gpiochips API, core and unit test (#703)

* Add external gpiochips driver API and core

* gpiochips: add unit test

firmware/Makefile

@@ -132,6 +132,7 @@ include console/binary/tunerstudio.mk
 include $(PROJECT_DIR)/ext/fatfs.mk
 
 include $(PROJECT_DIR)/hw_layer/hw_layer.mk
+include $(PROJECT_DIR)/hw_layer/drivers/drivers.mk
 include $(PROJECT_DIR)/hw_layer/sensors/sensors.mk
 include $(PROJECT_DIR)/hw_layer/mass_storage/mass_storage.mk
 include $(PROJECT_DIR)/development/development.mk
@@ -181,6 +182,8 @@ CSRC = $(STARTUPSRC) \
 	$(CONSOLESRC) \
 	$(DEV_SRC) \
 	$(HW_LAYER_EMS) \
+	$(HW_LAYER_DRIVERS_CORE) \
+	$(HW_LAYER_DRIVERS) \
 	$(CONTROLLERSSRC) \
 	$(CONTROLLERS_ALGO_SRC) \
 	$(CONTROLLERS_CORE_SRC) \
@@ -272,6 +275,7 @@ INCDIR = $(CHIBIOS)/os/license \
 	hw_layer/sensors \
 	hw_layer/mass_storage \
 	hw_layer/$(CPU_HWLAYER) \
+	$(HW_LAYER_DRIVERS_INC) \
 	development \
 	development/hw_layer \
 	development/test \

firmware/hw_layer/drivers/drivers.mk

@@ -0,0 +1,9 @@
+DRIVERS_DIR=$(PROJECT_DIR)/hw_layer/drivers
+
+HW_LAYER_DRIVERS_INC = \
+	$(DRIVERS_DIR)
+
+HW_LAYER_DRIVERS_CORE = \
+	$(DRIVERS_DIR)/gpio/core.c \
+
+HW_LAYER_DRIVERS =

firmware/hw_layer/drivers/gpio/core.c

@@ -0,0 +1,285 @@
+/**
+ * @file	gpio/core.c
+ * @brief	EFI-related GPIO code for external gpio chips
+ *
+ * @date Mar 8, 2019
+ * @author Andrey Gusakov, (c) 2019
+ */
+
+#include "global.h"
+#include "gpio/gpio_ext.h"
+
+#if (BOARD_EXT_GPIOCHIPS > 0)
+
+/*==========================================================================*/
+/* Local definitions.														*/
+/*==========================================================================*/
+
+/* fist available gpio number after on-chip gpios */
+#define EXT_GPIOS_FIRST (GPIOH_15 + 1)
+static size_t gpio_base_free = EXT_GPIOS_FIRST;
+
+/*==========================================================================*/
+/* Exported variables.														*/
+/*==========================================================================*/
+
+/*==========================================================================*/
+/* Local variables and types.												*/
+/*==========================================================================*/
+
+/* TODO: chnage array to list? */
+struct gpiochip {
+	size_t				base;
+	size_t				size;
+	struct gpiochip_ops	*ops;
+	const char			*name;
+	/* optional names of each gpio */
+	const char			**gpio_names;
+	/* private driver data passed to ops */
+	void				*priv;
+};
+
+static struct gpiochip chips[BOARD_EXT_GPIOCHIPS];
+
+/*==========================================================================*/
+/* Local functions.															*/
+/*==========================================================================*/
+
+static struct gpiochip *gpiochip_find(unsigned int pin)
+{
+	int i;
+
+	for (i = 0; i < BOARD_EXT_GPIOCHIPS; i++) {
+		struct gpiochip *chip = &chips[i];
+
+		if ((pin >= chip->base) && (pin < (chip->base + chip->size)))
+			return chip;
+	}
+
+	return NULL;
+}
+
+/*==========================================================================*/
+/* Exported functions.														*/
+/*==========================================================================*/
+
+/**
+ * return numeric part of EXTERNAL pin name.
+ * @details
+ */
+
+int getHwPinExt(unsigned int pin)
+{
+	struct gpiochip *chip = gpiochip_find(pin);
+
+	if (chip)
+		return pin - chip->base;
+
+	return EFI_ERROR_CODE;
+}
+
+/**
+ * @brief Register gpiochip
+ * @details return pin name or gpiochip name (if no pins names provided)
+ */
+
+const char *portNameExt(unsigned int pin)
+{
+	struct gpiochip *chip = gpiochip_find(pin);
+
+	if (chip) {
+		if (chip->gpio_names)
+			return chip->gpio_names[pin - chip->base];
+		else
+			return chip->name;
+	}
+
+	return NULL;
+}
+
+/**
+ * @brief Register gpiochip
+ * @details should be called from board file. Can be called before os ready.
+ * All chips should be registered before gpiochips_init() called.
+ * returns -1 in case of no free chips left
+ * returns -1 in case of no ops provided, incorrect chip size
+ * else returns chip base
+ */
+
+int gpiochip_register(const char *name, struct gpiochip_ops *ops, size_t size, void *priv)
+{
+	int i;
+	struct gpiochip *chip = NULL;
+
+	/* no ops provided, zero size? */
+	if ((!ops) || (!size))
+		return -1;
+
+	if ((!ops->writePad) && (!ops->readPad))
+		return -1;
+
+	/* find free gpiochip struct */
+	for (i = 0; i < BOARD_EXT_GPIOCHIPS; i++) {
+		if (chips[i].base == 0) {
+			chip = &chips[i];
+			break;
+		}
+	}
+
+	/* no free chips left */
+	if (chip == NULL)
+		return -1;
+
+	/* register chip */
+	chip->name = name;
+	chip->ops  = ops;
+	chip->base = gpio_base_free;
+	chip->size = size;
+	chip->priv = priv;
+
+	gpio_base_free += size;
+
+	return (chip->base);
+}
+
+/**
+ * @brief Init all registered gpiochips
+ * @details will call gpiochip init ops for all registered chips
+ * calles when OS is ready, so gpiochip can start threads, use drivers and so on.
+ */
+
+int gpiochips_init(void)
+{
+	int i;
+	int ret;
+	int pins_added = 0;
+
+	for (i = 0; i < BOARD_EXT_GPIOCHIPS; i++) {
+		struct gpiochip *chip = &chips[i];
+
+		if (!chip->base)
+			continue;
+
+		if (chip->ops->init)
+			ret = chip->ops->init(chip->priv);
+
+		if (ret < 0) {
+			/* remove chip if it fails to init */
+			/* TODO: we will have a gap, is it ok? */
+			chip->base = 0;
+		} else {
+			pins_added += chip->size;
+		}
+	}
+
+	return pins_added;
+}
+
+/**
+ * @brief Set pin mode of gpiochip
+ * @details set pad mode for given pin.
+ * return -1 if driver does not implemet setPadMode ops
+ * else return value from gpiochip driver.
+ */
+
+int gpiochips_setPadMode(brain_pin_e pin, int mode)
+{
+	struct gpiochip *chip = gpiochip_find(pin);
+
+	if (!chip)
+		return -1;
+
+	if ((chip->ops->setPadMode))
+		return chip->ops->setPadMode(chip->priv, pin - chip->base, mode);
+
+	return -1;
+}
+
+/**
+ * @brief Set value to gpio of gpiochip
+ * @details actual output value depent on current gpiochip implementation
+ * for smart switch inactive supposed to be closed switch (no current flows)
+ * returns -1 in case of pin not belong to any gpio chip
+ * returns -1 in case of chip does not support seting output value (input only)
+ * else return value from gpiochip driver;
+ */
+
+int gpiochips_writePad(brain_pin_e pin, int value)
+{
+	struct gpiochip *chip = gpiochip_find(pin);
+
+	if (!chip)
+		return -1;
+
+	if (chip->ops->writePad)
+		return chip->ops->writePad(chip->priv, pin - chip->base, value);
+
+	return -1;
+}
+
+/**
+ * @brief Get value to gpio of gpiochip
+ * @details actual input value depent on current gpiochip implementation
+ * returns -1 in case of pin not belong to any gpio chip
+ * returns -1 in case of chip does not support getting output value (output only)
+ * else return value from gpiochip driver;
+ */
+
+int gpiochips_readPad(brain_pin_e pin)
+{
+	struct gpiochip *chip = gpiochip_find(pin);
+
+	if (!chip)
+		return -1;
+
+	if (chip->ops->readPad)
+		return chip->ops->readPad(chip->priv, pin - chip->base);
+
+	return -1;
+}
+
+/**
+ * @brief Get total pin count allocated for external gpio chips.
+ * @details Will also include unused pins for chips that was registred
+ * but later fails to init.
+ */
+
+int gpiochips_get_total_pins(void)
+{
+	return (gpio_base_free - EXT_GPIOS_FIRST);
+}
+
+#else /* BOARD_EXT_GPIOCHIPS > 0 */
+
+int getHwPinExt(unsigned int pin)
+{
+	(void)pin;
+
+	return -1;
+}
+
+const char *portNameExt(unsigned int pin)
+{
+	(void)pin;
+
+	return NULL;
+}
+
+int gpiochip_register(const char *name, struct gpiochip_ops *ops, size_t size, void *priv)
+{
+	(void)name; (void)ops; (void)size; (void)priv;
+
+	return 0;
+}
+
+int gpiochips_init(void)
+{
+	return 0;
+}
+
+int gpiochips_get_total_pins(void)
+{
+	return 0;
+}
+
+#endif /* BOARD_EXT_GPIOCHIPS > 0 */

firmware/hw_layer/drivers/gpio/gpio_ext.h

@@ -0,0 +1,61 @@
+/*
+ * gpio_ext.h
+ *
+ * Abstraction layer definitions for extrenal gpios
+ *
+ * @date Mar 8, 2019
+ * @author Andrey Gusakov, (c) 2019
+ */
+
+#ifndef GPIO_EXT_H_
+#define GPIO_EXT_H_
+
+#if EFI_PROD_CODE
+#include "board.h"
+#endif
+
+#include "rusefi_enums.h"
+
+/*==========================================================================*/
+/* Checks																	*/
+/*==========================================================================*/
+
+#ifndef BOARD_EXT_GPIOCHIPS
+	#define BOARD_EXT_GPIOCHIPS	0
+#endif
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif /* __cplusplus */
+
+struct gpiochip_ops {
+	int (*setPadMode)(void *data, unsigned int pin, int mode);
+	int (*writePad)(void *data, unsigned int pin, int value);
+	int (*readPad)(void *data, unsigned int pin);
+	int (*getDiag)(void *data, unsigned int pin);
+	int (*init)(void *data);
+	int (*deinit)(void *data);
+};
+
+int getHwPinExt(unsigned int pin);
+const char *portNameExt(unsigned int pin);
+
+/* register gpio cgip */
+int gpiochip_register(const char *name, struct gpiochip_ops *ops, size_t size, void *priv);
+
+/* gpio extenders subsystem init */
+int gpiochips_init(void);
+
+int gpiochips_setPadMode(brain_pin_e pin, int mode);
+int gpiochips_writePad(brain_pin_e pin, int value);
+int gpiochips_readPad(brain_pin_e pin);
+
+/* return total number of external gpios */
+int gpiochips_get_total_pins(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* GPIO_EXT_H_ */

unit_tests/Makefile

@@ -79,6 +79,7 @@ include $(PROJECT_DIR)/controllers/system/system.mk
 include $(PROJECT_DIR)/controllers/sensors/sensors.mk
 include $(PROJECT_DIR)/controllers/trigger/trigger.mk
 include $(PROJECT_DIR)/hw_layer/hw_layer.mk
+include $(PROJECT_DIR)/hw_layer/drivers/drivers.mk
 include $(PROJECT_DIR)/hw_layer/sensors/sensors.mk
 include test.mk
 
@@ -94,6 +95,7 @@ CSRC =	$(UTILSRC) \
 	$(CONTROLLERS_MATH_SRC) \
 	$(CONTROLLERS_SENSORS_SRC) \
 	$(ENGINES_SRC) \
+	$(HW_LAYER_DRIVERS_CORE) \
 	$(TEST_SRC_C)
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -155,6 +157,7 @@ INCDIR = . \
 	$(PROJECT_DIR)/hw_layer \
 	$(PROJECT_DIR)/hw_layer/algo \
 	$(PROJECT_DIR)/hw_layer/sensors/ \
+	$(HW_LAYER_DRIVERS_INC) \
 	test_data_structures \
 	googletest/googlemock/include \
 	googletest/googletest \

unit_tests/efifeatures.h

@@ -53,4 +53,6 @@
 
 #define EFI_ANALOG_SENSORS TRUE
 
+#define BOARD_EXT_GPIOCHIPS	3
+
 #endif /* EFIFEATURES_H_ */

unit_tests/test.mk

@@ -28,5 +28,6 @@ TEST_SRC_CPP = unit_test_framework.cpp \
 	tests/test_sensors.cpp \
 	tests/test_pid_auto.cpp \
 	tests/test_accel_enrichment.cpp \
+	tests/test_gpiochip.cpp \
 	afm2mapConverter.cpp
 	

unit_tests/tests/test_gpiochip.cpp

@@ -0,0 +1,146 @@
+/**
+ * @file	test_gpiochip.cpp
+ *
+ * @date Mar 12, 2019
+ */
+
+#include "unit_test_framework.h"
+#include "global.h"
+#include "gpio/gpio_ext.h"
+
+using ::testing::_;
+
+static int testchip_readPad(void *data, unsigned int pin)
+{
+	if (pin & 0x01)
+		return 1;
+	return 0;
+}
+
+static int io_state = 0;
+
+static int testchip_writePad(void *data, unsigned int pin, int value)
+{
+	if (value)
+		io_state |=  (1 << value);
+	else
+		io_state &= ~(1 << value);
+
+	return 0;
+}
+
+static int initcalls = 0;
+
+static int testchip_init(void *data)
+{
+	initcalls++;
+
+	return 0;
+}
+
+static int calls_to_failed_chip = 0;
+static int testchip_failed_writePad(void *data, unsigned int pin, int value)
+{
+	calls_to_failed_chip++;
+}
+
+static int testchip_failed_init(void *data)
+{
+	return -1;
+}
+
+/* invalid chip */
+struct gpiochip_ops testchip0 = {
+	/*.setPadMode	=*/ NULL,
+	/*.writePad		=*/ NULL,
+	/*.readPad		=*/ NULL,
+	/*.getDiag		=*/ NULL,
+	/*.init			=*/ testchip_init,
+	/*.deinit 		=*/ NULL,
+};
+
+/* Input only chip */
+struct gpiochip_ops testchip1 = {
+	/*.setPadMode	=*/ NULL,
+	/*.writePad		=*/ NULL,
+	/*.readPad		=*/ testchip_readPad,
+	/*.getDiag		=*/ NULL,
+	/*.init			=*/ testchip_init,
+	/*.deinit 		=*/ NULL,
+};
+
+/* Input only chip */
+struct gpiochip_ops testchip2 = {
+	/*.setPadMode	=*/ NULL,
+	/*.writePad		=*/ testchip_writePad,
+	/*.readPad		=*/ NULL,
+	/*.getDiag		=*/ NULL,
+	/*.init			=*/ testchip_init,
+	/*.deinit 		=*/ NULL,
+};
+
+/* testchi[ failed to init */
+struct gpiochip_ops testchip3 = {
+	/*.setPadMode	=*/ NULL,
+	/*.writePad		=*/ testchip_failed_writePad,
+	/*.readPad		=*/ NULL,
+	/*.getDiag		=*/ NULL,
+	/*.init			=*/ testchip_failed_init,
+	/*.deinit 		=*/ NULL,
+};
+
+TEST(gpioext, testGpioExt) {
+	int ret;
+	int chip1_base, chip2_base, chip3_base;
+
+	printf("====================================================================================== testGpioExt\r\n");
+
+	/* should fail to register chip with no readPad and writePad */
+	EXPECT_FALSE(gpiochip_register("invalid", &testchip0, 16, NULL) > 0);
+
+	/* should fail to register chip with zero gpios */
+	EXPECT_FALSE(gpiochip_register("invalid", &testchip1, 0, NULL) > 0);
+
+	chip1_base = gpiochip_register("input only", &testchip1, 16, NULL);
+	EXPECT_TRUE(chip1_base > 0);
+
+	EXPECT_EQ(16, gpiochips_get_total_pins());
+
+	chip2_base = gpiochip_register("output only", &testchip2, 16, NULL);
+	EXPECT_TRUE(chip2_base > 0);
+
+	/* this chip will fail to init, but should be registered without errors */
+	chip3_base = gpiochip_register("failed chip", &testchip3, 16, NULL);
+	EXPECT_TRUE(chip2_base > 0);
+
+	EXPECT_EQ(48, gpiochips_get_total_pins());
+
+	/* init 3 chips, one will fail */
+	ret = gpiochips_init();
+	EXPECT_EQ(32, ret);
+
+	/* two drivers should be inited */
+	EXPECT_EQ(2, initcalls);
+
+	/* gpio reads */
+	EXPECT_TRUE(gpiochips_readPad(chip1_base + 0) == 0);
+	EXPECT_TRUE(gpiochips_readPad(chip1_base + 1) != 0);
+
+	/* gpio write */
+	gpiochips_writePad(chip2_base + 0, 0);
+	gpiochips_writePad(chip2_base + 1, 1);
+	EXPECT_EQ(0x02, io_state);
+
+	/* try to access failed chip */
+	EXPECT_FALSE(gpiochips_writePad(chip3_base + 0, 0) >= 0);
+	EXPECT_FALSE(gpiochips_writePad(chip3_base + 1, 1) >= 0);
+	EXPECT_EQ(0, calls_to_failed_chip);
+
+	/* read/write outside range */
+	EXPECT_TRUE(gpiochips_readPad(chip1_base - 1) < 0);
+	EXPECT_TRUE(gpiochips_writePad(chip1_base - 1, 1) < 0);
+
+	EXPECT_TRUE(gpiochips_readPad(chip3_base + 16) < 0);
+	EXPECT_TRUE(gpiochips_writePad(chip3_base + 16, 1) < 0);
+
+}