cpu/native: Allow Access to Hardware GPIO Pins on Linux #12451

benpicco · 2019-10-14T20:24:42Z

Contribution description

This adds GPIO support for native using the new Linux GPIO API.

Testing procedure

Compile tests/periph_gpio for the native board on any SBC, e.g. a Raspberry Pi.
Run bin/native/tests_periph_gpio.elf --gpio=/dev/gpiochip0

Please consult your board's manual for the pin mapping. For the Raspberry Pi, this would be

Here, GPIO20 and GPIO21 can be conveniently bridged with a jumper.

Setting and Reading GPIOs should work with this PR already:

> init_in 0 20
> init_out 0 21
> read 0 20
GPIO_PIN(0.20) is LOW
> set 0 21
> read 0 20
GPIO_PIN(0.20) is HIGH

For interrupts to work, #12428 is needed:

> init_int 0 20 2
GPIO_PIN(0, 20) successfully initialized as ext int
> init_out 0 21
> set 0 21
> INT: external interrupt from pin 20

Issues/PRs references

depends on #12428
supersedes #7530

maribu · 2019-10-15T10:46:47Z

This was on my to do list for quite some time, but I never came to id. Thanks for tackling this!

fhessel · 2019-10-16T14:20:29Z

I'd appreciate that feature, too! Just a short note here, with #11352 being merged now:

I think, the definition of SPI_HWCS(x) will need to be adjusted, as the hardware CS number space collides with the one used for GPIOs. The same goes for the functions using spi_cs_t parameters in spidev_linux.c. If I can help with that, just let me know.

benpicco · 2019-10-16T16:25:32Z

If you already have a solution in mind, feel free to send a PR to my native-gpio branch.
I don't quite understand yet how your !use_hwcs case works. All those /dev/spidev0.x files are hardware CS from the perspective of RIOT, no?

fhessel · 2019-10-16T16:49:26Z

By now, RIOT can only control hardware CS lines, as Linux' userspace SPI API only allows those hard-wired connections. In case of the Raspberry Pi, this is pin CE0 (GPIO8) on spidev0.0 and CE1 (GPIO7) on spidev0.1.

However, there is a flag in the SPI API called SPI_NO_CS, which corresponds to "1 dev/bus, no chipselect" on system level. My idea would be, if a valid GPIO pin is used for the cs parameter in RIOT, to use the first Linux spidev for that bus, set this NO_CS flag and control the chipselect line through RIOT's GPIO module. This was not possible without an implementation on top of the kernel's GPIO API.

If that works, it would allow arbitrary GPIOs for CS and also more than two devices. If not, I'd at least separate the number space, so that SPI_HWCS(0) != GPIO(0, 0). This allows to differentiate between actual GPIOs and values for HWCS, so that the developer can get proper feedback on what went wrong.

I'll have a look at it and see if that flag behaves like expected.

fhessel · 2019-10-24T11:50:15Z

Sorry that it took me so long, testing this with limited access to actual SPI hardware was not that easy.

benpicco#4 contains a suggestion to solve the numbering issue between SPI_HWCS and GPIO_PIN and to allow arbitrary GPIOs for the chip select line.

cpu/native/periph/gpio_linux.c

mfp20 · 2020-05-10T09:10:27Z

No support yet?

aabadie

I haven't checked all the details but it seems to me that this PR is in quite a good shape. There's just the problem that I see with the module dependency that I think should be changed.

cpu/native/include/periph_cpu.h

cpu/native/periph/gpio.c

cpu/native/Makefile.dep

miri64 · 2020-06-25T12:55:35Z

@aabadie your comments seem to be addressed. Care to take another look, please?

aabadie · 2020-06-25T12:56:48Z

your comments seem to be addressed. Care to take another look, please?

Problem is that it depends on #12428 which cannot be easily tested on OSX.

aabadie

This ends-up in lots of not directly related changes unfortunately (because now new drivers/packages can be build on native).
I'm wondering if we should split them in separate PRs to have more focused reviews.

aabadie · 2020-07-22T12:16:10Z

cpu/native/Makefile.dep

-  USEMODULE += periph_spidev_linux
+ifeq ($(OS),Linux)
+  ifneq (,$(filter periph_gpio,$(USEMODULE)))
+    DEFAULT_MODULE += periph_gpio_linux


Suggested change

DEFAULT_MODULE += periph_gpio_linux

USEMODULE += periph_gpio_linux

I would not use DEFAULT_MODULE for this.

If it's because of the failing tests, then in the tests, instead of using DISABLE_MODULE, add native to CI_BOARD_BLACKLIST.

I guess it could still be useful if someone wants to use the mock GPIO implementation instead.

How is the mock named?, maybe something like this can be used?

Suggested change

DEFAULT_MODULE += periph_gpio_linux

ifneq (,$(filter periph_gpio_mock,$(USEMODULE)))

USEMODULE += periph_gpio_linux

endif

The mock is just periph_gpio.
I can make that a pseudomodule and move the implementation to gpio_mock.c.

Then in the tests we can do

ifeq (native,$(BOARD)) USEMODULE += periph_gpio_mock endif

drivers/cc110x/cc110x_settings.c

pkg/driver_atwinc15x0/Makefile.include

tests/driver_grove_ledbar/Makefile

benpicco · 2020-07-30T23:37:56Z

I moved all the unrelated commits to a separate PR: #14663

cpu/native/Makefile.include

aabadie

Looks good now. Please squash.

ACK!

aabadie · 2020-08-25T11:03:58Z

Murdock found a couple of problems. Can you have a look @benpicco ?

This is a GCC extension. Use hex constant instead.

benpicco · 2020-08-25T12:08:16Z

Rebased to fix the warnings introduced by tests/driver_at86rf2xx_aes.

benpicco added Platform: native Platform: This PR/issue effects the native platform Type: new feature The issue requests / The PR implemements a new feature for RIOT labels Oct 14, 2019

benpicco requested a review from bergzand October 14, 2019 20:24

benpicco force-pushed the native-gpio branch from c7f2b72 to bdcb8bd Compare October 14, 2019 20:37

benpicco force-pushed the native-gpio branch 3 times, most recently from 08f0de4 to 2f10b6d Compare October 16, 2019 15:11

fhessel mentioned this pull request Oct 24, 2019

cpu/native: Adapt HW SPI for HW GPIO support benpicco/RIOT#4

Merged

benpicco force-pushed the native-gpio branch from 00f32a2 to b335b27 Compare February 4, 2020 21:43

benpicco added the CI: ready for build If set, CI server will compile all applications for all available boards for the labeled PR label Feb 4, 2020

benpicco mentioned this pull request Feb 4, 2020

native/async_read: use poll() instead of select() #12428

Merged

benpicco added State: waiting for other PR State: The PR requires another PR to be merged first and removed CI: ready for build If set, CI server will compile all applications for all available boards for the labeled PR labels Feb 4, 2020

benpicco requested review from smlng and kaspar030 March 6, 2020 12:35

DanielLockau-MLPA reviewed Mar 6, 2020

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benpicco requested review from aabadie, fjmolinas, MrKevinWeiss and roberthartung as code owners March 6, 2020 12:54

benpicco mentioned this pull request Mar 19, 2020

examples/gnrc_border_router: add example for WiFi ⇆ esp_now border router #13545

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aabadie reviewed Jun 2, 2020

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benpicco force-pushed the native-gpio branch from b3bd231 to 762eda2 Compare July 22, 2020 09:23

aabadie requested changes Jul 22, 2020

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benpicco force-pushed the native-gpio branch from f283667 to 4724046 Compare July 25, 2020 13:20

benpicco mentioned this pull request Jul 30, 2020

treewide: compile fixes for native #14663

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benpicco added the State: waiting for other PR State: The PR requires another PR to be merged first label Jul 30, 2020

benpicco force-pushed the native-gpio branch from 4724046 to 0b6ec4d Compare July 30, 2020 23:36

benpicco force-pushed the native-gpio branch from 0b6ec4d to 00d2dd3 Compare July 31, 2020 13:02

aabadie reviewed Aug 21, 2020

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benpicco force-pushed the native-gpio branch from 12dac30 to 4a2822e Compare August 25, 2020 09:06

benpicco added the CI: ready for build If set, CI server will compile all applications for all available boards for the labeled PR label Aug 25, 2020

benpicco and others added 6 commits August 25, 2020 13:53

cpu/native: add Linux GPIO implementation

ea25e85

cpu/native: Adapt HW SPI for HW GPIO support

4275b36

cpu/native: allow to disable native periph implementations

39b41d6

cpu/native: gpio: provide dummy implementations for GPIO IRQ

d2e0af2

drivers/at86rf2xx: AES: don't use binary constant

2aa2bf8

This is a GCC extension. Use hex constant instead.

tests/driver_at86rf2xx_aes: silence warning on native

7e47907

benpicco force-pushed the native-gpio branch from 4a2822e to 7e47907 Compare August 25, 2020 12:07

benpicco requested review from daniel-k and miri64 as code owners August 25, 2020 12:07

aabadie merged commit 9f28e1d into RIOT-OS:master Aug 25, 2020

benpicco deleted the native-gpio branch August 25, 2020 13:31

benpicco mentioned this pull request Jul 29, 2024

examples/leds_shell: use periph_gpio_mock on native #20796

Merged

	DEFAULT_MODULE += periph_gpio_linux
	USEMODULE += periph_gpio_linux

-    DEFAULT_MODULE += periph_gpio_linux
+    ifneq (,$(filter periph_gpio_mock,$(USEMODULE)))
+     USEMODULE += periph_gpio_linux
+    endif

cpu/native: Allow Access to Hardware GPIO Pins on Linux #12451

cpu/native: Allow Access to Hardware GPIO Pins on Linux #12451

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benpicco commented Oct 14, 2019

Contribution description

Testing procedure

Issues/PRs references

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maribu commented Oct 15, 2019

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fhessel commented Oct 16, 2019

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benpicco commented Oct 16, 2019

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