hal_pi_gpio: Add a HAL driver for Raspberry Pi GPIO

Based on the hal_gpio driver from Machinekit, modified for the LinuxCNC
build environment and with support for the Raspberry Pi Version 4.


Signed-off-by: andypugh <andy@bodgesoc.org>

src/Makefile

@@ -863,9 +863,22 @@ hal_gm-objs := hal/drivers/hal_gm.o $(MATHSTUB)
 obj-$(CONFIG_HAL_PPMC) += hal_ppmc.o
 hal_ppmc-objs := hal/drivers/hal_ppmc.o $(MATHSTUB)
 
+#Don't attempt to build Pi / Beaglebone GPIO for RTAI
+ifeq ($(BUILD_SYS),uspace)
+obj-$(CONFIG_HAL_BB_GPIO) += hal_bb_gpio.o
+hal_bb_gpio-objs  :=			\
+    hal/drivers/hal_bb_gpio.o	\
+    $(MATHSTUB)
+obj-$(CONFIG_HAL_PI_GPIO) += hal_pi_gpio.o
+hal_pi_gpio-objs := 				\
+    hal/drivers/hal_pi_gpio.o 		\
+    hal/drivers/cpuinfo.o 		\
+    $(MATHSTUB)
+endif
+
 obj-$(CONFIG_HOSTMOT2) += hostmot2.o hm2_test.o hm2_pci.o hm2_7i43.o hm2_7i90.o setsserial.o
 ifeq ($(BUILD_SYS),uspace)
-obj-$(CONFIG_HOSTMOT2) += hm2_eth.o hm2_spi.o hm2_rpspi.o hal_bb_gpio.o
+obj-$(CONFIG_HOSTMOT2) += hm2_eth.o hm2_spi.o hm2_rpspi.o
 endif
 hostmot2-objs :=			  \
     hal/drivers/mesa-hostmot2/hostmot2.o  \
@@ -910,9 +923,6 @@ hm2_spi-objs  :=			  \
 hm2_rpspi-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_rpspi.o   \
     $(MATHSTUB)
-hal_bb_gpio-objs  :=			  \
-    hal/drivers/hal_bb_gpio.o		  \
-    $(MATHSTUB)
 hm2_test-objs :=			  \
     hal/drivers/mesa-hostmot2/hm2_test.o  \
     hal/drivers/mesa-hostmot2/bitfile.o   \
@@ -1130,6 +1140,7 @@ endif
 ../rtlib/hm2_spi$(MODULE_EXT): $(addprefix objects/rt,$(hm2_spi-objs))
 ../rtlib/hm2_rpspi$(MODULE_EXT): $(addprefix objects/rt,$(hm2_rpspi-objs))
 ../rtlib/hal_bb_gpio$(MODULE_EXT): $(addprefix objects/rt,$(hal_bb_gpio-objs))
+../rtlib/hal_pi_gpio$(MODULE_EXT): $(addprefix objects/rt,$(hal_pi_gpio-objs))
 
 ifeq ($(TRIVIAL_BUILD),no)
 READ_RTDEPS = $(wildcard $(RTDEPS))

src/Makefile.inc.in

@@ -215,6 +215,8 @@ CONFIG_PCI_8255=m
 CONFIG_HOSTMOT2=m
 CONFIG_OPTO_AC5=m
 CONFIG_HAL_GM=m
+CONFIG_HAL_BB_GPIO=m
+CONFIG_HAL_PI_GPIO=m
 
 RTAPI_APP_CFLAGS=@RTAPI_APP_CFLAGS@
 CONFIG_USPACE_RTAI=@CONFIG_USPACE_RTAI@

src/hal/drivers/cpuinfo.c

@@ -0,0 +1,89 @@
+/*
+Copyright (c) 2012 Ben Croston
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include "cpuinfo.h"
+
+char *get_cpuinfo_revision(char *revision)
+{
+   FILE *fp;
+   char buffer[1024];
+   char hardware[1024];
+   int  rpi_found = 0;
+
+   if ((fp = fopen("/proc/cpuinfo", "r")) == NULL)
+      return 0;
+
+   while(!feof(fp)) {
+      fgets(buffer, sizeof(buffer) , fp);
+      sscanf(buffer, "Hardware	: %s", hardware);
+      if (strcmp(hardware, "BCM2708") == 0)
+         rpi_found = 1;
+      else if (strcmp(hardware, "BCM2709") == 0)
+         rpi_found = 1;
+      else if (strcmp(hardware, "BCM2835") == 0)
+         rpi_found = 1;
+      sscanf(buffer, "Revision	: %s", revision);
+   }
+   fclose(fp);
+
+   if (!rpi_found)
+      revision = NULL;
+   return revision;
+}
+
+int get_rpi_revision(void)
+{
+   char revision[1024] = {'\0'};
+
+   if (get_cpuinfo_revision(revision) == NULL)
+      return -1;
+
+   if ((strcmp(revision, "0002") == 0) ||
+       (strcmp(revision, "1000002") == 0 ) ||
+       (strcmp(revision, "0003") == 0) ||
+       (strcmp(revision, "1000003") == 0 ))
+      return 1;
+   else if ((strcmp(revision, "0004") == 0) ||
+            (strcmp(revision, "1000004") == 0 ) ||
+            (strcmp(revision, "0005") == 0) ||
+            (strcmp(revision, "1000005") == 0 ) ||
+            (strcmp(revision, "0006") == 0) ||
+            (strcmp(revision, "1000006") == 0 ))
+      return 2;
+   else if ((strcmp(revision, "a01041") == 0) ||
+            (strcmp(revision, "a21041") == 0) ||
+	    (strcmp(revision, "a22042") == 0))
+      return 3;
+   else if ((strcmp(revision, "a22082") == 0) ||
+	    (strcmp(revision, "a02082") == 0) ||
+	    (strcmp(revision, "a32082") == 0) ||
+	    (strcmp(revision, "a020d3") == 0))
+      return 4;
+    else if ((strcmp(revision, "a03111") == 0) ||
+	    (strcmp(revision, "b03111") == 0) ||
+	    (strcmp(revision, "c03111") == 0))
+      return 5;
+   else // assume rev 5
+      return 6;
+}

src/hal/drivers/cpuinfo.h

@@ -0,0 +1,23 @@
+/*
+Copyright (c) 2012 Ben Croston
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+int get_rpi_revision(void);