| paul@0 | 1 | /* |
| paul@0 | 2 | * Export the keypad GPIOs on the Letux 400 as a data space accessible via the |
| paul@0 | 3 | * "keypad" capability. |
| paul@0 | 4 | * |
| paul@0 | 5 | * (c) 2018 Paul Boddie <paul@boddie.org.uk> |
| paul@0 | 6 | * |
| paul@0 | 7 | * This program is free software; you can redistribute it and/or |
| paul@0 | 8 | * modify it under the terms of the GNU General Public License as |
| paul@0 | 9 | * published by the Free Software Foundation; either version 2 of |
| paul@0 | 10 | * the License, or (at your option) any later version. |
| paul@0 | 11 | * |
| paul@0 | 12 | * This program is distributed in the hope that it will be useful, |
| paul@0 | 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| paul@0 | 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| paul@0 | 15 | * GNU General Public License for more details. |
| paul@0 | 16 | * |
| paul@0 | 17 | * You should have received a copy of the GNU General Public License |
| paul@0 | 18 | * along with this program; if not, write to the Free Software |
| paul@0 | 19 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, |
| paul@0 | 20 | * Boston, MA 02110-1301, USA |
| paul@0 | 21 | */ |
| paul@0 | 22 | |
| paul@0 | 23 | #include <l4/devices/gpio-jz4730.h> |
| paul@0 | 24 | #include <l4/devices/dataspace.h> |
| paul@0 | 25 | #include <l4/devices/memory.h> |
| paul@0 | 26 | #include "keypad-server.h" |
| paul@0 | 27 | |
| paul@0 | 28 | #include <l4/sys/thread.h> |
| paul@0 | 29 | #include <pthread.h> |
| paul@0 | 30 | #include <pthread-l4.h> |
| paul@0 | 31 | |
| paul@0 | 32 | #include <l4/cxx/ipc_server> |
| paul@0 | 33 | #include <l4/re/dataspace> |
| paul@0 | 34 | #include <l4/re/env> |
| paul@0 | 35 | #include <l4/re/rm> |
| paul@0 | 36 | #include <l4/re/util/cap_alloc> |
| paul@0 | 37 | #include <l4/re/util/object_registry> |
| paul@0 | 38 | |
| paul@0 | 39 | #include <l4/sys/cache.h> |
| paul@0 | 40 | #include <l4/util/util.h> |
| paul@0 | 41 | |
| paul@0 | 42 | #include <stdint.h> |
| paul@0 | 43 | |
| paul@0 | 44 | enum Jz4730_keypad_gpio |
| paul@0 | 45 | { |
| paul@0 | 46 | Jz4730_keypad_gpio_inputs_count = 8, |
| paul@0 | 47 | Jz4730_keypad_gpio_outputs_count = 17, |
| paul@0 | 48 | }; |
| paul@0 | 49 | |
| paul@0 | 50 | /* Port A input pins. */ |
| paul@0 | 51 | |
| paul@0 | 52 | const uint8_t Jz4730_keypad_inputs[Jz4730_keypad_gpio_inputs_count] = { |
| paul@0 | 53 | 0, 1, 2, 3, 4, 5, 6, 7 |
| paul@0 | 54 | }; |
| paul@0 | 55 | |
| paul@0 | 56 | const Pin_slice Jz4730_keypad_inputs_mask = {0x000000ff, 0}; |
| paul@0 | 57 | |
| paul@0 | 58 | /* Port D output pins. */ |
| paul@0 | 59 | |
| paul@0 | 60 | const uint8_t Jz4730_keypad_outputs[Jz4730_keypad_gpio_outputs_count] = { |
| paul@0 | 61 | 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 29 |
| paul@0 | 62 | }; |
| paul@0 | 63 | |
| paul@0 | 64 | const Pin_slice Jz4730_keypad_outputs_mask = {0x2000ffff, 0}; |
| paul@0 | 65 | |
| paul@0 | 66 | /* Peripheral memory regions. */ |
| paul@0 | 67 | |
| paul@0 | 68 | static l4_addr_t gpio_virt_base = 0, gpio_virt_base_end = 0; |
| paul@0 | 69 | |
| paul@0 | 70 | /* GPIO abstractions. */ |
| paul@0 | 71 | |
| paul@0 | 72 | static void *gpio_port_a, *gpio_port_d; |
| paul@0 | 73 | |
| paul@0 | 74 | /* Keypad status: an array of keypad column values. */ |
| paul@0 | 75 | |
| paul@0 | 76 | uint32_t *keypad = 0; |
| paul@0 | 77 | |
| paul@0 | 78 | /* Imported keypad memory referenced by the array. */ |
| paul@0 | 79 | |
| paul@0 | 80 | void *keymem = 0; |
| paul@0 | 81 | |
| paul@0 | 82 | /* Thread details. */ |
| paul@0 | 83 | |
| paul@0 | 84 | static pthread_t _pthread; |
| paul@0 | 85 | |
| paul@0 | 86 | |
| paul@0 | 87 | |
| paul@0 | 88 | /* Initialise the pins for scanning the keypad. */ |
| paul@0 | 89 | |
| paul@0 | 90 | static void init_keyscan(void) |
| paul@0 | 91 | { |
| paul@0 | 92 | jz4730_gpio_multi_setup(gpio_port_a, &Jz4730_keypad_inputs_mask, Hw::Gpio_chip::Input, 0); |
| paul@0 | 93 | jz4730_gpio_multi_config_pull(gpio_port_a, &Jz4730_keypad_inputs_mask, Hw::Gpio_chip::Pull_up); |
| paul@0 | 94 | jz4730_gpio_multi_setup(gpio_port_d, &Jz4730_keypad_outputs_mask, Hw::Gpio_chip::Input, 0); |
| paul@0 | 95 | } |
| paul@0 | 96 | |
| paul@0 | 97 | /* |
| paul@0 | 98 | Scan the keypad by enabling each output column and inspecting each input row. |
| paul@0 | 99 | Store each column bitmap in the keypad array. |
| paul@0 | 100 | */ |
| paul@0 | 101 | |
| paul@0 | 102 | static void scan_keypad(void) |
| paul@0 | 103 | { |
| paul@0 | 104 | uint8_t column, row, value; |
| paul@0 | 105 | |
| paul@0 | 106 | for (column = 0; column < Jz4730_keypad_gpio_outputs_count; column++) |
| paul@0 | 107 | { |
| paul@0 | 108 | jz4730_gpio_setup(gpio_port_d, Jz4730_keypad_outputs[column], Hw::Gpio_chip::Output, 0); |
| paul@0 | 109 | l4_sleep(1); |
| paul@0 | 110 | |
| paul@0 | 111 | value = 0; |
| paul@0 | 112 | |
| paul@0 | 113 | for (row = 0; row < Jz4730_keypad_gpio_inputs_count; row++) |
| paul@0 | 114 | value = (value << 1) | (jz4730_gpio_get(gpio_port_a, Jz4730_keypad_inputs[row]) ? 0 : 1); |
| paul@0 | 115 | |
| paul@0 | 116 | keypad[column] = value; |
| paul@0 | 117 | |
| paul@0 | 118 | jz4730_gpio_setup(gpio_port_d, Jz4730_keypad_outputs[column], Hw::Gpio_chip::Input, 0); |
| paul@0 | 119 | } |
| paul@0 | 120 | |
| paul@0 | 121 | l4_cache_clean_data((unsigned long) keypad, |
| paul@0 | 122 | (unsigned long) keypad + Jz4730_keypad_gpio_outputs_count); |
| paul@0 | 123 | } |
| paul@0 | 124 | |
| paul@0 | 125 | /* Set up access to memory. */ |
| paul@0 | 126 | |
| paul@0 | 127 | static int setup_memory(void) |
| paul@0 | 128 | { |
| paul@0 | 129 | if (get_memory("jz4730-gpio", &gpio_virt_base, &gpio_virt_base_end) < 0) |
| paul@0 | 130 | return 1; |
| paul@0 | 131 | |
| paul@0 | 132 | gpio_port_a = jz4730_gpio_init(gpio_virt_base, gpio_virt_base + 0x30, 32); |
| paul@0 | 133 | gpio_port_d = jz4730_gpio_init(gpio_virt_base + 0x90, gpio_virt_base + 0xc0, 32); |
| paul@0 | 134 | |
| paul@0 | 135 | return 0; |
| paul@0 | 136 | } |
| paul@0 | 137 | |
| paul@0 | 138 | |
| paul@0 | 139 | |
| paul@0 | 140 | /* Worker thread for scanning the keypad. */ |
| paul@0 | 141 | |
| paul@0 | 142 | static void *scan_thread(void *data) |
| paul@0 | 143 | { |
| paul@0 | 144 | (void) data; |
| paul@0 | 145 | |
| paul@0 | 146 | while (1) |
| paul@0 | 147 | { |
| paul@0 | 148 | scan_keypad(); |
| paul@0 | 149 | l4_sleep(20); /* 20ms -> 50Hz */ |
| paul@0 | 150 | } |
| paul@0 | 151 | |
| paul@0 | 152 | return 0; |
| paul@0 | 153 | } |
| paul@0 | 154 | |
| paul@0 | 155 | /* Thread initialisation. */ |
| paul@0 | 156 | |
| paul@0 | 157 | static int init_thread(void) |
| paul@0 | 158 | { |
| paul@0 | 159 | pthread_attr_t thread_attr; |
| paul@0 | 160 | struct sched_param sp; |
| paul@0 | 161 | |
| paul@0 | 162 | if (pthread_attr_init(&thread_attr)) |
| paul@0 | 163 | return 1; |
| paul@0 | 164 | |
| paul@0 | 165 | sp.sched_priority = 0x20; |
| paul@0 | 166 | pthread_attr_setschedpolicy(&thread_attr, SCHED_L4); |
| paul@0 | 167 | pthread_attr_setschedparam(&thread_attr, &sp); |
| paul@0 | 168 | pthread_attr_setinheritsched(&thread_attr, PTHREAD_EXPLICIT_SCHED); |
| paul@0 | 169 | |
| paul@0 | 170 | return pthread_create(&_pthread, &thread_attr, scan_thread, 0); |
| paul@0 | 171 | } |
| paul@0 | 172 | |
| paul@0 | 173 | |
| paul@0 | 174 | |
| paul@0 | 175 | static L4Re::Util::Registry_server<> server; |
| paul@0 | 176 | |
| paul@0 | 177 | |
| paul@0 | 178 | |
| paul@0 | 179 | /* Main program. */ |
| paul@0 | 180 | |
| paul@0 | 181 | int main(void) |
| paul@0 | 182 | { |
| paul@0 | 183 | /* Memory allocation capability for the keypad data. */ |
| paul@0 | 184 | |
| paul@0 | 185 | L4::Cap<L4Re::Dataspace> mem; |
| paul@0 | 186 | l4_size_t mem_size = Jz4730_keypad_gpio_outputs_count * sizeof(uint32_t); |
| paul@0 | 187 | |
| paul@0 | 188 | if (setup_memory()) return 1; |
| paul@0 | 189 | |
| paul@0 | 190 | mem = allocate_data(mem_size, &keymem); |
| paul@0 | 191 | |
| paul@0 | 192 | if (!mem.is_valid()) return 1; |
| paul@0 | 193 | |
| paul@0 | 194 | keypad = (uint32_t *) keymem; |
| paul@0 | 195 | |
| paul@0 | 196 | /* Set up keypad access and start scanning. */ |
| paul@0 | 197 | |
| paul@0 | 198 | init_keyscan(); |
| paul@0 | 199 | |
| paul@0 | 200 | /* Set up a thread to scan the keypad concurrently with the server loop. */ |
| paul@0 | 201 | |
| paul@0 | 202 | init_thread(); |
| paul@0 | 203 | |
| paul@0 | 204 | /* Initialise and register a server object. */ |
| paul@0 | 205 | |
| paul@0 | 206 | Keypad_server server_obj(mem); |
| paul@0 | 207 | server.registry()->register_obj(&server_obj, "keypad"); |
| paul@0 | 208 | |
| paul@0 | 209 | /* Enter the IPC server loop. */ |
| paul@0 | 210 | |
| paul@0 | 211 | server.loop(); |
| paul@0 | 212 | return 0; |
| paul@0 | 213 | } |
