gpio: init + mpu_walk_region test

.github/workflows/treadmill-ci-test.yml

@@ -48,27 +48,31 @@ jobs:
       tock-kernel-ref: 'master'
       libtock-c-ref: 'master'
       tests: |
-        tests/ble_env_sense.py
-        tests/ble_advertising.py
-        tests/ble_passive_scanning.py
         tests/c_hello.py
-        tests/printf_long.py
-        tests/c_hello_and_printf_long.py
-        tests/sensors.py
-        tests/console_recv_short.py
-        tests/console_recv_long.py
-        tests/lua_hello.py
-        tests/malloc_test01.py
-        tests/malloc_test02.py
-        tests/stack_size_test01.py
-        tests/stack_size_test02.py
-        tests/mpu_stack_growth.py
         tests/mpu_walk_region.py
-        tests/adc.py
-        tests/adc_continuous.py
-        tests/ipc_logic.py
-        tests/gpio_interrupt.py
-        tests/whileone.py
-        tests/multi_alarm_simple_test.py
+
+      # tests: |
+      #  tests/ble_env_sense.py
+      #  tests/ble_advertising.py
+      #  tests/ble_passive_scanning.py
+      #  tests/c_hello.py
+      #  tests/printf_long.py
+      #  tests/c_hello_and_printf_long.py
+      #  tests/sensors.py
+      #  tests/console_recv_short.py
+      #  tests/console_recv_long.py
+      #  tests/lua_hello.py
+      #  tests/malloc_test01.py
+      #  tests/malloc_test02.py
+      #  tests/stack_size_test01.py
+      #  tests/stack_size_test02.py
+      #  tests/mpu_stack_growth.py
+      #  tests/mpu_walk_region.py
+      #  tests/adc.py
+      #  tests/adc_continuous.py
+      #  tests/ipc_logic.py
+      #  tests/gpio_interrupt.py
+      #  tests/whileone.py
+      #  tests/multi_alarm_simple_test.py
 
     secrets: inherit

hwci/boards/nrf52dk.py

@@ -9,6 +9,9 @@
 import serial.tools.list_ports
 from boards.tockloader_board import TockloaderBoard
 from utils.serial_port import SerialPort
+from gpio.gpio import GPIO
+import yaml
+import os
 
 
 class Nrf52dk(TockloaderBoard):
@@ -23,6 +26,7 @@ def __init__(self):
         self.openocd_board = "nrf52dk"
         self.board = "nrf52dk"
         self.serial = self.get_serial_port()
+        self.gpio = self.get_gpio_interface()
 
     def get_uart_port(self):
         logging.info("Getting list of serial ports")
@@ -47,6 +51,20 @@ def get_serial_port(self):
         )
         return SerialPort(self.uart_port, self.uart_baudrate)
 
+    def get_gpio_interface(self):
+        # Load the target spec from a YAML file
+        target_spec = load_target_spec()
+        # Initialize GPIO with the target spec
+        gpio = GPIO(target_spec)
+        return gpio
+
+    def cleanup(self):
+        if self.gpio:
+            for interface in self.gpio.gpio_interfaces.values():
+                interface.cleanup()
+        if self.serial:
+            self.serial.close()
+
     def flash_kernel(self):
         logging.info("Flashing the Tock OS kernel")
         tock_dir = os.path.join(self.base_dir, "tock")
@@ -82,4 +100,12 @@ def change_directory(self, new_dir):
             logging.info(f"Reverted to directory: {os.getcwd()}")
 
 
+def load_target_spec():
+    # Assume the target spec file is in a fixed location
+    target_spec_path = os.path.join(os.getcwd(), "target_spec.yaml")
+    with open(target_spec_path, "r") as f:
+        target_spec = yaml.safe_load(f)
+    return target_spec
+
+
 board = Nrf52dk()

hwci/boards/specs/nrf52dk.yml

@@ -0,0 +1,28 @@
+model: nrf52840dk
+hw_rev: '3.2'
+serial_number: 0xfoobar
+pin_mappings:
+  P0.13:
+    io_interface: raspberrypi5gpio
+    io_pin_spec: 20
+    target_pin_function: LED1
+    target_pin_mode: output
+    target_pin_active: low
+  P0.14:
+    io_interface: raspberrypi5gpio
+    io_pin_spec: 19
+    target_pin_function: LED2
+    target_pin_mode: output
+    target_pin_active: low
+  P0.11:
+    io_interface: raspberrypi5gpio
+    io_pin_spec: 21
+    target_pin_function: BUTTON1
+    target_pin_mode: input
+    target_pin_active: low
+  P0.12:
+    io_interface: raspberrypi5gpio
+    io_pin_spec: 26
+    target_pin_function: BUTTON2
+    target_pin_mode: input
+    target_pin_active: low

hwci/core/board_harness.py

@@ -23,6 +23,9 @@ def get_serial_port(self):
     def get_gpio_interface(self):
         pass
 
+    def cleanup(self):
+        pass
+
     def erase_board(self):
         pass
 

hwci/core/main.py

@@ -48,7 +48,7 @@ def main():
         logging.exception("An error occurred during test execution")
         sys.exit(1)
     finally:
-        board.serial.close()
+        board.cleaup()
 
 
 if __name__ == "__main__":

hwci/tests/__init__.py → hwci/gpio/__init__.py

@@ -2,9 +2,4 @@
 # SPDX-License-Identifier: Apache-2.0 OR MIT
 # Copyright Tock Contributors 2024.
 
-from .console_hello_test import (
-    OneshotTest,
-    AnalyzeConsoleTest,
-    WaitForConsoleMessageTest,
-)
-from .c_hello import test as c_hello_test
+from .gpio import GPIO

hwci/gpio/gpio.py

@@ -0,0 +1,42 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+import logging
+
+from gpio.interfaces.raspberry_pi5_gpio import RaspberryPi5GPIO
+from gpio.interfaces.mock_gpio import MockGPIO
+
+
+class GPIO:
+    def __init__(self, target_spec):
+        self.target_spec = target_spec
+        self.gpio_interfaces = {}
+        # Initialize GPIO interfaces based on the target spec
+        for pin_label, pin_mapping in self.target_spec.get("pin_mappings", {}).items():
+            interface_name = pin_mapping["io_interface"]
+            if interface_name not in self.gpio_interfaces:
+                interface_class = self.load_interface_class(interface_name)
+                self.gpio_interfaces[interface_name] = interface_class()
+
+    def load_interface_class(self, interface_name):
+        # Map interface names to classes
+        interface_classes = {
+            "raspberrypi5gpio": RaspberryPi5GPIO,
+            "mock_gpio": MockGPIO,
+        }
+        if interface_name in interface_classes:
+            return interface_classes[interface_name]
+        else:
+            raise ValueError(f"Unknown GPIO interface: {interface_name}")
+
+    def pin(self, pin_label):
+        # Get the pin mapping from the target spec
+        pin_mapping = self.target_spec["pin_mappings"].get(pin_label)
+        if not pin_mapping:
+            raise ValueError(f"Unknown pin label: {pin_label}")
+        interface_name = pin_mapping["io_interface"]
+        interface = self.gpio_interfaces.get(interface_name)
+        if not interface:
+            raise ValueError(f"No GPIO interface for {interface_name}")
+        return interface.pin(pin_label, pin_mapping)

hwci/gpio/interfaces/__init__.py

@@ -0,0 +1,6 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+from .raspberry_pi5_gpio import RaspberryPi5GPIO
+from .mock_gpio import MockGPIO

hwci/gpio/interfaces/mock_gpio.py

@@ -0,0 +1,40 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+import logging
+
+
+class MockGPIO:
+    def __init__(self):
+        self.pins = {}
+
+    def pin(self, target_pin_label, target_pin_mapping):
+        if target_pin_label not in self.pins:
+            pin = MockGPIOPin(target_pin_label)
+            self.pins[target_pin_label] = pin
+        else:
+            pin = self.pins[target_pin_label]
+        return pin
+
+    def cleanup(self):
+        pass  # Nothing to clean up in mock
+
+
+class MockGPIOPin:
+    def __init__(self, pin_label):
+        self.pin_label = pin_label
+        self.mode = None
+        self.value = None
+
+    def set_mode(self, mode):
+        self.mode = mode
+        logging.info(f"Pin {self.pin_label} set to mode {mode}")
+
+    def read(self):
+        logging.info(f"Pin {self.pin_label} read value {self.value}")
+        return self.value
+
+    def write(self, value):
+        self.value = value
+        logging.info(f"Pin {self.pin_label} write value {value}")

hwci/gpio/interfaces/raspberry_pi5_gpio.py

@@ -0,0 +1,64 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+import logging
+from gpiozero import LED, Button, DigitalOutputDevice, DigitalInputDevice
+
+
+class RaspberryPi5GPIO:
+    def __init__(self):
+        self.pins = {}
+
+    def pin(self, _target_pin_label, target_pin_mapping):
+        gpio_pin_number = int(target_pin_mapping["io_pin_spec"])
+        if gpio_pin_number not in self.pins:
+            pin = RaspberryPiGPIOPin(gpio_pin_number)
+            self.pins[gpio_pin_number] = pin
+        else:
+            pin = self.pins[gpio_pin_number]
+        return pin
+
+    def cleanup(self):
+        for pin in self.pins.values():
+            pin.close()
+        self.pins.clear()
+
+
+class RaspberryPiGPIOPin:
+    def __init__(self, gpio_pin_number):
+        self.gpio_pin_number = gpio_pin_number
+        self.device = None  # Will be initialized based on mode
+        self.mode = None
+
+    def set_mode(self, mode):
+        if mode == "input":
+            if self.device:
+                self.device.close()
+            self.device = DigitalInputDevice(self.gpio_pin_number)
+            self.mode = mode
+        elif mode == "output":
+            if self.device:
+                self.device.close()
+            self.device = DigitalOutputDevice(self.gpio_pin_number)
+            self.mode = mode
+        else:
+            raise ValueError(f"Unknown mode: {mode}")
+
+    def read(self):
+        if self.mode != "input":
+            raise RuntimeError("Pin is not set to input mode")
+        value = self.device.value
+        logging.debug(f"Read value {value} from pin {self.gpio_pin_number}")
+        return value
+
+    def write(self, value):
+        if self.mode != "output":
+            raise RuntimeError("Pin is not set to output mode")
+        self.device.value = value
+        logging.debug(f"Wrote value {value} to pin {self.gpio_pin_number}")
+
+    def close(self):
+        if self.device:
+            self.device.close()
+            self.device = None

hwci/requirements-frozen.txt

@@ -1,14 +1,17 @@
 argcomplete==3.5.1
 colorama==0.4.6
+colorzero==2.0
 crcmod==1.7
+gpiozero==2.0.1
 pexpect==4.9.0
 prompt-toolkit==3.0.36
 ptyprocess==0.7.0
 pycryptodome==3.21.0
 pyserial==3.5
+PyYAML==6.0.2
 questionary==2.0.1
 siphash==0.0.1
 tockloader==1.13.0
 toml==0.10.2
-tqdm==4.66.5
+tqdm==4.66.6
 wcwidth==0.2.13

hwci/requirements.txt

@@ -5,3 +5,5 @@
 pexpect
 pyserial
 tockloader
+gpiozero
+pyyaml

hwci/target-spec.yml

@@ -0,0 +1,28 @@
+model: nrf52840dk
+hw_rev: '3.2'
+serial_number: 0xfoobar
+pin_mappings:
+  P0.13:
+    io_interface: raspberrypi5gpio
+    io_pin_spec: 20
+    target_pin_function: LED1
+    target_pin_mode: output
+    target_pin_active: low
+  P0.14:
+    io_interface: raspberrypi5gpio
+    io_pin_spec: 19
+    target_pin_function: LED2
+    target_pin_mode: output
+    target_pin_active: low
+  P0.11:
+    io_interface: raspberrypi5gpio
+    io_pin_spec: 21
+    target_pin_function: BUTTON1
+    target_pin_mode: input
+    target_pin_active: low
+  P0.12:
+    io_interface: raspberrypi5gpio
+    io_pin_spec: 26
+    target_pin_function: BUTTON2
+    target_pin_mode: input
+    target_pin_active: low