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Based on kernel version 4.13.3. Page generated on 2017-09-23 13:55 EST.

1	GPIO Descriptor Driver Interface
2	================================
4	This document serves as a guide for GPIO chip drivers writers. Note that it
5	describes the new descriptor-based interface. For a description of the
6	deprecated integer-based GPIO interface please refer to gpio-legacy.txt.
8	Each GPIO controller driver needs to include the following header, which defines
9	the structures used to define a GPIO driver:
11		#include <linux/gpio/driver.h>
14	Internal Representation of GPIOs
15	================================
17	Inside a GPIO driver, individual GPIOs are identified by their hardware number,
18	which is a unique number between 0 and n, n being the number of GPIOs managed by
19	the chip. This number is purely internal: the hardware number of a particular
20	GPIO descriptor is never made visible outside of the driver.
22	On top of this internal number, each GPIO also need to have a global number in
23	the integer GPIO namespace so that it can be used with the legacy GPIO
24	interface. Each chip must thus have a "base" number (which can be automatically
25	assigned), and for each GPIO the global number will be (base + hardware number).
26	Although the integer representation is considered deprecated, it still has many
27	users and thus needs to be maintained.
29	So for example one platform could use numbers 32-159 for GPIOs, with a
30	controller defining 128 GPIOs at a "base" of 32 ; while another platform uses
31	numbers 0..63 with one set of GPIO controllers, 64-79 with another type of GPIO
32	controller, and on one particular board 80-95 with an FPGA. The numbers need not
33	be contiguous; either of those platforms could also use numbers 2000-2063 to
34	identify GPIOs in a bank of I2C GPIO expanders.
37	Controller Drivers: gpio_chip
38	=============================
40	In the gpiolib framework each GPIO controller is packaged as a "struct
41	gpio_chip" (see linux/gpio/driver.h for its complete definition) with members
42	common to each controller of that type:
44	 - methods to establish GPIO line direction
45	 - methods used to access GPIO line values
46	 - method to set electrical configuration to a a given GPIO line
47	 - method to return the IRQ number associated to a given GPIO line
48	 - flag saying whether calls to its methods may sleep
49	 - optional line names array to identify lines
50	 - optional debugfs dump method (showing extra state like pullup config)
51	 - optional base number (will be automatically assigned if omitted)
52	 - optional label for diagnostics and GPIO chip mapping using platform data
54	The code implementing a gpio_chip should support multiple instances of the
55	controller, possibly using the driver model. That code will configure each
56	gpio_chip and issue gpiochip_add[_data]() or devm_gpiochip_add_data().
57	Removing a GPIO controller should be rare; use [devm_]gpiochip_remove() when
58	it is unavoidable.
60	Often a gpio_chip is part of an instance-specific structure with states not
61	exposed by the GPIO interfaces, such as addressing, power management, and more.
62	Chips such as audio codecs will have complex non-GPIO states.
64	Any debugfs dump method should normally ignore signals which haven't been
65	requested as GPIOs. They can use gpiochip_is_requested(), which returns either
66	NULL or the label associated with that GPIO when it was requested.
68	RT_FULL: the GPIO driver should not use spinlock_t or any sleepable APIs
69	(like PM runtime) in its gpio_chip implementation (.get/.set and direction
70	control callbacks) if it is expected to call GPIO APIs from atomic context
71	on -RT (inside hard IRQ handlers and similar contexts). Normally this should
72	not be required.
75	GPIO electrical configuration
76	-----------------------------
78	GPIOs can be configured for several electrical modes of operation by using the
79	.set_config() callback. Currently this API supports setting debouncing and
80	single-ended modes (open drain/open source). These settings are described
81	below.
83	The .set_config() callback uses the same enumerators and configuration
84	semantics as the generic pin control drivers. This is not a coincidence: it is
85	possible to assign the .set_config() to the function gpiochip_generic_config()
86	which will result in pinctrl_gpio_set_config() being called and eventually
87	ending up in the pin control back-end "behind" the GPIO controller, usually
88	closer to the actual pins. This way the pin controller can manage the below
89	listed GPIO configurations.
92	GPIOs with debounce support
93	---------------------------
95	Debouncing is a configuration set to a pin indicating that it is connected to
96	a mechanical switch or button, or similar that may bounce. Bouncing means the
97	line is pulled high/low quickly at very short intervals for mechanical
98	reasons. This can result in the value being unstable or irqs fireing repeatedly
99	unless the line is debounced.
101	Debouncing in practice involves setting up a timer when something happens on
102	the line, wait a little while and then sample the line again, so see if it
103	still has the same value (low or high). This could also be repeated by a clever
104	state machine, waiting for a line to become stable. In either case, it sets
105	a certain number of milliseconds for debouncing, or just "on/off" if that time
106	is not configurable.
109	GPIOs with open drain/source support
110	------------------------------------
112	Open drain (CMOS) or open collector (TTL) means the line is not actively driven
113	high: instead you provide the drain/collector as output, so when the transistor
114	is not open, it will present a high-impedance (tristate) to the external rail.
119	            ||--- out              +--- out
120	     in ----||                   |/
121	            ||--+         in ----|
122	                |                |\
123	               GND	           GND
125	This configuration is normally used as a way to achieve one of two things:
127	- Level-shifting: to reach a logical level higher than that of the silicon
128	  where the output resides.
130	- inverse wire-OR on an I/O line, for example a GPIO line, making it possible
131	  for any driving stage on the line to drive it low even if any other output
132	  to the same line is simultaneously driving it high. A special case of this
133	  is driving the SCL and SCA lines of an I2C bus, which is by definition a
134	  wire-OR bus.
136	Both usecases require that the line be equipped with a pull-up resistor. This
137	resistor will make the line tend to high level unless one of the transistors on
138	the rail actively pulls it down.
140	The level on the line will go as high as the VDD on the pull-up resistor, which
141	may be higher than the level supported by the transistor, achieveing a
142	level-shift to the higher VDD.
144	Integrated electronics often have an output driver stage in the form of a CMOS
145	"totem-pole" with one N-MOS and one P-MOS transistor where one of them drives
146	the line high and one of them drives the line low. This is called a push-pull
147	output. The "totem-pole" looks like so:
149	                 VDD
150	                  |
151	        OD    ||--+
152	     +--/ ---o||     P-MOS-FET
153	     |        ||--+
154	IN --+            +----- out
155	     |        ||--+
156	     +--/ ----||     N-MOS-FET
157	        OS    ||--+
158	                  |
159	                 GND
161	The desired output signal (e.g. coming directly from some GPIO output register)
162	arrives at IN. The switches named "OD" and "OS" are normally closed, creating
163	a push-pull circuit.
165	Consider the little "switches" named "OD" and "OS" that enable/disable the
166	P-MOS or N-MOS transistor right after the split of the input. As you can see,
167	either transistor will go totally numb if this switch is open. The totem-pole
168	is then halved and give high impedance instead of actively driving the line
169	high or low respectively. That is usually how software-controlled open
170	drain/source works.
172	Some GPIO hardware come in open drain / open source configuration. Some are
173	hard-wired lines that will only support open drain or open source no matter
174	what: there is only one transistor there. Some are software-configurable:
175	by flipping a bit in a register the output can be configured as open drain
176	or open source, in practice by flicking open the switches labeled "OD" and "OS"
177	in the drawing above.
179	By disabling the P-MOS transistor, the output can be driven between GND and
180	high impedance (open drain), and by disabling the N-MOS transistor, the output
181	can be driven between VDD and high impedance (open source). In the first case,
182	a pull-up resistor is needed on the outgoing rail to complete the circuit, and
183	in the second case, a pull-down resistor is needed on the rail.
185	Hardware that supports open drain or open source or both, can implement a
186	special callback in the gpio_chip: .set_config() that takes a generic
187	pinconf packed value telling whether to configure the line as open drain,
188	open source or push-pull. This will happen in response to the
189	GPIO_OPEN_DRAIN or GPIO_OPEN_SOURCE flag set in the machine file, or coming
190	from other hardware descriptions.
192	If this state can not be configured in hardware, i.e. if the GPIO hardware does
193	not support open drain/open source in hardware, the GPIO library will instead
194	use a trick: when a line is set as output, if the line is flagged as open
195	drain, and the IN output value is low, it will be driven low as usual. But
196	if the IN output value is set to high, it will instead *NOT* be driven high,
197	instead it will be switched to input, as input mode is high impedance, thus
198	achieveing an "open drain emulation" of sorts: electrically the behaviour will
199	be identical, with the exception of possible hardware glitches when switching
200	the mode of the line.
202	For open source configuration the same principle is used, just that instead
203	of actively driving the line low, it is set to input.
206	GPIO drivers providing IRQs
207	---------------------------
208	It is custom that GPIO drivers (GPIO chips) are also providing interrupts,
209	most often cascaded off a parent interrupt controller, and in some special
210	cases the GPIO logic is melded with a SoC's primary interrupt controller.
212	The IRQ portions of the GPIO block are implemented using an irqchip, using
213	the header <linux/irq.h>. So basically such a driver is utilizing two sub-
214	systems simultaneously: gpio and irq.
216	RT_FULL: a realtime compliant GPIO driver should not use spinlock_t or any
217	sleepable APIs (like PM runtime) as part of its irq_chip implementation.
218	- spinlock_t should be replaced with raw_spinlock_t [1].
219	- If sleepable APIs have to be used, these can be done from the .irq_bus_lock()
220	  and .irq_bus_unlock() callbacks, as these are the only slowpath callbacks
221	  on an irqchip. Create the callbacks if needed [2].
223	GPIO irqchips usually fall in one of two categories:
225	* CHAINED GPIO irqchips: these are usually the type that is embedded on
226	  an SoC. This means that there is a fast IRQ flow handler for the GPIOs that
227	  gets called in a chain from the parent IRQ handler, most typically the
228	  system interrupt controller. This means that the GPIO irqchip handler will
229	  be called immediately from the parent irqchip, while holding the IRQs
230	  disabled. The GPIO irqchip will then end up calling something like this
231	  sequence in its interrupt handler:
233	  static irqreturn_t foo_gpio_irq(int irq, void *data)
234	      chained_irq_enter(...);
235	      generic_handle_irq(...);
236	      chained_irq_exit(...);
238	  Chained GPIO irqchips typically can NOT set the .can_sleep flag on
239	  struct gpio_chip, as everything happens directly in the callbacks: no
240	  slow bus traffic like I2C can be used.
242	  RT_FULL: Note, chained IRQ handlers will not be forced threaded on -RT.
243	  As result, spinlock_t or any sleepable APIs (like PM runtime) can't be used
244	  in chained IRQ handler.
245	  If required (and if it can't be converted to the nested threaded GPIO irqchip)
246	  a chained IRQ handler can be converted to generic irq handler and this way
247	  it will be a threaded IRQ handler on -RT and a hard IRQ handler on non-RT
248	  (for example, see [3]).
249	  Know W/A: The generic_handle_irq() is expected to be called with IRQ disabled,
250	  so the IRQ core will complain if it is called from an IRQ handler which is
251	  forced to a thread. The "fake?" raw lock can be used to W/A this problem:
253		raw_spinlock_t wa_lock;
254		static irqreturn_t omap_gpio_irq_handler(int irq, void *gpiobank)
255			unsigned long wa_lock_flags;
256			raw_spin_lock_irqsave(&bank->wa_lock, wa_lock_flags);
257			generic_handle_irq(irq_find_mapping(bank->chip.irqdomain, bit));
258			raw_spin_unlock_irqrestore(&bank->wa_lock, wa_lock_flags);
260	* GENERIC CHAINED GPIO irqchips: these are the same as "CHAINED GPIO irqchips",
261	  but chained IRQ handlers are not used. Instead GPIO IRQs dispatching is
262	  performed by generic IRQ handler which is configured using request_irq().
263	  The GPIO irqchip will then end up calling something like this sequence in
264	  its interrupt handler:
266	  static irqreturn_t gpio_rcar_irq_handler(int irq, void *dev_id)
267		for each detected GPIO IRQ
268			generic_handle_irq(...);
270	  RT_FULL: Such kind of handlers will be forced threaded on -RT, as result IRQ
271	  core will complain that generic_handle_irq() is called with IRQ enabled and
272	  the same W/A as for "CHAINED GPIO irqchips" can be applied.
274	* NESTED THREADED GPIO irqchips: these are off-chip GPIO expanders and any
275	  other GPIO irqchip residing on the other side of a sleeping bus. Of course
276	  such drivers that need slow bus traffic to read out IRQ status and similar,
277	  traffic which may in turn incur other IRQs to happen, cannot be handled
278	  in a quick IRQ handler with IRQs disabled. Instead they need to spawn a
279	  thread and then mask the parent IRQ line until the interrupt is handled
280	  by the driver. The hallmark of this driver is to call something like
281	  this in its interrupt handler:
283	  static irqreturn_t foo_gpio_irq(int irq, void *data)
284	      ...
285	      handle_nested_irq(irq);
287	  The hallmark of threaded GPIO irqchips is that they set the .can_sleep
288	  flag on struct gpio_chip to true, indicating that this chip may sleep
289	  when accessing the GPIOs.
291	To help out in handling the set-up and management of GPIO irqchips and the
292	associated irqdomain and resource allocation callbacks, the gpiolib has
293	some helpers that can be enabled by selecting the GPIOLIB_IRQCHIP Kconfig
294	symbol:
296	* gpiochip_irqchip_add(): adds a chained irqchip to a gpiochip. It will pass
297	  the struct gpio_chip* for the chip to all IRQ callbacks, so the callbacks
298	  need to embed the gpio_chip in its state container and obtain a pointer
299	  to the container using container_of().
300	  (See Documentation/driver-model/design-patterns.txt)
302	* gpiochip_irqchip_add_nested(): adds a nested irqchip to a gpiochip.
303	  Apart from that it works exactly like the chained irqchip.
305	* gpiochip_set_chained_irqchip(): sets up a chained irq handler for a
306	  gpio_chip from a parent IRQ and passes the struct gpio_chip* as handler
307	  data. (Notice handler data, since the irqchip data is likely used by the
308	  parent irqchip!).
310	* gpiochip_set_nested_irqchip(): sets up a nested irq handler for a
311	  gpio_chip from a parent IRQ. As the parent IRQ has usually been
312	  explicitly requested by the driver, this does very little more than
313	  mark all the child IRQs as having the other IRQ as parent.
315	If there is a need to exclude certain GPIOs from the IRQ domain, you can
316	set .irq_need_valid_mask of the gpiochip before gpiochip_add_data() is
317	called. This allocates an .irq_valid_mask with as many bits set as there
318	are GPIOs in the chip. Drivers can exclude GPIOs by clearing bits from this
319	mask. The mask must be filled in before gpiochip_irqchip_add() or
320	gpiochip_irqchip_add_nested() is called.
322	To use the helpers please keep the following in mind:
324	- Make sure to assign all relevant members of the struct gpio_chip so that
325	  the irqchip can initialize. E.g. .dev and .can_sleep shall be set up
326	  properly.
328	- Nominally set all handlers to handle_bad_irq() in the setup call and pass
329	  handle_bad_irq() as flow handler parameter in gpiochip_irqchip_add() if it is
330	  expected for GPIO driver that irqchip .set_type() callback have to be called
331	  before using/enabling GPIO IRQ. Then set the handler to handle_level_irq()
332	  and/or handle_edge_irq() in the irqchip .set_type() callback depending on
333	  what your controller supports.
335	It is legal for any IRQ consumer to request an IRQ from any irqchip no matter
336	if that is a combined GPIO+IRQ driver. The basic premise is that gpio_chip and
337	irq_chip are orthogonal, and offering their services independent of each
338	other.
340	gpiod_to_irq() is just a convenience function to figure out the IRQ for a
341	certain GPIO line and should not be relied upon to have been called before
342	the IRQ is used.
344	So always prepare the hardware and make it ready for action in respective
345	callbacks from the GPIO and irqchip APIs. Do not rely on gpiod_to_irq() having
346	been called first.
348	This orthogonality leads to ambiguities that we need to solve: if there is
349	competition inside the subsystem which side is using the resource (a certain
350	GPIO line and register for example) it needs to deny certain operations and
351	keep track of usage inside of the gpiolib subsystem. This is why the API
352	below exists.
355	Locking IRQ usage
356	-----------------
357	Input GPIOs can be used as IRQ signals. When this happens, a driver is requested
358	to mark the GPIO as being used as an IRQ:
360		int gpiochip_lock_as_irq(struct gpio_chip *chip, unsigned int offset)
362	This will prevent the use of non-irq related GPIO APIs until the GPIO IRQ lock
363	is released:
365		void gpiochip_unlock_as_irq(struct gpio_chip *chip, unsigned int offset)
367	When implementing an irqchip inside a GPIO driver, these two functions should
368	typically be called in the .startup() and .shutdown() callbacks from the
369	irqchip.
371	When using the gpiolib irqchip helpers, these callback are automatically
372	assigned.
374	Real-Time compliance for GPIO IRQ chips
375	---------------------------------------
377	Any provider of irqchips needs to be carefully tailored to support Real Time
378	preemption. It is desirable that all irqchips in the GPIO subsystem keep this
379	in mind and does the proper testing to assure they are real time-enabled.
380	So, pay attention on above " RT_FULL:" notes, please.
381	The following is a checklist to follow when preparing a driver for real
382	time-compliance:
384	- ensure spinlock_t is not used as part irq_chip implementation;
385	- ensure that sleepable APIs are not used as part irq_chip implementation.
386	  If sleepable APIs have to be used, these can be done from the .irq_bus_lock()
387	  and .irq_bus_unlock() callbacks;
388	- Chained GPIO irqchips: ensure spinlock_t or any sleepable APIs are not used
389	  from chained IRQ handler;
390	- Generic chained GPIO irqchips: take care about generic_handle_irq() calls and
391	  apply corresponding W/A;
392	- Chained GPIO irqchips: get rid of chained IRQ handler and use generic irq
393	  handler if possible :)
394	- regmap_mmio: Sry, but you are in trouble :( if MMIO regmap is used as for
395	  GPIO IRQ chip implementation;
396	- Test your driver with the appropriate in-kernel real time test cases for both
397	  level and edge IRQs.
400	Requesting self-owned GPIO pins
401	-------------------------------
403	Sometimes it is useful to allow a GPIO chip driver to request its own GPIO
404	descriptors through the gpiolib API. Using gpio_request() for this purpose
405	does not help since it pins the module to the kernel forever (it calls
406	try_module_get()). A GPIO driver can use the following functions instead
407	to request and free descriptors without being pinned to the kernel forever.
409		struct gpio_desc *gpiochip_request_own_desc(struct gpio_desc *desc,
410							    const char *label)
412		void gpiochip_free_own_desc(struct gpio_desc *desc)
414	Descriptors requested with gpiochip_request_own_desc() must be released with
415	gpiochip_free_own_desc().
417	These functions must be used with care since they do not affect module use
418	count. Do not use the functions to request gpio descriptors not owned by the
419	calling driver.
421	[1] http://www.spinics.net/lists/linux-omap/msg120425.html
422	[2] https://lkml.org/lkml/2015/9/25/494
423	[3] https://lkml.org/lkml/2015/9/25/495
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