kernel/system: bringup gpio (#58)

- TLMM GPIO base is dynamic on mainline (512 vs 0 on downstream),
  look it up at runtime in gpio.sh, lte.sh, and power_drop_monitor.py
- include pm8998.dtsi/pmi8998.dtsi for PMIC GPIO chips
- enable I2C_QCOM_GENI=y, SENSORS_INA2XX=y, GPIO_SYSFS=y
- add INA231 on i2c10 in DTS
- dynamically discover PM8998 GPIO base, INA231 hwmon and i2c bus
- re-add POWER ALERT pin export (PM8998_GPIO4) in gpio.sh

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* gpio: extract shared gpio_base.sh and fix unclosed file handles

Deduplicate TLMM/PM8998 base lookup and gpio() function into
gpio_base.sh, sourced by gpio.sh and lte.sh. Fix unclosed file
handles in power_drop_monitor.py and move glob import to top level.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Author: greatgitsby

kernel/configs/vamos.config

@@ -15,3 +15,14 @@ CONFIG_PHY_QCOM_QUSB2=y
 CONFIG_TYPEC=y
 CONFIG_USB_CONFIGFS=y
 
+# I2C
+CONFIG_I2C_QCOM_GENI=y
+
+# Power monitoring (INA231)
+CONFIG_SENSORS_INA2XX=y
+
+# GPIO
+# TODO: migrate gpio.sh, lte.sh, and power_drop_monitor.py to chardev (libgpiod)
+# and remove GPIO_SYSFS (deprecated)
+CONFIG_EXPERT=y
+CONFIG_GPIO_SYSFS=y

kernel/dts/sdm845-comma-common.dtsi

@@ -2,6 +2,8 @@
 
 #include <dt-bindings/regulator/qcom,rpmh-regulator.h>
 #include "sdm845.dtsi"
+#include "pm8998.dtsi"
+#include "pmi8998.dtsi"
 
 / {
 	aliases {
@@ -349,6 +351,17 @@
 	status = "okay";
 };
 
+&i2c10 {
+	status = "okay";
+	clock-frequency = <100000>;
+
+	ina231@40 {
+		compatible = "ti,ina231";
+		reg = <0x40>;
+		shunt-resistor = <30000>;
+	};
+};
+
 &ufs_mem_hc {
 	status = "okay";
 

userspace/root/usr/comma/gpio.sh

@@ -1,9 +1,5 @@
 #!/bin/bash
-
-function gpio {
-  echo "out" > /sys/class/gpio/gpio$1/direction
-  echo $2 > /sys/class/gpio/gpio$1/value
-}
+source /usr/comma/gpio_base.sh
 
 pins=(
 # 27  # SW_3V3_EN
@@ -19,27 +15,37 @@ pins=(
 33  # GPS_SAFEBOOT_N
 32  # GPS_RST_N
 52  # LTE_BOOT
-1264  # POWER ALERT
 )
 
+# PM8998 GPIO4 = INA231 POWER ALERT (not a TLMM pin, separate GPIO chip)
+if [ "$PM8998_BASE" -gt 0 ]; then
+  POWER_ALERT_PIN=$((PM8998_BASE + 3))
+  echo "POWER_ALERT (gpio$POWER_ALERT_PIN)"
+  echo $POWER_ALERT_PIN > /sys/class/gpio/export
+  until [ -d /sys/class/gpio/gpio$POWER_ALERT_PIN ]; do sleep .05; done
+  chown root:gpio /sys/class/gpio/gpio$POWER_ALERT_PIN/direction /sys/class/gpio/gpio$POWER_ALERT_PIN/value 2>/dev/null
+  chmod 660 /sys/class/gpio/gpio$POWER_ALERT_PIN/direction /sys/class/gpio/gpio$POWER_ALERT_PIN/value 2>/dev/null
+fi
+
 for p in ${pins[@]}; do
-  echo $p
+  pin=$((TLMM_BASE + p))
+  echo "$p (gpio$pin)"
 
   # this is SSD_3v3 EN on tici
   if [ "$p" -eq 41 ] && grep -q "comma tici" /sys/firmware/devicetree/base/model; then
     echo "Skipping $p"
     continue
   fi
 
-  echo $p > /sys/class/gpio/export
-  until [ -d /sys/class/gpio/gpio$p ]
+  echo $pin > /sys/class/gpio/export
+  until [ -d /sys/class/gpio/gpio$pin ]
   do
     sleep .05
   done
   # eudev doesn't apply GROUP/MODE from udev rules to sysfs GPIO files
   # like systemd-udevd does, so set permissions manually after export
-  chown root:gpio /sys/class/gpio/gpio$p/direction /sys/class/gpio/gpio$p/value 2>/dev/null
-  chmod 660 /sys/class/gpio/gpio$p/direction /sys/class/gpio/gpio$p/value 2>/dev/null
+  chown root:gpio /sys/class/gpio/gpio$pin/direction /sys/class/gpio/gpio$pin/value 2>/dev/null
+  chmod 660 /sys/class/gpio/gpio$pin/direction /sys/class/gpio/gpio$pin/value 2>/dev/null
 done
 
 

userspace/root/usr/comma/gpio_base.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+
+# Get TLMM GPIO chip base (dynamic on mainline, was 0 on downstream)
+TLMM_BASE=$(cat /sys/bus/platform/devices/3400000.pinctrl/gpio/*/base 2>/dev/null | head -1)
+TLMM_BASE=${TLMM_BASE:-0}
+
+# Get PM8998 GPIO chip base (SPMI USID 0, GPIO @ 0xc000)
+for chip in /sys/class/gpio/gpiochip*/; do
+  label=$(cat "$chip/label" 2>/dev/null)
+  if [[ "$label" == *"spmi"*"pmic@0"*"gpio"* ]] || [[ "$label" == *"pm8998"*"gpio"* ]]; then
+    PM8998_BASE=$(cat "$chip/base")
+    break
+  fi
+done
+PM8998_BASE=${PM8998_BASE:-0}
+
+function gpio {
+  local pin=$((TLMM_BASE + $1))
+  echo "out" > /sys/class/gpio/gpio$pin/direction
+  echo $2 > /sys/class/gpio/gpio$pin/value
+}

userspace/root/usr/comma/lte/lte.sh

@@ -1,9 +1,5 @@
 #!/bin/bash
-
-function gpio {
-  echo "out" > /sys/class/gpio/gpio$1/direction
-  echo $2 > /sys/class/gpio/gpio$1/value
-}
+source /usr/comma/gpio_base.sh
 
 HUB_RST_N=30
 LTE_RST_N=50

userspace/root/usr/comma/power_drop_monitor.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+import glob
 import os
 import signal
 import time
@@ -9,14 +10,59 @@
 
 ALERT_VOLTAGE_THRESHOLD_mV = 4000
 
-POWER_ALERT_GPIO_PIN = 1264
-INA231_BUS = 0
+def get_tlmm_base():
+  bases = glob.glob("/sys/bus/platform/devices/3400000.pinctrl/gpio/*/base")
+  if bases:
+    with open(bases[0]) as f:
+      return int(f.read().strip())
+  return 0
+
+TLMM_BASE = get_tlmm_base()
+
+def get_pm8998_base():
+  """Find PM8998 PMIC GPIO chip base (SPMI USID 0, GPIO @ 0xc000)"""
+  for chip in sorted(glob.glob("/sys/class/gpio/gpiochip*")):
+    try:
+      with open(os.path.join(chip, "label")) as f:
+        label = f.read().strip()
+      if ("spmi" in label and "pmic@0" in label and "gpio" in label) or ("pm8998" in label and "gpio" in label):
+        with open(os.path.join(chip, "base")) as f:
+          return int(f.read().strip())
+    except (IOError, ValueError):
+      continue
+  return 0
+
+PM8998_BASE = get_pm8998_base()
+POWER_ALERT_GPIO_PIN = PM8998_BASE + 3  # PM8998_GPIO4 (0-indexed offset 3)
 INA231_ADDRESS = 0x40
 INA231_MASK_REG = 0x06
 INA231_LIMIT_REG = 0x07
 INA231_MASK_CONFIG = (1 << 12) # Bus undervoltage, not latching
 INA231_BUS_VOLTAGE_LSB_mV = 1.25
-VOLTAGE_FILE = "/sys/class/hwmon/hwmon1/in1_input"
+
+def find_ina231_hwmon():
+  for hwmon in sorted(glob.glob("/sys/class/hwmon/hwmon*")):
+    try:
+      with open(os.path.join(hwmon, "name")) as f:
+        if f.read().strip() == "ina231":
+          return hwmon
+    except (IOError, ValueError):
+      continue
+  return None
+
+def find_ina231_i2c_bus():
+  for dev in sorted(glob.glob("/sys/bus/i2c/devices/*-0040")):
+    try:
+      with open(os.path.join(dev, "name")) as f:
+        if f.read().strip() == "ina231":
+          return int(os.path.basename(dev).split("-")[0])
+    except (IOError, ValueError):
+      continue
+  return 0
+
+INA231_BUS = find_ina231_i2c_bus()
+INA231_HWMON = find_ina231_hwmon()
+VOLTAGE_FILE = os.path.join(INA231_HWMON, "in1_input") if INA231_HWMON else "/sys/class/hwmon/hwmon1/in1_input"
 PARAM_FILE = "/data/params/d/LastPowerDropDetected"
 COMMA_CGROUP_PROCS = "/sys/fs/cgroup/comma/cgroup.procs"
 COMMA_SV_CONTROL = "/run/runit/service/comma/supervise/control"
@@ -51,8 +97,10 @@ def read_voltage_mV():
   with open(VOLTAGE_FILE, "r") as f:
     return int(f.read().strip())
 
+CURRENT_FILE = os.path.join(INA231_HWMON, "curr1_input") if INA231_HWMON else "/sys/class/hwmon/hwmon1/curr1_input"
+
 def read_current_mA():
-  with open("/sys/class/hwmon/hwmon1/curr1_input", "r") as f:
+  with open(CURRENT_FILE, "r") as f:
     return int(f.read().strip())
 
 def update_param(stage, v_initial, i_initial, v_final, i_final):
@@ -107,8 +155,9 @@ def perform_controlled_shutdown():
   # SIGKILL all processes in the comma cgroup (comma/run puts all openpilot procs in this cgroup)
   [os.kill(int(p), signal.SIGKILL) for p in open(COMMA_CGROUP_PROCS).read().split() if p.strip()]
   # Tell panda SoC is off so it doesn't spin up the fan
-  write_once("/sys/class/gpio/gpio49/direction", "out")
-  write_once("/sys/class/gpio/gpio49/value", "0")
+  som_st_io = TLMM_BASE + 49
+  write_once(f"/sys/class/gpio/gpio{som_st_io}/direction", "out")
+  write_once(f"/sys/class/gpio/gpio{som_st_io}/value", "0")
   # Wait for all processes to fully exit before syncing (kernel resource cleanup takes ~150-400ms)
   while open(COMMA_CGROUP_PROCS).read().strip():
     time.sleep(0.001)