drivers: gpio: Add GPIO driver for BCM2711

The BCM2711 SoC exposes 58 GPIOs. The first 28 (bank 0) are accessible to users via the 40-pin header, while the others (bank 1) are used for controlling on-board peripherals. This also update doc of `rpi_4b` board. Signed-off-by: Chen Xingyu <[email protected]>
zephyrproject-rtos · Oct 14, 2023 · dec630d · dec630d
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diff --git a/boards/arm64/rpi_4b/doc/index.rst b/boards/arm64/rpi_4b/doc/index.rst
@@ -25,6 +25,9 @@ hardware features:
    * - GIC-400
      - N/A
      - :dtcompatible:`arm,gic-v2`
+   * - GPIO
+     - :kconfig:option:`CONFIG_GPIO`
+     - :dtcompatible:`brcm,bcm2711-gpio`
    * - UART (Mini UART)
      - :kconfig:option:`CONFIG_SERIAL`
      - :dtcompatible:`brcm,bcm2711-aux-uart`

diff --git a/drivers/gpio/CMakeLists.txt b/drivers/gpio/CMakeLists.txt
@@ -84,6 +84,7 @@ zephyr_library_sources_ifdef(CONFIG_GPIO_EFINIX_SAPPHIRE    gpio_efinix_sapphire
 zephyr_library_sources_ifdef(CONFIG_GPIO_DAVINCI    gpio_davinci.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_SEDI    gpio_sedi.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_ALTERA_PIO gpio_altera_pio.c)
+zephyr_library_sources_ifdef(CONFIG_GPIO_BCM2711    gpio_bcm2711.c)
 
 if (CONFIG_GPIO_EMUL_SDL)
   zephyr_library_sources(gpio_emul_sdl.c)

diff --git a/drivers/gpio/Kconfig b/drivers/gpio/Kconfig
@@ -208,4 +208,6 @@ source "drivers/gpio/Kconfig.sedi"
 
 source "drivers/gpio/Kconfig.altera"
 
+source "drivers/gpio/Kconfig.bcm2711"
+
 endif # GPIO
diff --git a/drivers/gpio/Kconfig.bcm2711 b/drivers/gpio/Kconfig.bcm2711
@@ -0,0 +1,9 @@
+# Copyright (c) 2023 Chen Xingyu <[email protected]>
+# SPDX-License-Identifier: Apache-2.0
+
+config GPIO_BCM2711
+	bool "BCM2711 GPIO driver"
+	default y
+	depends on DT_HAS_BRCM_BCM2711_GPIO_ENABLED
+	help
+	  Enable BCM2711 GPIO driver.
diff --git a/drivers/gpio/gpio_bcm2711.c b/drivers/gpio/gpio_bcm2711.c
@@ -0,0 +1,355 @@
+/*
+ * Copyright (c) 2023 Chen Xingyu <[email protected]>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT brcm_bcm2711_gpio
+
+#include <zephyr/arch/cpu.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/gpio/gpio_utils.h>
+#include <zephyr/irq.h>
+
+#define GPIO_REG_GROUP(n, cnt)       (n / cnt)
+#define GPIO_REG_SHIFT(n, cnt, bits) ((n % cnt) * bits)
+
+#define GPFSEL(base, n) (base + 0x00 + 0x04 * n)
+#define GPSET(base, n)  (base + 0x1C + 0x04 * n)
+#define GPCLR(base, n)  (base + 0x28 + 0x04 * n)
+#define GPLEV(base, n)  (base + 0x34 + 0x04 * n)
+#define GPEDS(base, n)  (base + 0x40 + 0x04 * n)
+#define GPREN(base, n)  (base + 0x4C + 0x04 * n)
+#define GPFEN(base, n)  (base + 0x58 + 0x04 * n)
+#define GPHEN(base, n)  (base + 0x64 + 0x04 * n)
+#define GPLEN(base, n)  (base + 0x70 + 0x04 * n)
+#define GPAREN(base, n) (base + 0x7C + 0x04 * n)
+#define GPAFEN(base, n) (base + 0x88 + 0x04 * n)
+#define GPPULL(base, n) (base + 0xE4 + 0x04 * n)
+
+#define FSEL_GROUPS (10)
+#define FSEL_BITS   (3)
+#define FSEL_OUTPUT (0x1)
+
+#define IO_GROUPS (32)
+#define IO_BITS   (1)
+
+#define PULL_GROUPS (16)
+#define PULL_BITS   (2)
+#define PULL_UP     (0x1)
+#define PULL_DOWN   (0x2)
+
+#define DEV_CFG(dev)  ((const struct gpio_bcm2711_config *const)(dev)->config)
+#define DEV_DATA(dev) ((struct gpio_bcm2711_data *const)(dev)->data)
+
+#define RPI_PIN_NUM(dev, n) (DEV_CFG(dev)->offset + n)
+
+#define FROM_U64(val, idx) ((uint32_t)((val >> (idx * 32)) & UINT32_MAX))
+
+struct gpio_bcm2711_config {
+	struct gpio_driver_config common;
+
+	DEVICE_MMIO_NAMED_ROM(reg_base);
+
+	void (*irq_config_func)(void);
+
+	uint8_t offset;
+	uint8_t ngpios;
+};
+
+struct gpio_bcm2711_data {
+	struct gpio_driver_data common;
+
+	DEVICE_MMIO_NAMED_RAM(reg_base);
+	mem_addr_t base;
+
+	sys_slist_t cb;
+};
+
+static int gpio_bcm2711_pin_configure(const struct device *port, gpio_pin_t pin, gpio_flags_t flags)
+{
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+	uint32_t group;
+	uint32_t shift;
+	uint32_t regval;
+
+	if (flags & GPIO_OPEN_DRAIN) {
+		return -ENOTSUP;
+	}
+
+	/* Set direction */
+	{
+		group = GPIO_REG_GROUP(RPI_PIN_NUM(port, pin), FSEL_GROUPS);
+		shift = GPIO_REG_SHIFT(RPI_PIN_NUM(port, pin), FSEL_GROUPS, FSEL_BITS);
+
+		regval = sys_read32(GPFSEL(data->base, group));
+		regval &= ~(BIT_MASK(FSEL_BITS) << shift);
+		if (flags & GPIO_OUTPUT) {
+			regval |= (FSEL_OUTPUT << shift);
+		}
+		sys_write32(regval, GPFSEL(data->base, group));
+	}
+
+	/* Set output level */
+	if (flags & GPIO_OUTPUT) {
+		group = GPIO_REG_GROUP(RPI_PIN_NUM(port, pin), IO_GROUPS);
+		shift = GPIO_REG_SHIFT(RPI_PIN_NUM(port, pin), IO_GROUPS, IO_BITS);
+
+		if (flags & GPIO_OUTPUT_INIT_HIGH) {
+			regval = sys_read32(GPSET(data->base, group));
+			regval |= BIT(shift);
+			sys_write32(regval, GPSET(data->base, group));
+		} else if (flags & GPIO_OUTPUT_INIT_LOW) {
+			regval = sys_read32(GPCLR(data->base, group));
+			regval |= BIT(shift);
+			sys_write32(regval, GPCLR(data->base, group));
+		}
+	}
+
+	/* Set pull */
+	{
+		group = GPIO_REG_GROUP(RPI_PIN_NUM(port, pin), PULL_GROUPS);
+		shift = GPIO_REG_SHIFT(RPI_PIN_NUM(port, pin), PULL_GROUPS, PULL_BITS);
+
+		regval = sys_read32(GPPULL(data->base, group));
+		regval &= ~(BIT_MASK(PULL_BITS) << shift);
+		if (flags & GPIO_PULL_UP) {
+			regval |= (PULL_UP << shift);
+		} else if (flags & GPIO_PULL_DOWN) {
+			regval |= (PULL_DOWN << shift);
+		}
+		sys_write32(regval, GPPULL(data->base, group));
+	}
+
+	return 0;
+}
+
+static int gpio_bcm2711_port_get_raw(const struct device *port, gpio_port_value_t *value)
+{
+	const struct gpio_bcm2711_config *cfg = DEV_CFG(port);
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+	uint64_t regval;
+
+	regval = ((uint64_t)sys_read32(GPLEV(data->base, 0))) |
+		 ((uint64_t)sys_read32(GPLEV(data->base, 1)) << 32);
+
+	*value = (regval >> cfg->offset) & BIT_MASK(cfg->ngpios);
+
+	return 0;
+}
+
+static int gpio_bcm2711_port_set_masked_raw(const struct device *port, gpio_port_pins_t mask,
+					    gpio_port_value_t value)
+{
+	const struct gpio_bcm2711_config *cfg = DEV_CFG(port);
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+	uint64_t regval, regmask;
+	uint64_t set, clr;
+
+	value &= BIT_MASK(cfg->ngpios);
+	mask &= BIT_MASK(cfg->ngpios);
+
+	regval = (uint64_t)value << cfg->offset;
+	regmask = (uint64_t)mask << cfg->offset;
+
+	set = regval & regmask;
+	clr = regval ^ regmask;
+
+	sys_write32(FROM_U64(set, 0), GPSET(data->base, 0));
+	sys_write32(FROM_U64(clr, 0), GPCLR(data->base, 0));
+	sys_write32(FROM_U64(set, 1), GPSET(data->base, 1));
+	sys_write32(FROM_U64(clr, 1), GPCLR(data->base, 1));
+
+	return 0;
+}
+
+static int gpio_bcm2711_port_set_bits_raw(const struct device *port, gpio_port_pins_t pins)
+{
+	const struct gpio_bcm2711_config *cfg = DEV_CFG(port);
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+	uint64_t regval;
+
+	regval = ((uint64_t)pins & BIT_MASK(cfg->ngpios)) << cfg->offset;
+
+	sys_write32(FROM_U64(regval, 0), GPSET(data->base, 0));
+	sys_write32(FROM_U64(regval, 1), GPSET(data->base, 1));
+
+	return 0;
+}
+
+static int gpio_bcm2711_port_clear_bits_raw(const struct device *port, gpio_port_pins_t pins)
+{
+	const struct gpio_bcm2711_config *cfg = DEV_CFG(port);
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+	uint64_t regval;
+
+	regval = ((uint64_t)pins & BIT_MASK(cfg->ngpios)) << cfg->offset;
+
+	sys_write32(FROM_U64(regval, 0), GPCLR(data->base, 0));
+	sys_write32(FROM_U64(regval, 1), GPCLR(data->base, 1));
+
+	return 0;
+}
+
+static int gpio_bcm2711_port_toggle_bits(const struct device *port, gpio_port_pins_t pins)
+{
+	const struct gpio_bcm2711_config *cfg = DEV_CFG(port);
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+	uint64_t regval, regmask;
+	uint64_t set, clr;
+
+	regval = ((uint64_t)sys_read32(GPLEV(data->base, 0))) |
+		 ((uint64_t)sys_read32(GPLEV(data->base, 1)) << 32);
+
+	regmask = ((uint64_t)pins & BIT_MASK(cfg->ngpios)) << cfg->offset;
+
+	set = regval ^ regmask;
+	clr = regval & regmask;
+
+	sys_write32(FROM_U64(set, 0), GPSET(data->base, 0));
+	sys_write32(FROM_U64(clr, 0), GPCLR(data->base, 0));
+	sys_write32(FROM_U64(set, 1), GPSET(data->base, 1));
+	sys_write32(FROM_U64(clr, 1), GPCLR(data->base, 1));
+
+	return 0;
+}
+
+static int gpio_bcm2711_pin_interrupt_configure(const struct device *port, gpio_pin_t pin,
+						enum gpio_int_mode mode, enum gpio_int_trig trig)
+{
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+	uint32_t group;
+	uint32_t shift;
+	uint32_t regval;
+
+	group = GPIO_REG_GROUP(RPI_PIN_NUM(port, pin), IO_GROUPS);
+	shift = GPIO_REG_SHIFT(RPI_PIN_NUM(port, pin), IO_GROUPS, IO_BITS);
+
+	/* Clear all detections first */
+
+	regval = sys_read32(GPREN(data->base, group));
+	regval &= ~BIT(shift);
+	sys_write32(regval, GPREN(data->base, group));
+
+	regval = sys_read32(GPFEN(data->base, group));
+	regval &= ~BIT(shift);
+	sys_write32(regval, GPFEN(data->base, group));
+
+	regval = sys_read32(GPHEN(data->base, group));
+	regval &= ~BIT(shift);
+	sys_write32(regval, GPHEN(data->base, group));
+
+	regval = sys_read32(GPLEN(data->base, group));
+	regval &= ~BIT(shift);
+	sys_write32(regval, GPLEN(data->base, group));
+
+	regval = sys_read32(GPAREN(data->base, group));
+	regval &= ~BIT(shift);
+	sys_write32(regval, GPAREN(data->base, group));
+
+	regval = sys_read32(GPAFEN(data->base, group));
+	regval &= ~BIT(shift);
+	sys_write32(regval, GPAFEN(data->base, group));
+
+	if (mode == GPIO_INT_MODE_LEVEL) {
+		if (trig & GPIO_INT_LOW_0) {
+			regval = sys_read32(GPLEN(data->base, group));
+			regval |= BIT(shift);
+			sys_write32(regval, GPLEN(data->base, group));
+		}
+		if (trig & GPIO_INT_HIGH_1) {
+			regval = sys_read32(GPHEN(data->base, group));
+			regval |= BIT(shift);
+			sys_write32(regval, GPHEN(data->base, group));
+		}
+	} else if (mode == GPIO_INT_MODE_EDGE) {
+		if (trig & GPIO_INT_LOW_0) {
+			regval = sys_read32(GPAFEN(data->base, group));
+			regval |= BIT(shift);
+			sys_write32(regval, GPAFEN(data->base, group));
+		}
+		if (trig & GPIO_INT_HIGH_1) {
+			regval = sys_read32(GPAREN(data->base, group));
+			regval |= BIT(shift);
+			sys_write32(regval, GPAREN(data->base, group));
+		}
+	}
+
+	return 0;
+}
+
+static int gpio_bcm2711_manage_callback(const struct device *port, struct gpio_callback *cb,
+					bool set)
+{
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+
+	return gpio_manage_callback(&data->cb, cb, set);
+}
+
+static void gpio_bcm2711_isr(const struct device *port)
+{
+	const struct gpio_bcm2711_config *cfg = DEV_CFG(port);
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+	uint64_t regval;
+	uint32_t pins;
+
+	regval = ((uint64_t)sys_read32(GPEDS(data->base, 0))) |
+		 ((uint64_t)sys_read32(GPEDS(data->base, 1)) << 32);
+
+	regval &= BIT_MASK(cfg->ngpios) << cfg->offset;
+
+	pins = (uint32_t)(regval >> cfg->offset);
+	gpio_fire_callbacks(&data->cb, port, pins);
+
+	/* Write to clear */
+	sys_write32(FROM_U64(regval, 0), GPEDS(data->base, 0));
+	sys_write32(FROM_U64(regval, 1), GPEDS(data->base, 1));
+}
+
+int gpio_bcm2711_init(const struct device *port)
+{
+	const struct gpio_bcm2711_config *cfg = DEV_CFG(port);
+	struct gpio_bcm2711_data *data = DEV_DATA(port);
+
+	DEVICE_MMIO_NAMED_MAP(port, reg_base, K_MEM_CACHE_NONE);
+	data->base = DEVICE_MMIO_NAMED_GET(port, reg_base);
+
+	cfg->irq_config_func();
+
+	return 0;
+}
+
+static const struct gpio_driver_api gpio_bcm2711_api = {
+	.pin_configure = gpio_bcm2711_pin_configure,
+	.port_get_raw = gpio_bcm2711_port_get_raw,
+	.port_set_masked_raw = gpio_bcm2711_port_set_masked_raw,
+	.port_set_bits_raw = gpio_bcm2711_port_set_bits_raw,
+	.port_clear_bits_raw = gpio_bcm2711_port_clear_bits_raw,
+	.port_toggle_bits = gpio_bcm2711_port_toggle_bits,
+	.pin_interrupt_configure = gpio_bcm2711_pin_interrupt_configure,
+	.manage_callback = gpio_bcm2711_manage_callback,
+};
+
+#define GPIO_BCM2711_INST(n)                                                                       \
+	static struct gpio_bcm2711_data gpio_bcm2711_data_##n;                                     \
+                                                                                                   \
+	static void gpio_bcm2711_irq_config_func_##n(void)                                         \
+	{                                                                                          \
+		IRQ_CONNECT(DT_INST_IRQN(n), DT_INST_IRQ(n, priority), gpio_bcm2711_isr,           \
+			    DEVICE_DT_INST_GET(n), 0);                                             \
+		irq_enable(DT_INST_IRQN(n));                                                       \
+	}                                                                                          \
+                                                                                                   \
+	static const struct gpio_bcm2711_config gpio_bcm2711_cfg_##n = {                           \
+		.common = {.port_pin_mask = GPIO_PORT_PIN_MASK_FROM_DT_INST(0)},                   \
+		DEVICE_MMIO_NAMED_ROM_INIT(reg_base, DT_INST_PARENT(n)),                           \
+		.irq_config_func = gpio_bcm2711_irq_config_func_##n,                               \
+		.offset = DT_INST_REG_ADDR(n),                                                     \
+		.ngpios = DT_INST_PROP(n, ngpios),                                                 \
+	};                                                                                         \
+                                                                                                   \
+	DEVICE_DT_INST_DEFINE(n, gpio_bcm2711_init, NULL, &gpio_bcm2711_data_##n,                  \
+			      &gpio_bcm2711_cfg_##n, PRE_KERNEL_1, CONFIG_GPIO_INIT_PRIORITY,      \
+			      &gpio_bcm2711_api);
+
+DT_INST_FOREACH_STATUS_OKAY(GPIO_BCM2711_INST)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -208,4 +208,6 @@ source "drivers/gpio/Kconfig.sedi"

		source "drivers/gpio/Kconfig.altera"

		source "drivers/gpio/Kconfig.bcm2711"

		endif # GPIO