Module: xenomai-3
Branch: wip/drivers
Commit: b2dd3fdb4c02e68d9f7748a9b99e91732045cbf0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b2dd3fdb4c02e68d9f7748a9b99e91732045cbf0
Author: Philippe Gerum <r...@xenomai.org>
Date: Wed May 25 10:54:22 2016 +0200
drivers/gpio: introduce real-time GPIO support
---
configure.ac | 1 +
include/rtdm/Makefile.am | 1 +
include/rtdm/gpio.h | 24 +++
include/rtdm/uapi/Makefile.am | 1 +
include/rtdm/uapi/gpio.h | 28 +++
include/rtdm/uapi/rtdm.h | 1 +
kernel/drivers/Kconfig | 1 +
kernel/drivers/Makefile | 2 +-
kernel/drivers/gpio/Kconfig | 25 +++
kernel/drivers/gpio/Makefile | 7 +
kernel/drivers/gpio/gpio-bcm2708.c | 39 ++++
kernel/drivers/gpio/gpio-core.c | 349 ++++++++++++++++++++++++++++++++++++
kernel/drivers/gpio/gpio-core.h | 48 +++++
kernel/drivers/gpio/gpio-mxc.c | 67 +++++++
14 files changed, 593 insertions(+), 1 deletion(-)
diff --git a/configure.ac b/configure.ac
index 789a6d7..d4b7987 100644
--- a/configure.ac
+++ b/configure.ac
@@ -878,6 +878,7 @@ AC_CONFIG_FILES([ \
testsuite/Makefile \
testsuite/latency/Makefile \
testsuite/switchtest/Makefile \
+ testsuite/gpiotest/Makefile \
testsuite/smokey/Makefile \
testsuite/smokey/arith/Makefile \
testsuite/smokey/sched-quota/Makefile \
diff --git a/include/rtdm/Makefile.am b/include/rtdm/Makefile.am
index a4e6ff8..ad2c342 100644
--- a/include/rtdm/Makefile.am
+++ b/include/rtdm/Makefile.am
@@ -4,6 +4,7 @@ includesub_HEADERS = \
analogy.h \
autotune.h \
can.h \
+ gpio.h \
ipc.h \
rtdm.h \
serial.h \
diff --git a/include/rtdm/gpio.h b/include/rtdm/gpio.h
new file mode 100644
index 0000000..c61f229
--- /dev/null
+++ b/include/rtdm/gpio.h
@@ -0,0 +1,24 @@
+/*
+ * Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _RTDM_GPIO_H
+#define _RTDM_GPIO_H
+
+#include <rtdm/rtdm.h>
+#include <rtdm/uapi/gpio.h>
+
+#endif /* !_RTDM_GPIO_H */
diff --git a/include/rtdm/uapi/Makefile.am b/include/rtdm/uapi/Makefile.am
index 7cff6c2..d53f10c 100644
--- a/include/rtdm/uapi/Makefile.am
+++ b/include/rtdm/uapi/Makefile.am
@@ -4,6 +4,7 @@ includesub_HEADERS = \
analogy.h \
autotune.h \
can.h \
+ gpio.h \
ipc.h \
rtdm.h \
serial.h \
diff --git a/include/rtdm/uapi/gpio.h b/include/rtdm/uapi/gpio.h
new file mode 100644
index 0000000..b0d4899
--- /dev/null
+++ b/include/rtdm/uapi/gpio.h
@@ -0,0 +1,28 @@
+/**
+ * @note Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+#ifndef _RTDM_UAPI_GPIO_H
+#define _RTDM_UAPI_GPIO_H
+
+#include <linux/types.h>
+
+#define GPIO_RTIOC_DIR_OUT _IOW(RTDM_CLASS_GPIO, 0, int)
+#define GPIO_RTIOC_DIR_IN _IO(RTDM_CLASS_GPIO, 1)
+#define GPIO_RTIOC_IRQEN _IO(RTDM_CLASS_GPIO, 2)
+#define GPIO_RTIOC_IRQDIS _IO(RTDM_CLASS_GPIO, 3)
+
+#endif /* !_RTDM_UAPI_GPIO_H */
diff --git a/include/rtdm/uapi/rtdm.h b/include/rtdm/uapi/rtdm.h
index eed3b36..c49378c 100644
--- a/include/rtdm/uapi/rtdm.h
+++ b/include/rtdm/uapi/rtdm.h
@@ -79,6 +79,7 @@ typedef int64_t nanosecs_rel_t;
#define RTDM_CLASS_COBALT 8
#define RTDM_CLASS_UDD 9
#define RTDM_CLASS_MEMORY 10
+#define RTDM_CLASS_GPIO 11
/*
#define RTDM_CLASS_USB ?
#define RTDM_CLASS_FIREWIRE ?
diff --git a/kernel/drivers/Kconfig b/kernel/drivers/Kconfig
index a8b4c26..cbb6222 100644
--- a/kernel/drivers/Kconfig
+++ b/kernel/drivers/Kconfig
@@ -28,5 +28,6 @@ source "drivers/xenomai/net/Kconfig"
source "drivers/xenomai/analogy/Kconfig"
source "drivers/xenomai/ipc/Kconfig"
source "drivers/xenomai/udd/Kconfig"
+source "drivers/xenomai/gpio/Kconfig"
endmenu
diff --git a/kernel/drivers/Makefile b/kernel/drivers/Makefile
index 4d80f68..c9cb567 100644
--- a/kernel/drivers/Makefile
+++ b/kernel/drivers/Makefile
@@ -1 +1 @@
-obj-$(CONFIG_XENOMAI) += autotune/ serial/ testing/ can/ net/ analogy/ ipc/
udd/
+obj-$(CONFIG_XENOMAI) += autotune/ serial/ testing/ can/ net/ analogy/ ipc/
udd/ gpio/
diff --git a/kernel/drivers/gpio/Kconfig b/kernel/drivers/gpio/Kconfig
new file mode 100644
index 0000000..001c1bc
--- /dev/null
+++ b/kernel/drivers/gpio/Kconfig
@@ -0,0 +1,25 @@
+menu "Real-time GPIO drivers"
+
+config XENO_DRIVERS_GPIO
+ bool
+ depends on GPIOLIB
+
+config XENO_DRIVERS_GPIO_BCM2708
+ depends on MACH_BCM2708
+ select XENO_DRIVERS_GPIO
+ bool "Support for BCM2708 GPIOs"
+ help
+
+ Suitable for the GPIO controller present on Broadcom's BCM2708
+ chip family.
+
+config XENO_DRIVERS_GPIO_MXC
+ depends on GPIO_MXC
+ select XENO_DRIVERS_GPIO
+ bool "Support for MXC GPIOs"
+ help
+
+ Suitable for the GPIO controller available with
+ Freescale/NXP's MXC architecture.
+
+endmenu
diff --git a/kernel/drivers/gpio/Makefile b/kernel/drivers/gpio/Makefile
new file mode 100644
index 0000000..5d194a1
--- /dev/null
+++ b/kernel/drivers/gpio/Makefile
@@ -0,0 +1,7 @@
+
+obj-$(CONFIG_XENO_DRIVERS_GPIO) += xeno_gpio.o
+
+xeno_gpio-y := gpio-core.o
+
+xeno_gpio-$(CONFIG_XENO_DRIVERS_GPIO_BCM2708) += gpio-bcm2708.o
+xeno_gpio-$(CONFIG_XENO_DRIVERS_GPIO_MXC) += gpio-mxc.o
diff --git a/kernel/drivers/gpio/gpio-bcm2708.c
b/kernel/drivers/gpio/gpio-bcm2708.c
new file mode 100644
index 0000000..2b5b6ac
--- /dev/null
+++ b/kernel/drivers/gpio/gpio-bcm2708.c
@@ -0,0 +1,39 @@
+/**
+ * @note Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+#include <linux/module.h>
+#include "gpio-core.h"
+
+#define RTDM_SUBCLASS_BCM2708 1
+
+static struct rtdm_gpio_chip bcm2708_gpio_chip;
+
+static int __init bcm2708_gpio_init(void)
+{
+ return rtdm_gpiochip_add_by_name(&bcm2708_gpio_chip, "bcm2708_gpio",
+ RTDM_SUBCLASS_BCM2708);
+}
+
+static void __exit bcm2708_gpio_exit(void)
+{
+ rtdm_gpiochip_remove(&bcm2708_gpio_chip);
+}
+
+module_init(bcm2708_gpio_init);
+module_exit(bcm2708_gpio_exit);
+
+MODULE_LICENSE("GPL");
diff --git a/kernel/drivers/gpio/gpio-core.c b/kernel/drivers/gpio/gpio-core.c
new file mode 100644
index 0000000..4f707b8
--- /dev/null
+++ b/kernel/drivers/gpio/gpio-core.c
@@ -0,0 +1,349 @@
+/**
+ * @note Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/device.h>
+#include <linux/gpio.h>
+#include <linux/irq.h>
+#include <linux/slab.h>
+#include <linux/err.h>
+#include <linux/of_platform.h>
+#include "gpio-core.h"
+
+struct rtdm_gpio_pin {
+ struct rtdm_device dev;
+ struct list_head next;
+ rtdm_irq_t irqh;
+ rtdm_event_t event;
+ char *name;
+ struct gpio_desc *desc;
+};
+
+static int gpio_pin_interrupt(rtdm_irq_t *irqh)
+{
+ struct rtdm_gpio_pin *pin;
+
+ pin = rtdm_irq_get_arg(irqh, struct rtdm_gpio_pin);
+
+ rtdm_event_signal(&pin->event);
+
+ return RTDM_IRQ_HANDLED;
+}
+
+static int request_gpio_irq(unsigned int gpio, struct rtdm_gpio_pin *pin)
+{
+ unsigned int irq;
+ int ret;
+
+ ret = gpio_request(gpio, pin->name);
+ if (ret) {
+ if (ret != -EPROBE_DEFER)
+ printk(XENO_ERR "cannot request GPIO%d\n", gpio);
+ return ret;
+ }
+
+ ret = gpio_direction_input(gpio);
+ if (ret) {
+ printk(XENO_ERR "cannot set GPIO%d as input\n", gpio);
+ goto fail;
+ }
+
+ gpio_export(gpio, true);
+
+ rtdm_event_clear(&pin->event);
+ irq = gpio_to_irq(gpio);
+ ret = rtdm_irq_request(&pin->irqh, irq, gpio_pin_interrupt,
+ 0, pin->name, pin);
+ if (ret) {
+ printk(XENO_ERR "cannot request GPIO%d interrupt\n", gpio);
+ goto fail;
+ }
+
+ rtdm_irq_enable(&pin->irqh);
+
+ return 0;
+fail:
+ gpio_free(gpio);
+
+ return ret;
+}
+
+static void release_gpio_irq(unsigned int gpio, struct rtdm_gpio_pin *pin)
+{
+ rtdm_irq_free(&pin->irqh);
+ gpio_free(gpio);
+}
+
+static int gpio_pin_ioctl_nrt(struct rtdm_fd *fd,
+ unsigned int request, void *arg)
+{
+ struct rtdm_device *dev = rtdm_fd_device(fd);
+ unsigned int gpio = rtdm_fd_minor(fd);
+ struct rtdm_gpio_pin *pin;
+ int ret = 0, val;
+
+ pin = container_of(dev, struct rtdm_gpio_pin, dev);
+
+ switch (request) {
+ case GPIO_RTIOC_DIR_OUT:
+ ret = rtdm_safe_copy_from_user(fd, &val, arg, sizeof(val));
+ if (ret)
+ return ret;
+ ret = gpio_direction_output(gpio, val);
+ break;
+ case GPIO_RTIOC_DIR_IN:
+ ret = gpio_direction_input(gpio);
+ break;
+ case GPIO_RTIOC_IRQEN:
+ ret = request_gpio_irq(gpio, pin);
+ break;
+ case GPIO_RTIOC_IRQDIS:
+ release_gpio_irq(gpio, pin);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ return ret;
+}
+
+static ssize_t gpio_pin_read_rt(struct rtdm_fd *fd,
+ void __user *buf, size_t len)
+{
+ struct rtdm_device *dev = rtdm_fd_device(fd);
+ struct rtdm_gpio_pin *pin;
+ int value, ret;
+
+ if (len < sizeof(value))
+ return -EINVAL;
+
+ pin = container_of(dev, struct rtdm_gpio_pin, dev);
+ value = gpiod_get_raw_value(pin->desc);
+ ret = rtdm_safe_copy_to_user(fd, buf, &value, sizeof(value));
+
+ return ret ?: sizeof(value);
+}
+
+static ssize_t gpio_pin_write_rt(struct rtdm_fd *fd,
+ const void __user *buf, size_t len)
+{
+ struct rtdm_device *dev = rtdm_fd_device(fd);
+ struct rtdm_gpio_pin *pin;
+ int value, ret;
+
+ if (len < sizeof(value))
+ return -EINVAL;
+
+ ret = rtdm_safe_copy_from_user(fd, &value, buf, sizeof(value));
+ if (ret)
+ return ret;
+
+ pin = container_of(dev, struct rtdm_gpio_pin, dev);
+ gpiod_set_raw_value(pin->desc, value);
+
+ return sizeof(value);
+}
+
+static int gpio_pin_select(struct rtdm_fd *fd, struct xnselector *selector,
+ unsigned int type, unsigned int index)
+{
+ struct rtdm_device *dev = rtdm_fd_device(fd);
+ struct rtdm_gpio_pin *pin;
+
+ pin = container_of(dev, struct rtdm_gpio_pin, dev);
+
+ return rtdm_event_select(&pin->event, selector, type, index);
+}
+
+static void delete_pin_devices(struct rtdm_gpio_chip *rgc)
+{
+ struct rtdm_gpio_pin *pin, *n;
+ struct rtdm_device *dev;
+
+ list_for_each_entry_safe(pin, n, &rgc->pins, next) {
+ list_del(&pin->next);
+ dev = &pin->dev;
+ rtdm_dev_unregister(dev);
+ rtdm_event_destroy(&pin->event);
+ kfree(dev->label);
+ kfree(pin->name);
+ kfree(pin);
+ }
+}
+
+static int create_pin_devices(struct rtdm_gpio_chip *rgc)
+{
+ struct gpio_chip *gc = rgc->gc;
+ struct rtdm_gpio_pin *pin;
+ struct rtdm_device *dev;
+ int n, ret;
+
+ for (n = gc->base; n < gc->base + gc->ngpio - 1; n++) {
+ ret = -ENOMEM;
+ pin = kzalloc(sizeof(*pin), GFP_KERNEL);
+ if (pin == NULL)
+ goto fail;
+ pin->name = kasprintf(GFP_KERNEL, "gpio%d", n);
+ if (pin->name == NULL)
+ goto fail_name;
+ pin->desc = gpio_to_desc(n);
+ if (pin->desc == NULL) {
+ ret = -ENODEV;
+ goto fail_desc;
+ }
+ dev = &pin->dev;
+ dev->driver = &rgc->driver;
+ dev->label = kasprintf(GFP_KERNEL, "%s/gpio%%d", gc->label);
+ if (dev->label == NULL)
+ goto fail_label;
+ dev->minor = n;
+ dev->device_data = rgc;
+ ret = rtdm_dev_register(dev);
+ if (ret)
+ goto fail_register;
+ rtdm_event_init(&pin->event, 0);
+ list_add_tail(&pin->next, &rgc->pins);
+ }
+
+ return 0;
+
+fail_register:
+ kfree(dev->label);
+fail_desc:
+fail_label:
+ kfree(pin->name);
+fail_name:
+ kfree(pin);
+fail:
+ delete_pin_devices(rgc);
+
+ return ret;
+}
+
+static char *gpio_pin_devnode(struct device *dev, umode_t *mode)
+{
+ return kasprintf(GFP_KERNEL, "rtdm/%s/%s",
+ dev->class->name,
+ dev_name(dev));
+}
+
+int rtdm_gpiochip_add(struct rtdm_gpio_chip *rgc,
+ struct gpio_chip *gc, int gpio_subclass)
+{
+ int ret;
+
+ if (!realtime_core_enabled())
+ return 0;
+
+ rgc->devclass = class_create(gc->owner, gc->label);
+ if (IS_ERR(rgc->devclass)) {
+ printk(XENO_ERR "cannot create sysfs class\n");
+ return PTR_ERR(rgc->devclass);
+ }
+ rgc->devclass->devnode = gpio_pin_devnode;
+
+ rgc->driver.profile_info = (struct rtdm_profile_info)
+ RTDM_PROFILE_INFO(rtdm_gpio_chip,
+ RTDM_CLASS_GPIO,
+ gpio_subclass,
+ 0);
+ rgc->driver.device_flags = RTDM_NAMED_DEVICE|RTDM_FIXED_MINOR;
+ rgc->driver.base_minor = gc->base;
+ rgc->driver.device_count = gc->ngpio;
+ rgc->driver.context_size = 0;
+ rgc->driver.ops = (struct rtdm_fd_ops){
+ .ioctl_nrt = gpio_pin_ioctl_nrt,
+ .read_rt = gpio_pin_read_rt,
+ .write_rt = gpio_pin_write_rt,
+ .select = gpio_pin_select,
+ };
+
+ rtdm_drv_set_sysclass(&rgc->driver, rgc->devclass);
+
+ rgc->gc = gc;
+ INIT_LIST_HEAD(&rgc->pins);
+
+ ret = create_pin_devices(rgc);
+ if (ret)
+ class_destroy(rgc->devclass);
+
+ return ret;
+}
+EXPORT_SYMBOL_GPL(rtdm_gpiochip_add);
+
+void rtdm_gpiochip_remove(struct rtdm_gpio_chip *rgc)
+{
+ if (!realtime_core_enabled())
+ return;
+
+ delete_pin_devices(rgc);
+ class_destroy(rgc->devclass);
+}
+EXPORT_SYMBOL_GPL(rtdm_gpiochip_remove);
+
+static int gpiochip_match_name(struct gpio_chip *chip, void *data)
+{
+ const char *name = data;
+
+ return !strcmp(chip->label, name);
+}
+
+static struct gpio_chip *find_chip_by_name(const char *name)
+{
+ return gpiochip_find((void *)name, gpiochip_match_name);
+}
+
+int rtdm_gpiochip_add_by_name(struct rtdm_gpio_chip *rgc,
+ const char *label, int gpio_subclass)
+{
+ struct gpio_chip *gc = find_chip_by_name(label);
+
+ if (gc == NULL)
+ return -EPROBE_DEFER;
+
+ return rtdm_gpiochip_add(rgc, gc, gpio_subclass);
+}
+EXPORT_SYMBOL_GPL(rtdm_gpiochip_add_by_name);
+
+int rtdm_gpiochip_scan_of(struct device_node *from, const char *compat,
+ int (*match)(struct gpio_chip *gc))
+{
+ struct device_node *np = from;
+ struct platform_device *pdev;
+ int ret = -EPROBE_DEFER;
+ struct gpio_chip *gc;
+
+ for (;;) {
+ np = of_find_compatible_node(np, NULL, compat);
+ if (np == NULL)
+ break;
+ pdev = of_find_device_by_node(np);
+ of_node_put(np);
+ if (pdev == NULL)
+ return -ENODEV;
+ gc = find_chip_by_name(dev_name(&pdev->dev));
+ if (gc) {
+ ret = match(gc);
+ if (ret)
+ break;
+ }
+ }
+
+ return ret;
+}
+EXPORT_SYMBOL_GPL(rtdm_gpiochip_scan_of);
diff --git a/kernel/drivers/gpio/gpio-core.h b/kernel/drivers/gpio/gpio-core.h
new file mode 100644
index 0000000..3fa7867
--- /dev/null
+++ b/kernel/drivers/gpio/gpio-core.h
@@ -0,0 +1,48 @@
+/**
+ * @note Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+#ifndef _RTDM_GPIO_CORE_H
+#define _RTDM_GPIO_CORE_H
+
+#include <linux/list.h>
+#include <rtdm/driver.h>
+#include <rtdm/uapi/gpio.h>
+
+struct class;
+struct device_node;
+
+struct rtdm_gpio_chip {
+ struct gpio_chip *gc;
+ struct rtdm_driver driver;
+ struct class *devclass;
+ struct list_head pins;
+ struct list_head next;
+};
+
+int rtdm_gpiochip_add(struct rtdm_gpio_chip *rgc,
+ struct gpio_chip *gc,
+ int gpio_subclass);
+
+void rtdm_gpiochip_remove(struct rtdm_gpio_chip *rgc);
+
+int rtdm_gpiochip_add_by_name(struct rtdm_gpio_chip *rgc,
+ const char *label, int gpio_subclass);
+
+int rtdm_gpiochip_scan_of(struct device_node *from, const char *compat,
+ int (*match)(struct gpio_chip *gc));
+
+#endif /* !_RTDM_GPIO_CORE_H */
diff --git a/kernel/drivers/gpio/gpio-mxc.c b/kernel/drivers/gpio/gpio-mxc.c
new file mode 100644
index 0000000..808cd54
--- /dev/null
+++ b/kernel/drivers/gpio/gpio-mxc.c
@@ -0,0 +1,67 @@
+/**
+ * @note Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+#include <linux/module.h>
+#include <linux/list.h>
+#include <linux/gpio.h>
+#include <linux/slab.h>
+#include "gpio-core.h"
+
+#define RTDM_SUBCLASS_MXC 2
+
+static LIST_HEAD(mxc_gpio_chips);
+
+static int match_gpio_chip(struct gpio_chip *gc)
+{
+ struct rtdm_gpio_chip *rgc;
+ int ret;
+
+ rgc = kzalloc(sizeof(*rgc), GFP_KERNEL);
+ if (rgc == NULL)
+ return -ENOMEM;
+
+ ret = rtdm_gpiochip_add(rgc, gc, RTDM_SUBCLASS_MXC);
+ if (ret) {
+ kfree(rgc);
+ return ret;
+ }
+
+ list_add(&rgc->next, &mxc_gpio_chips);
+
+ return 0;
+}
+
+static int __init mxc_gpio_init(void)
+{
+ return rtdm_gpiochip_scan_of(NULL, "fsl,imx6q-gpio", match_gpio_chip);
+}
+
+static void __exit mxc_gpio_exit(void)
+{
+ struct rtdm_gpio_chip *rgc, *n;
+
+ list_for_each_entry_safe(rgc, n, &mxc_gpio_chips, next) {
+ list_del(&rgc->next);
+ rtdm_gpiochip_remove(rgc);
+ kfree(rgc);
+ }
+}
+
+module_init(mxc_gpio_init);
+module_exit(mxc_gpio_exit);
+
+MODULE_LICENSE("GPL");
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