motor-control-sdk/.project/templates/am64x/gpio/board_gpio.c.xdt

%%{
    let options = args.options;

    exampleType   = "input_interrupt";
    if(options && options.exampleType)
         exampleType = options.exampleType;

%%}
/*
 *  Copyright (C) 2018-2021 Texas Instruments Incorporated
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *    Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 *    Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the
 *    distribution.
 *
 *    Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include <stdlib.h>
#include <drivers/hw_include/cslr_soc.h>
#include <drivers/gpio.h>
% if ( exampleType == "input_interrupt" ) {
#include <drivers/sciclient.h>
% }
#include "ti_drivers_config.h"

/*
 * Board info
 */
% if ( exampleType == "input_interrupt" ) {
/* This is based on DMSC board config and core */
#define BOARD_BUTTON_GPIO_INTR_NUM      (CSLR_R5FSS0_CORE0_INTR_MAIN_GPIOMUX_INTROUTER0_OUTP_8)
#define BOARD_BUTTON_GPIO_SWITCH_NUM    (5)

/** \brief bank interrupt source index base */
#define TISCI_BANK_SRC_IDX_BASE_GPIO0       (90U)
#define TISCI_BANK_SRC_IDX_BASE_GPIO1       (90U)
#define TISCI_BANK_SRC_IDX_BASE_MCU_GPIO0   (90U)

static void Sciclient_gpioIrqSet(void);
static void Sciclient_gpioIrqRelease(void);

void Board_gpioInit(void)
{
    Sciclient_gpioIrqSet();
}

void Board_gpioDeinit(void)
{
    Sciclient_gpioIrqRelease();
}

uint32_t Board_getGpioButtonIntrNum(void)
{
    return (BOARD_BUTTON_GPIO_INTR_NUM);
}

uint32_t Board_getGpioButtonSwitchNum(void)
{
    return (BOARD_BUTTON_GPIO_SWITCH_NUM);
}

static void Sciclient_gpioIrqSet(void)
{
    int32_t                             retVal;
    struct tisci_msg_rm_irq_set_req     rmIrqReq;
    struct tisci_msg_rm_irq_set_resp    rmIrqResp;

    /* For setting the IRQ for GPIO using sciclient APIs, we need to populate
     * a structure, tisci_msg_rm_irq_set_req instantiated above. The definition
     * of this struct and details regarding the struct members can be found in 
     * the tisci_rm_irq.h.
     */
    /* Initialize all flags to zero since we'll be setting only a few */
    rmIrqReq.valid_params           = 0U; 
    /* Our request has a destination id, so enable the flag for DST ID */
    rmIrqReq.valid_params          |= TISCI_MSG_VALUE_RM_DST_ID_VALID;
    /* DST HOST IRQ is the output index of the interrupt router. We need to make sure this is also enabled as a valid param */
    rmIrqReq.valid_params          |= TISCI_MSG_VALUE_RM_DST_HOST_IRQ_VALID;
    /* This is not a global event */
    rmIrqReq.global_event           = 0U;
    /* Our interrupt source would be the GPIO peripheral. The source id has to be a device id recognizable by the SYSFW.
     * The list of device IDs can be found in tisci_devices.h file under source/drivers/sciclient/include/tisci/am64x_am243x/.
     * In GPIO case there are 3 possible options - TISCI_DEV_GPIO0, TISCI_DEV_GPIO1, TISCI_DEV_MCU_GPIO0. For input interrupt,
     * we need to choose the TISCI_DEV_GPIO1
     */
    rmIrqReq.src_id                 = TISCI_DEV_GPIO1;
    /* This is the interrupt source index within the GPIO peripheral */
    rmIrqReq.src_index              = TISCI_BANK_SRC_IDX_BASE_GPIO1 + GPIO_GET_BANK_INDEX(GPIO_PUSH_BUTTON_PIN);
    /* This is the destination of the interrupt, usually a CPU core. Here we choose the TISCI device ID for R5F0-0 core.
     * For a different core, the corresponding TISCI device id has to be provided */
    rmIrqReq.dst_id                 = TISCI_DEV_R5FSS0_CORE0;
    /* This is the output index of the interrupt router. This depends on the core and board configuration */
    rmIrqReq.dst_host_irq           = Board_getGpioButtonIntrNum();
    /* Rest of the struct members are unused for GPIO interrupt */
    rmIrqReq.ia_id                  = 0U;
    rmIrqReq.vint                   = 0U;
    rmIrqReq.vint_status_bit_index  = 0U;
    rmIrqReq.secondary_host         = TISCI_MSG_VALUE_RM_UNUSED_SECONDARY_HOST;

    /* To set the interrupt we now invoke the Sciclient_rmIrqSet function which
     * will find out the route to configure the interrupt and request DMSC to
     * grant the resource
     */
    retVal = Sciclient_rmIrqSet(&rmIrqReq, &rmIrqResp, SystemP_WAIT_FOREVER);
    if(0 != retVal)
    {
        DebugP_log("[Error] Sciclient event config failed!!!\r\n");
        DebugP_assert(FALSE);
    }

    return;
}

static void Sciclient_gpioIrqRelease(void)
{
    int32_t                             retVal;
    struct tisci_msg_rm_irq_release_req rmIrqReq;
    /* For releasing the IRQ for GPIO using sciclient APIs, we need to populate
     * a structure, tisci_msg_rm_irq_release_req instantiated above. The definition
     * of this struct and details regarding the struct members can be found in 
     * the tisci_rm_irq.h. These are similar to the struct members for the set request
     * used above.
     */
    /* Initialize all flags to zero since we'll be setting only a few */
    rmIrqReq.valid_params           = 0U;
    /* Our request has a destination id, so enable the flag for DST ID */
    rmIrqReq.valid_params          |= TISCI_MSG_VALUE_RM_DST_ID_VALID;
    /* DST HOST IRQ is the output index of the interrupt router. We need to make sure this is also enabled as a valid param */
    rmIrqReq.valid_params          |= TISCI_MSG_VALUE_RM_DST_HOST_IRQ_VALID;
    /* This is not a global event */
    rmIrqReq.global_event           = 0U;
    /* Our interrupt source would be the GPIO peripheral. The source id has to be a device id recognizable by the SYSFW.
     * The list of device IDs can be found in tisci_devices.h file under source/drivers/sciclient/include/tisci/am64x_am243x/.
     * In GPIO case there are 3 possible options - TISCI_DEV_GPIO0, TISCI_DEV_GPIO1, TISCI_DEV_MCU_GPIO0. For input interrupt,
     * we need to choose the TISCI_DEV_GPIO1
     */
    rmIrqReq.src_id                 = TISCI_DEV_GPIO1;
    /* This is the interrupt source index within the GPIO peripheral */
    rmIrqReq.src_index              = TISCI_BANK_SRC_IDX_BASE_GPIO1 + GPIO_GET_BANK_INDEX(GPIO_PUSH_BUTTON_PIN);
    /* This is the destination of the interrupt, usually a CPU core. Here we choose the TISCI device ID for R5F0-0 core.
     * For a different core, the corresponding TISCI device id has to be provided */
    rmIrqReq.dst_id                 = TISCI_DEV_R5FSS0_CORE0;
    /* This is the output index of the interrupt router. This depends on the core and board configuration */
    rmIrqReq.dst_host_irq           = Board_getGpioButtonIntrNum();
    /* Rest of the struct members are unused for GPIO interrupt */
    rmIrqReq.ia_id                  = 0U;
    rmIrqReq.vint                   = 0U;
    rmIrqReq.vint_status_bit_index  = 0U;
    rmIrqReq.secondary_host         = TISCI_MSG_VALUE_RM_UNUSED_SECONDARY_HOST;

    /* To set the interrupt we now invoke the Sciclient_rmIrqRelease function which
     * will find specifics about the route and request DMSC/SYSFW to relase/clear the interrupt
     */
    retVal = Sciclient_rmIrqRelease(&rmIrqReq, SystemP_WAIT_FOREVER);
    if(0 != retVal)
    {
        DebugP_log("[Error] Sciclient event reset failed!!!\r\n");
        DebugP_assert(FALSE);
    }

    return;
}
% }