Rockchip GPIO 完整开发指南：内核、U-Boot、调试、休眠与中断

Possible supplies for rk3399:
- bt656-supply: The supply connected to APIO2_VDD.
- audio-supply: The supply connected to APIO5_VDD.
- sdmmc-supply: The supply connected to SDMMC0_VDD.
- gpio1830 The supply connected to APIO4_VDD.
Possible supplies for rk3399 pmu-domains:
- pmu1830-supply:The supply connected to PMUIO2_VDD.

&io_domains {
    status = "okay";
    bt656-supply = <&vcc1v8_dvp >;
    audio-supply = <&vcca1v8_codec>;
    sdmmc-supply = <&vcc_sdio>;
    gpio1830-supply = <&vcc_3v0>;
};

bt656-supply = <&vcc1v8_dvp>;

console:/ # cat sys/kernel/debug/regulator/regulator_summary

u-boot：
commit 5a4e354a116b45b8ac2311aaa3464a7e88cd13d5
Author: Jianqun Xu <jay.xu@rock-chips.com>
Date: Thu Mar 19 15:38:19 2020 +0800
power: support rockchip io-domain set
This patch should work with kernel dtb node property - "uboot-set" in io-domain node or pmu-io-domain node.
Change-Id: I86fa43d234091310ee08978ec42f5895fb010a8c
Signed-off-by: Jianqun Xu <jay.xu@rock-chips.com>
Signed-off-by: Wenping Zhang <wenping.zhang@rock-chips.com>
kernel：
commit f95ad65aabffa7450ff90a0dd4778cd5500de937
Author: Jianqun Xu <jay.xu@rock-chips.com>
Date: Fri Mar 20 09:52:57 2020 +0800
arm64: dts: rockchip: add 'uboot-set' in io-domain node for rk3399.
Add 'uboot-set' for io-domain node, which used by u-boot board init to set io domain.
Change-Id: Ia897e240c04d0b362551952278dadc8b4f2a8f2f
Signed-off-by: Jianqun Xu <jay.xu@rock-chips.com>
Signed-off-by: Wenping Zhang <wenping.zhang@rock-chips.com>

/{
    gpio_demo: gpio-demo {
        status = "okay";
        compatible = "rockchip,gpio-demo";
        enable-gpios = <&gpio3 RK_PB7 GPIO_ACTIVE_HIGH>;
        irq-gpios = <&gpio3 RK_PB6 GPIO_ACTIVE_HIGH>;
        pinctrl-names = "default";
        pinctrl-0 = <&gpio_pin &gpio_irq>;
    };
};
&pinctrl {
    gpio-pin {
        gpio_pin: gpio-pin {
            // Configure gpio3b7 iomux to GPIO
            rockchip,pins = <3 RK_PB7 RK_FUNC_GPIO &pcfg_pull_none>;
        };
    };
    gpio-irq {
        gpio_irq: gpio-irq {
            // Configure gpio3b6 iomux to GPIO and schmidt input mode
            rockchip,pins = <3 RK_PB6 RK_FUNC_GPIO &pcfg_pull_none_smt>;
        };
    };
};

function {
    group {
        rockchip,pin = <gpiobank gpionum iomuxfunc &config>;
    };
};

&pinctrl {
    pcfg_pull_up: pcfg-pull-up {
        bias-pull-up;
    };
    pcfg_pull_down: pcfg-pull-down {
        bias-pull-down;
    };
    pcfg_pull_none: pcfg-pull-none {
        bias-disable;
    };
    pcfg_pull_none_smt: pcfg-pull-none-smt {
        bias-disable;
        input-schmitt-enable;
    };
    pcfg_pull_none_drv_level_0: pcfg-pull-none-drv-level-0 {
        bias-disable;
        drive-strength = <0>;
    };
    ......
    pcfg_output_high: pcfg-output-high {
        output-high;
    };
    ......
    pcfg_output_low: pcfg-output-low {
        output-low;
    };
    ......
};

// Get the GPIO device. If multiple devices are used, the index parameter must be included
struct gpio_desc *gpiod_get(struct device *dev, const char *con_id,
                    enum gpiod_flags flags)
struct gpio_desc *gpiod_get_index(struct device *dev,
                      const char *con_id, unsigned int idx,
                      enum gpiod_flags flags)
// Release the GPIO device
void gpiod_put(struct gpio_desc *desc)
void gpiod_put_array(struct gpio_descs *descs)
// Set gpio input/output
int gpiod_direction_input(struct gpio_desc *desc)
int gpiod_direction_output(struct gpio_desc *desc, int value)
// Get/Set gpio value
int gpiod_get_value(const struct gpio_desc *desc);
void gpiod_set_value(struct gpio_desc *desc, int value);
//Get the GPIO IRQ interrupt number
int gpiod_to_irq(const struct gpio_desc *desc)
......

// SPDX-License-Identifier: GPL-2.0
/*
 * Copyright (c) 2020 Rockchip Electronics Co. Ltd.
 *
 * Author:Johnny Shi <nengqiang.shi@rock-chips.com>
 */
/* The following code is based on the RK3588 Android 12 platform */
#include <linux/gpio/consumer.h>
#include <linux/interrupt.h>
#include <linux/kernel.h>
#include <linux/math64.h>
#include <linux/module.h>
#include <linux/of_graph.h>
#include <linux/phy/phy.h>
#include <linux/platform_device.h>
static irqreturn_t irq_demo_handler(int irq, void *dev_id)
{
    printk("------irq_demo------\n");
    return IRQ_HANDLED;
}
static int gpio_demo_probe(struct platform_device *pdev)
{
    struct gpio_desc *enable_gpio, *irq_gpio;
    int irq;
    int ret;
    printk("------gpio_demo_probe------\n");
    // Get the gpio3b7 pin and set it as output
    enable_gpio = devm_gpiod_get_index(&pdev->dev, "enable", 0, GPIOD_OUT_HIGH);
    if (IS_ERR(enable_gpio)) {
        ret = PTR_ERR(enable_gpio);
         dev_err(&pdev->dev, "failed to request enable GPIO: %d\n", ret);
        return ret;
    }
    // Get the gpio3b6 pin and set it as input
    irq_gpio = devm_gpiod_get_index(&pdev->dev, "irq", 0, GPIOD_IN);
    if (IS_ERR(irq_gpio)) {
        ret = PTR_ERR(irq_gpio);
         dev_err(&pdev->dev, "failed to request irq GPIO: %d\n", ret);
        return ret;
    }
    // Get the gpio3b6 IRQ interrupt number and request IRQ
    irq = gpiod_to_irq(irq_gpio);
    ret = request_irq(irq, irq_demo_handler, IRQF_TRIGGER_FALLING, "demo_irq", NULL);
    if (ret) {
         dev_err(&pdev->dev, "failed to request IRQ: %d\n", ret);
        return ret;
    }
    // Set gpio3b7 pin output high
    gpiod_set_value(enable_gpio, 1);
    return 0;
}
static const struct of_device_id gpio_demo_of_match[] = {
    { .compatible = "rockchip,gpio-demo" },
    {}
};
static struct platform_driver gpio_demo_driver = {
    .driver = {
        .name = "gpio-demo",
        .of_match_table = of_match_ptr(gpio_demo_of_match),
    },
    .probe = gpio_demo_probe,
// .remove = gpio_demo_remove,
};
module_platform_driver(gpio_demo_driver);
MODULE_DESCRIPTION("Rockchip gpio demo driver");
MODULE_LICENSE("GPL v2");

imx415: imx415@1a {
    compatible = "sony,imx415";
    reg = <0x1a>;
    clocks = <&cru CLK_MIPI_CAMARAOUT_M1>;
    clock-names = "xvclk";
    pinctrl-names = "default";
- pinctrl-0 = <&mipim0_camera1_clk>;
+ pinctrl-0 = <&mipim0_camera1_clk &test_gpio>; //添加一个test_gpio
    power-domains = <&power RK3588_PD_VI>;
    ......
}
&pinctrl {
    test {
        test_gpio: test-gpio {
            //GPIO3_B1配置为高电平输出，也可以配置为pcfg_output_low，低电平输出。
            rockchip,pins = <3 RK_PB1 RK_FUNC_GPIO &pcfg_output_high>;
        };
    };
}

/{
    iomux_exchange: iomux-exchange {
        compatible= "iomux-exchange-demo";
        pinctrl-names= "default", "iomux-exchange";
        pinctrl-0= <&uart3m0_xfer>;
        pinctrl-1= <&uart3m0_gpio>;
    };
    &pinctrl {
        uart3 {
            /omit-if-no-ref/
            uart3m0_xfer: uart3m0-xfer {
                rockchip,pins =
                    /* uart3_rx_m0 */
                    <1 RK_PC0 10 &pcfg_pull_up>,
                    /* uart3_tx_m0 */
                    <1 RK_PC1 10 &pcfg_pull_up>;
            };
        uart3-gpio{
            uart3m0_gpio: uart3m0-gpio {
                rockchip,pins =
                    <1 RK_PC0 RK_FUNC_GPIO &pcfg_pull_none>,
                    <1 RK_PC1 RK_FUNC_GPIO &pcfg_pull_none>;
            };
        };
    };
};

// SPDX-License-Identifier: GPL-2.0
/*
 * Copyright (c) 2020 Rockchip Electronics Co. Ltd.
 *
 * Author:Johnny Shi <nengqiang.shi@rock-chips.com>
 */
/* The following code is based on the RK3588 Android 12 platform */
#include <linux/gpio/consumer.h>
#include <linux/interrupt.h>
#include <linux/kernel.h>
#include <linux/math64.h>
#include <linux/module.h>
#include <linux/of_graph.h>
#include <linux/phy/phy.h>
#include <linux/platform_device.h>
#include <linux/pinctrl/consumer.h>
struct pinctrl *uart_pinctrl;
struct pinctrl_state *uart_default;//uart
struct pinctrl_state *uart_gpio;//gpio
static int iomux_exchange(int select) {
    int ret = 0;
    if (select) {
        ret = pinctrl_select_state(uart_pinctrl, uart_gpio);
    } else {
        ret = pinctrl_select_state(uart_pinctrl, uart_default);
    }
    return ret;
}
static int iomux_exchange_demo_probe(struct platform_device *pdev)
{
    printk("------iomux_exchange_demo_probe------\n");
    uart_pinctrl = devm_pinctrl_get(&pdev->dev);
    if (IS_ERR_OR_NULL(uart_pinctrl)) {
        printk("Failed to get pin ctrl\n");
        return PTR_ERR(uart_pinctrl);
    }
    // Gets the pinctrl status property of "default"
    uart_default = pinctrl_lookup_state(uart_pinctrl, "default");
    if (IS_ERR_OR_NULL(uart_default)) {
        printk("Failed to lookup pinctrl default state\n");
        return PTR_ERR(uart_default);
    }
    // Get the custom "iomux-exchange" pinctrl status properties
    uart_gpio = pinctrl_lookup_state(uart_pinctrl, "iomux-exchange");
    if (IS_ERR_OR_NULL(uart_gpio)) {
        printk("Failed to lookup pinctrl iomux-exchange state\n");
        return PTR_ERR(uart_gpio);
    }
    iomux_exchange(1);
    //iomux_exchange(0);
    return 0;
}
static const struct of_device_id iomux_exchange_demo_of_match[] = {
    { .compatible = "iomux-exchange-demo" },
    {}
};
static struct platform_driver iomux_exchange_demo_driver = {
    .driver = {
        .name = "iomux-exchange-demo",
        .of_match_table = of_match_ptr(iomux_exchange_demo_of_match),
    },
    .probe = iomux_exchange_demo_probe,
// .remove = iomux_exchange_demo_remove,
};
module_platform_driver(iomux_exchange_demo_driver);
MODULE_DESCRIPTION("Rockchip iomux exchange demo driver");
MODULE_LICENSE("GPL v2");

console:/ # cat sys/kernel/debug/pinctrl/pinctrl-rockchip-pinctrl/pinmux-pins
......
pin 44 (gpio1-12): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 45 (gpio1-13): fde60000.dp gpio1:45 function dp group dp1-hpd
pin 46 (gpio1-14): 5-001a (GPIO UNCLAIMED) function mipi group mipim0-camera1-clk
pin 47 (gpio1-15): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 48 (gpio1-16): iomux-exchange (GPIO UNCLAIMED) function uart3 group uart3m0-xfer
pin 49 (gpio1-17): iomux-exchange (GPIO UNCLAIMED) function uart3 group uart3m0-xfer
pin 50 (gpio1-18): 7-0011 (GPIO UNCLAIMED) function i2s0 group i2s0-mclk
pin 51 (gpio1-19): fe470000.i2s (GPIO UNCLAIMED) function i2s0 group i2s0-idle
pin 52 (gpio1-20): (MUX UNCLAIMED) gpio1:52
pin 53 (gpio1-21): fe470000.i2s (GPIO UNCLAIMED) function i2s0 group i2s0-idle
......

console:/ # cat sys/kernel/debug/pinctrl/pinctrl-rockchip-pinctrl/pinmux-pins
......
pin 44 (gpio1-12): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 45 (gpio1-13): fde60000.dp gpio1:45 function dp group dp1-hpd
pin 46 (gpio1-14): 5-001a (GPIO UNCLAIMED) function mipi group mipim0-camera1-clk
pin 47 (gpio1-15): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 48 (gpio1-16): iomux-exchange (GPIO UNCLAIMED) function uart3-gpio group uart3m0-gpio
pin 49 (gpio1-17): iomux-exchange (GPIO UNCLAIMED) function uart3-gpio group uart3m0-gpio
pin 50 (gpio1-18): 7-0011 (GPIO UNCLAIMED) function i2s0 group i2s0-mclk
pin 51 (gpio1-19): fe470000.i2s (GPIO UNCLAIMED) function i2s0 group i2s0-idle
pin 52 (gpio1-20): (MUX UNCLAIMED) gpio1:52
pin 53 (gpio1-21): fe470000.i2s (GPIO UNCLAIMED) function i2s0 group i2s0-idle
......

/{
    leds {
        compatible = "gpio-leds";
        status = "okay";
        u-boot,dm-spl;
        blue-led {
            u-boot,dm-spl;
            gpios = <&gpio2 RK_PA1 GPIO_ACTIVE_LOW>;
            label = "blue_full";
            default-state = "on";
        };
        green-led {
            u-boot,dm-spl;
            gpios = <&gpio2 RK_PA0 GPIO_ACTIVE_LOW>;
            label = "green_led";
            default-state = "on";
        };
    };
};

diff --git a/drivers/led/led_gpio.c b/drivers/led/led_gpio.c
index 56702a1417..18062f2ac1 100644
--- a/drivers/led/led_gpio.c
+++ b/drivers/led/led_gpio.c
@@ -112,6 +112,7 @@ static int led_gpio_bind(struct udevice *parent)
                const char *label;
                label = ofnode_read_string(node, "label");
+ printf("%s: label %s\n", __func__, label);
                if (!label) {
                        debug("%s: node %s has no label\n", __func__,
                              ofnode_get_name(node));

fdtdump ./u-boot.dtb | less

/u-boot/configs/rk3588_defconfig
CONFIG_LED=y
CONFIG_LED_GPIO=y

u-boot/drivers/led/led-uclass.c // 默认编译
u-boot/drivers/led/led_gpio.c // 支持 compatible = "gpio-leds"

// 获取led device
int led_get_by_label(const char *label, struct udevice **devp);
// 设置/获取led状态
int led_set_state(struct udevice *dev, enum led_state_t state);
enum led_state_t led_get_state(struct udevice *dev);
// 忽略，目前未做底层驱动实现
int led_set_period(struct udevice *dev, int period_ms);

/u-boot/arch/arm/mach-rockchip/board.c
#include <led.h>
int board_late_init(void)
{
    struct udevice *led_dev;
    ...
    led_get_by_label("blue_full", &led_dev);
    led_set_state(led_dev, LEDST_ON);
    ...
}

int uclass_get_device(enum uclass_id id, int index, struct udevice **devp);
int uclass_get_device_by_name(enum uclass_id id, const char *name,
struct udevice **devp);
int uclass_get_device_by_seq(enum uclass_id id, int seq, struct udevice **devp);
int uclass_get_device_by_of_offset(enum uclass_id id, int node, struct udevice
**devp);
int uclass_get_device_by_ofnode(enum uclass_id id, ofnode node, struct udevice
**devp);
int uclass_get_device_by_phandle_id(enum uclass_id id,
int phandle_id, struct udevice **devp);
int uclass_get_device_by_phandle(enum uclass_id id,
struct udevice *parent, struct udevice **devp);
int uclass_get_device_by_driver(enum uclass_id id,
const struct driver *drv, struct udevice
**devp);
int uclass_get_device_tail(struct udevice *dev, int ret, struct udevice **devp);
......

// 申请/释放GPIO
int gpio_request_by_name(struct udevice *dev, const char *list_name,
int index, struct gpio_desc *desc, int flags);
int gpio_request_by_name_nodev(ofnode node, const char *list_name, int index,
struct gpio_desc *desc, int flags);
int gpio_request_list_by_name(struct udevice *dev, const char *list_name,
struct gpio_desc *desc_list, int max_count, int
flags);
int gpio_request_list_by_name_nodev(ofnode node, const char *list_name,
struct gpio_desc *desc_list, int max_count,
int flags);
int dm_gpio_free(struct udevice *dev, struct gpio_desc *desc)
// 配置GPIO方向。@flags：GPIOD_IS_OUT（输出）和 GPIOD_IS_IN（输入）
int dm_gpio_set_dir_flags(struct gpio_desc *desc, ulong flags);
// 设置/获取GPIO电平
int dm_gpio_get_value(const struct gpio_desc *desc)
int dm_gpio_set_value(const struct gpio_desc *desc, int value)

U_BOOT_DRIVER(led_gpio) = {
  .name = "gpio_led",
  .id = UCLASS_LED,
  .of_match = led_gpio_ids,
  .ops = &gpio_led_ops,
  .priv_auto_alloc_size = sizeof(struct led_gpio_priv),
  .bind = led_gpio_bind,
  .probe = led_gpio_probe,
  .remove = led_gpio_remove,
};

/u-boot/configs/rk3588_defconfig
CONFIG_DM_GPIO=y
CONFIG_GPIO_HOG=y
CONFIG_ARCH_ROCKCHIP=y
CONFIG_SPL_GPIO_SUPPORT=y

gpio_uboot_demo {
    u-boot,dm-pre-reloc;
    compatible="gpio_uboot_demo";
    enable-gpios = <&gpio3 RK_PB7 GPIO_ACTIVE_HIGH>;
    status = "okay";
};
&gpio3 {
    u-boot,dm-pre-reloc;
    status = "okay";
};

/*
 * Copyright (c) 2015 Google, Inc
 * Written by Simon Glass <sjg@chromium.org>
 *
 * SPDX-License-Identifier: GPL-2.0+
 */
/* The following code is based on the RK3588 Android 12 platform */
#include <common.h>
#include <dm.h>
#include <errno.h>
#include <asm/gpio.h>
#include <dm/lists.h>
#include <dm/ofnode.h>
static int gpio_uboot_demo_probe(struct udevice *dev)
{
    struct gpio_desc gpio_uboot ;
    int ret;
    printf("----gpio_uboot_demo_probe----\n");
    ret = gpio_request_by_name(dev, "enable-gpios", 0, &gpio_uboot, GPIOD_IS_OUT);
    if(ret)
    {
        printf("can not get eepro_wp gpio\n");
    }
    dm_gpio_set_value(&gpio_uboot, 1);
    return 0;
}
static int gpio_uboot_demo_remove(struct udevice *dev)
{
    printf("----gpio_uboot_demo_remove----\n");
    return 0;
}
static const struct udevice_id gpio_uboot_demo_ids[] = {
    { .compatible = "gpio_uboot_demo" },
    { }
};
U_BOOT_DRIVER(gpio_uboot_demo) = {
    .name = "gpio_uboot_demo",
    .id = UCLASS_GPIO,
    .of_match = gpio_uboot_demo_ids,
    .probe = gpio_uboot_demo_probe,
    .remove = gpio_uboot_demo_remove,
};

/u-boot/arch/arm/mach-rockchip/board.c
int board_late_init(void)
{
    struct udevice *dev;
    ...
    uclass_get_device_by_driver(UCLASS_GPIO, DM_GET_DRIVER(gpio_uboot_demo), &dev);
    ...
}

console:/sys/class/gpio# ls
export gpiochip128 gpiochip509 gpiochip96
gpiochip0 gpiochip32 gpiochip64 unexport

console:/sys/class/gpio# echo 41 > export

console:/sys/class/gpio/gpio41# echo out > direction

console:/sys/class/gpio/gpio41# cat direction

console:/sys/class/gpio/gpio41# echo 1 > value

console:/sys/class/gpio/gpio41# cat value

console:/sys/class/gpio# echo 41 > unexport

console:/ # cat sys/kernel/debug/pinctrl/pinctrl-rockchip-pinctrl/pinmux-pins
Pinmux settings per pin
Format: pin (name): mux_owner gpio_owner hog?
pin 0 (gpio0-0): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 1 (gpio0-1): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 2 (gpio0-2): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 3 (gpio0-3): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 4 (gpio0-4): (MUX UNCLAIMED) gpio0:4
pin 5 (gpio0-5): (MUX UNCLAIMED) gpio0:5
pin 6 (gpio0-6): ff420030.pwm (GPIO UNCLAIMED) function pwm3a group pwm3a-pin
pin 7 (gpio0-7): fe320000.dwmmc (GPIO UNCLAIMED) function sdmmc group sdmcc-cd
pin 8 (gpio0-8): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 9 (gpio0-9): (MUX UNCLAIMED) gpio0:9
pin 10 (gpio0-10): (MUX UNCLAIMED) gpio0:10
......
console:/ # cat sys/kernel/debug/gpio
gpiochip0: GPIOs 0-31, parent: platform/pinctrl, gpio0:
 gpio-1 ( |vcc3v0_sd ) out hi
 gpio-4 ( |bt_default_wake_host) in lo
 gpio-5 ( |GPIO Key Power ) in hi
 gpio-9 ( |bt_default_reset ) out lo
 gpio-10 ( |reset ) out hi
 gpio-11 ( |spk-con ) out lo
gpiochip1: GPIOs 32-63, parent: platform/pinctrl, gpio1:
 gpio-34 ( |int-n ) in hi
 gpio-45 ( |enable ) out hi
gpiochip2: GPIOs 64-95, parent: platform/pinctrl, gpio2:
 gpio-64 ( |vbus-5v ) out lo
 gpio-83 ( |bt_default_rts ) in hi
 gpio-90 ( |bt_default_wake ) in lo
gpiochip3: GPIOs 96-127, parent: platform/pinctrl, gpio3:
 gpio-111 ( |mdio-reset ) out hi
gpiochip4: GPIOs 128-159, parent: platform/pinctrl, gpio4:
 gpio-150 ( |? ) out hi
 gpio-153 ( |vcc5v0_host ) out hi
 gpio-157 ( |enable ) out hi
 gpio-158 ( |vcc_lcd ) out hi

arch/arm64/boot/dts/rockchip/rk3588s.dtsi
rockchip_suspend: rockchip-suspend {
        compatible = "rockchip,pm-rk3588";
        status = "disabled";
        // Set the sleep log switch. 0: printing is disabled, 1: printing is enabled
        rockchip,sleep-debug-en = <0>;
         // Sleep configuration
        rockchip,sleep-mode-config = <
                (0
                | RKPM_SLP_ARMOFF_LOGOFF //进入深度休眠断电vdd_arm和vdd_log
                | RKPM_SLP_PMU_PMUALIVE_32K //进入深度休眠时使用32K时钟源作为系统时钟
                | RKPM_SLP_PMU_DIS_OSC //关闭24M晶振，最低功耗模式时可使能
                | RKPM_SLP_32K_EXT //休眠时的32K时钟源是否选用外部的32K钟源
                )
        >;
        // Wakeup source configuration
        rockchip,wakeup-config = <
                (0
                | RKPM_GPIO_WKUP_EN //GPIO0唤醒
                )
        >;
};

vdd_log_s0: DCDC_REG3 {
    regulator-always-on;
    regulator-boot-on;
    regulator-min-microvolt = <675000>;
    regulator-max-microvolt = <750000>;
    regulator-ramp-delay = <12500>;
    regulator-name = "vdd_log_s0";
    regulator-state-mem {
    // regulator-off-in-suspend;
    regulator-on-in-suspend;
    regulator-suspend-microvolt = <750000>;
    };
};

&rockchip_suspend {
        status = "okay";
        rockchip,sleep-debug-en = <1>;
        rockchip,sleep-mode-config = <
                (0
                 // | RKPM_SLP_ARMOFF_LOGOFF
                | RKPM_SLP_ARMOFF_DDRPD
                | RKPM_SLP_PMU_PMUALIVE_32K
                | RKPM_SLP_PMU_DIS_OSC
                | RKPM_SLP_32K_EXT
                )
        >;
        rockchip,wakeup-config = <
                (0
                | RKPM_GPIO_WKUP_EN
                | RKPM_CPU0_WKUP_EN
                )
        >;
};

&rockchip_suspend {
    status = "okay";
+ rockchip,power-ctrl =
+ <&gpio1 17 GPIO_ACTIVE_HIGH>, //配置休眠时GPIO1_C1为高电平
+ <&gpio1 14 GPIO_ACTIVE_HIGH>; //配置休眠时GPIO1_B6为高电平

&i2c6 {
    status = "okay";
    pca9555_20: pca9555_20@20 {
        compatible = "nxp,pca9555";
        reg = <0x20>;
    };
    imx586: imx586@1a {
        compatible = "sony,imx586";
        status = "okay";
        reset-gpio-index = <503>;
        ......
    };
};

ret |= of_property_read_u32(node, "reset-gpio-index",
        &test->reset_gpio_index);
gpio_to_desc(test->reset_gpio_index);

Device Drivers->
    I2C support --->
        I2C Hardware Bus support --->
            <*> GPIO-based bitbanging I2C

i2c9: i2c@9 {
    compatible = "i2c-gpio";
    pinctrl-names = "default";
    pinctrl-0 = <&i2c9_xfer>;
    scl-gpios = <&gpio3 RK_PB3 GPIO_ACTIVE_HIGH>; //scl
    sda-gpios = <&gpio3 RK_PB4 GPIO_ACTIVE_HIGH>; //sda
    i2c-gpio,delay-us = <2>; /* ~100 kHz */
    #address-cells = <1>;
    #size-cells = <0>;
};
&pinctrl {
    i2c9 {
        /omit-if-no-ref/
        i2c9_xfer: i2c9-xfer {
            rockchip,pins =
                /* i2c9_scl */
                <3 RK_PB3 0 &pcfg_pull_none_smt>,
                /* i2c9_sda */
                <3 RK_PB4 0 &pcfg_pull_none_smt>;
        };
    };
};

kernel-5.10/kernel/configs/android-11.config
CONFIG_DEVMEM=y

console:/# io
Raw memory i/o utility - $Revision: 1.5 $
io -v -1|2|4 -r|w [-l <len>] [-f <file>] <addr> [<value>]
    -v Verbose, asks for confirmation
    -1|2|4 Sets memory access size in bytes (default byte)
    -l <len> Length in bytes of area to access (defaults to
               one access, or whole file length)
    -r|w Read from or Write to memory (default read)
    -f <file> File to write on memory read, or
               to read on memory write
    <addr> The memory address to access
    <val> The value to write (implies -w)
Examples:
    io 0x1000 Reads one byte from 0x1000
    io 0x1000 0x12 Writes 0x12 to location 0x1000
    io -2 -l 8 0x1000 Reads 8 words from 0x1000
    io -r -f dmp -l 100 200 Reads 100 bytes from addr 200 to file
    io -w -f img 0x10000 Writes the whole of file to memory
Note access size (-1|2|4) does not apply to file based accesses.

GPIO4_B0/SDMMC0_D0/UART2A_RX_u

console:/ # io -4 -l 0x100 0xff77e024
ff77e024: 00000555 0000855f 00000000 00000000
ff77e034: 00000000 00000000 00000000 000002a5
ff77e044: 00005450 0000ff03 00000143 00000000
ff77e054: 00004010 00000001 00000000 0000aa80
ff77e064: 00000455 00002040 0000aaa1 00000000
ff77e074: 00000000 00000000 00000000 00000000
ff77e084: 00000000 00000000 00000000 00000000
ff77e094: 00000000 00000000 00000000 00000000
ff77e0a4: 000000ff 00000000 00000000 00000000
ff77e0b4: 00000000 00000000 00000000 00000000
ff77e0c4: 00000000 00000000 00000000 00000000
ff77e0d4: 00000000 00000000 00000000 00000000
ff77e0e4: 00000000 00000000 00000000 00000000
ff77e0f4: 00000000 00000000 00000000 00000000
ff77e104: 00000000 00000000 00000000 0000b01b
ff77e114: 00000001 00003000 00000000 00000018

ff77e024: 00000555 0000855f 00000000 00000000

0xff77e024、0xff77e028、0xff77e02c、0xff77e030

0xff77e024：00000555

0000 0000 0000 0000 0000 0101 0101 0101

console:/ # io -4 -l 0x100 0xFF790000
ff790000: 42000000 6a400000 00000000 00000000
ff790010: 00000000 00000000 00000000 00000000
ff790020: 00000000 00000000 00000000 00000000
ff790030: ffffffff ffffffff 00000000 00000000
ff790040: 00000000 9434d0f9 00000000 00000000
ff790050: 438b2f06 00000000 00000000 00000000
ff790060: 00000000 00000000 00000000 3230372a
ff790070: 00000000 00000000 00000000 00000000
ff790080: 42000000 6a400000 00000000 00000000
ff790090: 00000000 00000000 00000000 00000000
ff7900a0: 00000000 00000000 00000000 00000000
ff7900b0: ffffffff ffffffff 00000000 00000000
ff7900c0: 00000000 9434d0f9 00000000 00000000
ff7900d0: 438b2f06 00000000 00000000 00000000
ff7900e0: 00000000 00000000 00000000 3230372a
ff7900f0: 00000000 00000000 00000000 00000000

=> ?
? - alias for 'help'
android_print_hdr- print android image header
base - print or set address offset
bdinfo - print Board Info structure
bidram_dump- Dump bidram layout
boot - boot default, i.e., run 'bootcmd'
……
iomem - Show iomem data by device compatible(high priority) or node name
……
md - memory display
……

diff --git a/include/configs/rk_default_config.h b/include/configs/rk_default_config.h
index 9852917d4f..305de26347 100755
--- a/include/configs/rk_default_config.h
+++ b/include/configs/rk_default_config.h
@@ -304,7 +304,7 @@
/* rk io command tool */
-#undef CONFIG_RK_IO_TOOL
+#define CONFIG_RK_IO_TOOL

diff --git a/include/configs/rk33plat.h b/include/configs/rk33plat.h
index 0906c0c091..3f94e9eabe 100755
--- a/include/configs/rk33plat.h
+++ b/include/configs/rk33plat.h
@@ -140,6 +140,7 @@
#define CONFIG_RK_GPIO_EXT_FUNC
#define CONFIG_CHARGE_LED
#define CONFIG_POWER_FUSB302
+ #define CONFIG_CMD_MEMORY
#endif
#if defined(CONFIG_RKCHIP_RK322XH)

diff --git a/common/autoboot.c b/common/autoboot.c
index c27cc2c751..fe28adb2fd 100644
--- a/common/autoboot.c
+++ b/common/autoboot.c
@@ -146,6 +146,7 @@ static int abortboot_normal(int bootdelay)
{
int abort = 0;
unsigned long ts;
+ bootdelay = 3; //此处添加时间可自由定义，单位：秒
#ifdef CONFIG_MENUPROMPT
printf(CONFIG_MENUPROMPT);

// 读操作
md - memory display
Usage: md [.b, .w, .l, .q] address [# of objects]
// 写操作
mw - memory write (fill)
Usage: mw [.b, .w, .l, .q] address value [count]

=> md.l 0x76000000 0x10
76000000: fffffffe ffffffff ffffffff ffffffff ................
76000010: ffffffdf ffffffff feffffff ffffffff ................
76000020: ffffffff ffffffff ffffffff ffffffff ................
76000030: ffffffff ffffffff ffffffff ffffffff ................

=> mw.l 0x76000000 0xffff1234 // 高16位有mask
=> md.l 0x76000000 0x10 // 回读
76000000: ffff1234 ffffffff ffffffff ffffffff ................
76000010: ffffffdf ffffffff feffffff ffffffff ................
76000020: ffffffff ffffffff ffffffff ffffffff ................
76000030: ffffffff ffffffff ffffffff ffffffff ................

kernel/tools/testing/selftests/rkpinctrl/iomux.c

gcc kernel/tools/testing/selftests/rkpinctrl/iomux.c -o iomux

[root@RK3588:/]# iomux 0 15 1

[root@RK3588:/]# iomux 0 15
mux get (GPIO0-15) = 1

ff790000: 42400000 42400000 42400000 42400000
ff790010: 42400000 42400000 42400000 42400000
ff790020: 42400000 42400000 42400000 42400000
ff790030: 42400000 42400000 42400000 42400000
ff790040: 42400000 42400000 42400000 42400000
ff790050: 42400000 42400000 42400000 42400000
ff790060: 42400000 42400000 42400000 42400000
ff790070: 42400000 42400000 42400000 42400000
ff790080: 42400000 42400000 42400000 42400000
ff790090: 42400000 42400000 42400000 42400000
ff7900a0: 42400000 42400000 42400000 42400000
ff7900b0: 42400000 42400000 42400000 42400000
ff7900c0: 42400000 42400000 42400000 42400000
ff7900d0: 42400000 42400000 42400000 42400000
ff7900e0: 42400000 42400000 42400000 42400000
ff7900f0: 42400000 42400000 42400000 42400000

io -4 -l 0x100 0xFF76037C
ff76037c: 000001b8 00000010 00000000 0000002a
ff76038c: 00000000 00000000 00000000 00000000
ff76039c: 00000000 00000000 00000000 00000000
ff7603ac: 00000000 00000000 00000000 00000000
ff7603bc: 00000000 00000000 00000000 00000000
ff7603cc: 00000000 00000000 00000000 00000000
ff7603dc: 00000000 00000000 00000000 00000000
ff7603ec: 00000000 00000000 00000000 00000000
ff7603fc: 00000000 00000000 000 00000 00000000
ff76040c: 00000000 00000000 00000000 00000000
ff76041c: 00000000 00000000 00004040 00000000
ff76042c: 00000014 00000000 00000000 00000000
ff76043c: 00000000 00000000 00000000 00000000
ff76044c: 00000000 00000000 00000000 00000000
ff76045c: 00000000 00000000 00000000 00000000
ff76046c: 00000000 00000000 00000000 00000000

io -4 -w 0xFF76037C 0x00200000
io -4 -l 0x100 0xFF790000
ff790000: 42000000 6a400000 00000000 00000000
ff790010: 00000000 00000000 00000000 00000000
ff790020: 00000000 00000000 00000000 00000000
ff790030: ffffffff ffffffff 00000000 00000000
ff790040: 00000000 9434d0f9 00000000 00000000
ff790050: 438b2f06 00000000 00000000 00000000
ff790060: 00000000 00000000 00000000 3230372a
ff790070: 00000000 00000000 00000000 00000000
ff790080: 42000000 6a400000 00000000 00000000
ff790090: 00000000 00000000 00000000 00000000
ff7900a0: 00000000 00000000 00000000 00000000
ff7900b0: ffffffff ffffffff 00000000 00000000
ff7900c0: 00000000 9434d0f9 00000000 00000000
ff7900d0: 438b2f06 00000000 00000000 00000000
ff7900e0: 00000000 00000000 00000000 3230372a
ff7900f0: 00000000 00000000 00000000 00000000

console:sys/kernel/debug/clk # cat clk_summary | grep gpio3
pclk_gpio3 0 1 0 100000000 0 0 50000
console:sys/kernel/debug/clk # ls pclk_gpio3
pclk_gpio3/clk_accuracy pclk_gpio3/clk_parent
pclk_gpio3/clk_available_parent pclk_gpio3/clk_phase
pclk_gpio3/clk_duty_cycle pclk_gpio3/clk_prepare_count
pclk_gpio3/clk_enable_count pclk_gpio3/clk_protect_count
pclk_gpio3/clk_flags pclk_gpio3/clk_rate
pclk_gpio3/clk_notifier_count
console:sys/kernel/debug/clk # echo 1 > pclk_gpio3/clk_enable_count
console:sys/kernel/debug/clk # cat clk_summary | grep gpio3
    pclk_gpio3 1 2 0 100000000 0 0 50000

drivers/gpio/gpiolib.c
int gpiod_direction_input(struct gpio_desc *desc)
{
    + pr_info("%s: %d\n", __func__, desc_to_gpio(desc));
    ......
}
int gpiod_direction_output(struct gpio_desc *desc, int value)
{
    + pr_info("%s: %d\n", __func__, desc_to_gpio(desc));
    ......
}

root@rk3588-buildroot:/# cat /sys/kernel/debug/gpio
gpiochip0: GPIOs 0-31, parent: platform/fd8a0000.gpio, gpio0:
 gpio-26 ( |GTP_RST_PORT ) out hi
 gpio-27 ( |GTP_INT_IRQ ) in hi
gpiochip1: GPIOs 32-63, parent: platform/fec20000.gpio, gpio1:
 gpio-41 ( |vcc-mipicsi0-regulat) out lo
 gpio-42 ( |vcc-mipicsi1-regulat) out lo
gpiochip2: GPIOs 64-95, parent: platform/fec30000.gpio, gpio2:
 gpio-76 ( |reset ) out hi ACTIVE LOW
 gpio-77 ( |hdmirx-det ) in hi ACTIVE LOW
 gpio-84 ( |vcc-mipidcphy0-regul) out hi
gpiochip3: GPIOs 96-127, parent: platform/fec40000.gpio, gpio3:
 gpio-96 ( |bt_default_wake_host) in lo
 gpio-113 ( |ircut-open ) out lo
 gpio-115 ( |vcc3v3-pcie30 ) out lo
#gpio4a0的引脚首编号为128
gpiochip4: GPIOs 128-159, parent: platform/fec50000.gpio, gpio4:
 gpio-130 ( |reset ) out hi
 gpio-133 ( |reset ) out hi
 gpio-134 ( |sbu1-dc ) out lo
 gpio-135 ( |sbu2-dc ) out hi
 gpio-136 ( |vcc5v0-host ) out hi
gpio-137 ( |enable ) out lo
gpio-138 ( |enable ) out lo
gpio-152 ( |vbus5v0-typec ) out lo

gpio4b3 = 128 + (B-A) * 8 + 3 = 128 + 1 * 8 + 3 = 139

root@rk3588-buildroot:/# dmesg | grep "gpiod_direction_output"
[ 1.460212] gpiod_direction_output: 152
[ 1.460291] gpiod_direction_output: 115
[ 1.460391] gpiod_direction_output: 136
......
[ 1.735094] gpiod_direction_output: 133
[ 1.806359] gpiod_direction_output: 139 #有驱动控制了gpio4b3
[ 2.136271] gpiod_direction_output: 113

io -4 0xFF3B4804 0x40000000 #使能gpio3b的clk
io -4 0xFF3B4808 0x00100000 #使能gpio3c的clk
io -4 0xFF3E8000 0x7D #Clk/data lane enable
io -4 0xFF3E8080 0x5F #MIPI/LVDS enable
# 如果引脚是gpio3b6~gpio3b7和gpio3c0~gpio3c，则配置0xFF3E844C寄存器
io -4 0xFF3E844C 0x00010001 #切换csi_dphy_path0为TLL_MODE
# 如果引脚是gpio3b0~gpio3b5，则配置0xFF3E884C寄存器
io -4 0xFF3E884C 0x00010001 #切换csi_dphy_path1为TLL_MODE
io -4 0xFF55804c 0x00070000 #设置GPIO3_B4复用寄存器

io -4 0x2022838C 0x00000004 #enable TTL mode，disable LVDS mode，disable mipi mode
io -4 0x202283AC 0x000000fd #disable Data Lane，disable Clock Lane

io -4 0xFD58C318 0x40000000 #disable force_jtag
io -4 0xFD5F8098 0x0F000000 #iomux set to gpio

--- a/drivers/gpio/gpio-rockchip.c
+++ b/drivers/gpio/gpio-rockchip.c
@@ -579,6 +579,25 @@ static int rockchip_interrupts_register(struct rockchip_pin_bank *bank)
        irq_set_chained_handler_and_data(bank->irq,
                                         rockchip_irq_demux, bank);
+ // +++ 新增：设置中断亲和性到CPU2 +++
+ {
+ struct cpumask cpumask;
+ int cpu = 2; // 指定CPU2
+
+ // 检查CPU2是否有效
+ if (cpu < num_possible_cpus()) {
+ cpumask_clear(&cpumask);
+ cpumask_set_cpu(cpu, &cpumask);
+ if (irq_set_affinity_hint(bank->irq, &cpumask)) {
+ dev_warn(bank->dev, "Failed to set IRQ affinity for CPU%d\n", cpu);
+ } else {
+ dev_warn(bank->dev, "IRQ%d affinity set to CPU%d\n", bank->irq, cpu);
+ }
+ } else {
+ dev_warn(bank->dev, "Invalid CPU%d for IRQ affinity\n", cpu);
+ }
+ }
+
        return 0;
 }