GPIO driver: register all pintypes as generic /dev/gpioN

Documentation/platforms/risc-v/esp32c3/boards/esp32c3-devkit/index.rst

@@ -57,15 +57,15 @@ GPIO9 as an interrupt pin.
 
 At the nsh, we can turn the outputs on and off with the following::
 
-  nsh> gpio -o 1 /dev/gpout0
+  nsh> gpio -o 1 /dev/gpio0
-  nsh> gpio -o 1 /dev/gpout1
+  nsh> gpio -o 1 /dev/gpio1
 
-  nsh> gpio -o 0 /dev/gpout0
+  nsh> gpio -o 0 /dev/gpio0
-  nsh> gpio -o 0 /dev/gpout1
+  nsh> gpio -o 0 /dev/gpio1
 
 We can use the interrupt pin to send a signal when the interrupt fires::
 
-    nsh> gpio -w 14 /dev/gpint2
+    nsh> gpio -w 14 /dev/gpio2
 
 The pin is configured as a rising edge interrupt, so after issuing the
 above command, connect it to 3.3V.

Documentation/platforms/xtensa/esp32/boards/esp32-wrover-kit/index.rst

@@ -102,12 +102,12 @@ This is a test for the GPIO driver. It includes the 3 LEDs and one, arbitrary, G
 For this example, GPIO22 was used.
 At the nsh, we can turn LEDs on and off with the following::
 
-    nsh> gpio -o 1 /dev/gpout0
+    nsh> gpio -o 1 /dev/gpio0
-    nsh> gpio -o 0 /dev/gpout1
+    nsh> gpio -o 0 /dev/gpio0
 
 We can use the interrupt pin to send a signal when the interrupt fires::
 
-    nsh> gpio -w 14 /dev/gpint0
+    nsh> gpio -w 14 /dev/gpio2
 
 The pin is configured to as a rising edge interrupt, so after issuing the
 above command, connect it to 3.3V.

boards/risc-v/esp32c3/esp32c3-devkit/src/esp32c3_gpio.c

@@ -282,6 +282,7 @@ static int gpint_enable(FAR struct gpio_dev_s *dev, bool enable)
 
 int esp32c3_gpio_init(void)
 {
+  int pincount = 0;
   int i;
 
 #if BOARD_NGPIOOUT > 0
@@ -292,7 +293,7 @@ int esp32c3_gpio_init(void)
       g_gpout[i].gpio.gp_pintype = GPIO_OUTPUT_PIN;
       g_gpout[i].gpio.gp_ops     = &gpout_ops;
       g_gpout[i].id              = i;
-      gpio_pin_register(&g_gpout[i].gpio, i);
+      gpio_pin_register(&g_gpout[i].gpio, pincount);
 
       /* Configure the pins that will be used as output */
 
@@ -300,6 +301,8 @@ int esp32c3_gpio_init(void)
       esp32c3_configgpio(g_gpiooutputs[i], OUTPUT_FUNCTION_1 |
                          INPUT_FUNCTION_1);
       esp32c3_gpiowrite(g_gpiooutputs[i], 0);
+
+      pincount++;
     }
 #endif
 
@@ -311,11 +314,13 @@ int esp32c3_gpio_init(void)
       g_gpint[i].esp32c3gpio.gpio.gp_pintype = GPIO_INTERRUPT_PIN;
       g_gpint[i].esp32c3gpio.gpio.gp_ops     = &gpint_ops;
       g_gpint[i].esp32c3gpio.id              = i;
-      gpio_pin_register(&g_gpint[i].esp32c3gpio.gpio, i);
+      gpio_pin_register(&g_gpint[i].esp32c3gpio.gpio, pincount);
 
       /* Configure the pins that will be used as interrupt input */
 
       esp32c3_configgpio(g_gpiointinputs[i], INPUT_FUNCTION_1 | PULLDOWN);
+
+      pincount++;
     }
 #endif
 

boards/xtensa/esp32/esp32-devkitc/src/esp32_gpio.c

@@ -326,6 +326,7 @@ static int gpint_enable(FAR struct gpio_dev_s *dev, bool enable)
 
 int esp32_gpio_init(void)
 {
+  int pincount = 0;
   int i;
 
 #if BOARD_NGPIOOUT > 0
@@ -336,7 +337,7 @@ int esp32_gpio_init(void)
       g_gpout[i].gpio.gp_pintype = GPIO_OUTPUT_PIN;
       g_gpout[i].gpio.gp_ops     = &gpout_ops;
       g_gpout[i].id              = i;
-      gpio_pin_register(&g_gpout[i].gpio, i);
+      gpio_pin_register(&g_gpout[i].gpio, pincount);
 
       /* Configure the pins that will be used as output */
 
@@ -344,6 +345,8 @@ int esp32_gpio_init(void)
       esp32_configgpio(g_gpiooutputs[i], OUTPUT_FUNCTION_3 |
                        INPUT_FUNCTION_3);
       esp32_gpiowrite(g_gpiooutputs[i], 0);
+
+      pincount++;
     }
 #endif
 
@@ -355,11 +358,13 @@ int esp32_gpio_init(void)
       g_gpin[i].gpio.gp_pintype = GPIO_INPUT_PIN;
       g_gpin[i].gpio.gp_ops     = &gpin_ops;
       g_gpin[i].id              = i;
-      gpio_pin_register(&g_gpin[i].gpio, i);
+      gpio_pin_register(&g_gpin[i].gpio, pincount);
 
       /* Configure the pins that will be used as INPUT */
 
       esp32_configgpio(g_gpioinputs[i], INPUT_FUNCTION_3);
+
+      pincount++;
     }
 #endif
 
@@ -371,11 +376,13 @@ int esp32_gpio_init(void)
       g_gpint[i].esp32gpio.gpio.gp_pintype = GPIO_INTERRUPT_PIN;
       g_gpint[i].esp32gpio.gpio.gp_ops     = &gpint_ops;
       g_gpint[i].esp32gpio.id              = i;
-      gpio_pin_register(&g_gpint[i].esp32gpio.gpio, i);
+      gpio_pin_register(&g_gpint[i].esp32gpio.gpio, pincount);
 
       /* Configure the pins that will be used as interrupt input */
 
       esp32_configgpio(g_gpiointinputs[i], INPUT_FUNCTION_3 | PULLDOWN);
+
+      pincount++;
     }
 #endif
 

boards/xtensa/esp32/esp32-wrover-kit/src/esp32_gpio.c

@@ -326,6 +326,7 @@ static int gpint_enable(FAR struct gpio_dev_s *dev, bool enable)
 
 int esp32_gpio_init(void)
 {
+  int pincount = 0;
   int i;
 
 #if BOARD_NGPIOOUT > 0
@@ -336,7 +337,7 @@ int esp32_gpio_init(void)
       g_gpout[i].gpio.gp_pintype = GPIO_OUTPUT_PIN;
       g_gpout[i].gpio.gp_ops     = &gpout_ops;
       g_gpout[i].id              = i;
-      gpio_pin_register(&g_gpout[i].gpio, i);
+      gpio_pin_register(&g_gpout[i].gpio, pincount);
 
       /* Configure the pins that will be used as output */
 
@@ -344,6 +345,8 @@ int esp32_gpio_init(void)
       esp32_configgpio(g_gpiooutputs[i], OUTPUT_FUNCTION_3 |
                        INPUT_FUNCTION_3);
       esp32_gpiowrite(g_gpiooutputs[i], 0);
+
+      pincount++;
     }
 #endif
 
@@ -355,11 +358,13 @@ int esp32_gpio_init(void)
       g_gpin[i].gpio.gp_pintype = GPIO_INPUT_PIN;
       g_gpin[i].gpio.gp_ops     = &gpin_ops;
       g_gpin[i].id              = i;
-      gpio_pin_register(&g_gpin[i].gpio, i);
+      gpio_pin_register(&g_gpin[i].gpio, pincount);
 
       /* Configure the pins that will be used as INPUT */
 
       esp32_configgpio(g_gpioinputs[i], INPUT_FUNCTION_3);
+
+      pincount++;
     }
 #endif
 
@@ -371,11 +376,13 @@ int esp32_gpio_init(void)
       g_gpint[i].esp32gpio.gpio.gp_pintype = GPIO_INTERRUPT_PIN;
       g_gpint[i].esp32gpio.gpio.gp_ops     = &gpint_ops;
       g_gpint[i].esp32gpio.id              = i;
-      gpio_pin_register(&g_gpint[i].esp32gpio.gpio, i);
+      gpio_pin_register(&g_gpint[i].esp32gpio.gpio, pincount);
 
       /* Configure the pins that will be used as interrupt input */
 
       esp32_configgpio(g_gpiointinputs[i], INPUT_FUNCTION_3 | PULLDOWN);
+
+      pincount++;
     }
 #endif
 

boards/xtensa/esp32/ttgo_lora_esp32/src/esp32_gpio.c

@@ -326,6 +326,7 @@ static int gpint_enable(FAR struct gpio_dev_s *dev, bool enable)
 
 int esp32_gpio_init(void)
 {
+  int pincount = 0;
   int i;
 
 #if BOARD_NGPIOOUT > 0
@@ -336,7 +337,7 @@ int esp32_gpio_init(void)
       g_gpout[i].gpio.gp_pintype = GPIO_OUTPUT_PIN;
       g_gpout[i].gpio.gp_ops     = &gpout_ops;
       g_gpout[i].id              = i;
-      gpio_pin_register(&g_gpout[i].gpio, i);
+      gpio_pin_register(&g_gpout[i].gpio, pincount);
 
       /* Configure the pins that will be used as output */
 
@@ -344,6 +345,8 @@ int esp32_gpio_init(void)
       esp32_configgpio(g_gpiooutputs[i], OUTPUT_FUNCTION_3 |
                        INPUT_FUNCTION_3);
       esp32_gpiowrite(g_gpiooutputs[i], 0);
+
+      pincount++;
     }
 #endif
 
@@ -355,11 +358,13 @@ int esp32_gpio_init(void)
       g_gpin[i].gpio.gp_pintype = GPIO_INPUT_PIN;
       g_gpin[i].gpio.gp_ops     = &gpin_ops;
       g_gpin[i].id              = i;
-      gpio_pin_register(&g_gpin[i].gpio, i);
+      gpio_pin_register(&g_gpin[i].gpio, pincount);
 
       /* Configure the pins that will be used as INPUT */
 
       esp32_configgpio(g_gpioinputs[i], INPUT_FUNCTION_3);
+
+      pincount++;
     }
 #endif
 
@@ -371,11 +376,13 @@ int esp32_gpio_init(void)
       g_gpint[i].esp32gpio.gpio.gp_pintype = GPIO_INTERRUPT_PIN;
       g_gpint[i].esp32gpio.gpio.gp_ops     = &gpint_ops;
       g_gpint[i].esp32gpio.id              = i;
-      gpio_pin_register(&g_gpint[i].esp32gpio.gpio, i);
+      gpio_pin_register(&g_gpint[i].esp32gpio.gpio, pincount);
 
       /* Configure the pins that will be used as interrupt input */
 
       esp32_configgpio(g_gpiointinputs[i], INPUT_FUNCTION_3 | PULLDOWN);
+
+      pincount++;
     }
 #endif
 

boards/xtensa/esp32s2/esp32s2-saola-1/src/esp32s2_gpio.c

@@ -404,6 +404,8 @@ static int gpint_enable(FAR struct gpio_dev_s *dev, bool enable)
 
 int esp32s2_gpio_init(void)
 {
+  int pincount = 0;
+
 #if BOARD_NGPIOOUT > 0
   for (int i = 0; i < BOARD_NGPIOOUT; i++)
     {
@@ -412,7 +414,7 @@ int esp32s2_gpio_init(void)
       g_gpout[i].gpio.gp_pintype = GPIO_OUTPUT_PIN;
       g_gpout[i].gpio.gp_ops     = &gpout_ops;
       g_gpout[i].id              = i;
-      gpio_pin_register(&g_gpout[i].gpio, i);
+      gpio_pin_register(&g_gpout[i].gpio, pincount);
 
       /* Configure the pins that will be used as output */
 
@@ -420,6 +422,8 @@ int esp32s2_gpio_init(void)
       esp32s2_configgpio(g_gpiooutputs[i], OUTPUT_FUNCTION_1 |
                          INPUT_FUNCTION_1);
       esp32s2_gpiowrite(g_gpiooutputs[i], 0);
+
+      pincount++;
     }
 #endif
 
@@ -431,11 +435,13 @@ int esp32s2_gpio_init(void)
       g_gpin[i].gpio.gp_pintype = GPIO_INPUT_PIN_PULLDOWN;
       g_gpin[i].gpio.gp_ops     = &gpin_ops;
       g_gpin[i].id              = i;
-      gpio_pin_register(&g_gpin[i].gpio, i);
+      gpio_pin_register(&g_gpin[i].gpio, pincount);
 
       /* Configure the pins that will be used as interrupt input */
 
       esp32s2_configgpio(g_gpioinputs[i], INPUT_FUNCTION_1 | PULLDOWN);
+
+      pincount++;
     }
 #endif
 
@@ -447,11 +453,13 @@ int esp32s2_gpio_init(void)
       g_gpint[i].esp32s2gpio.gpio.gp_pintype = GPIO_INTERRUPT_PIN;
       g_gpint[i].esp32s2gpio.gpio.gp_ops     = &gpint_ops;
       g_gpint[i].esp32s2gpio.id              = i;
-      gpio_pin_register(&g_gpint[i].esp32s2gpio.gpio, i);
+      gpio_pin_register(&g_gpint[i].esp32s2gpio.gpio, pincount);
 
       /* Configure the pins that will be used as interrupt input */
 
       esp32s2_configgpio(g_gpiointinputs[i], INPUT_FUNCTION_1 | PULLDOWN);
+
+      pincount++;
     }
 #endif
 

drivers/ioexpander/gpio.c

@@ -315,6 +315,7 @@ static int gpio_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
   inode = filep->f_inode;
   DEBUGASSERT(inode->i_private != NULL);
   dev = inode->i_private;
+  DEBUGASSERT(dev->gp_ops != NULL);
 
   switch (cmd)
     {
@@ -328,6 +329,7 @@ static int gpio_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
             dev->gp_pintype == GPIO_OUTPUT_PIN_OPENDRAIN)
           {
             DEBUGASSERT(arg == 0ul || arg == 1ul);
+            DEBUGASSERT(dev->gp_ops->go_write != NULL);
             ret = dev->gp_ops->go_write(dev, (bool)arg);
           }
         else
@@ -347,6 +349,7 @@ static int gpio_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
           FAR bool *ptr = (FAR bool *)((uintptr_t)arg);
           DEBUGASSERT(ptr != NULL);
 
+          DEBUGASSERT(dev->gp_ops->go_read != NULL);
           ret = dev->gp_ops->go_read(dev, ptr);
           DEBUGASSERT(ret < 0 || *ptr == 0 || *ptr == 1);
         }
@@ -402,12 +405,14 @@ static int gpio_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
               {
                 /* Register our handler */
 
+                DEBUGASSERT(dev->gp_ops->go_attach != NULL);
                 ret = dev->gp_ops->go_attach(dev,
                                              (pin_interrupt_t)gpio_handler);
                 if (ret >= 0)
                   {
                     /* Enable pin interrupts */
 
+                    DEBUGASSERT(dev->gp_ops->go_enable != NULL);
                     ret = dev->gp_ops->go_enable(dev, true);
                   }
               }
@@ -463,11 +468,13 @@ static int gpio_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
               {
                 /* Make sure that the pin interrupt is disabled */
 
+                DEBUGASSERT(dev->gp_ops->go_enable != NULL);
                 ret = dev->gp_ops->go_enable(dev, false);
                 if (ret >= 0)
                   {
                     /* Detach the handler */
 
+                    DEBUGASSERT(dev->gp_ops->go_attach != NULL);
                     ret = dev->gp_ops->go_attach(dev, NULL);
                   }
               }
@@ -489,7 +496,65 @@ static int gpio_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
 
       case GPIOC_SETPINTYPE:
         {
-          ret = dev->gp_ops->go_setpintype(dev, arg);
+          enum gpio_pintype_e pintype = (enum gpio_pintype_e)arg;
+
+          /* Check if the argument is a valid pintype */
+
+          if (pintype < GPIO_INPUT_PIN || pintype >= GPIO_NPINTYPES)
+            {
+              ret = -EINVAL;
+              break;
+            }
+
+          /* Check if the pintype actually needs to be changed */
+
+          if (dev->gp_pintype == pintype)
+            {
+              /* Pintype remains the same, no need to change anything */
+
+              ret = OK;
+              break;
+            }
+
+          /* Disable interrupt if pin had an interrupt pintype previously */
+
+          if (dev->gp_pintype >= GPIO_INTERRUPT_PIN)
+            {
+              DEBUGASSERT(dev->gp_ops->go_enable != NULL);
+              ret = dev->gp_ops->go_enable(dev, false);
+              if (ret < 0)
+                {
+                  break;
+                }
+            }
+
+          /* Change pintype */
+
+          DEBUGASSERT(dev->gp_ops->go_setpintype != NULL);
+          ret = dev->gp_ops->go_setpintype(dev, pintype);
+          if (ret < 0)
+            {
+              break;
+            }
+
+          /* Additional DEBUGASSERTs to make sure the right operations are
+           * available after the pintype has been changed.
+           */
+
+          DEBUGASSERT(dev->gp_pintype == pintype);
+          DEBUGASSERT(dev->gp_ops != NULL);
+          DEBUGASSERT(dev->gp_ops->go_read != NULL);
+          DEBUGASSERT(dev->gp_ops->go_setpintype != NULL);
+
+          if (pintype >= GPIO_OUTPUT_PIN && pintype < GPIO_INTERRUPT_PIN)
+            {
+              DEBUGASSERT(dev->gp_ops->go_write != NULL);
+            }
+          else if (pintype >= GPIO_INTERRUPT_PIN)
+            {
+              DEBUGASSERT(dev->gp_ops->go_attach != NULL);
+              DEBUGASSERT(dev->gp_ops->go_enable != NULL);
+            }
         }
         break;
 
@@ -511,19 +576,13 @@ static int gpio_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
  * Name: gpio_pin_register
  *
  * Description:
- *   Register GPIO pin device driver.
+ *   Register GPIO pin device driver at /dev/gpioN, where N is the provided
- *
+ *   minor number.
- *   - Input pin types will be registered at /dev/gpinN
- *   - Output pin types will be registered at /dev/gpoutN
- *   - Interrupt pin types will be registered at /dev/gpintN
- *
- *   Where N is the provided minor number in the range of 0-99.
  *
  ****************************************************************************/
 
 int gpio_pin_register(FAR struct gpio_dev_s *dev, int minor)
 {
-  FAR const char *fmt;
   char devname[32];
   int ret;
 
@@ -536,7 +595,6 @@ int gpio_pin_register(FAR struct gpio_dev_s *dev, int minor)
       case GPIO_INPUT_PIN_PULLDOWN:
         {
           DEBUGASSERT(dev->gp_ops->go_read != NULL);
-          fmt = "/dev/gpin%u";
         }
         break;
 
@@ -545,7 +603,6 @@ int gpio_pin_register(FAR struct gpio_dev_s *dev, int minor)
         {
           DEBUGASSERT(dev->gp_ops->go_read != NULL &&
                       dev->gp_ops->go_write != NULL);
-          fmt = "/dev/gpout%u";
         }
         break;
 
@@ -562,13 +619,11 @@ int gpio_pin_register(FAR struct gpio_dev_s *dev, int minor)
             {
               return ret;
             }
-
-          fmt = "/dev/gpint%u";
         }
         break;
     }
 
-  snprintf(devname, 16, fmt, (unsigned int)minor);
+  snprintf(devname, sizeof(devname), "/dev/gpio%u", (unsigned int)minor);
   gpioinfo("Registering %s\n", devname);
 
   return register_driver(devname, &g_gpio_drvrops, 0666, dev);
@@ -578,50 +633,19 @@ int gpio_pin_register(FAR struct gpio_dev_s *dev, int minor)
  * Name: gpio_pin_unregister
  *
  * Description:
- *   Unregister GPIO pin device driver.
+ *   Unregister GPIO pin device driver at /dev/gpioN, where N is the provided
- *
+ *   minor number.
- *   - Input pin types will be registered at /dev/gpinN
- *   - Output pin types will be registered at /dev/gpoutN
- *   - Interrupt pin types will be registered at /dev/gpintN
- *
- *   Where N is the provided minor number in the range of 0-99.
- *
  *
  ****************************************************************************/
 
-void gpio_pin_unregister(FAR struct gpio_dev_s *dev, int minor)
+int gpio_pin_unregister(FAR struct gpio_dev_s *dev, int minor)
 {
-  FAR const char *fmt;
+  char devname[32];
-  char devname[16];
 
-  switch (dev->gp_pintype)
+  snprintf(devname, sizeof(devname), "/dev/gpio%u", (unsigned int)minor);
-    {
-      case GPIO_INPUT_PIN:
-      case GPIO_INPUT_PIN_PULLUP:
-      case GPIO_INPUT_PIN_PULLDOWN:
-        {
-          fmt = "/dev/gpin%u";
-        }
-        break;
-
-      case GPIO_OUTPUT_PIN:
-      case GPIO_OUTPUT_PIN_OPENDRAIN:
-        {
-          fmt = "/dev/gpout%u";
-        }
-        break;
-
-      default:
-        {
-          fmt = "/dev/gpint%u";
-        }
-        break;
-    }
-
-  snprintf(devname, sizeof(devname), fmt, (unsigned int)minor);
   gpioinfo("Unregistering %s\n", devname);
 
-  unregister_driver(devname);
+  return unregister_driver(devname);
 }
 
 #endif /* CONFIG_DEV_GPIO */

include/nuttx/ioexpander/gpio.h

@@ -107,12 +107,12 @@ typedef CODE int (*pin_interrupt_t)(FAR struct gpio_dev_s *dev, uint8_t pin);
 /* Pin interface vtable definition.  Instances of this vtable are read-only
  * and may reside in FLASH.
  *
- *   - go_read.  Required for all all pin types.
+ *   - go_read.  Required for all pin types.
  *   - go_write.  Required only for the GPIO_OUTPUT_PIN pin type.  Unused
- *     for other pin types may be NULL.
+ *     for other pin types, may be NULL.
- *   - go_attach and gp_eanble.  Required only the GPIO_INTERRUPT_PIN pin
+ *   - go_attach and gp_enable.  Required only for the GPIO_INTERRUPT_PIN pin
- *     type.  Unused for other pin types may be NULL.
+ *     type.  Unused for other pin types, may be NULL.
- *   - go_setpinytype.  Required for all all pin types.
+ *   - go_setpinytype.  Required for all pin types.
  */
 
 struct gpio_dev_s;
@@ -177,14 +177,8 @@ extern "C"
  * Name: gpio_pin_register
  *
  * Description:
- *   Register GPIO pin device driver.
+ *   Register GPIO pin device driver at /dev/gpioN, where N is the provided
- *
+ *   minor number.
- *   - Input pin types will be registered at /dev/gpinN
- *   - Output pin types will be registered at /dev/gpoutN
- *   - Interrupt pin types will be registered at /dev/gpintN
- *
- *   Where N is the provided minor number in the range of 0-99.
- *
  *
  ****************************************************************************/
 
@@ -194,18 +188,12 @@ int gpio_pin_register(FAR struct gpio_dev_s *dev, int minor);
  * Name: gpio_pin_unregister
  *
  * Description:
- *   Unregister GPIO pin device driver.
+ *   Unregister GPIO pin device driver at /dev/gpioN, where N is the provided
- *
+ *   minor number.
- *   - Input pin types will be registered at /dev/gpinN
- *   - Output pin types will be registered at /dev/gpoutN
- *   - Interrupt pin types will be registered at /dev/gpintN
- *
- *   Where N is the provided minor number in the range of 0-99.
- *
  *
  ****************************************************************************/
 
-void gpio_pin_unregister(FAR struct gpio_dev_s *dev, int minor);
+int gpio_pin_unregister(FAR struct gpio_dev_s *dev, int minor);
 
 /****************************************************************************
  * Name: gpio_lower_half