gpio.txt

GPIO Interfaces

 

This provides an overview of GPIO access conventions on Linux.

 

These calls use the gpio_* naming prefix.  No other calls should use that

prefix, or the related __gpio_* prefix.

 

 

What is a GPIO?

===============

A "General Purpose Input/Output" (GPIO) is a flexible software-controlled

digital signal.  They are provided from many kinds of chip, and are familiar

to Linux developers working with embedded and custom hardware.  Each GPIO

represents a bit connected to a particular pin, or "ball" on Ball Grid Array

(BGA) packages.  Board schematics show which external hardware connects to

which GPIOs.  Drivers can be written generically, so that board setup code

passes such pin configuration data to drivers.

 

System-on-Chip (SOC) processors heavily rely on GPIOs.  In some cases, every

non-dedicated pin can be configured as a GPIO; and most chips have at least

several dozen of them.  Programmable logic devices (like FPGAs) can easily

provide GPIOs; multifunction chips like power managers, and audio codecs

often have a few such pins to help with pin scarcity on SOCs; and there are

also "GPIO Expander" chips that connect using the I2C or SPI serial busses.

Most PC southbridges have a few dozen GPIO-capable pins (with only the BIOS

firmware knowing how they're used).

 

The exact capabilities of GPIOs vary between systems.  Common options:

 

  - Output values are writable (high=1, low=0).  Some chips also have

    options about how that value is driven, so that for example only one

    value might be driven ... supporting "wire-OR" and similar schemes

    for the other value (notably, "open drain" signaling).

 

  - Input values are likewise readable (1, 0).  Some chips support readback

    of pins configured as "output", which is very useful in such "wire-OR"

    cases (to support bidirectional signaling).  GPIO controllers may have

    input de-glitch/debounce logic, sometimes with software controls.

 

  - Inputs can often be used as IRQ signals, often edge triggered but

    sometimes level triggered.  Such IRQs may be configurable as system

    wakeup events, to wake the system from a low power state.

 

  - Usually a GPIO will be configurable as either input or output, as needed

    by different product boards; single direction ones exist too.

 

  - Most GPIOs can be accessed while holding spinlocks, but those accessed

    through a serial bus normally can't.  Some systems support both types.

 

On a given board each GPIO is used for one specific purpose like monitoring

MMC/SD card insertion/removal, detecting card writeprotect status, driving

a LED, configuring a transceiver, bitbanging a serial bus, poking a hardware

watchdog, sensing a switch, and so on.

 

 

GPIO conventions

================

Note that this is called a "convention" because you don't need to do it this

way, and it's no crime if you don't.  There **are** cases where portability

is not the main issue; GPIOs are often used for the kind of board-specific

glue logic that may even change between board revisions, and can't ever be

used on a board that's wired differently.  Only least-common-denominator

functionality can be very portable.  Other features are platform-specific,

and that can be critical for glue logic.

 

Plus, this doesn't require any implementation framework, just an interface.

One platform might implement it as simple inline functions accessing chip

registers; another might implement it by delegating through abstractions

used for several very different kinds of GPIO controller.  (There is some

optional code supporting such an implementation strategy, described later

in this document, but drivers acting as clients to the GPIO interface must

not care how it's implemented.)

 

That said, if the convention is supported on their platform, drivers should

use it when possible.  Platforms must declare GENERIC_GPIO support in their

Kconfig (boolean true), and provide an <asm/gpio.h> file.  Drivers that can't

work without standard GPIO calls should have Kconfig entries which depend

on GENERIC_GPIO.  The GPIO calls are available, either as "real code" or as

optimized-away stubs, when drivers use the include file:

 

#include <linux/gpio.h>

 

If you stick to this convention then it'll be easier for other developers to

see what your code is doing, and help maintain it.

 

Note that these operations include I/O barriers on platforms which need to

use them; drivers don't need to add them explicitly.

 

 

Identifying GPIOs

-----------------

GPIOs are identified by unsigned integers in the range 0..MAX_INT.  That

reserves "negative" numbers for other purposes like marking signals as

"not available on this board", or indicating faults.  Code that doesn't

touch the underlying hardware treats these integers as opaque cookies.

 

Platforms define how they use those integers, and usually #define symbols

for the GPIO lines so that board-specific setup code directly corresponds

to the relevant schematics.  In contrast, drivers should only use GPIO

numbers passed to them from that setup code, using platform_data to hold

board-specific pin configuration data (along with other board specific

data they need).  That avoids portability problems.

 

So for example one platform uses numbers 32-159 for GPIOs; while another

uses numbers 0..63 with one set of GPIO controllers, 64-79 with another

type of GPIO controller, and on one particular board 80-95 with an FPGA.

The numbers need not be contiguous; either of those platforms could also

use numbers 2000-2063 to identify GPIOs in a bank of I2C GPIO expanders.

 

If you want to initialize a structure with an invalid GPIO number, use

some negative number (perhaps "-EINVAL"); that will never be valid.  To

test if a number could reference a GPIO, you may use this predicate:

 

int gpio_is_valid(int number);

 

A number that's not valid will be rejected by calls which may request

or free GPIOs (see below).  Other numbers may also be rejected; for

example, a number might be valid but unused on a given board.

 

Whether a platform supports multiple GPIO controllers is currently a

platform-specific implementation issue.

 

 

Using GPIOs

-----------

The first thing a system should do with a GPIO is allocate it, using

the gpio_request() call; see later.

 

One of the next things to do with a GPIO, often in board setup code when

setting up a platform_device using the GPIO, is mark its direction:

 

/* set as input or output, returning 0 or negative errno */

int gpio_direction_input(unsigned gpio);

int gpio_direction_output(unsigned gpio, int value);

 

The return value is zero for success, else a negative errno.  It should

be checked, since the get/set calls don't have error returns and since

misconfiguration is possible.  You should normally issue these calls from

a task context.  However, for spinlock-safe GPIOs it's OK to use them

before tasking is enabled, as part of early board setup.

 

For output GPIOs, the value provided becomes the initial output value.

This helps avoid signal glitching during system startup.

 

For compatibility with legacy interfaces to GPIOs, setting the direction

of a GPIO implicitly requests that GPIO (see below) if it has not been

requested already.  That compatibility is being removed from the optional

gpiolib framework.

 

Setting the direction can fail if the GPIO number is invalid, or when

that particular GPIO can't be used in that mode.  It's generally a bad

idea to rely on boot firmware to have set the direction correctly, since

it probably wasn't validated to do more than boot Linux.  (Similarly,

that board setup code probably needs to multiplex that pin as a GPIO,

and configure pullups/pulldowns appropriately.)

 

 

Spinlock-Safe GPIO access

-------------------------

Most GPIO controllers can be accessed with memory read/write instructions.

That doesn't need to sleep, and can safely be done from inside IRQ handlers.

(That includes hardirq contexts on RT kernels.)

 

Use these calls to access such GPIOs:

 

/* GPIO INPUT:  return zero or nonzero */

int gpio_get_value(unsigned gpio);

 

/* GPIO OUTPUT */

void gpio_set_value(unsigned gpio, int value);

 

The values are boolean, zero for low, nonzero for high.  When reading the

value of an output pin, the value returned should be what's seen on the

pin ... that won't always match the specified output value, because of

issues including open-drain signaling and output latencies.

 

The get/set calls have no error returns because "invalid GPIO" should have

been reported earlier from gpio_direction_*().  However, note that not all

platforms can read the value of output pins; those that can't should always

return zero.  Also, using these calls for GPIOs that can't safely be accessed

without sleeping (see below) is an error.

 

Platform-specific implementations are encouraged to optimize the two

calls to access the GPIO value in cases where the GPIO number (and for

output, value) are constant.  It's normal for them to need only a couple

of instructions in such cases (reading or writing a hardware register),

and not to need spinlocks.  Such optimized calls can make bitbanging

applications a lot more efficient (in both space and time) than spending

dozens of instructions on subroutine calls.

 

 

GPIO access that may sleep

--------------------------

Some GPIO controllers must be accessed using message based busses like I2C

or SPI.  Commands to read or write those GPIO values require waiting to

get to the head of a queue to transmit a command and get its response.

This requires sleeping, which can't be done from inside IRQ handlers.

 

Platforms that support this type of GPIO distinguish them from other GPIOs

by returning nonzero from this call (which requires a valid GPIO number,

which should have been previously allocated with gpio_request):

 

int gpio_cansleep(unsigned gpio);

 

To access such GPIOs, a different set of accessors is defined:

 

/* GPIO INPUT:  return zero or nonzero, might sleep */

int gpio_get_value_cansleep(unsigned gpio);

 

/* GPIO OUTPUT, might sleep */

void gpio_set_value_cansleep(unsigned gpio, int value);

 

Other than the fact that these calls might sleep, and will not be ignored

for GPIOs that can't be accessed from IRQ handlers, these calls act the

same as the spinlock-safe calls.

 

 

Claiming and Releasing GPIOs

----------------------------

To help catch system configuration errors, two calls are defined.

 

/* request GPIO, returning 0 or negative errno.

* non-null labels may be useful for diagnostics.

*/

int gpio_request(unsigned gpio, const char *label);

 

/* release previously-claimed GPIO */

void gpio_free(unsigned gpio);

 

Passing invalid GPIO numbers to gpio_request() will fail, as will requesting

GPIOs that have already been claimed with that call.  The return value of

gpio_request() must be checked.  You should normally issue these calls from

a task context.  However, for spinlock-safe GPIOs it's OK to request GPIOs

before tasking is enabled, as part of early board setup.

 

These calls serve two basic purposes.  One is marking the signals which

are actually in use as GPIOs, for better diagnostics; systems may have

several hundred potential GPIOs, but often only a dozen are used on any

given board.  Another is to catch conflicts, identifying errors when

(a) two or more drivers wrongly think they have exclusive use of that

signal, or (b) something wrongly believes it's safe to remove drivers

needed to manage a signal that's in active use.  That is, requesting a

GPIO can serve as a kind of lock.

 

Some platforms may also use knowledge about what GPIOs are active for

power management, such as by powering down unused chip sectors and, more

easily, gating off unused clocks.

 

Note that requesting a GPIO does NOT cause it to be configured in any

way; it just marks that GPIO as in use.  Separate code must handle any

pin setup (e.g. controlling which pin the GPIO uses, pullup/pulldown).

 

Also note that it's your responsibility to have stopped using a GPIO

before you free it.

 

 

GPIOs mapped to IRQs

--------------------

GPIO numbers are unsigned integers; so are IRQ numbers.  These make up

two logically distinct namespaces (GPIO 0 need not use IRQ 0).  You can

map between them using calls like:

 

/* map GPIO numbers to IRQ numbers */

int gpio_to_irq(unsigned gpio);

 

/* map IRQ numbers to GPIO numbers (avoid using this) */

int irq_to_gpio(unsigned irq);

 

Those return either the corresponding number in the other namespace, or

else a negative errno code if the mapping can't be done.  (For example,

some GPIOs can't be used as IRQs.)  It is an unchecked error to use a GPIO

number that wasn't set up as an input using gpio_direction_input(), or

to use an IRQ number that didn't originally come from gpio_to_irq().

 

These two mapping calls are expected to cost on the order of a single

addition or subtraction.  They're not allowed to sleep.

 

Non-error values returned from gpio_to_irq() can be passed to request_irq()

or free_irq().  They will often be stored into IRQ resources for platform

devices, by the board-specific initialization code.  Note that IRQ trigger

options are part of the IRQ interface, e.g. IRQF_TRIGGER_FALLING, as are

system wakeup capabilities.

 

Non-error values returned from irq_to_gpio() would most commonly be used

with gpio_get_value(), for example to initialize or update driver state

when the IRQ is edge-triggered.  Note that some platforms don't support

this reverse mapping, so you should avoid using it.

 

 

Emulating Open Drain Signals

----------------------------

Sometimes shared signals need to use "open drain" signaling, where only the

low signal level is actually driven.  (That term applies to CMOS transistors;

"open collector" is used for TTL.)  A pullup resistor causes the high signal

level.  This is sometimes called a "wire-AND"; or more practically, from the

negative logic (low=true) perspective this is a "wire-OR".

 

One common example of an open drain signal is a shared active-low IRQ line.

Also, bidirectional data bus signals sometimes use open drain signals.

 

Some GPIO controllers directly support open drain outputs; many don't.  When

you need open drain signaling but your hardware doesn't directly support it,

there's a common idiom you can use to emulate it with any GPIO pin that can

be used as either an input or an output:

 

 LOW: gpio_direction_output(gpio, 0) ... this drives the signal

and overrides the pullup.

 

 HIGH: gpio_direction_input(gpio) ... this turns off the output,

so the pullup (or some other device) controls the signal.

 

If you are "driving" the signal high but gpio_get_value(gpio) reports a low

value (after the appropriate rise time passes), you know some other component

is driving the shared signal low.  That's not necessarily an error.  As one

common example, that's how I2C clocks are stretched:  a slave that needs a

slower clock delays the rising edge of SCK, and the I2C master adjusts its

signaling rate accordingly.

 

 

What do these conventions omit?

===============================

One of the biggest things these conventions omit is pin multiplexing, since

this is highly chip-specific and nonportable.  One platform might not need

explicit multiplexing; another might have just two options for use of any

given pin; another might have eight options per pin; another might be able

to route a given GPIO to any one of several pins.  (Yes, those examples all

come from systems that run Linux today.)

 

Related to multiplexing is configuration and enabling of the pullups or

pulldowns integrated on some platforms.  Not all platforms support them,

or support them in the same way; and any given board might use external

pullups (or pulldowns) so that the on-chip ones should not be used.

(When a circuit needs 5 kOhm, on-chip 100 kOhm resistors won't do.)

Likewise drive strength (2 mA vs 20 mA) and voltage (1.8V vs 3.3V) is a

platform-specific issue, as are models like (not) having a one-to-one

correspondence between configurable pins and GPIOs.

 

There are other system-specific mechanisms that are not specified here,

like the aforementioned options for input de-glitching and wire-OR output.

Hardware may support reading or writing GPIOs in gangs, but that's usually

configuration dependent:  for GPIOs sharing the same bank.  (GPIOs are

commonly grouped in banks of 16 or 32, with a given SOC having several such

banks.)  Some systems can trigger IRQs from output GPIOs, or read values

from pins not managed as GPIOs.  Code relying on such mechanisms will

necessarily be nonportable.

 

Dynamic definition of GPIOs is not currently standard; for example, as

a side effect of configuring an add-on board with some GPIO expanders.

 

 

GPIO implementor's framework (OPTIONAL)

=======================================

As noted earlier, there is an optional implementation framework making it

easier for platforms to support different kinds of GPIO controller using

the same programming interface.  This framework is called "gpiolib".

 

As a debugging aid, if debugfs is available a /sys/kernel/debug/gpio file

will be found there.  That will list all the controllers registered through

this framework, and the state of the GPIOs currently in use.

 

 

Controller Drivers: gpio_chip

-----------------------------

In this framework each GPIO controller is packaged as a "struct gpio_chip"

with information common to each controller of that type:

 

 - methods to establish GPIO direction

 - methods used to access GPIO values

 - flag saying whether calls to its methods may sleep

 - optional debugfs dump method (showing extra state like pullup config)

 - label for diagnostics

 

There is also per-instance data, which may come from device.platform_data:

the number of its first GPIO, and how many GPIOs it exposes.

 

The code implementing a gpio_chip should support multiple instances of the

controller, possibly using the driver model.  That code will configure each

gpio_chip and issue gpiochip_add().  Removing a GPIO controller should be

rare; use gpiochip_remove() when it is unavoidable.

 

Most often a gpio_chip is part of an instance-specific structure with state

not exposed by the GPIO interfaces, such as addressing, power management,

and more.  Chips such as codecs will have complex non-GPIO state,

 

Any debugfs dump method should normally ignore signals which haven't been

requested as GPIOs.  They can use gpiochip_is_requested(), which returns

either NULL or the label associated with that GPIO when it was requested.

 

 

Platform Support

----------------

To support this framework, a platform's Kconfig will "select" either

ARCH_REQUIRE_GPIOLIB or ARCH_WANT_OPTIONAL_GPIOLIB

and arrange that its <asm/gpio.h> includes <asm-generic/gpio.h> and defines

three functions: gpio_get_value(), gpio_set_value(), and gpio_cansleep().

They may also want to provide a custom value for ARCH_NR_GPIOS.

 

ARCH_REQUIRE_GPIOLIB means that the gpio-lib code will always get compiled

into the kernel on that architecture.

 

ARCH_WANT_OPTIONAL_GPIOLIB means the gpio-lib code defaults to off and the user

can enable it and build it into the kernel optionally.

 

If neither of these options are selected, the platform does not support

GPIOs through GPIO-lib and the code cannot be enabled by the user.

 

Trivial implementations of those functions can directly use framework

code, which always dispatches through the gpio_chip:

 

  #define gpio_get_value __gpio_get_value

  #define gpio_set_value __gpio_set_value

  #define gpio_cansleep __gpio_cansleep

 

Fancier implementations could instead define those as inline functions with

logic optimizing access to specific SOC-based GPIOs.  For example, if the

referenced GPIO is the constant "12", getting or setting its value could

cost as little as two or three instructions, never sleeping.  When such an

optimization is not possible those calls must delegate to the framework

code, costing at least a few dozen instructions.  For bitbanged I/O, such

instruction savings can be significant.

 

For SOCs, platform-specific code defines and registers gpio_chip instances

for each bank of on-chip GPIOs.  Those GPIOs should be numbered/labeled to

match chip vendor documentation, and directly match board schematics.  They

may well start at zero and go up to a platform-specific limit.  Such GPIOs

are normally integrated into platform initialization to make them always be

available, from arch_initcall() or earlier; they can often serve as IRQs.

 

 

Board Support

-------------

For external GPIO controllers -- such as I2C or SPI expanders, ASICs, multi

function devices, FPGAs or CPLDs -- most often board-specific code handles

registering controller devices and ensures that their drivers know what GPIO

numbers to use with gpiochip_add().  Their numbers often start right after

platform-specific GPIOs.

 

For example, board setup code could create structures identifying the range

of GPIOs that chip will expose, and passes them to each GPIO expander chip

using platform_data.  Then the chip driver's probe() routine could pass that

data to gpiochip_add().

 

Initialization order can be important.  For example, when a device relies on

an I2C-based GPIO, its probe() routine should only be called after that GPIO

becomes available.  That may mean the device should not be registered until

calls for that GPIO can work.  One way to address such dependencies is for

such gpio_chip controllers to provide setup() and teardown() callbacks to

board specific code; those board specific callbacks would register devices

once all the necessary resources are available, and remove them later when

the GPIO controller device becomes unavailable.

 

 

Sysfs Interface for Userspace (OPTIONAL)

========================================

Platforms which use the "gpiolib" implementors framework may choose to

configure a sysfs user interface to GPIOs.  This is different from the

debugfs interface, since it provides control over GPIO direction and

value instead of just showing a gpio state summary.  Plus, it could be

present on production systems without debugging support.

 

Given appropriate hardware documentation for the system, userspace could

know for example that GPIO #23 controls the write protect line used to

protect boot loader segments in flash memory.  System upgrade procedures

may need to temporarily remove that protection, first importing a GPIO,

then changing its output state, then updating the code before re-enabling

the write protection.  In normal use, GPIO #23 would never be touched,

and the kernel would have no need to know about it.

 

Again depending on appropriate hardware documentation, on some systems

userspace GPIO can be used to determine system configuration data that

standard kernels won't know about.  And for some tasks, simple userspace

GPIO drivers could be all that the system really needs.

 

Note that standard kernel drivers exist for common "LEDs and Buttons"

GPIO tasks:  "leds-gpio" and "gpio_keys", respectively.  Use those

instead of talking directly to the GPIOs; they integrate with kernel

frameworks better than your userspace code could.

 

 

Paths in Sysfs

--------------

There are three kinds of entry in /sys/class/gpio:

 

   - Control interfaces used to get userspace control over GPIOs;

 

   - GPIOs themselves; and

 

   - GPIO controllers ("gpio_chip" instances).

 

That's in addition to standard files including the "device" symlink.

 

The control interfaces are write-only:

 

    /sys/class/gpio/

 

     "export" ... Userspace may ask the kernel to export control of

a GPIO to userspace by writing its number to this file.

 

Example:  "echo 19 > export" will create a "gpio19" node

for GPIO #19, if that's not requested by kernel code.

 

     "unexport" ... Reverses the effect of exporting to userspace.

 

Example:  "echo 19 > unexport" will remove a "gpio19"

node exported using the "export" file.

 

GPIO signals have paths like /sys/class/gpio/gpio42/ (for GPIO #42)

and have the following read/write attributes:

 

    /sys/class/gpio/gpioN/

 

"direction" ... reads as either "in" or "out".  This value may

normally be written.  Writing as "out" defaults to

initializing the value as low.  To ensure glitch free

operation, values "low" and "high" may be written to

configure the GPIO as an output with that initial value.

 

Note that this attribute *will not exist* if the kernel

doesn't support changing the direction of a GPIO, or

it was exported by kernel code that didn't explicitly

allow userspace to reconfigure this GPIO's direction.

 

"value" ... reads as either 0 (low) or 1 (high).  If the GPIO

is configured as an output, this value may be written;

any nonzero value is treated as high.

 

"edge" ... reads as either "none", "rising", "falling", or

"both". Write these strings to select the signal edge(s)

that will make poll(2) on the "value" file return.

 

This file exists only if the pin can be configured as an

interrupt generating input pin.

 

GPIO controllers have paths like /sys/class/gpio/chipchip42/ (for the

controller implementing GPIOs starting at #42) and have the following

read-only attributes:

 

    /sys/class/gpio/gpiochipN/

 

     "base" ... same as N, the first GPIO managed by this chip

 

     "label" ... provided for diagnostics (not always unique)

 

     "ngpio" ... how many GPIOs this manges (N to N + ngpio - 1)

 

Board documentation should in most cases cover what GPIOs are used for

what purposes.  However, those numbers are not always stable; GPIOs on

a daughtercard might be different depending on the base board being used,

or other cards in the stack.  In such cases, you may need to use the

gpiochip nodes (possibly in conjunction with schematics) to determine

the correct GPIO number to use for a given signal.

 

 

Exporting from Kernel code

--------------------------

Kernel code can explicitly manage exports of GPIOs which have already been

requested using gpio_request():

 

/* export the GPIO to userspace */

int gpio_export(unsigned gpio, bool direction_may_change);

 

/* reverse gpio_export() */

void gpio_unexport();

 

/* create a sysfs link to an exported GPIO node */

int gpio_export_link(struct device *dev, const char *name,

unsigned gpio)

 

 

After a kernel driver requests a GPIO, it may only be made available in

the sysfs interface by gpio_export().  The driver can control whether the

signal direction may change.  This helps drivers prevent userspace code

from accidentally clobbering important system state.

 

This explicit exporting can help with debugging (by making some kinds

of experiments easier), or can provide an always-there interface that's

suitable for documenting as part of a board support package.

 

After the GPIO has been exported, gpio_export_link() allows creating

symlinks from elsewhere in sysfs to the GPIO sysfs node.  Drivers can

use this to provide the interface under their own device in sysfs with

a descriptive name.