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linux: userspace GPIO control

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Allow use host GPIO pins for non-realtime purposes.

Signed-off-by: Andrey Kunitsyn <blackicebox@gmail.com>
This commit is contained in:
andryblack 2020-04-24 00:16:31 +03:00 • committed by KevinOConnor
parent f0c394de81
commit 8fd330c54e
10 changed files with 187 additions and 22 deletions
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163
src/linux/gpio.c Normal file
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// Very basic support via a Linux gpiod device
//
// Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include "autoconf.h"
#include "gpio.h"
#include "command.h" // shutdown
#include "sched.h" // shutdown
#include <fcntl.h> // open
#include <stdio.h> // snprintf
#include <string.h> // memset
#include <stdlib.h> // atexit
#include "internal.h" // report_errno
#include </usr/include/linux/gpio.h>
#include <sys/ioctl.h>
#include <unistd.h>
#define CHIP_FILE_NAME "/dev/gpiochip0"
#define GPIO_CONSUMER "klipper"
#define NUM_LINES 40
DECL_ENUMERATION_RANGE("pin", "P0", 0, NUM_LINES);
struct gpio_line {
int offset;
int fd;
int state;
};
static struct gpio_line lines[NUM_LINES];
static int gpio_chip_fd = -1;
static int
get_chip_fd(void) {
int i = 0;
if (gpio_chip_fd <= 0) {
gpio_chip_fd = open(CHIP_FILE_NAME,O_RDWR | O_CLOEXEC);
if (gpio_chip_fd < 0) {
report_errno("open " CHIP_FILE_NAME,-1);
shutdown("Unable to open GPIO chip device");
}
for (i=0; i<NUM_LINES; ++i) {
lines[i].offset = i;
lines[i].fd = -1;
}
}
return gpio_chip_fd;
}
// Dummy versions of gpio_out functions
struct gpio_out
gpio_out_setup(uint32_t pin, uint8_t val)
{
struct gpio_line* line = &lines[pin];
line->offset = 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)
{
int rv;
struct gpiohandle_request req;
gpio_release_line(g.line);
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);
rv = ioctl(get_chip_fd(), GPIO_GET_LINEHANDLE_IOCTL, &req);
if (rv < 0) {
report_errno("gpio_out_reset get line",rv);
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(struct gpio_out g)
{
gpio_out_write(g,!g.line->state);
}
void
gpio_out_toggle_noirq(struct gpio_out g)
{
gpio_out_toggle(g);
}
struct gpio_in
gpio_in_setup(uint32_t pin, int8_t pull_up)
{
struct gpio_line* line = &lines[pin];
line->offset = 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)
{
int rv;
struct gpiohandle_request req;
gpio_release_line(g.line);
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);
rv = ioctl(get_chip_fd(), GPIO_GET_LINEHANDLE_IOCTL, &req);
if (rv < 0) {
report_errno("gpio_in_reset get line",rv);
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];
}