diff --git a/drivers/ps2/CMakeLists.txt b/drivers/ps2/CMakeLists.txt index 006c70d63f6215..dcd1dace451bea 100644 --- a/drivers/ps2/CMakeLists.txt +++ b/drivers/ps2/CMakeLists.txt @@ -6,3 +6,4 @@ zephyr_library_sources_ifdef(CONFIG_PS2_XEC ps2_mchp_xec.c) zephyr_library_sources_ifdef(CONFIG_USERSPACE ps2_handlers.c) zephyr_library_sources_ifdef(CONFIG_PS2_NPCX ps2_npcx_channel.c) zephyr_library_sources_ifdef(CONFIG_PS2_NPCX ps2_npcx_controller.c) +zephyr_library_sources_ifdef(CONFIG_PS2_GPIO ps2_gpio.c) diff --git a/drivers/ps2/Kconfig b/drivers/ps2/Kconfig index 8677ada48306ca..7decc2b86b8e7f 100644 --- a/drivers/ps2/Kconfig +++ b/drivers/ps2/Kconfig @@ -12,6 +12,7 @@ if PS2 source "drivers/ps2/Kconfig.xec" source "drivers/ps2/Kconfig.npcx" +source "drivers/ps2/Kconfig.gpio" module = PS2 module-str = ps2 diff --git a/drivers/ps2/Kconfig.gpio b/drivers/ps2/Kconfig.gpio new file mode 100644 index 00000000000000..2895650fa4370f --- /dev/null +++ b/drivers/ps2/Kconfig.gpio @@ -0,0 +1,41 @@ +# Copyright (c) 2017 Linaro Ltd. +# SPDX-License-Identifier: Apache-2.0 + +DT_COMPAT_PS2_GPIO := gpio-ps2 + +config PS2_GPIO + bool "GPIO bit banging PS/2 support" + default $(dt_compat_enabled,$(DT_COMPAT_PS2_GPIO)) + help + Enable software driven (bit banging) PS/2 support using GPIO pins + +if PS2_GPIO + +# PS/2 events must be processed within 30-50us. Therefore we shift the +# BT_CTLR_LLL_PRIO from 0 to 1 and BT_CTLR_ULL_* priorities from 1 to 2. +# We then set the gpio priority to 0. +# +# On top of this, the following has to be added to the device tree: +# &gpiote { +# interrupts = < 0x6 0 >; +# }; +# +# This allows the PS/2 interrupts to be triggered in time. + +config BT_CTLR_ADVANCED_FEATURES + default y + +config BT_CTLR_LLL_PRIO + default 1 + +config BT_CTLR_ULL_HIGH_PRIO + default 2 + +config BT_CTLR_ULL_LOW_PRIO + default 2 + +config PS2_GPIO_INTERRUPT_LOG_ENABLED + bool "Enable extensive interrupt logging." + default n + +endif # PS2_GPIO diff --git a/drivers/ps2/ps2_gpio.c b/drivers/ps2/ps2_gpio.c new file mode 100644 index 00000000000000..74446e749230e5 --- /dev/null +++ b/drivers/ps2/ps2_gpio.c @@ -0,0 +1,1582 @@ +/* + * Copyright (c) 2019 Intel Corporation + * + * SPDX-License-Identifier: Apache-2.0 + */ + +#define DT_DRV_COMPAT gpio_ps2 + +#include +#include +#include +#include +#include + +#define LOG_LEVEL CONFIG_PS2_LOG_LEVEL +LOG_MODULE_REGISTER(ps2_gpio); + + +/* + * Settings + */ + +#define PS2_GPIO_WRITE_MAX_RETRY 5 +#define PS2_GPIO_READ_MAX_RETRY 3 + +// Custom queue for background PS/2 processing work at low priority +// We purposefully want this to be a fairly low priority, because +// this queue is used while we wait to start a write. +// If the system is very busy with interrupts and other threads, then we +// want to wait until that is over so that our write interrupts don't get +// missed. +#define PS2_GPIO_WORK_QUEUE_PRIORITY 10 +#define PS2_GPIO_WORK_QUEUE_STACK_SIZE 1024 + +// Custom queue for calling the zephyr ps/2 callback. +// We don't want to hand it off to that API in an ISR since that callback +// could be using blocking functions. +// But we also don't want to hand it off at a low priority, since the PS/2 +// packets must be dealt with quickly. So we use a fairly high priority. +#define PS2_GPIO_WORK_QUEUE_CB_PRIORITY 2 +#define PS2_GPIO_WORK_QUEUE_CB_STACK_SIZE 1024 + +/* + * PS/2 Defines + */ + +#define PS2_GPIO_POS_START 0 +// 1-8 are the data bits +#define PS2_GPIO_POS_PARITY 9 +#define PS2_GPIO_POS_STOP 10 +#define PS2_GPIO_POS_ACK 11 // Write mode only + +#define PS2_GPIO_RESP_ACK 0xfa +#define PS2_GPIO_RESP_RESEND 0xfe +#define PS2_GPIO_RESP_FAILURE 0xfc + +/* + * PS/2 Timings + */ + +// PS2 uses a frequency between 10 kHz and 16.7 kHz. So clocks should arrive +// within 60-100us. +#define PS2_GPIO_TIMING_SCL_CYCLE_MIN 60 +#define PS2_GPIO_TIMING_SCL_CYCLE_MAX 100 + +// The minimum time needed to inhibit clock to start a write +// is 100us, but we triple it just in case. +#define PS2_GPIO_TIMING_SCL_INHIBITION_MIN 100 +#define PS2_GPIO_TIMING_SCL_INHIBITION ( \ + 3 * PS2_GPIO_TIMING_SCL_INHIBITION_MIN \ +) + +// When we start the inhibition timer for PS2_GPIO_TIMING_SCL_INHIBITION us, +// it doesn't mean it will be called after exactly that time. +// If there are higher priority threads, it will be delayed and might stay +// inhibitied much longer. So we account for that delay and add a maximum +// allowed delay. +#define PS2_GPIO_TIMING_SCL_INHIBITION_TIMER_DELAY_MAX 1000 + +// After inhibiting and releasing the clock, the device starts sending +// the clock. It's supposed to start immediately, but some devices +// need much longer if you are asking them to interrupt an +// ongoing read. +#define PS2_GPIO_TIMING_SCL_INHIBITION_RESP_MAX 10000 + +// Writes start with us inhibiting the line and then respond +// with 11 bits (start bit included in inhibition time). +// To be conservative we give it another 2 cycles to complete +#define PS2_GPIO_TIMING_WRITE_MAX_TIME ( \ + PS2_GPIO_TIMING_SCL_INHIBITION \ + + PS2_GPIO_TIMING_SCL_INHIBITION_TIMER_DELAY_MAX \ + + PS2_GPIO_TIMING_SCL_INHIBITION_RESP_MAX \ + + 11 * PS2_GPIO_TIMING_SCL_CYCLE_MAX \ + + 2 * PS2_GPIO_TIMING_SCL_CYCLE_MAX \ +) + +// Reads are 11bit and we give it another 2 cycles to start and stop +#define PS2_GPIO_TIMING_READ_MAX_TIME (\ + 11 * PS2_GPIO_TIMING_SCL_CYCLE_MAX \ + + 2 * PS2_GPIO_TIMING_SCL_CYCLE_MAX \ +) + + +/* + * Driver Defines + */ + +// Timeout for blocking read using the zephyr PS2 ps2_read() function +// This is not a matter of PS/2 timings, but a preference of how long we let +// the user wait until we give up on reading. +#define PS2_GPIO_TIMEOUT_READ K_SECONDS(2) + +// Timeout for write_byte_blocking() +#define PS2_GPIO_TIMEOUT_WRITE_BLOCKING K_USEC( \ + PS2_GPIO_TIMING_WRITE_MAX_TIME \ +) + +// Timeout for write_byte_await_response() +// PS/2 spec says that device must respond within 20msec, +// but real life devices take much longer. Especially if +// you interrupt existing transmissions. +#define PS2_GPIO_TIMEOUT_WRITE_AWAIT_RESPONSE K_MSEC(300) + +// Max time we allow the device to send the next clock signal during reads +// and writes. +// Even though PS/2 devices send the clock at most every 100us, it doesn't mean +// that the interrupts always get triggered within that time. So we allow a +// little extra time. +#define PS2_GPIO_TIMEOUT_READ_SCL K_USEC(PS2_GPIO_TIMING_SCL_CYCLE_MAX + 50) +#define PS2_GPIO_TIMEOUT_WRITE_SCL K_USEC(PS2_GPIO_TIMING_SCL_CYCLE_MAX + 50) + +// But after inhibiting the clock line, sometimes clocks take a little longer +// to start. So we allow a bit more time for the first write clock. +#define PS2_GPIO_TIMEOUT_WRITE_SCL_START K_USEC( \ + PS2_GPIO_TIMING_SCL_INHIBITION_RESP_MAX \ +) + +#define PS2_GPIO_WRITE_INHIBIT_SLC_DURATION K_USEC( \ + PS2_GPIO_TIMING_SCL_INHIBITION \ +) + +/* + * Global Variables + */ + +typedef enum +{ + PS2_GPIO_MODE_READ, + PS2_GPIO_MODE_WRITE +} ps2_gpio_mode; + +// Used to keep track of blocking write status +typedef enum +{ + PS2_GPIO_WRITE_STATUS_INACTIVE, + PS2_GPIO_WRITE_STATUS_ACTIVE, + PS2_GPIO_WRITE_STATUS_SUCCESS, + PS2_GPIO_WRITE_STATUS_FAILURE, +} ps2_gpio_write_status; + +struct ps2_gpio_config { + struct gpio_dt_spec scl_gpio; + struct gpio_dt_spec sda_gpio; +}; + +struct ps2_gpio_data { + const struct device *dev; + struct gpio_dt_spec scl_gpio; /* GPIO used for PS2 SCL line */ + struct gpio_dt_spec sda_gpio; /* GPIO used for PS2 SDA line */ + + // Interrupt callback + struct gpio_callback scl_cb_data; + + // PS2 driver interface callback + struct k_work callback_work; + uint8_t callback_byte; + ps2_callback_t callback_isr; + ps2_resend_callback_t resend_callback_isr; + + bool callback_enabled; + + // Queue for ps2_read() + struct k_fifo data_queue; + + ps2_gpio_mode mode; + + uint8_t cur_read_byte; + int cur_read_pos; + int cur_read_try; + uint32_t last_read_cycle_cnt; + struct k_work_delayable read_scl_timout; + + ps2_gpio_write_status cur_write_status; + uint8_t cur_write_byte; + int cur_write_pos; + struct k_work_delayable write_inhibition_wait; + struct k_work_delayable write_scl_timout; + struct k_sem write_lock; + + bool write_awaits_resp; + uint8_t write_awaits_resp_byte; + struct k_sem write_awaits_resp_sem; + + struct k_work resend_cmd_work; +}; + + +static const struct ps2_gpio_config ps2_gpio_config = { + .scl_gpio = GPIO_DT_SPEC_INST_GET(0, scl_gpios), \ + .sda_gpio = GPIO_DT_SPEC_INST_GET(0, sda_gpios), \ +}; + +static struct ps2_gpio_data ps2_gpio_data = { + .callback_byte = 0x0, + .callback_isr = NULL, + .resend_callback_isr = NULL, + .callback_enabled = false, + .mode = PS2_GPIO_MODE_READ, + + .cur_read_byte = 0x0, + .cur_read_pos = 0, + .cur_read_try = 0, + + .cur_write_byte = 0x0, + .cur_write_pos = 0, + .cur_write_status = PS2_GPIO_WRITE_STATUS_INACTIVE, + + .write_awaits_resp = false, + .write_awaits_resp_byte = 0x0, +}; + +K_THREAD_STACK_DEFINE( + ps2_gpio_work_queue_stack_area, + PS2_GPIO_WORK_QUEUE_STACK_SIZE +); +static struct k_work_q ps2_gpio_work_queue; + +K_THREAD_STACK_DEFINE( + ps2_gpio_work_queue_cb_stack_area, + PS2_GPIO_WORK_QUEUE_CB_STACK_SIZE +); +static struct k_work_q ps2_gpio_work_queue_cb; + +/* + * Function Definitions + */ + +int ps2_gpio_write_byte(uint8_t byte); + +/* + * Helpers functions + */ + +#define PS2_GPIO_GET_BIT(data, bit_pos) ( (data >> bit_pos) & 0x1 ) +#define PS2_GPIO_SET_BIT(data, bit_val, bit_pos) ( \ + data |= (bit_val) << bit_pos \ +) + +int ps2_gpio_get_scl() +{ + const struct ps2_gpio_data *data = &ps2_gpio_data; + int rc = gpio_pin_get_dt(&data->scl_gpio); + + return rc; +} + +int ps2_gpio_get_sda() +{ + const struct ps2_gpio_data *data = &ps2_gpio_data; + int rc = gpio_pin_get_dt(&data->sda_gpio); + + return rc; +} + +void ps2_gpio_set_scl(int state) +{ + const struct ps2_gpio_data *data = &ps2_gpio_data; + + // LOG_INF("Setting scl to %d", state); + gpio_pin_set_dt(&data->scl_gpio, state); +} + +void ps2_gpio_set_sda(int state) +{ + const struct ps2_gpio_data *data = &ps2_gpio_data; + + // LOG_INF("Seting sda to %d", state); + gpio_pin_set_dt(&data->sda_gpio, state); +} + +int ps2_gpio_set_scl_callback_enabled(bool enabled) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + int err; + + if(enabled) { + err = gpio_add_callback(data->scl_gpio.port, &data->scl_cb_data); + if (err) { + LOG_ERR( + "failed to enable interrupt callback on " + "SCL GPIO pin (err %d)", err + ); + } + } else { + err = gpio_remove_callback(data->scl_gpio.port, &data->scl_cb_data); + if (err) { + LOG_ERR( + "failed to disable interrupt callback on " + "SCL GPIO pin (err %d)", err + ); + } + } + + return err; +} + + +int ps2_gpio_configure_pin_scl(gpio_flags_t flags, char *descr) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + int err; + + err = gpio_pin_configure_dt( + &data->scl_gpio, + flags + ); + if (err) { + LOG_ERR("failed to configure SCL GPIO pin to %s (err %d)", descr, err); + } + + return err; +} + +int ps2_gpio_configure_pin_scl_input() +{ + return ps2_gpio_configure_pin_scl( + (GPIO_INPUT), + "input" + ); +} + +int ps2_gpio_configure_pin_scl_output() +{ + return ps2_gpio_configure_pin_scl( + (GPIO_OUTPUT), + "output" + ); +} + +int ps2_gpio_configure_pin_sda(gpio_flags_t flags, char *descr) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + int err; + + err = gpio_pin_configure_dt( + &data->sda_gpio, + flags + ); + if (err) { + LOG_ERR("failed to configure SDA GPIO pin to %s (err %d)", descr, err); + } + + return err; +} + +int ps2_gpio_configure_pin_sda_input() +{ + return ps2_gpio_configure_pin_sda( + (GPIO_INPUT), + "input" + ); +} + +int ps2_gpio_configure_pin_sda_output() +{ + return ps2_gpio_configure_pin_sda( + (GPIO_OUTPUT), + "output" + ); +} + +bool ps2_gpio_get_byte_parity(uint8_t byte) +{ + int byte_parity = __builtin_parity(byte); + + // gcc parity returns 1 if there is an odd number of bits in byte + // But the PS2 protocol sets the parity bit to 0 if there is an odd number + return !byte_parity; +} + +uint8_t ps2_gpio_data_queue_get_next(uint8_t *dst_byte, k_timeout_t timeout) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + uint8_t *queue_byte = k_fifo_get(&data->data_queue, timeout); + if(queue_byte == NULL) { + return -ETIMEDOUT; + } + + *dst_byte = *queue_byte; + + k_free(queue_byte); + + return 0; +} + +void ps2_gpio_data_queue_empty() +{ + while(true) { + uint8_t byte; + int err = ps2_gpio_data_queue_get_next(&byte, K_NO_WAIT); + if(err) { // No more items in queue + break; + } + } +} + +void ps2_gpio_data_queue_add(uint8_t byte) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + uint8_t *byte_heap = (uint8_t *) k_malloc(sizeof(byte)); + if(byte_heap == NULL) { + LOG_WRN( + "Could not allocate heap space to add byte to fifo. " + "Clearing fifo." + ); + + // TODO: Define max amount for read data queue instead of emptying it + // when memory runs out. + // But unfortunately it seems like there is no official way to query + // how many items are currently in the fifo. + ps2_gpio_data_queue_empty(); + + byte_heap = (uint8_t *) k_malloc(sizeof(byte)); + if(byte_heap == NULL) { + LOG_ERR( + "Could not allocate heap space after clearing fifo. " + "Losing received byte 0x%x", byte + ); + return; + } + } + + *byte_heap = byte; + k_fifo_alloc_put(&data->data_queue, byte_heap); +} + +void ps2_gpio_send_cmd_resend_worker(struct k_work *item) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + // Notify the PS/2 device driver that we are requesting a resend. + // PS/2 devices don't just resend the last byte that was sent, but the + // entire command packet, which can be multiple bytes. + if(data->resend_callback_isr != NULL && data->callback_enabled) { + + data->resend_callback_isr(data->dev); + } + + uint8_t cmd = 0xfe; + // LOG_DBG("Requesting resend of data with command: 0x%x", cmd); + ps2_gpio_write_byte(cmd); +} + +void ps2_gpio_send_cmd_resend() +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + if (k_is_in_isr()) { + + // It's important to submit this on the cb queue and not on the + // same queue as the inhibition delay. + // Otherwise the queue will be blocked by the semaphore and the + // inhibition delay worker will never be called. + k_work_submit_to_queue( + &ps2_gpio_work_queue_cb, + &data->resend_cmd_work + ); + } else { + ps2_gpio_send_cmd_resend_worker(NULL); + } +} + + +/* + * Interrupt logging + * + * Zephyr logs don't process fast enough and slow down the interrupts enough + * to make the writes and reads fail. + * + * This simple logging process allows us to debug the interrupts in detail. + */ + +#define PS2_GPIO_INTERRUPT_LOG_SCL_TIMEOUT K_SECONDS(1) +#define PS2_GPIO_INTERRUPT_LOG_MAX_ITEMS 1000 + +#if IS_ENABLED(CONFIG_PS2_GPIO_INTERRUPT_LOG_ENABLED) + +#define LOG_PS2_INT(...) ps2_gpio_interrupt_log_add(__VA_ARGS__) + +struct interrupt_log { + int64_t uptime_ticks; + char msg[50]; + int scl; + int sda; + ps2_gpio_mode mode; + int pos; +}; + +int interrupt_log_offset = 0; +int interrupt_log_idx = 0; +struct interrupt_log interrupt_log[PS2_GPIO_INTERRUPT_LOG_MAX_ITEMS]; + +struct k_work_delayable interrupt_log_scl_timout; +struct k_work interrupt_log_print_worker; + +void ps2_gpio_interrupt_log_add(char *msg, uint8_t *arg); +void ps2_gpio_interrupt_log_print(); +void ps2_gpio_interrupt_log_clear(); +void ps2_gpio_strncat_hex(char *dst, uint8_t val, size_t dst_size); +char *ps2_gpio_interrupt_log_get_mode_str(); +void ps2_gpio_interrupt_log_get_pos_str(int pos, + char *pos_str, + int pos_str_size); + +void ps2_gpio_interrupt_log_add(char *msg, uint8_t *arg) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + struct interrupt_log l; + + l.uptime_ticks = k_uptime_ticks(); + + // va_list arglist; + // va_start(arglist, format); + // vsnprintfcb(l.msg, sizeof(l.msg) - 1, format, arglist); + // va_end(arglist); + strncpy(l.msg, msg, sizeof(l.msg) - 1); + if(arg != NULL) { + ps2_gpio_strncat_hex(l.msg, *arg, sizeof(l.msg)); + } + + l.scl = ps2_gpio_get_scl(); + l.sda = ps2_gpio_get_sda(); + l.mode = data->mode; + if(data->mode == PS2_GPIO_MODE_READ) { + l.pos = data->cur_read_pos; + } else { + l.pos = data->cur_write_pos; + } + + if(interrupt_log_idx == (PS2_GPIO_INTERRUPT_LOG_MAX_ITEMS * 0.80)) { + ps2_gpio_interrupt_log_print(); + } else if(interrupt_log_idx >= PS2_GPIO_INTERRUPT_LOG_MAX_ITEMS) { + interrupt_log_offset++; + return; + } + + interrupt_log[interrupt_log_idx] = l; + interrupt_log_idx += 1; +} + +void ps2_gpio_interrupt_log_print() +{ + // ps2_gpio_interrupt_log_print_worker(NULL); + k_work_submit_to_queue( + &ps2_gpio_work_queue_cb, + &interrupt_log_print_worker + ); +} + +void ps2_gpio_interrupt_log_print_worker(struct k_work *item) +{ + + LOG_INF("===== Interrupt Log ====="); + for(int i = 0; i < interrupt_log_idx; i++) { + struct interrupt_log *l = &interrupt_log[i]; + char pos_str[50]; + + ps2_gpio_interrupt_log_get_pos_str(l->pos, pos_str, sizeof(pos_str)); + + LOG_INF( + "%d - %" PRIu64 ": %s " + "(mode=%s, pos=%s, scl=%d, sda=%d)" , + interrupt_log_offset + i + 1, l->uptime_ticks, l->msg, + ps2_gpio_interrupt_log_get_mode_str(), pos_str, l->scl, l->sda + ); + k_sleep(K_MSEC(15)); + } + LOG_INF("======== End Log ========"); + + ps2_gpio_interrupt_log_clear(); +} + +void ps2_gpio_interrupt_log_clear() +{ + memset(&interrupt_log, 0x0, sizeof(interrupt_log)); + interrupt_log_offset += interrupt_log_idx; + interrupt_log_idx = 0; +} + +void ps2_gpio_interrupt_log_scl_timeout(struct k_work *item) +{ + // Called if there is no interrupt for + // PS2_GPIO_INTERRUPT_LOG_SCL_TIMEOUT ms + ps2_gpio_interrupt_log_print(); + +void ps2_gpio_strncat_hex(char *dst, uint8_t val, size_t dst_size) { + const char hex_chars[] = "0123456789abcdef"; + char val_hex[5]; + + val_hex[0] = '0'; + val_hex[1] = 'x'; + + val_hex[2] = hex_chars[(val >> (4 * (1 - 0))) & 0xf]; + val_hex[3] = hex_chars[(val >> (4 * (1 - 1))) & 0xf]; + + val_hex[4] = '\0'; + + strncat(dst, val_hex, dst_size - strlen(dst) - 1); +} + +char *ps2_gpio_interrupt_log_get_mode_str() { + struct ps2_gpio_data *data = &ps2_gpio_data; + + if(data->mode == PS2_GPIO_MODE_READ) { + return "r"; + } else if(data->mode == PS2_GPIO_MODE_WRITE) { + return "w"; + } else { + return "?"; + } +} + +void ps2_gpio_interrupt_log_get_pos_str(int pos, + char *pos_str, + int pos_str_size) +{ + char *pos_names[] = { + "start", + "data_1", + "data_2", + "data_3", + "data_4", + "data_5", + "data_6", + "data_7", + "data_8", + "parity", + "stop", + "ack", + }; + + if(pos >= (sizeof(pos_names) / sizeof(pos_names[0]))) { + snprintf(pos_str, pos_str_size - 1, "%d", pos); + } else { + strncpy(pos_str, pos_names[pos], pos_str_size - 1); + } +} + +#else + +#define LOG_PS2_INT(...) + +#endif /* IS_ENABLED(CONFIG_PS2_GPIO_INTERRUPT_LOG_ENABLED) */ + + +/* + * Reading PS/2 data + */ + +void ps2_gpio_read_interrupt_handler(); +void ps2_gpio_read_scl_timeout(struct k_work *item); +void ps2_gpio_read_abort(bool should_resend, char *reason); +void ps2_gpio_read_process_received_byte(uint8_t byte); +void ps2_gpio_read_finish(); + +// Reading doesn't need to be initiated. It happens automatically whenever +// the device sends data. +// Once a full byte has been received successfully it is processed in +// ps2_gpio_read_process_received_byte, which decides what should happen +// with it. +void ps2_gpio_read_interrupt_handler() +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + uint32_t cur_read_cycle_cnt = k_cycle_get_32(); + uint32_t last_read_cycle_cnt = data->last_read_cycle_cnt; + + data->last_read_cycle_cnt = cur_read_cycle_cnt; + + if(data->cur_read_pos > 0) { + uint32_t prev_cycle_delta_us = k_cyc_to_us_floor32( + cur_read_cycle_cnt - last_read_cycle_cnt + ); + + if(prev_cycle_delta_us > PS2_GPIO_TIMING_SCL_CYCLE_MAX) { + ps2_gpio_read_abort(true, "missed interrupt"); + } + } + + k_work_cancel_delayable(&data->read_scl_timout); + + LOG_PS2_INT("Read interrupt", NULL); + + int sda_val = ps2_gpio_get_sda(); + + if(data->cur_read_pos == PS2_GPIO_POS_START) { + // The first bit of every transmission should be 0. + // If it is not, it means we are out of sync with the device. + // So we abort the transmission and start from scratch. + if(sda_val != 0) { + LOG_PS2_INT( + "Ignoring read interrupt due to invalid start bit.", NULL + ); + + // We don't request a resend here, because sometimes after writes + // devices send some unintended interrupts. If this is a "real + // transmission" and we are out of sync, we will catch it with the + // parity and stop bits and then request a resend. + ps2_gpio_read_abort(false, "invalid start bit"); + return; + } + } else if(data->cur_read_pos > PS2_GPIO_POS_START && + data->cur_read_pos < PS2_GPIO_POS_PARITY) + { // Data Bits + + // Current position, minus start bit + int bit_pos = data->cur_read_pos - 1; + PS2_GPIO_SET_BIT(data->cur_read_byte, sda_val, bit_pos); + } else if(data->cur_read_pos == PS2_GPIO_POS_PARITY) { + bool read_byte_parity = ps2_gpio_get_byte_parity(data->cur_read_byte); + + if(read_byte_parity != sda_val) { + LOG_PS2_INT( + "Requesting re-send due to invalid parity bit.", NULL + ); + + // If we got to the parity bit and it's incorrect then we + // are definitly in a transmission and out of sync. So we + // request a resend. + ps2_gpio_read_abort(true, "invalid parity bit"); + return; + } + } else if(data->cur_read_pos == PS2_GPIO_POS_STOP) { + if(sda_val != 1) { + LOG_PS2_INT( + "Requesting re-send due to invalid stop bit.", NULL + ); + + // If we got to the stop bit and it's incorrect then we + // are definitly in a transmission and out of sync. So we + // request a resend. + ps2_gpio_read_abort(true, "invalid stop bit"); + return; + } + + ps2_gpio_read_process_received_byte(data->cur_read_byte); + + return; + } else { + LOG_PS2_INT( + "Invalid read clock triggered", NULL + ); + + return; + } + + data->cur_read_pos += 1; + k_work_schedule(&data->read_scl_timout, PS2_GPIO_TIMEOUT_READ_SCL); +} + +void ps2_gpio_read_scl_timeout(struct k_work *item) +{ + // Once we are receiving a transmission we expect the device to + // to send a new clock/interrupt within 100us. + // If we don't receive the next interrupt within that timeframe, + // we abort the read. + struct ps2_gpio_data *data = CONTAINER_OF( + item, + struct ps2_gpio_data, + read_scl_timout + ); + + LOG_PS2_INT("Read SCL timeout", NULL); + + // We don't request a resend if the timeout happens in the early + // stage of the transmission. + // + // Because, sometimes after writes devices send some unintended + // interrupts and start the "real response" after one or two cycles. + // + // If we are really out of sync the parity and stop bits should catch + // it and request a re-transmission. + if(data->cur_read_pos <= 3) { + ps2_gpio_read_abort(false, "scl timeout"); + } else { + ps2_gpio_read_abort(true, "scl timeout"); + } +} + +void ps2_gpio_read_abort(bool should_resend, char *reason) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + if(should_resend == true) { + LOG_ERR( + "Aborting read with resend request on pos=%d: %s", + data->cur_read_pos, reason + ); + LOG_PS2_INT("Aborting read with resend request.", NULL); + } else { + LOG_PS2_INT("Aborting read without resend request.", NULL); + } + + ps2_gpio_read_finish(); + + k_work_cancel_delayable(&data->read_scl_timout); + + if(should_resend == true) { + if(data->cur_read_try < PS2_GPIO_READ_MAX_RETRY) { + + data->cur_read_try++; + ps2_gpio_send_cmd_resend(); + } else { + LOG_ERR( + "Failed to read value %d times. Stopping asking the device " + "to resend.", + data->cur_read_try + ); + + data->cur_read_try = 0; + } + } +} + +void ps2_gpio_read_process_received_byte(uint8_t byte) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + LOG_DBG("Successfully received value: 0x%x", byte); + LOG_PS2_INT("Successfully received value: ", &byte); + + // Since read was successful we reset the read try + data->cur_read_try = 0; + ps2_gpio_read_finish(); + + // If write_byte_await_response() is waiting, we notify + // the blocked write process of whether it was a success or not. + if(data->write_awaits_resp) { + data->write_awaits_resp_byte = byte; + data->write_awaits_resp = false; + k_sem_give(&data->write_awaits_resp_sem); + + // Don't send ack and err responses to the callback and read + // data queue. + // If it's an ack, the write process will return success. + // If it's an error, the write process will return failure. + if(byte == PS2_GPIO_RESP_ACK || + byte == PS2_GPIO_RESP_RESEND || + byte == PS2_GPIO_RESP_FAILURE) { + + return; + } + } + + // If no callback is set, we add the data to a fifo queue + // that can be read later with the read using `ps2_read` + if(data->callback_isr != NULL && data->callback_enabled) { + + // Call callback from a worker to make sure the callback + // doesn't block the interrupt. + // Will call ps2_gpio_read_callback_work_handler + data->callback_byte = byte; + k_work_submit_to_queue(&ps2_gpio_work_queue_cb, &data->callback_work); + } else { + ps2_gpio_data_queue_add(byte); + } +} + +void ps2_gpio_read_callback_work_handler(struct k_work *work) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + data->callback_isr(data->dev, data->callback_byte); + data->callback_byte = 0x0; +} + +void ps2_gpio_read_finish() +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + data->cur_read_pos = PS2_GPIO_POS_START; + data->cur_read_byte = 0x0; + + k_work_cancel_delayable(&data->read_scl_timout); +} + + +/* + * Writing PS2 data + */ + +int ps2_gpio_write_byte_await_response(uint8_t byte); +int ps2_gpio_write_byte_blocking(uint8_t byte); +int ps2_gpio_write_byte_start(uint8_t byte); +void ps2_gpio_write_inhibition_wait(struct k_work *item); +void ps2_gpio_write_interrupt_handler(); +void ps2_gpio_write_finish(bool successful, char *descr); +void ps2_gpio_write_scl_timeout(struct k_work *item); +bool ps2_gpio_get_byte_parity(uint8_t byte); + +// Returned when there was an error writing to the PS2 device, such +// as not getting a clock from the device or receiving an invalid +// ack bit. +#define PS2_GPIO_E_WRITE_TRANSMIT 1 + +// Returned when the semaphore times out. Theoretically this shouldn't be +// happening. But it can happen if the same thread is used for both the +// semaphore wait and the inhibition timeout. +#define PS2_GPIO_E_WRITE_SEM_TIMEOUT 2 + +// Returned when the write finished seemingly successful, but the +// device didn't send a response in time. +#define PS2_GPIO_E_WRITE_RESPONSE 3 + +// Returned when the write finished seemingly successful, but the +// device responded with 0xfe (request to resend) and we ran out of +// retry attempts. +#define PS2_GPIO_E_WRITE_RESEND 4 + +// Returned when the write finished seemingly successful, but the +// device responded with 0xfc (failure / cancel). +#define PS2_GPIO_E_WRITE_FAILURE 5 + +K_MUTEX_DEFINE(write_mutex); + + +int ps2_gpio_write_byte(uint8_t byte) +{ + int err; + + LOG_DBG("\n"); + LOG_DBG("START WRITE: 0x%x", byte); + + k_mutex_lock(&write_mutex, K_FOREVER); + + for(int i = 0; i < PS2_GPIO_WRITE_MAX_RETRY; i++) { + if(i > 0) { + LOG_WRN( + "Attempting write re-try #%d of %d...", + i + 1, PS2_GPIO_WRITE_MAX_RETRY + ); + } + + err = ps2_gpio_write_byte_await_response(byte); + + if(err == 0) { + if(i > 0) { + LOG_WRN( + "Successfully wrote 0x%x on try #%d of %d...", + byte, i + 1, PS2_GPIO_WRITE_MAX_RETRY + ); + } + break; + } else if(err == PS2_GPIO_E_WRITE_FAILURE) { + // Write failed and the device requested to stop trying + // to resend. + break; + } + } + + LOG_DBG("END WRITE: 0x%x\n", byte); + k_mutex_unlock(&write_mutex); + + return err; +} + +// Writes the byte and blocks execution until we read the +// response byte. +// Returns failure if the write fails or the response is 0xfe/0xfc (error) +// Returns success if the response is 0xfa (ack) or any value except of +// 0xfe. +// 0xfe, 0xfc and 0xfa are not passed on to the read data queue or callback. +int ps2_gpio_write_byte_await_response(uint8_t byte) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + int err; + + err = ps2_gpio_write_byte_blocking(byte); + if(err) { + return err; + } + + data->write_awaits_resp = true; + + err = k_sem_take( + &data->write_awaits_resp_sem, PS2_GPIO_TIMEOUT_WRITE_AWAIT_RESPONSE + ); + + uint8_t resp_byte = data->write_awaits_resp_byte; + data->write_awaits_resp_byte = 0x0; + data->write_awaits_resp = false; + + if (err) { + LOG_WRN( + "Write response didn't arrive in time for byte " + "0x%x. Considering send a failure.", byte + ); + + return PS2_GPIO_E_WRITE_RESPONSE; + } + + LOG_DBG( + "Write for byte 0x%x received response: 0x%x", + byte, resp_byte + ); + + // We fail the write since we got an error response + if(resp_byte == PS2_GPIO_RESP_RESEND) { + + return PS2_GPIO_E_WRITE_RESEND; + } else if(resp_byte == PS2_GPIO_RESP_FAILURE) { + + return PS2_GPIO_E_WRITE_FAILURE; + } + + // Most of the time when a write was successful the device + // responds with an 0xfa (ack), but for some commands it doesn't. + // So we consider all non-0xfe and 0xfc responses as successful. + return 0; +} + +int ps2_gpio_write_byte_blocking(uint8_t byte) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + int err; + + // LOG_DBG("ps2_gpio_write_byte_blocking called with byte=0x%x", byte); + + err = ps2_gpio_write_byte_start(byte); + if (err) { + LOG_ERR("Could not initiate writing of byte."); + return PS2_GPIO_E_WRITE_TRANSMIT; + } + + // The async `write_byte_start` function takes the only available semaphor. + // This causes the `k_sem_take` call below to block until + // `ps2_gpio_write_finish` gives it back. + err = k_sem_take(&data->write_lock, PS2_GPIO_TIMEOUT_WRITE_BLOCKING); + if (err) { + + // This usually means the controller is busy with other interrupts, + // timed out processing the interrupts and even the scl timeout + // delayable wasn't called due to the delay. + // + // So we abort the write and try again. + LOG_ERR( + "Blocking write failed due to semaphore timeout for byte " + "0x%x: %d", byte, err + ); + + ps2_gpio_write_finish(false, "semaphore timeout"); + return PS2_GPIO_E_WRITE_SEM_TIMEOUT; + } + + if(data->cur_write_status == PS2_GPIO_WRITE_STATUS_SUCCESS) { + // LOG_DBG("Blocking write finished successfully for byte 0x%x", byte); + err = 0; + } else { + LOG_ERR( + "Blocking write finished with failure for byte 0x%x status: %d", + byte, data->cur_write_status + ); + err = -data->cur_write_status; + } + + data->cur_write_status = PS2_GPIO_WRITE_STATUS_INACTIVE; + + return err; +} + +int ps2_gpio_write_byte_start(uint8_t byte) { + struct ps2_gpio_data *data = &ps2_gpio_data; + int err; + + LOG_DBG("ps2_gpio_write_byte_start called with byte=0x%x", byte); + + if(data->mode == PS2_GPIO_MODE_WRITE) + { + LOG_ERR( + "Preventing write off byte 0x%x: " + "Another write in progress for 0x%x", + byte, data->cur_write_byte + ); + + return -EBUSY; + } + + // Take semaphore so that when `ps2_gpio_write_byte_blocking` attempts + // taking it, the process gets blocked. + // It is released in `ps2_gpio_write_finish`. + err = k_sem_take(&data->write_lock, K_NO_WAIT); + if (err != 0 && err != -EBUSY) { + LOG_ERR("ps2_gpio_write_byte_start could not take semaphore: %d", err); + + return err; + } + + // Change mode and set write_pos so that the read interrupt handler + // doesn't trigger when we bring the clock line low. + data->mode = PS2_GPIO_MODE_WRITE; + data->cur_write_pos = PS2_GPIO_POS_START; + data->cur_write_byte = byte; + + // Initiating a send aborts any in-progress reads, so we + // reset the current read byte + data->cur_write_status = PS2_GPIO_WRITE_STATUS_ACTIVE; + if(data->cur_read_pos != PS2_GPIO_POS_START || + data->cur_read_byte != 0x0) + { + LOG_WRN("Aborting in-progress read due to write of byte 0x%x", byte); + ps2_gpio_read_abort(false, "starting write"); + } + + // Configure data and clock lines for output + ps2_gpio_configure_pin_scl_output(); + ps2_gpio_configure_pin_sda_output(); + + LOG_PS2_INT("Starting write of byte ", &byte); + + // Disable interrupt so that we don't trigger it when we + // pull the clock low to inhibit the line + ps2_gpio_set_scl_callback_enabled(false); + + // Inhibit the line by setting clock low and data high + ps2_gpio_set_scl(0); + ps2_gpio_set_sda(1); + + LOG_PS2_INT("Inhibited clock line", NULL); + + // Keep the line inhibited for at least 100 microseconds + k_work_schedule_for_queue( + &ps2_gpio_work_queue, + &data->write_inhibition_wait, + PS2_GPIO_WRITE_INHIBIT_SLC_DURATION + ); + + // The code continues in ps2_gpio_write_inhibition_wait + return 0; +} + +void ps2_gpio_write_inhibition_wait(struct k_work *item) +{ + LOG_PS2_INT("Inhibition timer finished", NULL); + + struct ps2_gpio_data *data = CONTAINER_OF( + item, + struct ps2_gpio_data, + write_inhibition_wait + ); + + // Enable the scl interrupt again + ps2_gpio_set_scl_callback_enabled(true); + + // Set data to value of start bit + ps2_gpio_set_sda(0); + + LOG_PS2_INT("Set sda to start bit", NULL); + + // The start bit was sent by setting sda to low + // So the next scl interrupt will be for the first + // data bit. + data->cur_write_pos += 1; + + // Release the clock line and configure it as input + // This let's the device take control of the clock again + ps2_gpio_set_scl(1); + ps2_gpio_configure_pin_scl_input(); + + LOG_PS2_INT("Released clock", NULL); + + k_work_schedule_for_queue( + &ps2_gpio_work_queue, + &data->write_scl_timout, + PS2_GPIO_TIMEOUT_WRITE_SCL_START + ); + + // From here on the device takes over the control of the clock again + // Every time it is ready for the next bit to be trasmitted, it will... + // - Pull the clock line low + // - Which will trigger our `ps2_gpio_write_interrupt_handler` + // - Which will send the correct bit + // - After all bits are sent `ps2_gpio_write_finish` is called +} + +void ps2_gpio_write_interrupt_handler() +{ + // After initiating writing, the device takes over + // the clock and asks us for a new bit of data on + // each falling edge. + struct ps2_gpio_data *data = &ps2_gpio_data; + + if(data->cur_write_pos == PS2_GPIO_POS_START) + { + // This should not be happening, because the PS2_GPIO_POS_START bit + // is sent in ps2_gpio_write_byte_start during inhibition + LOG_PS2_INT("Write interrupt", NULL); + return; + } + + k_work_cancel_delayable(&data->write_scl_timout); + + if(data->cur_write_pos > PS2_GPIO_POS_START && + data->cur_write_pos < PS2_GPIO_POS_PARITY) + { + // Set it to the data bit corresponding to the current + // write position (subtract start bit postion) + ps2_gpio_set_sda( + PS2_GPIO_GET_BIT(data->cur_write_byte, (data->cur_write_pos - 1)) + ); + } else if(data->cur_write_pos == PS2_GPIO_POS_PARITY) + { + ps2_gpio_set_sda( + ps2_gpio_get_byte_parity(data->cur_write_byte) + ); + } else if(data->cur_write_pos == PS2_GPIO_POS_STOP) + { + // Send the stop bit (always 1) + ps2_gpio_set_sda(1); + + // Give control over data pin back to device after sending stop bit + // so that we can receive the ack bit from the device + ps2_gpio_configure_pin_sda_input(); + } else if(data->cur_write_pos == PS2_GPIO_POS_ACK) + { + int ack_val = ps2_gpio_get_sda(); + + LOG_PS2_INT("Write interrupt", NULL); + + if(ack_val == 0) { + LOG_PS2_INT("Write was successful on ack: ", NULL); + ps2_gpio_write_finish(true, "valid ack bit"); + } else { + LOG_PS2_INT("Write failed on ack", NULL); + ps2_gpio_write_finish(false, "invalid ack bit"); + } + + return; + } else { + LOG_PS2_INT( + "Invalid write clock triggered", NULL + ); + + return; + } + + LOG_PS2_INT("Write interrupt", NULL); + + data->cur_write_pos += 1; + k_work_schedule_for_queue( + &ps2_gpio_work_queue, + &data->write_scl_timout, + PS2_GPIO_TIMEOUT_WRITE_SCL + ); +} + +void ps2_gpio_write_scl_timeout(struct k_work *item) +{ + // Once we start a transmission we expect the device to + // to send a new clock/interrupt within 100us. + // If we don't receive the next interrupt within that timeframe, + // we abort the writ). + + LOG_PS2_INT("Write SCL timeout", NULL); + ps2_gpio_write_finish(false, "scl timeout"); +} + +void ps2_gpio_write_finish(bool successful, char *descr) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + + k_work_cancel_delayable(&data->write_scl_timout); + + if(successful) { + LOG_DBG( + "Successfully wrote value 0x%x", + data->cur_write_byte + ); + LOG_PS2_INT( + "Successfully wrote value ", + &data->cur_write_byte + ); + data->cur_write_status = PS2_GPIO_WRITE_STATUS_SUCCESS; + } else { // Failure + LOG_ERR( + "Failed to write value 0x%x at pos=%d: %s", + data->cur_write_byte, data->cur_write_pos, descr + ); + LOG_PS2_INT( + "Failed to write value ", + &data->cur_write_byte + ); + + data->cur_write_status = PS2_GPIO_WRITE_STATUS_FAILURE; + + // Make sure the scl callback is enabled + // It's possible that all threads are busy, + // write_inhibition_wait doesn't get called in time + // and the semaphore times out. + // In that case we want to make sure the interrupt + // callback is enabled again. + ps2_gpio_set_scl_callback_enabled(true); + } + + data->mode = PS2_GPIO_MODE_READ; + data->cur_read_pos = PS2_GPIO_POS_START; + data->cur_write_pos = PS2_GPIO_POS_START; + data->cur_write_byte = 0x0; + + // Give back control over data and clock line if we still hold on to it + ps2_gpio_configure_pin_sda_input(); + ps2_gpio_configure_pin_scl_input(); + + // Give the semaphore to allow write_byte_blocking to continue + k_sem_give(&data->write_lock); +} + + +/* + * Interrupt Handler + */ + +void ps2_gpio_scl_interrupt_handler(const struct device *dev, + struct gpio_callback *cb, + uint32_t pins) +{ + struct ps2_gpio_data *data = &ps2_gpio_data; + +#if IS_ENABLED(CONFIG_PS2_GPIO_INTERRUPT_LOG_ENABLED) + k_work_cancel_delayable(&interrupt_log_scl_timout); +#endif /* IS_ENABLED(CONFIG_PS2_GPIO_INTERRUPT_LOG_ENABLED) */ + + if(data->mode == PS2_GPIO_MODE_READ) { + ps2_gpio_read_interrupt_handler(); + } else { + ps2_gpio_write_interrupt_handler(); + } + +#if IS_ENABLED(CONFIG_PS2_GPIO_INTERRUPT_LOG_ENABLED) + k_work_schedule_for_queue( + &ps2_gpio_work_queue_cb, + &interrupt_log_scl_timout, + PS2_GPIO_INTERRUPT_LOG_SCL_TIMEOUT + ); +#endif /* IS_ENABLED(CONFIG_PS2_GPIO_INTERRUPT_LOG_ENABLED) */ +} + + +/* + * Zephyr PS/2 driver interface + */ +static int ps2_gpio_enable_callback(const struct device *dev); + +static int ps2_gpio_configure(const struct device *dev, + ps2_callback_t callback_isr, + ps2_resend_callback_t resend_callback_isr) +{ + struct ps2_gpio_data *data = dev->data; + + if (!callback_isr && !resend_callback_isr) { + return -EINVAL; + } + + if(callback_isr) { + data->callback_isr = callback_isr; + ps2_gpio_enable_callback(dev); + } + + if(resend_callback_isr) { + data->resend_callback_isr = resend_callback_isr; + } + + return 0; +} + +int ps2_gpio_read(const struct device *dev, uint8_t *value) +{ + // TODO: Add a way to not return old queue items + // Maybe only bytes that were received within past 10 seconds. + uint8_t queue_byte; + int err = ps2_gpio_data_queue_get_next(&queue_byte, PS2_GPIO_TIMEOUT_READ); + if(err) { // Timeout due to no data to read in data queue + // LOG_DBG("ps2_gpio_read: Fifo timed out..."); + + return -ETIMEDOUT; + } + + // LOG_DBG("ps2_gpio_read: Returning 0x%x", queue_byte); + *value = queue_byte; + + return 0; +} + +static int ps2_gpio_write(const struct device *dev, uint8_t value) +{ + return ps2_gpio_write_byte(value); +} + +static int ps2_gpio_disable_callback(const struct device *dev) +{ + struct ps2_gpio_data *data = dev->data; + + // Make sure there are no stale items in the data queue + // from before the callback was disabled. + ps2_gpio_data_queue_empty(); + + data->callback_enabled = false; + + // LOG_DBG("Disabled PS2 callback."); + + return 0; +} + +static int ps2_gpio_enable_callback(const struct device *dev) +{ + struct ps2_gpio_data *data = dev->data; + data->callback_enabled = true; + + // LOG_DBG("Enabled PS2 callback."); + + ps2_gpio_data_queue_empty(); + + return 0; +} + +static const struct ps2_driver_api ps2_gpio_driver_api = { + .config = ps2_gpio_configure, + .read = ps2_gpio_read, + .write = ps2_gpio_write, + .disable_callback = ps2_gpio_disable_callback, + .enable_callback = ps2_gpio_enable_callback, +}; + +/* + * PS/2 GPIO Driver Init + */ + +int ps2_gpio_configure_scl_pin(struct ps2_gpio_data *data, + const struct ps2_gpio_config *config) +{ + int err; + + // Make pin info accessible through the data struct + data->scl_gpio = config->scl_gpio; + + // Overwrite any user-provided flags from the devicetree + data->scl_gpio.dt_flags = 0; + + ps2_gpio_configure_pin_scl_input(); + + // Interrupt for clock line + err = gpio_pin_interrupt_configure_dt( + &data->scl_gpio, + (GPIO_INT_EDGE_FALLING) + ); + if (err) { + LOG_ERR( + "failed to configure interrupt on " + "SCL GPIO pin (err %d)", err + ); + return err; + } + + gpio_init_callback( + &data->scl_cb_data, + ps2_gpio_scl_interrupt_handler, + BIT(data->scl_gpio.pin) + ); + + ps2_gpio_set_scl_callback_enabled(true); + + return 0; +} + +int ps2_gpio_configure_sda_pin(struct ps2_gpio_data *data, + const struct ps2_gpio_config *config) +{ + // Make pin info accessible through the data struct + data->sda_gpio = config->sda_gpio; + + // Overwrite any user-provided flags from the devicetree + data->scl_gpio.dt_flags = 0; + + ps2_gpio_configure_pin_sda_input(); + + return 0; +} + +static int ps2_gpio_init(const struct device *dev) +{ + + struct ps2_gpio_data *data = dev->data; + const struct ps2_gpio_config *config = dev->config; + int err; + + // Set the ps2 device so we can retrieve it later for + // the ps2 callback + data->dev = dev; + + err = ps2_gpio_configure_scl_pin(data, config); + if (err) { + return err; + } + err = ps2_gpio_configure_sda_pin(data, config); + if (err) { + return err; + } + + // Check if this stuff is needed + // TODO: Figure out why this is requiered. + ps2_gpio_set_sda(1); + ps2_gpio_set_scl(1); + + // Init fifo for synchronous read operations + k_fifo_init(&data->data_queue); + + // Init semaphore for blocking writes + k_sem_init(&data->write_lock, 0, 1); + + // Init semaphore that waits for read after write + k_sem_init(&data->write_awaits_resp_sem, 0, 1); + + // Custom queue for background PS/2 processing work at high priority + k_work_queue_start( + &ps2_gpio_work_queue, + ps2_gpio_work_queue_stack_area, + K_THREAD_STACK_SIZEOF(ps2_gpio_work_queue_stack_area), + PS2_GPIO_WORK_QUEUE_PRIORITY, + NULL + ); + + // Custom queue for calling the zephyr ps/2 callback at lower priority + k_work_queue_start( + &ps2_gpio_work_queue_cb, + ps2_gpio_work_queue_cb_stack_area, + K_THREAD_STACK_SIZEOF(ps2_gpio_work_queue_cb_stack_area), + PS2_GPIO_WORK_QUEUE_CB_PRIORITY, + NULL + ); + + // Timeouts for clock pulses during read and write + k_work_init_delayable(&data->read_scl_timout, ps2_gpio_read_scl_timeout); + k_work_init_delayable(&data->write_scl_timout, ps2_gpio_write_scl_timeout); + k_work_init_delayable( + &data->write_inhibition_wait, ps2_gpio_write_inhibition_wait + ); + +#if IS_ENABLED(CONFIG_PS2_GPIO_INTERRUPT_LOG_ENABLED) + k_work_init_delayable( + &interrupt_log_scl_timout, ps2_gpio_interrupt_log_scl_timeout + ); + k_work_init( + &interrupt_log_print_worker, + ps2_gpio_interrupt_log_print_worker + ); +#endif /* IS_ENABLED(CONFIG_PS2_GPIO_INTERRUPT_LOG_ENABLED) */ + + k_work_init(&data->callback_work, ps2_gpio_read_callback_work_handler); + k_work_init(&data->resend_cmd_work, ps2_gpio_send_cmd_resend_worker); + + return 0; +} + +DEVICE_DT_INST_DEFINE( + 0, + &ps2_gpio_init, + NULL, + &ps2_gpio_data, &ps2_gpio_config, + POST_KERNEL, CONFIG_PS2_INIT_PRIORITY, + &ps2_gpio_driver_api +); diff --git a/dts/bindings/ps2/gpio-ps2.yaml b/dts/bindings/ps2/gpio-ps2.yaml new file mode 100644 index 00000000000000..f6181806dd4507 --- /dev/null +++ b/dts/bindings/ps2/gpio-ps2.yaml @@ -0,0 +1,19 @@ +# Copyright (c) 2019, Intel Corporation +# SPDX-License-Identifier: Apache-2.0 + +description: GPIO PS2 + +compatible: "gpio-ps2" + +include: base.yaml + +properties: + scl-gpios: + type: phandle-array + required: true + description: GPIO to which the SCL pin of the I2C bus is connected. + sda-gpios: + type: phandle-array + required: true + description: GPIO to which the SDA pin of the I2C bus is connected. +