| /* |
| * Copyright (c) 2017 Vitor Massaru Iha <vitor@massaru.org> |
| * Copyright (c) 2022 Espressif Systems (Shanghai) Co., Ltd. |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #define DT_DRV_COMPAT espressif_esp32_ledc |
| |
| /* Include esp-idf headers first to avoid redefining BIT() macro */ |
| #include <hal/ledc_hal.h> |
| #include <hal/ledc_types.h> |
| |
| #include <soc.h> |
| #include <errno.h> |
| #include <string.h> |
| #include <zephyr/drivers/pwm.h> |
| #include <zephyr/kernel.h> |
| #include <zephyr/drivers/pinctrl.h> |
| #include <zephyr/drivers/clock_control.h> |
| |
| #include <zephyr/logging/log.h> |
| LOG_MODULE_REGISTER(pwm_ledc_esp32, CONFIG_PWM_LOG_LEVEL); |
| |
| struct pwm_ledc_esp32_data { |
| ledc_hal_context_t hal; |
| struct k_sem cmd_sem; |
| }; |
| |
| struct pwm_ledc_esp32_channel_config { |
| const uint8_t idx; |
| const uint8_t channel_num; |
| const uint8_t timer_num; |
| uint32_t freq; |
| const ledc_mode_t speed_mode; |
| uint8_t resolution; |
| ledc_clk_src_t clock_src; |
| uint32_t duty_val; |
| }; |
| |
| struct pwm_ledc_esp32_config { |
| const struct pinctrl_dev_config *pincfg; |
| const struct device *clock_dev; |
| const clock_control_subsys_t clock_subsys; |
| struct pwm_ledc_esp32_channel_config *channel_config; |
| const int channel_len; |
| }; |
| |
| static struct pwm_ledc_esp32_channel_config *get_channel_config(const struct device *dev, |
| int channel_id) |
| { |
| struct pwm_ledc_esp32_config *config = |
| (struct pwm_ledc_esp32_config *) dev->config; |
| |
| for (uint8_t i = 0; i < config->channel_len; i++) { |
| if (config->channel_config[i].idx == channel_id) { |
| return &config->channel_config[i]; |
| } |
| } |
| return NULL; |
| } |
| |
| static void pwm_led_esp32_low_speed_update(const struct device *dev, int speed_mode, int channel) |
| { |
| uint32_t reg_addr; |
| struct pwm_ledc_esp32_data *data = (struct pwm_ledc_esp32_data *const)(dev)->data; |
| |
| if (speed_mode == LEDC_LOW_SPEED_MODE) { |
| ledc_hal_ls_channel_update(&data->hal, channel); |
| } |
| } |
| |
| static void pwm_led_esp32_update_duty(const struct device *dev, int speed_mode, int channel) |
| { |
| struct pwm_ledc_esp32_data *data = (struct pwm_ledc_esp32_data *const)(dev)->data; |
| |
| ledc_hal_set_sig_out_en(&data->hal, channel, true); |
| ledc_hal_set_duty_start(&data->hal, channel, true); |
| |
| pwm_led_esp32_low_speed_update(dev, speed_mode, channel); |
| } |
| |
| static void pwm_led_esp32_duty_set(const struct device *dev, |
| struct pwm_ledc_esp32_channel_config *channel) |
| { |
| struct pwm_ledc_esp32_data *data = (struct pwm_ledc_esp32_data *const)(dev)->data; |
| |
| ledc_hal_set_hpoint(&data->hal, channel->channel_num, 0); |
| ledc_hal_set_duty_int_part(&data->hal, channel->channel_num, channel->duty_val); |
| ledc_hal_set_duty_direction(&data->hal, channel->channel_num, 1); |
| ledc_hal_set_duty_num(&data->hal, channel->channel_num, 1); |
| ledc_hal_set_duty_cycle(&data->hal, channel->channel_num, 1); |
| ledc_hal_set_duty_scale(&data->hal, channel->channel_num, 0); |
| pwm_led_esp32_low_speed_update(dev, channel->speed_mode, channel->channel_num); |
| pwm_led_esp32_update_duty(dev, channel->speed_mode, channel->channel_num); |
| } |
| |
| static int pwm_led_esp32_configure_pinctrl(const struct device *dev) |
| { |
| int ret; |
| struct pwm_ledc_esp32_config *config = (struct pwm_ledc_esp32_config *) dev->config; |
| |
| ret = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT); |
| if (ret < 0) { |
| LOG_ERR("PWM pinctrl setup failed (%d)", ret); |
| return ret; |
| } |
| return 0; |
| } |
| |
| static void pwm_led_esp32_bind_channel_timer(const struct device *dev, |
| struct pwm_ledc_esp32_channel_config *channel) |
| { |
| struct pwm_ledc_esp32_data *data = (struct pwm_ledc_esp32_data *const)(dev)->data; |
| |
| ledc_hal_bind_channel_timer(&data->hal, channel->channel_num, channel->timer_num); |
| |
| pwm_led_esp32_low_speed_update(dev, channel->speed_mode, channel->channel_num); |
| } |
| |
| static int pwm_led_esp32_calculate_max_resolution(struct pwm_ledc_esp32_channel_config *channel) |
| { |
| /** |
| * Max duty resolution can be obtained with |
| * max_res = log2(CLK_FREQ/FREQ) |
| */ |
| uint64_t clock_freq = channel->clock_src == LEDC_APB_CLK ? APB_CLK_FREQ : REF_CLK_FREQ; |
| uint32_t max_precision_n = clock_freq/channel->freq; |
| |
| for (uint8_t i = 0; i <= SOC_LEDC_TIMER_BIT_WIDE_NUM; i++) { |
| max_precision_n /= 2; |
| if (!max_precision_n) { |
| channel->resolution = i; |
| return 0; |
| } |
| } |
| return -EINVAL; |
| |
| } |
| |
| static int pwm_led_esp32_timer_config(struct pwm_ledc_esp32_channel_config *channel) |
| { |
| /** |
| * Calculate max resolution based on the given frequency and the pwm clock. |
| * |
| * There are 2 clock resources for PWM: |
| * |
| * 1. APB_CLK (80MHz) |
| * 2. REF_TICK (1MHz) |
| * |
| * The low speed timers can be sourced from: |
| * |
| * 1. APB_CLK (80MHz) |
| * 2. RTC_CLK (8Mhz) |
| * |
| * The APB_CLK is mostly used |
| * |
| * First we try to find the largest resolution using the APB_CLK source. |
| * If the given frequency doesn't support it, we move to the next clock source. |
| */ |
| |
| channel->clock_src = LEDC_APB_CLK; |
| if (!pwm_led_esp32_calculate_max_resolution(channel)) { |
| return 0; |
| } |
| |
| channel->clock_src = LEDC_REF_TICK; |
| if (!pwm_led_esp32_calculate_max_resolution(channel)) { |
| return 0; |
| } |
| |
| return -EINVAL; |
| } |
| |
| static int pwm_led_esp32_timer_set(const struct device *dev, |
| struct pwm_ledc_esp32_channel_config *channel) |
| { |
| int prescaler = 0; |
| uint32_t precision = (0x1 << channel->resolution); |
| struct pwm_ledc_esp32_data *data = (struct pwm_ledc_esp32_data *const)(dev)->data; |
| |
| __ASSERT_NO_MSG(channel->freq > 0); |
| |
| switch (channel->clock_src) { |
| case LEDC_APB_CLK: |
| /** This expression comes from ESP32 Espressif's Technical Reference |
| * Manual chapter 13.2.2 Timers. |
| * div_num is a fixed point value (Q10.8). |
| */ |
| prescaler = ((uint64_t) APB_CLK_FREQ << 8) / channel->freq / precision; |
| break; |
| case LEDC_REF_TICK: |
| prescaler = ((uint64_t) REF_CLK_FREQ << 8) / channel->freq / precision; |
| break; |
| default: |
| LOG_ERR("Invalid clock source"); |
| return -EINVAL; |
| } |
| |
| if (prescaler < 0x100 || prescaler > 0x3FFFF) { |
| return -EINVAL; |
| } |
| |
| if (channel->speed_mode == LEDC_LOW_SPEED_MODE) { |
| ledc_hal_set_slow_clk(&data->hal, channel->clock_src); |
| } |
| |
| ledc_hal_set_clock_divider(&data->hal, channel->timer_num, prescaler); |
| ledc_hal_set_duty_resolution(&data->hal, channel->timer_num, channel->resolution); |
| ledc_hal_set_clock_source(&data->hal, channel->timer_num, channel->clock_src); |
| |
| if (channel->speed_mode == LEDC_LOW_SPEED_MODE) { |
| ledc_hal_ls_timer_update(&data->hal, channel->timer_num); |
| } |
| |
| /* reset low speed timer */ |
| ledc_hal_timer_rst(&data->hal, channel->timer_num); |
| |
| return 0; |
| } |
| |
| static int pwm_led_esp32_get_cycles_per_sec(const struct device *dev, |
| uint32_t channel_idx, uint64_t *cycles) |
| { |
| struct pwm_ledc_esp32_config *config = (struct pwm_ledc_esp32_config *) dev->config; |
| struct pwm_ledc_esp32_channel_config *channel = get_channel_config(dev, channel_idx); |
| |
| if (!channel) { |
| LOG_ERR("Error getting channel %d", channel_idx); |
| return -EINVAL; |
| } |
| |
| *cycles = channel->clock_src == LEDC_APB_CLK ? APB_CLK_FREQ : REF_CLK_FREQ; |
| |
| return 0; |
| } |
| |
| /* period_cycles is not used, set frequency on menuconfig instead. */ |
| static int pwm_led_esp32_set_cycles(const struct device *dev, uint32_t channel_idx, |
| uint32_t period_cycles, |
| uint32_t pulse_cycles, pwm_flags_t flags) |
| { |
| int ret; |
| uint64_t clk_freq; |
| struct pwm_ledc_esp32_config *config = (struct pwm_ledc_esp32_config *) dev->config; |
| struct pwm_ledc_esp32_data *data = (struct pwm_ledc_esp32_data *const)(dev)->data; |
| struct pwm_ledc_esp32_channel_config *channel = get_channel_config(dev, channel_idx); |
| |
| if (!channel) { |
| LOG_ERR("Error getting channel %d", channel_idx); |
| return -EINVAL; |
| } |
| |
| /* Update PWM frequency according to period_cycles */ |
| pwm_led_esp32_get_cycles_per_sec(dev, channel_idx, &clk_freq); |
| |
| channel->freq = (uint32_t) (clk_freq/period_cycles); |
| if (!channel->freq) { |
| channel->freq = 1; |
| } |
| |
| k_sem_take(&data->cmd_sem, K_FOREVER); |
| |
| ledc_hal_init(&data->hal, channel->speed_mode); |
| |
| ret = pwm_led_esp32_timer_config(channel); |
| if (ret < 0) { |
| k_sem_give(&data->cmd_sem); |
| return ret; |
| } |
| |
| ret = pwm_led_esp32_timer_set(dev, channel); |
| if (ret < 0) { |
| k_sem_give(&data->cmd_sem); |
| return ret; |
| } |
| |
| pwm_led_esp32_bind_channel_timer(dev, channel); |
| |
| /* Update PWM duty */ |
| |
| double duty_cycle = (double) pulse_cycles / (double) period_cycles; |
| |
| channel->duty_val = (uint32_t)((double) (1 << channel->resolution) * duty_cycle); |
| |
| pwm_led_esp32_duty_set(dev, channel); |
| |
| ret = pwm_led_esp32_configure_pinctrl(dev); |
| if (ret < 0) { |
| k_sem_give(&data->cmd_sem); |
| return ret; |
| } |
| |
| k_sem_give(&data->cmd_sem); |
| |
| return ret; |
| } |
| |
| |
| int pwm_led_esp32_init(const struct device *dev) |
| { |
| int ret; |
| const struct pwm_ledc_esp32_config *config = dev->config; |
| struct pwm_ledc_esp32_data *data = (struct pwm_ledc_esp32_data *const)(dev)->data; |
| |
| /* Enable peripheral */ |
| clock_control_on(config->clock_dev, config->clock_subsys); |
| |
| return 0; |
| } |
| |
| static const struct pwm_driver_api pwm_led_esp32_api = { |
| .set_cycles = pwm_led_esp32_set_cycles, |
| .get_cycles_per_sec = pwm_led_esp32_get_cycles_per_sec, |
| }; |
| |
| PINCTRL_DT_INST_DEFINE(0); |
| |
| #define CHANNEL_CONFIG(node_id) \ |
| { \ |
| .idx = DT_REG_ADDR(node_id), \ |
| .channel_num = DT_REG_ADDR(node_id) % 8, \ |
| .timer_num = DT_PROP(node_id, timer), \ |
| .speed_mode = DT_REG_ADDR(node_id) < SOC_LEDC_CHANNEL_NUM \ |
| ? LEDC_LOW_SPEED_MODE \ |
| : !LEDC_LOW_SPEED_MODE, \ |
| .clock_src = LEDC_APB_CLK, \ |
| }, |
| |
| static struct pwm_ledc_esp32_channel_config channel_config[] = { |
| DT_INST_FOREACH_CHILD(0, CHANNEL_CONFIG) |
| }; |
| |
| static struct pwm_ledc_esp32_config pwm_ledc_esp32_config = { |
| .pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(0), |
| .clock_dev = DEVICE_DT_GET(DT_INST_CLOCKS_CTLR(0)), |
| .clock_subsys = (clock_control_subsys_t)DT_INST_CLOCKS_CELL(0, offset), |
| .channel_config = channel_config, |
| .channel_len = ARRAY_SIZE(channel_config), |
| }; |
| |
| static struct pwm_ledc_esp32_data pwm_ledc_esp32_data = { |
| .hal = { |
| .dev = (ledc_dev_t *) DT_INST_REG_ADDR(0), |
| }, |
| .cmd_sem = Z_SEM_INITIALIZER(pwm_ledc_esp32_data.cmd_sem, 1, 1), |
| }; |
| |
| DEVICE_DT_INST_DEFINE(0, &pwm_led_esp32_init, NULL, |
| &pwm_ledc_esp32_data, |
| &pwm_ledc_esp32_config, |
| POST_KERNEL, |
| CONFIG_KERNEL_INIT_PRIORITY_DEVICE, |
| &pwm_led_esp32_api); |