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Finish changes to GPIO HIL
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Separate out Pin and PinCtl

Port boards, chips and capsules to new interface
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@alevy
alevy committed Oct 6, 2016
1 parent f16beac commit 38d5fbb
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Showing 8 changed files with 86 additions and 76 deletions.
10 changes: 5 additions & 5 deletions boards/nrf51dk/src/main.rs
View file
Expand Up @@ -46,7 +46,7 @@ extern crate nrf51;
use capsules::timer::TimerDriver;
use capsules::virtual_alarm::{MuxAlarm, VirtualMuxAlarm};
use kernel::{Chip, SysTick};
use kernel::hil::gpio::GPIOPin;
use kernel::hil::gpio::Pin;
use nrf51::timer::ALARM1;
use nrf51::timer::TimerAlarm;

Expand Down Expand Up @@ -140,7 +140,7 @@ pub unsafe fn reset_handler() {
],
4 * 22);

nrf51::gpio::PORT[LED1_PIN].enable_output();
nrf51::gpio::PORT[LED1_PIN].make_output();
nrf51::gpio::PORT[LED1_PIN].clear();

let gpio = static_init!(
Expand Down Expand Up @@ -218,13 +218,13 @@ pub unsafe extern "C" fn rust_begin_unwind(_args: &Arguments,
_file: &'static str,
_line: usize)
-> ! {
use kernel::hil::gpio::GPIOPin;
use kernel::hil::gpio::Pin;

let led0 = &nrf51::gpio::PORT[LED1_PIN];
let led1 = &nrf51::gpio::PORT[LED2_PIN];

led0.enable_output();
led1.enable_output();
led0.make_output();
led1.make_output();
loop {
for _ in 0..100000 {
led0.set();
Expand Down
23 changes: 12 additions & 11 deletions capsules/src/gpio.rs
View file
@@ -1,13 +1,13 @@
use core::cell::Cell;
use kernel::{AppId, Callback, Driver};
use kernel::hil::gpio::{GPIOPin, InputMode, InterruptMode, Client};
use kernel::hil::gpio::{Pin, PinCtl, InputMode, InterruptMode, Client};

pub struct GPIO<'a, G: GPIOPin + 'a> {
pub struct GPIO<'a, G: Pin + 'a> {
pins: &'a [&'a G],
callback: Cell<Option<Callback>>,
}

impl<'a, G: GPIOPin> GPIO<'a, G> {
impl<'a, G: Pin + PinCtl> GPIO<'a, G> {
pub fn new(pins: &'a [&'a G]) -> GPIO<'a, G> {
GPIO {
pins: pins,
Expand All @@ -16,20 +16,21 @@ impl<'a, G: GPIOPin> GPIO<'a, G> {
}

fn configure_input_pin(&self, pin_num: usize, config: usize) -> isize {
let pins = self.pins.as_ref();
let pin = self.pins[pin_num];
pin.make_input();
match config {
0 => {
pins[pin_num].enable_input(InputMode::PullUp);
pin.set_input_mode(InputMode::PullUp);
0
}

1 => {
pins[pin_num].enable_input(InputMode::PullDown);
pin.set_input_mode(InputMode::PullDown);
0
}

2 => {
pins[pin_num].enable_input(InputMode::PullNone);
pin.set_input_mode(InputMode::PullNone);
0
}

Expand All @@ -41,7 +42,7 @@ impl<'a, G: GPIOPin> GPIO<'a, G> {
let pins = self.pins.as_ref();
match config {
0 => {
pins[pin_num].enable_interrupt(pin_num, InterruptMode::Change);
pins[pin_num].enable_interrupt(pin_num, InterruptMode::EitherEdge);
0
}

Expand All @@ -60,7 +61,7 @@ impl<'a, G: GPIOPin> GPIO<'a, G> {
}
}

impl<'a, G: GPIOPin> Client for GPIO<'a, G> {
impl<'a, G: Pin> Client for GPIO<'a, G> {
fn fired(&self, pin_num: usize) {
// read the value of the pin
let pins = self.pins.as_ref();
Expand All @@ -73,7 +74,7 @@ impl<'a, G: GPIOPin> Client for GPIO<'a, G> {
}
}

impl<'a, G: GPIOPin> Driver for GPIO<'a, G> {
impl<'a, G: Pin + PinCtl> Driver for GPIO<'a, G> {
fn subscribe(&self, subscribe_num: usize, callback: Callback) -> isize {
match subscribe_num {
// subscribe to all pin interrupts
Expand All @@ -96,7 +97,7 @@ impl<'a, G: GPIOPin> Driver for GPIO<'a, G> {
if data >= pins.len() {
-1
} else {
pins[data].enable_output();
pins[data].make_output();
0
}
}
Expand Down
9 changes: 5 additions & 4 deletions capsules/src/tmp006.rs
View file
Expand Up @@ -2,7 +2,7 @@ use core::cell::Cell;
use kernel::{AppId, Callback, Driver};
use kernel::common::math::{sqrtf32, get_errno};
use kernel::common::take_cell::TakeCell;
use kernel::hil::gpio::{GPIOPin, InputMode, InterruptMode, Client};
use kernel::hil::gpio::{Pin, InterruptMode, Client};
use kernel::hil::i2c;

pub static mut BUFFER: [u8; 3] = [0; 3];
Expand Down Expand Up @@ -87,7 +87,7 @@ enum ProtocolState {

pub struct TMP006<'a> {
i2c: &'a i2c::I2CDevice,
interrupt_pin: &'a GPIOPin,
interrupt_pin: &'a Pin,
sampling_period: Cell<u8>,
repeated_mode: Cell<bool>,
callback: Cell<Option<Callback>>,
Expand All @@ -97,7 +97,7 @@ pub struct TMP006<'a> {

impl<'a> TMP006<'a> {
pub fn new(i2c: &'a i2c::I2CDevice,
interrupt_pin: &'a GPIOPin,
interrupt_pin: &'a Pin,
buffer: &'static mut [u8])
-> TMP006<'a> {
// setup and return struct
Expand Down Expand Up @@ -144,7 +144,8 @@ impl<'a> TMP006<'a> {

fn enable_interrupts(&self) {
// setup interrupts from the sensor
self.interrupt_pin.enable_input(InputMode::PullUp);
// TODO(alevy): do we need to make sure it's a pull up?
self.interrupt_pin.make_input();
self.interrupt_pin.enable_interrupt(0, InterruptMode::FallingEdge);
}

Expand Down
4 changes: 2 additions & 2 deletions capsules/src/virtual_spi.rs
View file
Expand Up @@ -94,7 +94,7 @@ enum Op {
pub struct SPIMasterDevice<'a> {
mux: &'a MuxSPIMaster<'a>,
chip_select: Option<u8>,
chip_select_gpio: Option<&'static hil::gpio::GPIOPin>,
chip_select_gpio: Option<&'static hil::gpio::Pin>,
txbuffer: TakeCell<&'static mut [u8]>,
rxbuffer: TakeCell<Option<&'static mut [u8]>>,
operation: Cell<Op>,
Expand All @@ -105,7 +105,7 @@ pub struct SPIMasterDevice<'a> {
impl<'a> SPIMasterDevice<'a> {
pub const fn new(mux: &'a MuxSPIMaster<'a>,
chip_select: Option<u8>,
chip_select_gpio: Option<&'static hil::gpio::GPIOPin>)
chip_select_gpio: Option<&'static hil::gpio::Pin>)
-> SPIMasterDevice<'a> {
SPIMasterDevice {
mux: mux,
Expand Down
40 changes: 19 additions & 21 deletions chips/nrf51/src/gpio.rs
View file
Expand Up @@ -108,34 +108,32 @@ impl GPIOPin {
}
}

impl hil::gpio::GPIOPin for GPIOPin {
fn enable_output(&self) {
// bit 0: set as output
// bit 1: disconnect input buffer (1 is disconnect)
// bit 2-3: no pullup/down
// bit 8-10: drive configruation
// bit 16-17: sensing
GPIO().pin_cnf[self.pin as usize].set((1 << 0) | // set as output
(1 << 1) | // no input buf
(0 << 2) | // no pull
(0 << 8) | // no drive
(0 << 16)); // no sensing
impl hil::gpio::PinCtl for GPIOPin {
fn set_input_mode(&self, mode: hil::gpio::InputMode) {
let conf = match mode {
hil::gpio::InputMode::PullUp => 0x3,
hil::gpio::InputMode::PullDown => 0x1,
hil::gpio::InputMode::PullNone => 0,
};
let pin_cnf = GPIO().pin_cnf[self.pin as usize];
pin_cnf.set((pin_cnf.get() & !(0b11 << 2)) | (conf << 2));
}
}

impl hil::gpio::Pin for GPIOPin {
fn make_output(&self) {
GPIO().dirset.set(1 << self.pin);
}

// Configuration constants stolen from
// mynewt/hw/mcu/nordic/nrf51xxx/include/mcu/nrf51_bitfields.h
fn enable_input(&self, mode: hil::gpio::InputMode) {
let conf = match mode {
hil::gpio::InputMode::PullUp => 0x3 << 2,
hil::gpio::InputMode::PullDown => 0x1 << 2,
hil::gpio::InputMode::PullNone => 0,
};
GPIO().pin_cnf[self.pin as usize].set(conf);
fn make_input(&self) {
GPIO().dirclr.set(1 << self.pin);
}

// Not clk
fn disable(&self) {
self.enable_input(hil::gpio::InputMode::PullNone);
hil::gpio::PinCtl::set_input_mode(self, hil::gpio::InputMode::PullNone);
}

fn set(&self) {
Expand All @@ -158,7 +156,7 @@ impl hil::gpio::GPIOPin for GPIOPin {
self.client_data.set(_client_data);
let mut mode_bits: u32 = 1; // Event
mode_bits |= match _mode {
hil::gpio::InterruptMode::Change => 3 << 16,
hil::gpio::InterruptMode::EitherEdge => 3 << 16,
hil::gpio::InterruptMode::RisingEdge => 1 << 16,
hil::gpio::InterruptMode::FallingEdge => 2 << 16,
};
Expand Down
37 changes: 21 additions & 16 deletions chips/sam4l/src/gpio.rs
View file
Expand Up @@ -459,21 +459,8 @@ impl hil::Controller for GPIOPin {
}
}

impl hil::gpio::GPIOPin for GPIOPin {
fn disable(&self) {
GPIOPin::disable(self);
}

fn enable_output(&self) {
self.enable();
GPIOPin::enable_output(self);
self.disable_schmidtt_trigger();
}

fn enable_input(&self, mode: hil::gpio::InputMode) {
self.enable();
GPIOPin::disable_output(self);
self.enable_schmidtt_trigger();
impl hil::gpio::PinCtl for GPIOPin {
fn set_input_mode(&self, mode: hil::gpio::InputMode) {
match mode {
hil::gpio::InputMode::PullUp => {
self.disable_pull_down();
Expand All @@ -489,6 +476,24 @@ impl hil::gpio::GPIOPin for GPIOPin {
}
}
}
}

impl hil::gpio::Pin for GPIOPin {
fn disable(&self) {
GPIOPin::disable(self);
}

fn make_output(&self) {
self.enable();
GPIOPin::enable_output(self);
self.disable_schmidtt_trigger();
}

fn make_input(&self) {
self.enable();
GPIOPin::disable_output(self);
self.enable_schmidtt_trigger();
}

fn read(&self) -> bool {
GPIOPin::read(self)
Expand All @@ -508,7 +513,7 @@ impl hil::gpio::GPIOPin for GPIOPin {

fn enable_interrupt(&self, client_data: usize, mode: hil::gpio::InterruptMode) {
let mode_bits = match mode {
hil::gpio::InterruptMode::Change => 0b00,
hil::gpio::InterruptMode::EitherEdge => 0b00,
hil::gpio::InterruptMode::RisingEdge => 0b01,
hil::gpio::InterruptMode::FallingEdge => 0b10,
};
Expand Down
27 changes: 16 additions & 11 deletions kernel/src/hil/gpio.rs
View file
Expand Up @@ -14,37 +14,42 @@ pub enum InterruptMode {
EitherEdge,
}

pub trait PinCtl {
/// Configure whether the pin should have a pull-up or pull-down resistor or
/// neither.
fn set_input_mode(&self, InputMode);
}

/// Interface for synchronous GPIO pins.
pub trait Pin {
/// Configure the GPIO pin as an output pin.
fn make_output(&self);

/// Configure the GPIO pin as an input pin. Also configure
/// if it should have a pull-up, pull-down, or neither.
fn make_input(&self, mode: InputMode);


/// Configure the GPIO pin as an input pin.
fn make_input(&self);

/// Disable the GPIO pin and put it into its lowest power
/// mode.
fn disable(&self);

/// Set the GPIO pin high. It must be an output.
fn set(&self);

/// Set the GPIO pin low. It must be an output.
fn clear(&self);

/// Toggle the GPIO pin. It must be an output.
fn toggle(&self);

/// Get the current state of an input GPIO pin.
fn read(&self) -> bool;

/// Enable an interrupt on the GPIO pin. It must
/// be configured as an interrupt. The `identifier`
/// can be any value and will be returned to you
/// when the interrupt on this pin fires.
fn enable_interrupt(&self, identifier: usize, mode: InterruptMode);

/// Disable the interrupt for the GPIO pin.
fn disable_interrupt(&self);
}
Expand Down
12 changes: 6 additions & 6 deletions kernel/src/hil/led.rs
View file
Expand Up @@ -16,29 +16,29 @@ pub trait Led {

/// For LEDs in which on is when GPIO is high.
pub struct LedHigh {
pub pin: &'static mut gpio::GPIOPin,
pub pin: &'static mut gpio::Pin,
}

/// For LEDs in which on is when GPIO is low.
pub struct LedLow {
pub pin: &'static mut gpio::GPIOPin,
pub pin: &'static mut gpio::Pin,
}

impl LedHigh {
pub fn new(p: &'static mut gpio::GPIOPin) -> LedHigh {
pub fn new(p: &'static mut gpio::Pin) -> LedHigh {
LedHigh { pin: p }
}
}

impl LedLow {
pub fn new(p: &'static mut gpio::GPIOPin) -> LedLow {
pub fn new(p: &'static mut gpio::Pin) -> LedLow {
LedLow { pin: p }
}
}

impl Led for LedHigh {
fn init(&mut self) {
self.pin.enable_output();
self.pin.make_output();
}

fn on(&mut self) {
Expand All @@ -60,7 +60,7 @@ impl Led for LedHigh {

impl Led for LedLow {
fn init(&mut self) {
self.pin.enable_output();
self.pin.make_output();
}

fn on(&mut self) {
Expand Down

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