blob: 4b23cc558f15b76be4c19f769718738562ce5e8a [file] [log] [blame]
/*
* Copyright (c) 2022, Joep Buruma
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT raspberrypi_pico_pwm
#include <zephyr/device.h>
#include <zephyr/drivers/pwm.h>
#include <zephyr/drivers/pinctrl.h>
#include <zephyr/drivers/reset.h>
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(pwm_rpi_pico, CONFIG_PWM_LOG_LEVEL);
/* pico-sdk includes */
#include <hardware/pwm.h>
#include <hardware/structs/pwm.h>
#define PWM_RPI_PICO_COUNTER_TOP_MAX UINT16_MAX
#define PWM_RPI_NUM_CHANNELS (16U)
struct pwm_rpi_slice_config {
uint8_t integral;
uint8_t frac;
bool phase_correct;
};
struct pwm_rpi_config {
/*
* pwm_controller is the start address of the pwm peripheral.
*/
pwm_hw_t *pwm_controller;
struct pwm_rpi_slice_config slice_configs[NUM_PWM_SLICES];
const struct pinctrl_dev_config *pcfg;
const struct reset_dt_spec reset;
};
static float pwm_rpi_get_clkdiv(const struct device *dev, int slice)
{
const struct pwm_rpi_config *cfg = dev->config;
/* the divider is a fixed point 8.4 convert to float for use in pico-sdk */
return (float)cfg->slice_configs[slice].integral +
(float)cfg->slice_configs[slice].frac / 16.0;
}
static inline uint32_t pwm_rpi_channel_to_slice(uint32_t channel)
{
return channel / 2;
}
static inline uint32_t pwm_rpi_channel_to_pico_channel(uint32_t channel)
{
return channel % 2;
}
static int pwm_rpi_get_cycles_per_sec(const struct device *dev, uint32_t ch, uint64_t *cycles)
{
float f_clock_in;
int slice = pwm_rpi_channel_to_slice(ch);
if (ch >= PWM_RPI_NUM_CHANNELS) {
return -EINVAL;
}
f_clock_in = (float)sys_clock_hw_cycles_per_sec();
/* No need to check for divide by 0 since the minimum value of
* pwm_rpi_get_clkdiv is 1
*/
*cycles = (uint64_t)(f_clock_in / pwm_rpi_get_clkdiv(dev, slice));
return 0;
}
/* The pico_sdk only allows setting the polarity of both channels at once.
* This is a convenience function to make setting the polarity of a single
* channel easier.
*/
static void pwm_rpi_set_channel_polarity(const struct device *dev, int slice,
int pico_channel, bool inverted)
{
const struct pwm_rpi_config *cfg = dev->config;
bool pwm_polarity_a = (cfg->pwm_controller->slice[slice].csr & PWM_CH0_CSR_A_INV_BITS) > 0;
bool pwm_polarity_b = (cfg->pwm_controller->slice[slice].csr & PWM_CH0_CSR_B_INV_BITS) > 0;
if (pico_channel == PWM_CHAN_A) {
pwm_polarity_a = inverted;
} else if (pico_channel == PWM_CHAN_B) {
pwm_polarity_b = inverted;
}
pwm_set_output_polarity(slice, pwm_polarity_a, pwm_polarity_b);
}
static int pwm_rpi_set_cycles(const struct device *dev, uint32_t ch, uint32_t period_cycles,
uint32_t pulse_cycles, pwm_flags_t flags)
{
if (ch >= PWM_RPI_NUM_CHANNELS) {
return -EINVAL;
}
if (period_cycles - 1 > PWM_RPI_PICO_COUNTER_TOP_MAX ||
pulse_cycles > PWM_RPI_PICO_COUNTER_TOP_MAX) {
return -EINVAL;
}
int slice = pwm_rpi_channel_to_slice(ch);
/* this is the channel within a pwm slice */
int pico_channel = pwm_rpi_channel_to_pico_channel(ch);
pwm_rpi_set_channel_polarity(dev, slice, pico_channel,
(flags & PWM_POLARITY_MASK) == PWM_POLARITY_INVERTED);
pwm_set_wrap(slice, period_cycles - 1);
pwm_set_chan_level(slice, pico_channel, pulse_cycles);
return 0;
};
struct pwm_driver_api pwm_rpi_driver_api = {
.get_cycles_per_sec = pwm_rpi_get_cycles_per_sec,
.set_cycles = pwm_rpi_set_cycles,
};
static int pwm_rpi_init(const struct device *dev)
{
const struct pwm_rpi_config *cfg = dev->config;
pwm_config slice_cfg;
size_t slice_idx;
int err;
err = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
if (err) {
LOG_ERR("Failed to configure pins for PWM. err=%d", err);
return err;
}
for (slice_idx = 0; slice_idx < NUM_PWM_SLICES; slice_idx++) {
slice_cfg = pwm_get_default_config();
pwm_config_set_clkdiv_mode(&slice_cfg, PWM_DIV_FREE_RUNNING);
pwm_init(slice_idx, &slice_cfg, false);
pwm_set_clkdiv_int_frac(slice_idx,
cfg->slice_configs[slice_idx].integral,
cfg->slice_configs[slice_idx].frac);
pwm_set_enabled(slice_idx, true);
}
return 0;
}
#define PWM_INST_RPI_SLICE_DIVIDER(idx, n) \
{ \
.integral = DT_INST_PROP(idx, UTIL_CAT(divider_int_, n)), \
.frac = DT_INST_PROP(idx, UTIL_CAT(divider_frac_, n)), \
}
#define PWM_RPI_INIT(idx) \
\
PINCTRL_DT_INST_DEFINE(idx); \
static const struct pwm_rpi_config pwm_rpi_config_##idx = { \
.pwm_controller = (pwm_hw_t *)DT_INST_REG_ADDR(idx), \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(idx), \
.slice_configs = { \
PWM_INST_RPI_SLICE_DIVIDER(idx, 0), \
PWM_INST_RPI_SLICE_DIVIDER(idx, 1), \
PWM_INST_RPI_SLICE_DIVIDER(idx, 2), \
PWM_INST_RPI_SLICE_DIVIDER(idx, 3), \
PWM_INST_RPI_SLICE_DIVIDER(idx, 4), \
PWM_INST_RPI_SLICE_DIVIDER(idx, 5), \
PWM_INST_RPI_SLICE_DIVIDER(idx, 6), \
PWM_INST_RPI_SLICE_DIVIDER(idx, 7), \
}, \
.reset = RESET_DT_SPEC_INST_GET(idx), \
}; \
\
DEVICE_DT_INST_DEFINE(idx, pwm_rpi_init, NULL, NULL, &pwm_rpi_config_##idx, POST_KERNEL, \
CONFIG_PWM_INIT_PRIORITY, &pwm_rpi_driver_api);
DT_INST_FOREACH_STATUS_OKAY(PWM_RPI_INIT);