diff --git a/boards/arm/imxrt/teensy-4.x/src/Makefile b/boards/arm/imxrt/teensy-4.x/src/Makefile index 631a070ece1..d31beb00363 100644 --- a/boards/arm/imxrt/teensy-4.x/src/Makefile +++ b/boards/arm/imxrt/teensy-4.x/src/Makefile @@ -54,6 +54,10 @@ ifeq ($(CONFIG_IMXRT_ENET),y) CSRCS += imxrt_ethernet.c endif +ifeq ($(CONFIG_DEV_GPIO),y) +CSRCS += imxrt_gpio.c +endif + ifeq ($(CONFIG_IMXRT_ADC),y) CSRCS += imxrt_adc.c endif diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c index 46744361e30..0b091182960 100644 --- a/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c @@ -192,6 +192,16 @@ int imxrt_bringup(void) } #endif +#ifdef CONFIG_DEV_GPIO + /* Initialize GPIO driver */ + + ret = imxrt_gpio_initialize(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: imxrt_gpio_initialize() failed: %d\n", ret); + } +#endif + #ifdef CONFIG_IMXRT_ENC /* Initialize ENC and register the ENC driver. */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_gpio.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_gpio.c new file mode 100644 index 00000000000..62b2829a69d --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_gpio.c @@ -0,0 +1,214 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_gpio.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include + +#include +#include +#include + +#include + +#include "chip.h" +#include "imxrt_gpio.h" +#include "teensy-4.h" + +#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_GPIO_LOWER_HALF) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct imxrtgpio_dev_s +{ + struct gpio_dev_s gpio; + uint8_t id; +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +#if BOARD_NGPIOIN > 0 +static int gpin_read(FAR struct gpio_dev_s *dev, FAR bool *value); +#endif +#if BOARD_NGPIOOUT > 0 +static int gpout_read(FAR struct gpio_dev_s *dev, FAR bool *value); +static int gpout_write(FAR struct gpio_dev_s *dev, bool value); +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +#if BOARD_NGPIOIN > 0 +static const struct gpio_operations_s gpin_ops = +{ + .go_read = gpin_read, + .go_write = NULL, + .go_attach = NULL, + .go_enable = NULL, +}; +#endif + +#if BOARD_NGPIOOUT > 0 +static const struct gpio_operations_s gpout_ops = +{ + .go_read = gpout_read, + .go_write = gpout_write, + .go_attach = NULL, + .go_enable = NULL, +}; +#endif + +#if BOARD_NGPIOIN > 0 +/* This array maps the GPIO pins used as INPUT */ + +static const uint32_t g_gpioinputs[BOARD_NGPIOIN] = +{ + GPIO_IN1, +}; + +static struct imxrtgpio_dev_s g_gpin[BOARD_NGPIOIN]; +#endif + +#if BOARD_NGPIOOUT +/* This array maps the GPIO pins used as OUTPUT */ + +static const uint32_t g_gpiooutputs[BOARD_NGPIOOUT] = +{ + GPIO_OUT1, +}; + +static struct imxrtgpio_dev_s g_gpout[BOARD_NGPIOOUT]; +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +#if BOARD_NGPIOIN > 0 +static int gpin_read(FAR struct gpio_dev_s *dev, FAR bool *value) +{ + FAR struct imxrtgpio_dev_s *imxrtgpio = + (FAR struct imxrtgpio_dev_s *)dev; + + DEBUGASSERT(imxrtgpio != NULL && value != NULL); + DEBUGASSERT(imxrtgpio->id < BOARD_NGPIOIN); + gpioinfo("Reading...\n"); + + *value = imxrt_gpio_read(g_gpioinputs[imxrtgpio->id]); + return OK; +} +#endif + +#if BOARD_NGPIOOUT > 0 +static int gpout_read(FAR struct gpio_dev_s *dev, FAR bool *value) +{ + FAR struct imxrtgpio_dev_s *imxrtgpio = + (FAR struct imxrtgpio_dev_s *)dev; + + DEBUGASSERT(imxrtgpio != NULL && value != NULL); + DEBUGASSERT(imxrtgpio->id < BOARD_NGPIOOUT); + gpioinfo("Reading...\n"); + + *value = imxrt_gpio_read(g_gpiooutputs[imxrtgpio->id]); + return OK; +} + +static int gpout_write(FAR struct gpio_dev_s *dev, bool value) +{ + FAR struct imxrtgpio_dev_s *imxrtgpio = + (FAR struct imxrtgpio_dev_s *)dev; + + DEBUGASSERT(imxrtgpio != NULL); + DEBUGASSERT(imxrtgpio->id < BOARD_NGPIOOUT); + gpioinfo("Writing %d\n", (int)value); + + imxrt_gpio_write(g_gpiooutputs[imxrtgpio->id], value); + return OK; +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_gpio_initialize + * + * Description: + * Initialize GPIO drivers for use with /apps/examples/gpio + * + ****************************************************************************/ + +int imxrt_gpio_initialize(void) +{ + int i; + int pincount = 0; + +#if BOARD_NGPIOIN > 0 + for (i = 0; i < BOARD_NGPIOIN; i++) + { + /* Setup and register the GPIO pin */ + + 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, pincount); + + /* Configure the pin that will be used as input */ + + imxrt_config_gpio(g_gpioinputs[i]); + + pincount++; + } +#endif + +#if BOARD_NGPIOOUT > 0 + for (i = 0; i < BOARD_NGPIOOUT; i++) + { + /* Setup and register the GPIO pin */ + + 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, pincount); + + /* Configure the pin that will be used as output */ + + imxrt_gpio_write(g_gpiooutputs[i], 0); + imxrt_config_gpio(g_gpiooutputs[i]); + + pincount++; + } +#endif + + return 0; +} +#endif /* CONFIG_DEV_GPIO && !CONFIG_GPIO_LOWER_HALF */ diff --git a/boards/arm/imxrt/teensy-4.x/src/teensy-4.h b/boards/arm/imxrt/teensy-4.x/src/teensy-4.h index 849dd778076..188d53d3c4e 100644 --- a/boards/arm/imxrt/teensy-4.x/src/teensy-4.h +++ b/boards/arm/imxrt/teensy-4.x/src/teensy-4.h @@ -118,6 +118,15 @@ #define GPIO_ENC1_PHASE_B (GPIO_XBAR1_INOUT08_1|IOMUX_ENC_DEFAULT|PADMUX_MUXMODE_ALT3) /* EMC_06 */ #define GPIO_ENC1_INDEX (GPIO_XBAR1_INOUT10_1|IOMUX_ENC_DEFAULT|PADMUX_MUXMODE_ALT1) /* B0_12 */ +/* GPIO pins used by the GPIO subsystem */ + +#define BOARD_NGPIOIN 1 /* Amount of GPIO input pins */ +#define BOARD_NGPIOOUT 1 /* Amount of GPIO output pins */ + +#define GPIO_IN1 (GPIO_INPUT | GPIO_PORT4 | GPIO_PIN4) /* EMC_04 */ +#define GPIO_OUT1 (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_GOUT_DEFAULT | \ + GPIO_PORT4 | GPIO_PIN5) /* EMC_05 */ + /**************************************************************************** * Public Types ****************************************************************************/ @@ -186,6 +195,21 @@ int imxrt_pwm_setup(void); int imxrt_adc_initialize(void); #endif +/**************************************************************************** + * Name: imxrt_gpio_initialize + * + * Description: + * Initialize GPIO drivers for use with /apps/examples/gpio + * + * Return Value: + * OK on success; a negated errno value on failure. + * + ****************************************************************************/ + +#ifdef CONFIG_DEV_GPIO +int imxrt_gpio_initialize(void); +#endif + /**************************************************************************** * Name: imxrt_enc_initialize *