drivers/gpio/gpio_pca953x.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2018 Peter Bigot Consulting, LLC
  * Copyright (c) 2018 Aapo Vienamo
  * Copyright (c) 2019 Nordic Semiconductor ASA
  * Copyright (c) 2019 Vestas Wind Systems A/S
  * Copyright (c) 2020 ZedBlox Ltd.
  * Copyright (c) 2021 Laird Connectivity
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #include <errno.h>
 #include <kernel.h>
 #include <device.h>
 #include <init.h>
 #include <drivers/gpio.h>
 #include <drivers/i2c.h>
 #include <sys/byteorder.h>
 #include <sys/util.h>

 #include <logging/log.h>
 LOG_MODULE_REGISTER(pca953x, CONFIG_GPIO_LOG_LEVEL);

 #include "gpio_utils.h"

 /* PCA953X Register addresses */
 #define PCA953X_INPUT_PORT		0x00
 #define PCA953X_OUTPUT_PORT		0x01
 #define PCA953X_CONFIGURATION		0x03

 /* Number of pins supported by the device */
 #define NUM_PINS 8

 /* Max to select all pins supported on the device. */
 #define ALL_PINS ((uint8_t)BIT_MASK(NUM_PINS))

 /** Cache of the output configuration and data of the pins. */
 struct pca953x_pin_state {
 	uint8_t dir;
 	uint8_t input;
 	uint8_t output;
 };

 struct pca953x_irq_state {
 	uint8_t rising;
 	uint8_t falling;
 };

 /** Runtime driver data */
 struct pca953x_drv_data {
 	/* gpio_driver_data needs to be first */
 	struct gpio_driver_data common;
 	struct pca953x_pin_state pin_state;
 	struct k_sem lock;
 	struct gpio_callback gpio_cb;
 	struct k_work work;
 	struct pca953x_irq_state irq_state;
 	const struct device *dev;
 	/* user ISR cb */
 	sys_slist_t cb;
 };

 /** Configuration data */
 struct pca953x_config {
 	/* gpio_driver_config needs to be first */
 	struct gpio_driver_config common;
 	const struct device *i2c_dev;
 	const struct gpio_dt_spec gpio_int;
 	bool interrupt_enabled;
 	uint8_t i2c_addr;
 };

 /**
  * @brief Gets the state of input pins of the PCA953X I/O Port and
  * stores in driver data struct.
  *
  * @param dev Pointer to the device structure for the driver instance.
  *
  * @retval 0 If successful.
  * @retval Negative value for error code.
  */
 static int update_input(const struct device *dev)
 {
 	const struct pca953x_config *cfg = dev->config;
 	struct pca953x_drv_data *drv_data = dev->data;
 	uint8_t input_states;
 	int rc = 0;

 	rc = i2c_reg_read_byte(cfg->i2c_dev, cfg->i2c_addr,
 				PCA953X_INPUT_PORT, &input_states);

 	if (rc == 0) {
 		drv_data->pin_state.input = input_states;
 	}
 	return rc;
 }

 /**
  * @brief Handles interrupt triggered by the interrupt pin of PCA953X I/O Port.
  *
  * If nint_gpios is configured in device tree then this will be triggered each
  * time a gpio configured as an input changes state. The gpio input states are
  * read in this function which clears the interrupt.
  *
  * @param dev Pointer to the device structure for the driver instance.
  */
 static void gpio_pca953x_handle_interrupt(const struct device *dev)
 {
 	struct pca953x_drv_data *drv_data = dev->data;
 	struct pca953x_irq_state *irq_state = &drv_data->irq_state;
 	int rc;
 	uint8_t previous_state;
 	uint8_t current_state;
 	uint8_t transitioned_pins;
 	uint8_t interrupt_status = 0;

 	k_sem_take(&drv_data->lock, K_FOREVER);

 	/* Any interrupts enabled? */
 	if (!irq_state->rising && !irq_state->falling) {
 		rc = -EINVAL;
 		goto out;
 	}

 	/* Store previous input state then read new value */
 	previous_state = drv_data->pin_state.input;
 	rc = update_input(dev);
 	if (rc != 0) {
 		goto out;
 	}

 	/* Find out which input pins have changed state */
 	current_state = drv_data->pin_state.input;
 	transitioned_pins = previous_state ^ current_state;

 	/* Mask gpio transactions with rising/falling edge interrupt config */
 	interrupt_status = (irq_state->rising & transitioned_pins &
 			  current_state);
 	interrupt_status |= (irq_state->falling & transitioned_pins &
 			   previous_state);

 out:
 	k_sem_give(&drv_data->lock);

 	if ((rc == 0) && (interrupt_status)) {
 		gpio_fire_callbacks(&drv_data->cb, dev, interrupt_status);
 	}
 }

 /**
  * @brief Work handler for PCA953X interrupt
  *
  * @param work Work struct that contains pointer to interrupt handler function
  */
 static void gpio_pca953x_work_handler(struct k_work *work)
 {
 	struct pca953x_drv_data *drv_data =
 		CONTAINER_OF(work, struct pca953x_drv_data, work);

 	gpio_pca953x_handle_interrupt(drv_data->dev);
 }

 /**
  * @brief ISR for intterupt pin of PCA953X
  *
  * @param dev Pointer to the device structure for the driver instance.
  * @param gpio_cb Pointer to callback function struct
  * @param pins Bitmask of pins that triggered interrupt
  */
 static void gpio_pca953x_init_cb(const struct device *dev,
 				 struct gpio_callback *gpio_cb, uint32_t pins)
 {
 	struct pca953x_drv_data *drv_data =
 		CONTAINER_OF(gpio_cb, struct pca953x_drv_data, gpio_cb);

 	ARG_UNUSED(pins);

 	k_work_submit(&drv_data->work);
 }

 static int gpio_pca953x_config(const struct device *dev, gpio_pin_t pin,
 			       gpio_flags_t flags)
 {
 	const struct pca953x_config *cfg = dev->config;
 	struct pca953x_drv_data *drv_data = dev->data;
 	struct pca953x_pin_state *pins = &drv_data->pin_state;
 	int rc = 0;
 	bool data_first = false;

 	/* Can't do I2C bus operations from an ISR */
 	if (k_is_in_isr()) {
 		return -EWOULDBLOCK;
 	}

 	/* Zephyr currently defines drive strength support based on
 	 * the behavior and capabilities of the Nordic GPIO
 	 * peripheral: strength defaults to low but can be set high,
 	 * and is controlled independently for output levels.
 	 *
 	 * The PCA953X supports only high strength, and does not
 	 * support different strengths for different levels.
 	 *
 	 * Until something more general is available reject any
 	 * attempt to set a non-default drive strength.
 	 */
 	if ((flags & (GPIO_DS_ALT_LOW | GPIO_DS_ALT_HIGH)) != 0) {
 		return -ENOTSUP;
 	}

 	/* Single Ended lines (Open drain and open source) not supported */
 	if ((flags & GPIO_SINGLE_ENDED) != 0) {
 		return -ENOTSUP;
 	}

 	/* The PCA953X has no internal pull up support */
 	if (((flags & GPIO_PULL_UP) != 0) || ((flags & GPIO_PULL_DOWN) != 0)) {
 		return -ENOTSUP;
 	}

 	/* Simultaneous input & output mode not supported */
 	if (((flags & GPIO_INPUT) != 0) && ((flags & GPIO_OUTPUT) != 0)) {
 		return -ENOTSUP;
 	}

 	k_sem_take(&drv_data->lock, K_FOREVER);

 	/* Ensure either Output or Input is specified */
 	if ((flags & GPIO_OUTPUT) != 0) {
 		pins->dir &= ~BIT(pin);
 		if ((flags & GPIO_OUTPUT_INIT_LOW) != 0) {
 			pins->output &= ~BIT(pin);
 			data_first = true;
 		} else if ((flags & GPIO_OUTPUT_INIT_HIGH) != 0) {
 			pins->output |= BIT(pin);
 			data_first = true;
 		}
 	} else if ((flags & GPIO_INPUT) != 0) {
 		pins->dir |= BIT(pin);
 	} else {
 		rc = -ENOTSUP;
 		goto out;
 	}

 	/* Set output values */
 	if (data_first) {
 		rc = i2c_reg_write_byte(cfg->i2c_dev, cfg->i2c_addr,
 					PCA953X_OUTPUT_PORT, pins->output);
 	}

 	if (rc == 0) {
 		/* Set pin directions */
 		rc = i2c_reg_write_byte(cfg->i2c_dev, cfg->i2c_addr,
 					PCA953X_CONFIGURATION, pins->dir);
 	}

 	if (rc == 0) {
 		/* Refresh input status */
 		rc = update_input(dev);
 	}

 out:
 	k_sem_give(&drv_data->lock);
 	return rc;
 }

 static int gpio_pca953x_port_read(const struct device *dev,
 				 gpio_port_value_t *value)
 {
 	const struct pca953x_config *cfg = dev->config;
 	struct pca953x_drv_data *drv_data = dev->data;
 	uint8_t input_pin_data;
 	int rc = 0;

 	/* Can't do I2C bus operations from an ISR */
 	if (k_is_in_isr()) {
 		return -EWOULDBLOCK;
 	}

 	k_sem_take(&drv_data->lock, K_FOREVER);

 	/* Read Input Register */
 	rc = i2c_reg_read_byte(cfg->i2c_dev, cfg->i2c_addr,
 				PCA953X_INPUT_PORT, &input_pin_data);

 	LOG_DBG("read %x got %d", input_pin_data, rc);

 	if (rc == 0) {
 		drv_data->pin_state.input = input_pin_data;
 		*value = (gpio_port_value_t)(drv_data->pin_state.input);
 	}

 	k_sem_give(&drv_data->lock);
 	return rc;
 }

 static int gpio_pca953x_port_write(const struct device *dev,
 				   gpio_port_pins_t mask,
 				   gpio_port_value_t value,
 				   gpio_port_value_t toggle)
 {
 	const struct pca953x_config *cfg = dev->config;
 	struct pca953x_drv_data *drv_data = dev->data;
 	uint8_t *outp = &drv_data->pin_state.output;
 	int rc;
 	uint8_t orig_out;
 	uint8_t out;

 	/* Can't do I2C bus operations from an ISR */
 	if (k_is_in_isr()) {
 		return -EWOULDBLOCK;
 	}

 	k_sem_take(&drv_data->lock, K_FOREVER);

 	orig_out = *outp;
 	out = ((orig_out & ~mask) | (value & mask)) ^ toggle;

 	rc = i2c_reg_write_byte(cfg->i2c_dev, cfg->i2c_addr,
 				PCA953X_OUTPUT_PORT, out);

 	if (rc == 0) {
 		*outp = out;
 	}

 	k_sem_give(&drv_data->lock);

 	LOG_DBG("write %x msk %08x val %08x => %x: %d", orig_out, mask,
 		value, out, rc);

 	return rc;
 }

 static int gpio_pca953x_port_set_masked(const struct device *dev,
 					gpio_port_pins_t mask,
 					gpio_port_value_t value)
 {
 	return gpio_pca953x_port_write(dev, mask, value, 0);
 }

 static int gpio_pca953x_port_set_bits(const struct device *dev,
 				      gpio_port_pins_t pins)
 {
 	return gpio_pca953x_port_write(dev, pins, pins, 0);
 }

 static int gpio_pca953x_port_clear_bits(const struct device *dev,
 					gpio_port_pins_t pins)
 {
 	return gpio_pca953x_port_write(dev, pins, 0, 0);
 }

 static int gpio_pca953x_port_toggle_bits(const struct device *dev,
 					 gpio_port_pins_t pins)
 {
 	return gpio_pca953x_port_write(dev, 0, 0, pins);
 }

 static int gpio_pca953x_pin_interrupt_configure(const struct device *dev,
 						gpio_pin_t pin,
 						enum gpio_int_mode mode,
 						enum gpio_int_trig trig)
 {
 	const struct pca953x_config *cfg = dev->config;
 	struct pca953x_drv_data *drv_data = dev->data;
 	struct pca953x_irq_state *irq = &drv_data->irq_state;

 	if (!cfg->interrupt_enabled) {
 		return -ENOTSUP;
 	}
 	/* Device does not support level-triggered interrupts. */
 	if (mode == GPIO_INT_MODE_LEVEL) {
 		return -ENOTSUP;
 	}

 	k_sem_take(&drv_data->lock, K_FOREVER);

 	if (mode == GPIO_INT_MODE_DISABLED) {
 		irq->falling &= ~BIT(pin);
 		irq->rising &= ~BIT(pin);
 	} else { /* GPIO_INT_MODE_EDGE */
 		if (trig == GPIO_INT_TRIG_BOTH) {
 			irq->falling |= BIT(pin);
 			irq->rising |= BIT(pin);
 		} else if (trig == GPIO_INT_TRIG_LOW) {
 			irq->falling |= BIT(pin);
 			irq->rising &= ~BIT(pin);
 		} else if (trig == GPIO_INT_TRIG_HIGH) {
 			irq->falling &= ~BIT(pin);
 			irq->rising |= BIT(pin);
 		}
 	}

 	k_sem_give(&drv_data->lock);

 	return 0;
 }

 static int gpio_pca953x_manage_callback(const struct device *dev,
 					struct gpio_callback *callback,
 					bool set)
 {
 	struct pca953x_drv_data *data = dev->data;

 	return gpio_manage_callback(&data->cb, callback, set);
 }

 /**
  * @brief Initialization function of PCA953X
  *
  * This sets initial input/ output configuration and output states.
  * The interrupt is configured if this is enabled.
  *
  * @param dev Device struct
  * @return 0 if successful, failed otherwise.
  */
 static int gpio_pca953x_init(const struct device *dev)
 {
 	const struct pca953x_config *cfg = dev->config;
 	struct pca953x_drv_data *drv_data = dev->data;
 	int rc = 0;

 	if (!device_is_ready(cfg->i2c_dev)) {
 		LOG_ERR("I2C device not found");
 		goto out;
 	}

 	/* Do an initial read, this clears the interrupt pin and sets
 	 * up the initial value of the pin state input data.
 	 */
 	rc = update_input(dev);
 	if (rc) {
 		goto out;
 	}

 	if (cfg->interrupt_enabled) {
 		if (!device_is_ready(cfg->gpio_int.port)) {
 			LOG_ERR("Cannot get pointer to gpio interrupt device");
 			rc = -EINVAL;
 			goto out;
 		}

 		drv_data->dev = dev;

 		k_work_init(&drv_data->work, gpio_pca953x_work_handler);

 		rc = gpio_pin_configure_dt(&cfg->gpio_int, GPIO_INPUT);
 		if (rc) {
 			goto out;
 		}

 		rc = gpio_pin_interrupt_configure_dt(&cfg->gpio_int,
 						GPIO_INT_EDGE_TO_ACTIVE);
 		if (rc) {
 			goto out;
 		}

 		gpio_init_callback(&drv_data->gpio_cb,
 					gpio_pca953x_init_cb,
 					BIT(cfg->gpio_int.pin));

 		rc = gpio_add_callback(cfg->gpio_int.port,
 					&drv_data->gpio_cb);
 	}
 out:
 	if (rc) {
 		LOG_ERR("%s init failed: %d", dev->name, rc);
 	} else {
 		LOG_INF("%s init ok", dev->name);
 	}
 	return rc;
 }

 static const struct gpio_driver_api api_table = {
 	.pin_configure = gpio_pca953x_config,
 	.port_get_raw = gpio_pca953x_port_read,
 	.port_set_masked_raw = gpio_pca953x_port_set_masked,
 	.port_set_bits_raw = gpio_pca953x_port_set_bits,
 	.port_clear_bits_raw = gpio_pca953x_port_clear_bits,
 	.port_toggle_bits = gpio_pca953x_port_toggle_bits,
 	.pin_interrupt_configure = gpio_pca953x_pin_interrupt_configure,
 	.manage_callback = gpio_pca953x_manage_callback,
 };

 #define GPIO_PCA953X_INIT(n)							\
 	static const struct pca953x_config pca953x_cfg_##n = {			\
 		.i2c_dev = DEVICE_DT_GET(DT_INST_BUS(n)),			\
 		.common = {							\
 			.port_pin_mask = GPIO_PORT_PIN_MASK_FROM_DT_INST(n),	\
 		},								\
 		.interrupt_enabled = DT_INST_NODE_HAS_PROP(n, nint_gpios),	\
 		.gpio_int = GPIO_DT_SPEC_INST_GET_OR(n, nint_gpios, {0}),	\
 		.i2c_addr = DT_INST_REG_ADDR(n),				\
 	};									\
 										\
 	static struct pca953x_drv_data pca953x_drvdata_##n = {			\
 		.lock = Z_SEM_INITIALIZER(pca953x_drvdata_##n.lock, 1, 1),	\
 		.pin_state.dir = ALL_PINS,					\
 		.pin_state.output = ALL_PINS,					\
 	};									\
 	DEVICE_DT_INST_DEFINE(n,						\
 		gpio_pca953x_init,						\
 		NULL,								\
 		&pca953x_drvdata_##n,						\
 		&pca953x_cfg_##n,						\
 		POST_KERNEL,							\
 		CONFIG_GPIO_PCA953X_INIT_PRIORITY,				\
 		&api_table);

 #define DT_DRV_COMPAT ti_tca9538
 DT_INST_FOREACH_STATUS_OKAY(GPIO_PCA953X_INIT)
	/*
	* Copyright (c) 2018 Peter Bigot Consulting, LLC
	* Copyright (c) 2018 Aapo Vienamo
	* Copyright (c) 2019 Nordic Semiconductor ASA
	* Copyright (c) 2019 Vestas Wind Systems A/S
	* Copyright (c) 2020 ZedBlox Ltd.
	* Copyright (c) 2021 Laird Connectivity
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#include <errno.h>
	#include <kernel.h>
	#include <device.h>
	#include <init.h>
	#include <drivers/gpio.h>
	#include <drivers/i2c.h>
	#include <sys/byteorder.h>
	#include <sys/util.h>

	#include <logging/log.h>
	LOG_MODULE_REGISTER(pca953x, CONFIG_GPIO_LOG_LEVEL);

	#include "gpio_utils.h"

	/* PCA953X Register addresses */
	#define PCA953X_INPUT_PORT 0x00
	#define PCA953X_OUTPUT_PORT 0x01
	#define PCA953X_CONFIGURATION 0x03

	/* Number of pins supported by the device */
	#define NUM_PINS 8

	/* Max to select all pins supported on the device. */
	#define ALL_PINS ((uint8_t)BIT_MASK(NUM_PINS))

	/** Cache of the output configuration and data of the pins. */
	struct pca953x_pin_state {
	uint8_t dir;
	uint8_t input;
	uint8_t output;
	};

	struct pca953x_irq_state {
	uint8_t rising;
	uint8_t falling;
	};

	/** Runtime driver data */
	struct pca953x_drv_data {
	/* gpio_driver_data needs to be first */
	struct gpio_driver_data common;
	struct pca953x_pin_state pin_state;
	struct k_sem lock;
	struct gpio_callback gpio_cb;
	struct k_work work;
	struct pca953x_irq_state irq_state;
	const struct device *dev;
	/* user ISR cb */
	sys_slist_t cb;
	};

	/** Configuration data */
	struct pca953x_config {
	/* gpio_driver_config needs to be first */
	struct gpio_driver_config common;
	const struct device *i2c_dev;
	const struct gpio_dt_spec gpio_int;
	bool interrupt_enabled;
	uint8_t i2c_addr;
	};

	/**
	* @brief Gets the state of input pins of the PCA953X I/O Port and
	* stores in driver data struct.
	*
	* @param dev Pointer to the device structure for the driver instance.
	*
	* @retval 0 If successful.
	* @retval Negative value for error code.
	*/
	static int update_input(const struct device *dev)
	{
	const struct pca953x_config *cfg = dev->config;
	struct pca953x_drv_data *drv_data = dev->data;
	uint8_t input_states;
	int rc = 0;

	rc = i2c_reg_read_byte(cfg->i2c_dev, cfg->i2c_addr,
	PCA953X_INPUT_PORT, &input_states);

	if (rc == 0) {
	drv_data->pin_state.input = input_states;
	}
	return rc;
	}

	/**
	* @brief Handles interrupt triggered by the interrupt pin of PCA953X I/O Port.
	*
	* If nint_gpios is configured in device tree then this will be triggered each
	* time a gpio configured as an input changes state. The gpio input states are
	* read in this function which clears the interrupt.
	*
	* @param dev Pointer to the device structure for the driver instance.
	*/
	static void gpio_pca953x_handle_interrupt(const struct device *dev)
	{
	struct pca953x_drv_data *drv_data = dev->data;
	struct pca953x_irq_state *irq_state = &drv_data->irq_state;
	int rc;
	uint8_t previous_state;
	uint8_t current_state;
	uint8_t transitioned_pins;
	uint8_t interrupt_status = 0;

	k_sem_take(&drv_data->lock, K_FOREVER);

	/* Any interrupts enabled? */
	if (!irq_state->rising && !irq_state->falling) {
	rc = -EINVAL;
	goto out;
	}

	/* Store previous input state then read new value */
	previous_state = drv_data->pin_state.input;
	rc = update_input(dev);
	if (rc != 0) {
	goto out;
	}

	/* Find out which input pins have changed state */
	current_state = drv_data->pin_state.input;
	transitioned_pins = previous_state ^ current_state;

	/* Mask gpio transactions with rising/falling edge interrupt config */
	interrupt_status = (irq_state->rising & transitioned_pins &
	current_state);
	interrupt_status \|= (irq_state->falling & transitioned_pins &
	previous_state);

	out:
	k_sem_give(&drv_data->lock);

	if ((rc == 0) && (interrupt_status)) {
	gpio_fire_callbacks(&drv_data->cb, dev, interrupt_status);
	}
	}

	/**
	* @brief Work handler for PCA953X interrupt
	*
	* @param work Work struct that contains pointer to interrupt handler function
	*/
	static void gpio_pca953x_work_handler(struct k_work *work)
	{
	struct pca953x_drv_data *drv_data =
	CONTAINER_OF(work, struct pca953x_drv_data, work);

	gpio_pca953x_handle_interrupt(drv_data->dev);
	}

	/**
	* @brief ISR for intterupt pin of PCA953X
	*
	* @param dev Pointer to the device structure for the driver instance.
	* @param gpio_cb Pointer to callback function struct
	* @param pins Bitmask of pins that triggered interrupt
	*/
	static void gpio_pca953x_init_cb(const struct device *dev,
	struct gpio_callback *gpio_cb, uint32_t pins)
	{
	struct pca953x_drv_data *drv_data =
	CONTAINER_OF(gpio_cb, struct pca953x_drv_data, gpio_cb);

	ARG_UNUSED(pins);

	k_work_submit(&drv_data->work);
	}

	static int gpio_pca953x_config(const struct device *dev, gpio_pin_t pin,
	gpio_flags_t flags)
	{
	const struct pca953x_config *cfg = dev->config;
	struct pca953x_drv_data *drv_data = dev->data;
	struct pca953x_pin_state *pins = &drv_data->pin_state;
	int rc = 0;
	bool data_first = false;

	/* Can't do I2C bus operations from an ISR */
	if (k_is_in_isr()) {
	return -EWOULDBLOCK;
	}

	/* Zephyr currently defines drive strength support based on
	* the behavior and capabilities of the Nordic GPIO
	* peripheral: strength defaults to low but can be set high,
	* and is controlled independently for output levels.
	*
	* The PCA953X supports only high strength, and does not
	* support different strengths for different levels.
	*
	* Until something more general is available reject any
	* attempt to set a non-default drive strength.
	*/
	if ((flags & (GPIO_DS_ALT_LOW \| GPIO_DS_ALT_HIGH)) != 0) {
	return -ENOTSUP;
	}

	/* Single Ended lines (Open drain and open source) not supported */
	if ((flags & GPIO_SINGLE_ENDED) != 0) {
	return -ENOTSUP;
	}

	/* The PCA953X has no internal pull up support */
	if (((flags & GPIO_PULL_UP) != 0) \|\| ((flags & GPIO_PULL_DOWN) != 0)) {
	return -ENOTSUP;
	}

	/* Simultaneous input & output mode not supported */
	if (((flags & GPIO_INPUT) != 0) && ((flags & GPIO_OUTPUT) != 0)) {
	return -ENOTSUP;
	}

	k_sem_take(&drv_data->lock, K_FOREVER);

	/* Ensure either Output or Input is specified */
	if ((flags & GPIO_OUTPUT) != 0) {
	pins->dir &= ~BIT(pin);
	if ((flags & GPIO_OUTPUT_INIT_LOW) != 0) {
	pins->output &= ~BIT(pin);
	data_first = true;
	} else if ((flags & GPIO_OUTPUT_INIT_HIGH) != 0) {
	pins->output \|= BIT(pin);
	data_first = true;
	}
	} else if ((flags & GPIO_INPUT) != 0) {
	pins->dir \|= BIT(pin);
	} else {
	rc = -ENOTSUP;
	goto out;
	}

	/* Set output values */
	if (data_first) {
	rc = i2c_reg_write_byte(cfg->i2c_dev, cfg->i2c_addr,
	PCA953X_OUTPUT_PORT, pins->output);
	}

	if (rc == 0) {
	/* Set pin directions */
	rc = i2c_reg_write_byte(cfg->i2c_dev, cfg->i2c_addr,
	PCA953X_CONFIGURATION, pins->dir);
	}

	if (rc == 0) {
	/* Refresh input status */
	rc = update_input(dev);
	}

	out:
	k_sem_give(&drv_data->lock);
	return rc;
	}

	static int gpio_pca953x_port_read(const struct device *dev,
	gpio_port_value_t *value)
	{
	const struct pca953x_config *cfg = dev->config;
	struct pca953x_drv_data *drv_data = dev->data;
	uint8_t input_pin_data;
	int rc = 0;

	/* Can't do I2C bus operations from an ISR */
	if (k_is_in_isr()) {
	return -EWOULDBLOCK;
	}

	k_sem_take(&drv_data->lock, K_FOREVER);

	/* Read Input Register */
	rc = i2c_reg_read_byte(cfg->i2c_dev, cfg->i2c_addr,
	PCA953X_INPUT_PORT, &input_pin_data);

	LOG_DBG("read %x got %d", input_pin_data, rc);

	if (rc == 0) {
	drv_data->pin_state.input = input_pin_data;
	*value = (gpio_port_value_t)(drv_data->pin_state.input);
	}

	k_sem_give(&drv_data->lock);
	return rc;
	}

	static int gpio_pca953x_port_write(const struct device *dev,
	gpio_port_pins_t mask,
	gpio_port_value_t value,
	gpio_port_value_t toggle)
	{
	const struct pca953x_config *cfg = dev->config;
	struct pca953x_drv_data *drv_data = dev->data;
	uint8_t *outp = &drv_data->pin_state.output;
	int rc;
	uint8_t orig_out;
	uint8_t out;

	/* Can't do I2C bus operations from an ISR */
	if (k_is_in_isr()) {
	return -EWOULDBLOCK;
	}

	k_sem_take(&drv_data->lock, K_FOREVER);

	orig_out = *outp;
	out = ((orig_out & ~mask) \| (value & mask)) ^ toggle;

	rc = i2c_reg_write_byte(cfg->i2c_dev, cfg->i2c_addr,
	PCA953X_OUTPUT_PORT, out);

	if (rc == 0) {
	*outp = out;
	}

	k_sem_give(&drv_data->lock);

	LOG_DBG("write %x msk %08x val %08x => %x: %d", orig_out, mask,
	value, out, rc);

	return rc;
	}

	static int gpio_pca953x_port_set_masked(const struct device *dev,
	gpio_port_pins_t mask,
	gpio_port_value_t value)
	{
	return gpio_pca953x_port_write(dev, mask, value, 0);
	}

	static int gpio_pca953x_port_set_bits(const struct device *dev,
	gpio_port_pins_t pins)
	{
	return gpio_pca953x_port_write(dev, pins, pins, 0);
	}

	static int gpio_pca953x_port_clear_bits(const struct device *dev,
	gpio_port_pins_t pins)
	{
	return gpio_pca953x_port_write(dev, pins, 0, 0);
	}

	static int gpio_pca953x_port_toggle_bits(const struct device *dev,
	gpio_port_pins_t pins)
	{
	return gpio_pca953x_port_write(dev, 0, 0, pins);
	}

	static int gpio_pca953x_pin_interrupt_configure(const struct device *dev,
	gpio_pin_t pin,
	enum gpio_int_mode mode,
	enum gpio_int_trig trig)
	{
	const struct pca953x_config *cfg = dev->config;
	struct pca953x_drv_data *drv_data = dev->data;
	struct pca953x_irq_state *irq = &drv_data->irq_state;

	if (!cfg->interrupt_enabled) {
	return -ENOTSUP;
	}
	/* Device does not support level-triggered interrupts. */
	if (mode == GPIO_INT_MODE_LEVEL) {
	return -ENOTSUP;
	}

	k_sem_take(&drv_data->lock, K_FOREVER);

	if (mode == GPIO_INT_MODE_DISABLED) {
	irq->falling &= ~BIT(pin);
	irq->rising &= ~BIT(pin);
	} else { /* GPIO_INT_MODE_EDGE */
	if (trig == GPIO_INT_TRIG_BOTH) {
	irq->falling \|= BIT(pin);
	irq->rising \|= BIT(pin);
	} else if (trig == GPIO_INT_TRIG_LOW) {
	irq->falling \|= BIT(pin);
	irq->rising &= ~BIT(pin);
	} else if (trig == GPIO_INT_TRIG_HIGH) {
	irq->falling &= ~BIT(pin);
	irq->rising \|= BIT(pin);
	}
	}

	k_sem_give(&drv_data->lock);

	return 0;
	}

	static int gpio_pca953x_manage_callback(const struct device *dev,
	struct gpio_callback *callback,
	bool set)
	{
	struct pca953x_drv_data *data = dev->data;

	return gpio_manage_callback(&data->cb, callback, set);
	}

	/**
	* @brief Initialization function of PCA953X
	*
	* This sets initial input/ output configuration and output states.
	* The interrupt is configured if this is enabled.
	*
	* @param dev Device struct
	* @return 0 if successful, failed otherwise.
	*/
	static int gpio_pca953x_init(const struct device *dev)
	{
	const struct pca953x_config *cfg = dev->config;
	struct pca953x_drv_data *drv_data = dev->data;
	int rc = 0;

	if (!device_is_ready(cfg->i2c_dev)) {
	LOG_ERR("I2C device not found");
	goto out;
	}

	/* Do an initial read, this clears the interrupt pin and sets
	* up the initial value of the pin state input data.
	*/
	rc = update_input(dev);
	if (rc) {
	goto out;
	}

	if (cfg->interrupt_enabled) {
	if (!device_is_ready(cfg->gpio_int.port)) {
	LOG_ERR("Cannot get pointer to gpio interrupt device");
	rc = -EINVAL;
	goto out;
	}

	drv_data->dev = dev;

	k_work_init(&drv_data->work, gpio_pca953x_work_handler);

	rc = gpio_pin_configure_dt(&cfg->gpio_int, GPIO_INPUT);
	if (rc) {
	goto out;
	}

	rc = gpio_pin_interrupt_configure_dt(&cfg->gpio_int,
	GPIO_INT_EDGE_TO_ACTIVE);
	if (rc) {
	goto out;
	}

	gpio_init_callback(&drv_data->gpio_cb,
	gpio_pca953x_init_cb,
	BIT(cfg->gpio_int.pin));

	rc = gpio_add_callback(cfg->gpio_int.port,
	&drv_data->gpio_cb);
	}
	out:
	if (rc) {
	LOG_ERR("%s init failed: %d", dev->name, rc);
	} else {
	LOG_INF("%s init ok", dev->name);
	}
	return rc;
	}

	static const struct gpio_driver_api api_table = {
	.pin_configure = gpio_pca953x_config,
	.port_get_raw = gpio_pca953x_port_read,
	.port_set_masked_raw = gpio_pca953x_port_set_masked,
	.port_set_bits_raw = gpio_pca953x_port_set_bits,
	.port_clear_bits_raw = gpio_pca953x_port_clear_bits,
	.port_toggle_bits = gpio_pca953x_port_toggle_bits,
	.pin_interrupt_configure = gpio_pca953x_pin_interrupt_configure,
	.manage_callback = gpio_pca953x_manage_callback,
	};

	#define GPIO_PCA953X_INIT(n) \
	static const struct pca953x_config pca953x_cfg_##n = { \
	.i2c_dev = DEVICE_DT_GET(DT_INST_BUS(n)), \
	.common = { \
	.port_pin_mask = GPIO_PORT_PIN_MASK_FROM_DT_INST(n), \
	}, \
	.interrupt_enabled = DT_INST_NODE_HAS_PROP(n, nint_gpios), \
	.gpio_int = GPIO_DT_SPEC_INST_GET_OR(n, nint_gpios, {0}), \
	.i2c_addr = DT_INST_REG_ADDR(n), \
	}; \
	\
	static struct pca953x_drv_data pca953x_drvdata_##n = { \
	.lock = Z_SEM_INITIALIZER(pca953x_drvdata_##n.lock, 1, 1), \
	.pin_state.dir = ALL_PINS, \
	.pin_state.output = ALL_PINS, \
	}; \
	DEVICE_DT_INST_DEFINE(n, \
	gpio_pca953x_init, \
	NULL, \
	&pca953x_drvdata_##n, \
	&pca953x_cfg_##n, \
	POST_KERNEL, \
	CONFIG_GPIO_PCA953X_INIT_PRIORITY, \
	&api_table);

	#define DT_DRV_COMPAT ti_tca9538
	DT_INST_FOREACH_STATUS_OKAY(GPIO_PCA953X_INIT)