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applications: sdp: gpio: add Hard RealTime IRQ code #17984

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Merged
merged 1 commit into from
Oct 23, 2024
Merged

applications: sdp: gpio: add Hard RealTime IRQ code #17984

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1 change: 1 addition & 0 deletions applications/sdp/gpio/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ project(emulated_gpio)
sdp_assembly_generate("${CMAKE_SOURCE_DIR}/src/hrt/hrt.c")

target_sources(app PRIVATE src/main.c)
target_sources(app PRIVATE src/hrt/hrt.s)
target_sources_ifdef(CONFIG_GPIO_NRFE_EGPIO_BACKEND_ICMSG app PRIVATE src/backend/backend_icmsg.c)
target_sources_ifdef(CONFIG_GPIO_NRFE_EGPIO_BACKEND_ICBMSG app PRIVATE src/backend/backend_icmsg.c)
target_sources_ifdef(CONFIG_GPIO_NRFE_EGPIO_BACKEND_MBOX app PRIVATE src/backend/backend_mbox.c)
25 changes: 16 additions & 9 deletions applications/sdp/gpio/src/hrt/hrt.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3,19 +3,26 @@
*
* SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
*/

#include "hrt.h"
#include <hal/nrf_vpr_csr_vio.h>

void set_direction(void)
extern volatile uint16_t irq_arg;

void hrt_set_bits(void)
{
nrf_vpr_csr_vio_dir_set(0xA);
nrf_vpr_csr_vio_dir_set(0xB);
nrf_vpr_csr_vio_dir_set(0xC);
uint16_t outs = nrf_vpr_csr_vio_out_get();

nrf_vpr_csr_vio_out_set(outs | irq_arg);
}

void hrt_clear_bits(void)
{
uint16_t outs = nrf_vpr_csr_vio_out_get();

nrf_vpr_csr_vio_out_set(outs & ~irq_arg);
}

void set_output(void)
void hrt_toggle_bits(void)
{
nrf_vpr_csr_vio_out_set(0xA);
nrf_vpr_csr_vio_dir_set(0xB);
nrf_vpr_csr_vio_dir_set(0xC);
nrf_vpr_csr_vio_out_toggle_set(irq_arg);
}
16 changes: 16 additions & 0 deletions applications/sdp/gpio/src/hrt/hrt.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
/*
* Copyright (c) 2024 Nordic Semiconductor ASA
*
* SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
*/

#ifndef _HRT_H__
#define _HRT_H__

void hrt_set_bits(void);

void hrt_clear_bits(void);

void hrt_toggle_bits(void);

#endif /* _HRT_H__ */
55 changes: 55 additions & 0 deletions applications/sdp/gpio/src/hrt/hrt.s
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Original file line number Diff line number Diff line change
@@ -0,0 +1,55 @@
.file "hrt.c"
.option nopic
.attribute arch, "rv32e1p9_m2p0_c2p0_zicsr2p0"
.attribute unaligned_access, 0
.attribute stack_align, 4
.text
.section .text.hrt_set_bits,"ax",@progbits
.align 1
.globl hrt_set_bits
.type hrt_set_bits, @function
hrt_set_bits:
#APP
csrr a4, 3008
#NO_APP
lui a5,%hi(irq_arg)
lhu a5,%lo(irq_arg)(a5)
or a5,a5,a4
slli a5,a5,16
srli a5,a5,16
#APP
csrw 3008, a5
#NO_APP
ret
.size hrt_set_bits, .-hrt_set_bits
.section .text.hrt_clear_bits,"ax",@progbits
.align 1
.globl hrt_clear_bits
.type hrt_clear_bits, @function
hrt_clear_bits:
#APP
csrr a4, 3008
#NO_APP
lui a5,%hi(irq_arg)
lhu a5,%lo(irq_arg)(a5)
not a5,a5
and a5,a5,a4
slli a5,a5,16
srli a5,a5,16
#APP
csrw 3008, a5
#NO_APP
ret
.size hrt_clear_bits, .-hrt_clear_bits
.section .text.hrt_toggle_bits,"ax",@progbits
.align 1
.globl hrt_toggle_bits
.type hrt_toggle_bits, @function
hrt_toggle_bits:
lui a5,%hi(irq_arg)
lhu a5,%lo(irq_arg)(a5)
#APP
csrw 3024, a5
#NO_APP
ret
.size hrt_toggle_bits, .-hrt_toggle_bits
68 changes: 43 additions & 25 deletions applications/sdp/gpio/src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
*/

#include "./backend/backend.h"
#include "./hrt/hrt.h"

#include <zephyr/kernel.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/dt-bindings/gpio/nordic-nrf-gpio.h>
Expand All @@ -13,6 +15,16 @@
#include <hal/nrf_vpr_csr_vio.h>
#include <haly/nrfy_gpio.h>

#define HRT_IRQ_PRIORITY 2
#define HRT_VEVIF_IDX_GPIO_CLEAR 17
#define HRT_VEVIF_IDX_GPIO_SET 18
#define HRT_VEVIF_IDX_GPIO_TOGGLE 19

#define VEVIF_IRQN(vevif) VEVIF_IRQN_1(vevif)
#define VEVIF_IRQN_1(vevif) VPRCLIC_##vevif##_IRQn

volatile uint16_t irq_arg;

static nrf_gpio_pin_pull_t get_pull(gpio_flags_t flags)
{
if (flags & GPIO_PULL_UP) {
Expand Down Expand Up @@ -93,25 +105,6 @@ static int gpio_nrfe_pin_configure(uint8_t port, uint16_t pin, uint32_t flags)
return 0;
}

static void gpio_nrfe_port_set_bits_raw(uint16_t set_mask)
{
uint16_t outs = nrf_vpr_csr_vio_out_get();

nrf_vpr_csr_vio_out_set(outs | set_mask);
}

static void gpio_nrfe_port_clear_bits_raw(uint16_t clear_mask)
{
uint16_t outs = nrf_vpr_csr_vio_out_get();

nrf_vpr_csr_vio_out_set(outs & ~clear_mask);
}

static void gpio_nrfe_port_toggle_bits(uint16_t toggle_mask)
{
nrf_vpr_csr_vio_out_toggle_set(toggle_mask);
}

void process_packet(nrfe_gpio_data_packet_t *packet)
{
if (packet->port != 2) {
Expand All @@ -124,15 +117,18 @@ void process_packet(nrfe_gpio_data_packet_t *packet)
break;
}
case NRFE_GPIO_PIN_CLEAR: {
gpio_nrfe_port_clear_bits_raw(packet->pin);
irq_arg = packet->pin;
nrf_vpr_clic_int_pending_set(NRF_VPRCLIC, VEVIF_IRQN(HRT_VEVIF_IDX_GPIO_CLEAR));
break;
}
case NRFE_GPIO_PIN_SET: {
gpio_nrfe_port_set_bits_raw(packet->pin);
irq_arg = packet->pin;
nrf_vpr_clic_int_pending_set(NRF_VPRCLIC, VEVIF_IRQN(HRT_VEVIF_IDX_GPIO_SET));
break;
}
case NRFE_GPIO_PIN_TOGGLE: {
gpio_nrfe_port_toggle_bits(packet->pin);
irq_arg = packet->pin;
nrf_vpr_clic_int_pending_set(NRF_VPRCLIC, VEVIF_IRQN(HRT_VEVIF_IDX_GPIO_TOGGLE));
break;
}
default: {
Expand All @@ -141,6 +137,26 @@ void process_packet(nrfe_gpio_data_packet_t *packet)
}
}

#define HRT_CONNECT(vevif, handler) \
IRQ_DIRECT_CONNECT(vevif, HRT_IRQ_PRIORITY, handler, 0); \
nrf_vpr_clic_int_enable_set(NRF_VPRCLIC, VEVIF_IRQN(vevif), true)


__attribute__ ((interrupt)) void hrt_handler_clear_bits(void)
{
hrt_clear_bits();
}

__attribute__ ((interrupt)) void hrt_handler_set_bits(void)
{
hrt_set_bits();
}

__attribute__ ((interrupt)) void hrt_handler_toggle_bits(void)
{
hrt_toggle_bits();
}

int main(void)
{
int ret = 0;
Expand All @@ -150,9 +166,11 @@ int main(void)
return 0;
}

if (!nrf_vpr_csr_rtperiph_enable_check()) {
nrf_vpr_csr_rtperiph_enable_set(true);
}
HRT_CONNECT(HRT_VEVIF_IDX_GPIO_CLEAR, hrt_handler_clear_bits);
HRT_CONNECT(HRT_VEVIF_IDX_GPIO_SET, hrt_handler_set_bits);
HRT_CONNECT(HRT_VEVIF_IDX_GPIO_TOGGLE, hrt_handler_toggle_bits);

nrf_vpr_csr_rtperiph_enable_set(true);

while (true) {
k_cpu_idle();
Expand Down
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