drivers: pinctrl: add tms570 driver

Adds driver for TI TMS570 SoC.

Signed-off-by: Tavish Naruka <[email protected]>

Author: Tavish Naruka

boards/ti/tms570_launchxl2/tms570_launchxl2_defconfig

@@ -0,0 +1,3 @@
+# SPDX-License-Identifier: Apache-2.0
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_TI_TMS570=y

drivers/pinctrl/CMakeLists.txt

@@ -37,6 +37,7 @@ zephyr_library_sources_ifdef(CONFIG_PINCTRL_GECKO pinctrl_gecko.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_SILABS_SIWX91X pinctrl_silabs_siwx91x.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_SILABS_DBUS pinctrl_silabs_dbus.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_TI_K3 pinctrl_ti_k3.c)
+zephyr_library_sources_ifdef(CONFIG_PINCTRL_TI_TMS570 pinctrl_ti_tms570.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_EMSDP pinctrl_emsdp.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_TI_CC32XX pinctrl_ti_cc32xx.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_NUMAKER pinctrl_numaker.c)

drivers/pinctrl/Kconfig

@@ -67,6 +67,7 @@ source "drivers/pinctrl/Kconfig.siwx91x"
 source "drivers/pinctrl/Kconfig.ti_k3"
 source "drivers/pinctrl/Kconfig.emsdp"
 source "drivers/pinctrl/Kconfig.ti_cc32xx"
+source "drivers/pinctrl/Kconfig.ti_tms570"
 source "drivers/pinctrl/Kconfig.numaker"
 source "drivers/pinctrl/Kconfig.eos_s3"
 source "drivers/pinctrl/Kconfig.mci_io_mux"

drivers/pinctrl/Kconfig.ti_tms570

@@ -0,0 +1,9 @@
+# Copyright (c) 2025 ispace, inc.
+# SPDX-License-Identifier: Apache-2.0
+
+config PINCTRL_TI_TMS570
+	bool "TI TMS570 pinctrl driver"
+	default y
+	depends on DT_HAS_TI_TMS570_PINMUX_ENABLED
+	help
+	  Enable the TI TMS570 pinmux driver

drivers/pinctrl/pinctrl_ti_tms570.c

@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2025 ispace, inc.
+ * 
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/arch/cpu.h>
+#include <zephyr/drivers/pinctrl.h>
+
+#define DT_DRV_COMPAT ti_tms570_pinmux
+#define DRV_REG_ADDR  DT_INST_REG_ADDR(0)
+
+#define REG_KICK0_OFFSET		(0x38)
+#define REG_KICK1_OFFSET		(0x3C)
+
+/* value used to unlock */
+#define KICK0_VALUE			(0x83E70B13)
+#define KICK1_VALUE			(0x95A4F1E0)
+
+#define REG_PINMMR_0_OFFSET 		(0x110)
+
+int pinctrl_configure_pins(const pinctrl_soc_pin_t *pins, uint8_t pin_cnt, uintptr_t reg)
+{
+	uint32_t nibble_start;
+	uint32_t mask;
+	ARG_UNUSED(reg);
+
+	/* unlock */
+	sys_write32(KICK0_VALUE, DRV_REG_ADDR + REG_KICK0_OFFSET);
+	sys_write32(KICK1_VALUE, DRV_REG_ADDR + REG_KICK1_OFFSET);
+
+	for (uint8_t i = 0; i < pin_cnt; i++) {
+		nibble_start = (pins[i].bit / 4) * 4;
+		mask = 0xff << nibble_start;
+		sys_write32(mask & BIT(pins[i].bit), DRV_REG_ADDR + REG_PINMMR_0_OFFSET + (pins[i].pinmmr * 4));
+	}
+
+	/* lock */
+	sys_write32(0, DRV_REG_ADDR + REG_KICK0_OFFSET);
+	sys_write32(0, DRV_REG_ADDR + REG_KICK1_OFFSET);
+
+	return 0;
+}

dts/arm/ti/tms570.dtsi

@@ -67,5 +67,10 @@
 			};
 		};
 
+		pinctrl: pin-controller@ffff1c00 {
+			compatible = "ti,tms570-pinmux";
+			reg = <0xffff1c00 0x400>;
+			status = "okay";
+		};
 	};
 };

dts/bindings/pinctrl/ti,tms570-pinmux.yaml

@@ -0,0 +1,20 @@
+# Copyright (c) 2025 ispace, inc.
+# SPDX-License-Identifier: Apache-2.0
+
+description: TI TMS570 pinmux driver
+
+compatible: "ti,tms570-pinmux"
+
+include: base.yaml
+
+properties:
+  reg:
+    required: true
+
+child-binding:
+  properties:
+    pinmux:
+      required: true
+      type: array
+      description: |
+        TMS570 pin's configuration (select bit pair) based on the "Output Multiplexing" table in the reference manual.

soc/ti/hercules/tms570lc43x/pinctrl_soc.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright 2025 ispace, inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_SOC_TI_TMS570_PINCTRL_SOC_H_
+#define ZEPHYR_SOC_TI_TMS570_PINCTRL_SOC_H_
+
+#include <zephyr/devicetree.h>
+#include <zephyr/types.h>
+
+typedef struct pinctrl_soc_pin_t {
+	uint8_t pinmmr;
+	uint8_t bit;
+} pinctrl_soc_pin_t;
+
+#define TI_TMS570_DT_PIN(node_id)				\
+	{							\
+		.pinmmr = DT_PROP_BY_IDX(node_id, pinmux, 0),	\
+		.bit = DT_PROP_BY_IDX(node_id, pinmux, 1)	\
+	},
+
+#define Z_PINCTRL_STATE_PIN_INIT(node_id, prop, idx)		\
+	TI_TMS570_DT_PIN(DT_PROP_BY_IDX(node_id, prop, idx))
+
+#define Z_PINCTRL_STATE_PINS_INIT(node_id, prop)		\
+	{ DT_FOREACH_PROP_ELEM(node_id, prop, Z_PINCTRL_STATE_PIN_INIT) }
+
+
+#endif /* ZEPHYR_SOC_TI_TMS570_PINCTRL_SOC_H_ */