VAR-SOM-MX6 GPIO: Difference between revisions
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{{PageHeader|VAR-SOM-MX6 - GPIO}} {{DocImage|category1=VAR-SOM-MX6 | {{PageHeader|VAR-SOM-MX6 - GPIO}} {{DocImage|category1=Yocto|category2=Debian}} [[category:VAR-SOM-MX6]] __toc__ | ||
= GPIO state = | = GPIO state = | ||
Line 42: | Line 42: | ||
gpio-110 (2194000.usdhc cd ) in hi | gpio-110 (2194000.usdhc cd ) in hi | ||
</pre> | </pre> | ||
= Manipulating GPIO using libgpiod = | |||
{{#lst:MX8M_GPIO|libgpiod_section}} | |||
= Manipulating a single GPIO via /sys/class/gpio = | = Manipulating a single GPIO via /sys/class/gpio = | ||
{{#lst:MX8M_GPIO|gpio_sysfs_warning_section}} | |||
== Using a command line or a script == | == Using a command line or a script == | ||
GPIOs in i.MX are grouped in groups of 32 pins.<br> | GPIOs in i.MX are grouped in groups of 32 pins.<br> | ||
Line 52: | Line 57: | ||
To export the GPIO for userspace use: | To export the GPIO for userspace use: | ||
<pre> | <pre> | ||
# echo 196 > /sys/class/gpio/export | |||
</pre> | </pre> | ||
<br> | <br> | ||
To configure as output: | To configure as output: | ||
<pre> | <pre> | ||
# echo out > /sys/class/gpio/gpio196/direction | |||
</pre> | </pre> | ||
Set GPIO high: | Set GPIO high: | ||
<pre> | <pre> | ||
# echo 1 > /sys/class/gpio/gpio196/value | |||
</pre> | </pre> | ||
Set GPIO low: | Set GPIO low: | ||
<pre> | <pre> | ||
# echo 0 > /sys/class/gpio/gpio196/value | |||
</pre> | </pre> | ||
<br> | <br> | ||
To configure as input: | To configure as input: | ||
<pre> | <pre> | ||
# echo in > /sys/class/gpio/gpio196/direction | |||
</pre> | </pre> | ||
Read the current value: | Read the current value: | ||
<pre> | <pre> | ||
# cat /sys/class/gpio/gpio196/value | |||
</pre> | </pre> | ||
<br> | <br> | ||
To free the GPIO after you're done using it: | To free the GPIO after you're done using it: | ||
<pre> | <pre> | ||
# echo 196 > /sys/class/gpio/unexport | |||
</pre> | </pre> | ||
Line 85: | Line 90: | ||
All of the command line operations above can be translated to C code:<br> | All of the command line operations above can be translated to C code:<br> | ||
Reserve (export) the GPIO:<br> | Reserve (export) the GPIO:<br> | ||
< | <pre> | ||
#define IMX_GPIO_NR(port, index) ((((port)-1)*32)+((index)&31)) | #define IMX_GPIO_NR(port, index) ((((port)-1)*32)+((index)&31)) | ||
Line 99: | Line 104: | ||
close(fd); | close(fd); | ||
</ | </pre> | ||
Set the GPIO direction:<br> | Set the GPIO direction:<br> | ||
< | <pre> | ||
sprintf(buf, "/sys/class/gpio/gpio%d/direction", gpio); | sprintf(buf, "/sys/class/gpio/gpio%d/direction", gpio); | ||
Line 112: | Line 117: | ||
close(fd); | close(fd); | ||
</ | </pre> | ||
In case of out direction set the GPIO value: | In case of out direction set the GPIO value: | ||
< | <pre> | ||
sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio); | sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio); | ||
Line 126: | Line 131: | ||
close(fd); | close(fd); | ||
</ | </pre> | ||
In case of in direction get the current GPIO value: | In case of in direction get the current GPIO value: | ||
< | <pre> | ||
char value; | char value; | ||
Line 145: | Line 150: | ||
close(fd); | close(fd); | ||
</ | </pre> | ||
Once finished, free (unexport) the GPIO: | Once finished, free (unexport) the GPIO: | ||
< | <pre> | ||
fd = open("/sys/class/gpio/unexport", O_WRONLY); | fd = open("/sys/class/gpio/unexport", O_WRONLY); | ||
Line 156: | Line 161: | ||
close(fd); | close(fd); | ||
</ | </pre> | ||
Important notes:<br> | Important notes:<br> | ||
* Remember that after the first read operation the file pointer will move to the next position in the file, so to get a correct value for each read operation you simply have to set the file pointer at the beginning of the file before read by using the following command: | * Remember that after the first read operation the file pointer will move to the next position in the file, so to get a correct value for each read operation you simply have to set the file pointer at the beginning of the file before read by using the following command: | ||
< | <pre> | ||
lseek(fd, 0, SEEK_SET); | lseek(fd, 0, SEEK_SET); | ||
</ | </pre> | ||
* This is only a short example. If you want to use it in your code remember add error handling to it. | * This is only a short example. If you want to use it in your code remember add error handling to it. | ||
Latest revision as of 18:43, 28 April 2023
GPIO state
The current state of the system's GPIOs can be obtained in user-mode, as shown in the following example:
root@var-som-mx6:~# cat /sys/kernel/debug/gpio GPIOs 0-31, platform/209c000.gpio, 209c000.gpio: gpio-25 (phy-reset ) out lo GPIOs 32-63, platform/20a0000.gpio, 20a0000.gpio: GPIOs 64-95, platform/20a4000.gpio, 20a4000.gpio: gpio-77 (ov5640_mipi_pwdn ) out lo gpio-86 (usb_otg_vbus ) out lo GPIOs 96-127, platform/20a8000.gpio, 20a8000.gpio: gpio-101 (tlv320aic3x reset ) out lo gpio-106 (ov5640_mipi_reset ) out lo gpio-110 (2194000.usdhc cd ) in hi gpio-111 (2194000.usdhc ro ) in hi gpio-120 (spi_imx ) out lo gpio-121 (ads7846_pendown ) in hi GPIOs 128-159, platform/20ac000.gpio, 20ac000.gpio: gpio-141 (PCIe reset ) out lo GPIOs 160-191, platform/20b0000.gpio, 20b0000.gpio: gpio-178 (sysfs ) out lo GPIOs 192-223, platform/20b4000.gpio, 20b4000.gpio: gpio-200 (wlan-en-regulator ) out lo
Each GPIO is defined as in or out and the state is shown as lo or hi.
For example pin 110 is the SD card card-detect.
When an SD card is plugged in, the state will be:
gpio-110 (2194000.usdhc cd ) in lo
When the SD card is removed, the state will be:
gpio-110 (2194000.usdhc cd ) in hi
Manipulating GPIO using libgpiod
The Linux GPIO sysfs interface is being deprecated. Moving forward, user space should use the character device /dev/gpiochip*
instead. libgpiod provides bindings and utilities for for manipulating GPIO via user space.
libgpiod via command line
libgpiod provides command line utilities for GPIO:
gpiodetect | List all gpiochips present on the system, their names, labels and number of GPIO lines |
gpioinfo | List all lines of specified gpiochips, their names, consumers, direction, active state and additional flags |
gpioget | Read values of specified GPIO lines |
gpioset | Set values of specified GPIO lines, potentially keep the lines exported and wait until timeout, user input or signal |
gpiofind | Find the gpiochip name and line offset given the line name |
gpiomon | Wait for events on GPIO lines, specify which events to watch, how many events to process before exiting or if the events should be reported to the console |
i.MX GPIOs are organized in banks of 32 pins. Each bank corresponds to a character device /dev/gpiochip<bank index>
. The gpiodetect
utility can be used to inspect the available gpiochip character devices:
# gpiodetect gpiochip0 [30200000.gpio] (32 lines) gpiochip1 [30210000.gpio] (32 lines) ...
The gpioinfo
utility can be used to inspect the lines for a given gpiochip:
# gpioinfo gpiochip0 gpiochip0 - 32 lines: line 0: unnamed "spi_imx" output active-high [used] line 1: unnamed unused input active-high line 2: unnamed unused input active-high ...
The gpioset
and gpioget
utilities can be used to manipulate GPIO from the command line.
For example, assuming GPIO4_21 is configured as a GPIO in your device tree:
Set GPIO4_21 high:
gpioset gpiochip3 21=1
Set GPIO4_21 low:
gpioset gpiochip3 21=0
Read GPIO4_21:
gpioget gpiochip3 21
libgpiod C Application
libgpiod provides bindings for C/C++ applications. C++ examples are available in the libgpiod /tree/bindings/cxx/examples directory.
Below is a simple C application demonstrating how to use the bindings with GPIO4_IO21:
Makefile:
all: main.cpp $(CC) $(CCFLAGS) -Og -lgpiod main.c -g -o hello.bin clean: rm -f hello.bin
main.c
#include <gpiod.h> #include <stdio.h> #include <unistd.h> #include <stdlib.h> #include <string.h> #define CONSUMER "Variscite Demo" int main(int argc, char **argv) { unsigned int i, ret, val; struct gpiod_chip *chip; struct gpiod_line *line; const char * chipname = "gpiochip3"; const unsigned int line_num = 21; chip = gpiod_chip_open_by_name(chipname); if (!chip) { perror("Open chip failed\n"); goto end; } line = gpiod_chip_get_line(chip, line_num); if (!line) { perror("Get line failed\n"); goto close_chip; } ret = gpiod_line_request_output(line, CONSUMER, 0); if (ret < 0) { perror("Request line as output failed\n"); goto release_line; } /* Blink 5 times */ val = 0; for (i = 0; i < 5; i++) { ret = gpiod_line_set_value(line, val); if (ret < 0) { perror("Set line output failed\n"); goto release_line; } printf("Output %u on line #%u\n", val, line_num); sleep(1); val = !val; } release_line: gpiod_line_release(line); close_chip: gpiod_chip_close(chip); end: return 0; }
libgpiod Python Application
libgpiod provides bindings for python applications:
# pip3 install gpiod
Python examples are available in the libgpiod /tree/bindings/python/examples directory.
Manipulating a single GPIO via /sys/class/gpio
Using a command line or a script
GPIOs in i.MX are grouped in groups of 32 pins.
For example, GPIO1_3 belong to the first group, pin 3. Its absolute number will be 3.
GPIO7_4 will be (7-1)*32+4=196.
Assuming this GPIO is defined in your device tree, the following is an example of how to use it from userspace.
To export the GPIO for userspace use:
# echo 196 > /sys/class/gpio/export
To configure as output:
# echo out > /sys/class/gpio/gpio196/direction
Set GPIO high:
# echo 1 > /sys/class/gpio/gpio196/value
Set GPIO low:
# echo 0 > /sys/class/gpio/gpio196/value
To configure as input:
# echo in > /sys/class/gpio/gpio196/direction
Read the current value:
# cat /sys/class/gpio/gpio196/value
To free the GPIO after you're done using it:
# echo 196 > /sys/class/gpio/unexport
Manage GPIO from a C application
All of the command line operations above can be translated to C code:
Reserve (export) the GPIO:
#define IMX_GPIO_NR(port, index) ((((port)-1)*32)+((index)&31)) int fd; char buf[MAX_BUF]; int gpio = IMX_GPIO_NR(7, 4); /* Just an example */ fd = open("/sys/class/gpio/export", O_WRONLY); sprintf(buf, "%d", gpio); write(fd, buf, strlen(buf)); close(fd);
Set the GPIO direction:
sprintf(buf, "/sys/class/gpio/gpio%d/direction", gpio); fd = open(buf, O_WRONLY); /* Set out direction */ write(fd, "out", 3); /* Set in direction */ write(fd, "in", 2); close(fd);
In case of out direction set the GPIO value:
sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio); fd = open(buf, O_WRONLY); /* Set GPIO high status */ write(fd, "1", 1); /* Set GPIO low status */ write(fd, "0", 1); close(fd);
In case of in direction get the current GPIO value:
char value; sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio); fd = open(buf, O_RDONLY); read(fd, &value, 1); if (value == '0') { /* Current GPIO status low */ } else { /* Current GPIO status high */ } close(fd);
Once finished, free (unexport) the GPIO:
fd = open("/sys/class/gpio/unexport", O_WRONLY); sprintf(buf, "%d", gpio); write(fd, buf, strlen(buf)); close(fd);
Important notes:
- Remember that after the first read operation the file pointer will move to the next position in the file, so to get a correct value for each read operation you simply have to set the file pointer at the beginning of the file before read by using the following command:
lseek(fd, 0, SEEK_SET);
- This is only a short example. If you want to use it in your code remember add error handling to it.
Kernel Device Tree GPIO configuration
Device Tree GPIO files
Pin Func files
In the directory arch/arm/boot/dts/ of the Linux kernel source you will find the pin functions definitions files.
The relevant files are imx6dl-pinfunc.h and imx6q-pinfunc.h, depending on the platform you are using.
For example, if you edit imx6q-pinfunc.h and search for GPIO7_IO04, you will see a group of of definitions with same prefix (pad name), "MX6QDL_PAD_SD3_DAT0".
#define MX6QDL_PAD_SD3_DAT0__SD3_DATA0 0x2c0 0x6a8 0x000 0x0 0x0 #define MX6QDL_PAD_SD3_DAT0__UART1_CTS_B 0x2c0 0x6a8 0x000 0x1 0x0 #define MX6QDL_PAD_SD3_DAT0__UART1_RTS_B 0x2c0 0x6a8 0x91c 0x1 0x2 #define MX6QDL_PAD_SD3_DAT0__FLEXCAN2_TX 0x2c0 0x6a8 0x000 0x2 0x0 #define MX6QDL_PAD_SD3_DAT0__GPIO7_IO04 0x2c0 0x6a8 0x000 0x5 0x0
Adding only the one with the GPIO7_IO04 suffix (function) to your dts file will let you use the pin as GPIO.
Variscite dts files
Variscite defines dts file for each platform.
Device Tree Name |
Include dtsi file |
SOM type |
Carrier Board type |
LCD Type |
Evaluation Kit name |
---|---|---|---|---|---|
imx6q-var-som.dts | imx6qdl-var-som.dtsi | VAR-SOM-MX6_V2 (Quad / Dual) | VAR-MX6CustomBoard | Capacitive/Resistive touch | VAR-DVK-MX6_V2-PRO VAR-STK-MX6_V2 |
imx6q-var-som-vsc.dts | imx6qdl-var-som.dtsi | VAR-SOM-MX6_V2 (Quad / Dual) | VAR-SOLOCustomBoard | Capacitive LVDS touch | N/A |
imx6dl-var-som.dts | imx6qdl-var-som.dtsi | VAR-SOM-MX6_V2 (DualLite/ Solo) | VAR-MX6CustomBoard | Capacitive/Resistive touch | N/A |
imx6dl-var-som-solo-vsc.dts | imx6qdl-var-som.dtsi | VAR-SOM-SOLO / VAR-SOM-DUAL | VAR-SOLOCustomBoard | Capacitive LVDS touch | VAR-DVK-SOLO/DUAL VAR-STK-SOLO/DUAL |
imx6dl-var-som-solo.dts | imx6qdl-var-som.dtsi | VAR-SOM-SOLO / VAR-SOM-DUAL | VAR-MX6CustomBoard | Capacitive/Resistive touch | N/A |
imx6q-var-dart.dts | imx6qdl-var-dart.dtsi | VAR-SOM-SOLO / VAR-SOM-DUAL | VAR-DT6CustomBoard | Capacitive LVDS touch | VAR-STK-DT6.VAR-DVK-DT6 |
imx6q-var-som.dts starts with definitions and includindg dtsi files.
#define VAR_SOM_MX6 #include "imx6q.dtsi" #include "imx6qdl-var-som.dtsi"
The imx6q.dtsi define the CPU platform and which pinfunc file will be included. This feature allow the pin name to be agnostic to the CPU type (i.MX6Q vs i.MX6DL)
imx6qdl-var-som.dtsi has the major VAR-SOM-MX6 definitions.
Define a pin as GPIO in the kernel Device Tree
You need to add the relevant definitions to your device tree, as explained in the Pin Func files section above.
Edit arch/arm/boot/dts/imx6qdl-var-som.dtsi (or imx6qdl-var-dart.dtsi in case of DART-MX6) and add the definition for the GPIO you need in the section below.
pinctrl-names = "default"; pinctrl-0 = <&pinctrl_hog>; imx6qdl-var-som-mx6 { pinctrl_hog: hoggrp { fsl,pins = < /* PMIC INT */ MX6QDL_PAD_GPIO_17__GPIO7_IO12 0x80000000 /* Wifi Slow Clock */ MX6QDL_PAD_ENET_RXD0__OSC32K_32K_OUT 0x000b0 /* Audio Clock */ MX6QDL_PAD_GPIO_0__CCM_CLKO1 0x130b0 /* Camera Clock */ MX6QDL_PAD_GPIO_3__CCM_CLKO2 0x130b0 MX6QDL_PAD_KEY_ROW0__GPIO4_IO07 0x0b0b1 MX6QDL_PAD_KEY_COL1__GPIO4_IO08 0x0b0b1 >; };
Device Tree GPIO attribute
If you look at Documentation/devicetree/bindings/pinctrl/fsl,imx6q-pinctrl.txt in the Linux kernel source tree, the number to the right of the pin control spec can be used for additional attributes like pull-ups, pull-downs, keepers, drive strength, etc.
The value 0x80000000 is "don't know value please use the default". Otherwise, the value consists of a bitwise-OR combination of the following values.
CONFIG bits definition |
value |
---|---|
PAD_CTL_HYS | (1 << 16) |
PAD_CTL_PUS_100K_DOWN | (0 << 14) |
PAD_CTL_PUS_47K_UP | (1 << 14) |
PAD_CTL_PUS_100K_UP | (2 << 14) |
PAD_CTL_PUS_22K_UP | (3 << 14) |
PAD_CTL_PUE | (1 << 13) |
PAD_CTL_PKE | (1 << 12) |
PAD_CTL_ODE | (1 << 11) |
PAD_CTL_SPEED_LOW | (1 << 6) |
PAD_CTL_SPEED_MED | (2 << 6) |
PAD_CTL_SPEED_HIGH | (3 << 6) |
PAD_CTL_DSE_DISABLE | (0 << 3) |
PAD_CTL_DSE_240ohm | (1 << 3) |
PAD_CTL_DSE_120ohm | (2 << 3) |
PAD_CTL_DSE_80ohm | (3 << 3) |
PAD_CTL_DSE_60ohm | (4 << 3) |
PAD_CTL_DSE_48ohm | (5 << 3) |
PAD_CTL_DSE_40ohm | (6 << 3) |
PAD_CTL_DSE_34ohm | (7 << 3) |
PAD_CTL_SRE_FAST | (1 << 0) |
PAD_CTL_SRE_SLOW | (0 << 0) |
Device Tree GPIO default Value
The Bluetooth is a good example to see how to set the default value during boot.
variscite-bluetooth
For example how to reset the Bluetooth:
echo 178 >/sys/class/gpio/export echo "out" > /sys/class/gpio/gpio178/direction echo 0 > /sys/class/gpio/gpio178/value sleep 1 echo 1 > /sys/class/gpio/gpio178/value sleep 1
You can also add it to your default build file system: initscripts