to each controller of that type:
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- methods to establish GPIO direction
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- methods used to access GPIO values
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- flag saying whether calls to its methods may sleep
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- optional debugfs dump method (showing extra state like pullup config)
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- label for diagnostics
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There is also per-instance data, which may come from device.platform_data:
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the number of its first GPIO, and how many GPIOs it exposes.
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The code implementing a gpio_chip should support multiple instances of the
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controller, possibly using the driver model. That code will configure each
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gpio_chip and issue gpiochip_add(). Removing a GPIO controller should be
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rare; use gpiochip_remove() when it is unavoidable.
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Most often a gpio_chip is part of an instance-specific structure with state
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not exposed by the GPIO interfaces, such as addressing, power management,
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and more. Chips such as codecs will have complex non-GPIO state,
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Any debugfs dump method should normally ignore signals which haven't been
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requested as GPIOs. They can use gpiochip_is_requested(), which returns
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either NULL or the label associated with that GPIO when it was requested.
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Platform Support
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----------------
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To support this framework, a platform's Kconfig will "select HAVE_GPIO_LIB"
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and arrange that its <asm/gpio.h> includes <asm-generic/gpio.h> and defines
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three functions: gpio_get_value(), gpio_set_value(), and gpio_cansleep().
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They may also want to provide a custom value for ARCH_NR_GPIOS.
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Trivial implementations of those functions can directly use framework
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code, which always dispatches through the gpio_chip:
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#define gpio_get_value __gpio_get_value
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#define gpio_set_value __gpio_set_value
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#define gpio_cansleep __gpio_cansleep
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Fancier implementations could instead define those as inline functions with
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logic optimizing access to specific SOC-based GPIOs. For example, if the
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referenced GPIO is the constant "12", getting or setting its value could
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cost as little as two or three instructions, never sleeping. When such an
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optimization is not possible those calls must delegate to the framework
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code, costing at least a few dozen instructions. For bitbanged I/O, such
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instruction savings can be significant.
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For SOCs, platform-specific code defines and registers gpio_chip instances
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for each bank of on-chip GPIOs. Those GPIOs should be numbered/labeled to
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match chip vendor documentation, and directly match board schematics. They
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may well start at zero and go up to a platform-specific limit. Such GPIOs
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are normally integrated into platform initialization to make them always be
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available, from arch_initcall() or earlier; they can often serve as IRQs.
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Board Support
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-------------
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For external GPIO controllers -- such as I2C or SPI expanders, ASICs, multi
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function devices, FPGAs or CPLDs -- most often board-specific code handles
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registering controller devices and ensures that their drivers know what GPIO
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numbers to use with gpiochip_add(). Their numbers often start right after
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platform-specific GPIOs.
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For example, board setup code could create structures identifying the range
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of GPIOs that chip will expose, and passes them to each GPIO expander chip
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using platform_data. Then the chip driver's probe() routine could pass that
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data to gpiochip_add().
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Initialization order can be important. For example, when a device relies on
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an I2C-based GPIO, its probe() routine should only be called after that GPIO
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becomes available. That may mean the device should not be registered until
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calls for that GPIO can work. One way to address such dependencies is for
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such gpio_chip controllers to provide setup() and teardown() callbacks to
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board specific code; those board specific callbacks would register devices
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once all the necessary resources are available.
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