drivers: pwm: add pwm driver for rpi_pico
Add pwm driver implementation for rpi pico family.
Adds myself as codeowner of drivers/pwm/*rpi_pico*
Signed-off-by: Joep Buruma <burumaj50@gmail.com>
diff --git a/CODEOWNERS b/CODEOWNERS
index a3157e1..dd0e4fc 100644
--- a/CODEOWNERS
+++ b/CODEOWNERS
@@ -344,6 +344,7 @@
/drivers/ps2/*xec* @franciscomunoz @sjvasanth1
/drivers/ps2/*npcx* @MulinChao @WealianLiao @ChiHuaL
/drivers/pwm/*b91* @andy-liu-telink
+/drivers/pwm/*rpi_pico* @burumaj
/drivers/pwm/*rv32m1* @henrikbrixandersen
/drivers/pwm/*sam0* @nzmichaelh
/drivers/pwm/*stm32* @gmarull
diff --git a/drivers/pwm/CMakeLists.txt b/drivers/pwm/CMakeLists.txt
index 93c9828..0803448 100644
--- a/drivers/pwm/CMakeLists.txt
+++ b/drivers/pwm/CMakeLists.txt
@@ -25,6 +25,7 @@
zephyr_library_sources_ifdef(CONFIG_PWM_GECKO pwm_gecko.c)
zephyr_library_sources_ifdef(CONFIG_PWM_GD32 pwm_gd32.c)
zephyr_library_sources_ifdef(CONFIG_PWM_TEST pwm_test.c)
+zephyr_library_sources_ifdef(CONFIG_PWM_RPI_PICO pwm_rpi_pico.c)
zephyr_library_sources_ifdef(CONFIG_USERSPACE pwm_handlers.c)
zephyr_library_sources_ifdef(CONFIG_PWM_CAPTURE pwm_capture.c)
diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig
index b301291..3782c92 100644
--- a/drivers/pwm/Kconfig
+++ b/drivers/pwm/Kconfig
@@ -73,4 +73,6 @@
source "drivers/pwm/Kconfig.test"
+source "drivers/pwm/Kconfig.rpi_pico"
+
endif # PWM
diff --git a/drivers/pwm/Kconfig.rpi_pico b/drivers/pwm/Kconfig.rpi_pico
new file mode 100644
index 0000000..b3113d6
--- /dev/null
+++ b/drivers/pwm/Kconfig.rpi_pico
@@ -0,0 +1,14 @@
+# Copyright (c) 2022, Joep Buruma
+# SPDX-License-Identifier: Apache-2.0
+
+# Workaround for not being able to have commas in macro arguments
+DT_COMPAT_RPI_PICO_PWM := raspberrypi,pico-pwm
+
+config PWM_RPI_PICO
+ bool "RPi Pico PWM"
+ default $(dt_compat_enabled,$(DT_COMPAT_RPI_PICO_PWM))
+ depends on SOC_SERIES_RP2XXX
+ depends on RESET
+ select PICOSDK_USE_PWM
+ help
+ Enable PWM driver for RPi Pico family of MCUs
diff --git a/drivers/pwm/pwm_rpi_pico.c b/drivers/pwm/pwm_rpi_pico.c
new file mode 100644
index 0000000..d75ee31
--- /dev/null
+++ b/drivers/pwm/pwm_rpi_pico.c
@@ -0,0 +1,182 @@
+/*
+ * 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 > 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);
+ pwm_set_chan_level(slice, ch, 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_KERNEL_INIT_PRIORITY_DEVICE, &pwm_rpi_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(PWM_RPI_INIT);
diff --git a/dts/arm/rpi_pico/rp2040.dtsi b/dts/arm/rpi_pico/rp2040.dtsi
index 6f33d67..7621d51 100644
--- a/dts/arm/rpi_pico/rp2040.dtsi
+++ b/dts/arm/rpi_pico/rp2040.dtsi
@@ -151,7 +151,7 @@
clocks = <&system_clk>;
interrupts = <4 RPI_PICO_DEFAULT_IRQ_PRIORITY>;
interrupt-names = "PWM_IRQ_WRAP";
- label = "PWM_CTRL_0";
+ label = "PWM_0";
status = "disabled";
#pwm-cells = <3>;
};
diff --git a/modules/hal_rpi_pico/CMakeLists.txt b/modules/hal_rpi_pico/CMakeLists.txt
index f0034d5..5e32815 100644
--- a/modules/hal_rpi_pico/CMakeLists.txt
+++ b/modules/hal_rpi_pico/CMakeLists.txt
@@ -93,6 +93,9 @@
zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_FLASH
${rp2_common_dir}/hardware_flash/include)
+ zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_PWM
+ ${rp2_common_dir}/hardware_pwm/include)
+
# Some flash driver functions must be executed from the RAM.
# Originally pico-sdk places them in the RW data section, so this
# implementation does the same.
@@ -104,4 +107,5 @@
PROPERTIES
COMPILE_FLAGS $<TARGET_PROPERTY:compiler,warning_no_pointer_arithmetic>
)
+
endif()
diff --git a/modules/hal_rpi_pico/Kconfig b/modules/hal_rpi_pico/Kconfig
index 35ba208..8b3c518 100644
--- a/modules/hal_rpi_pico/Kconfig
+++ b/modules/hal_rpi_pico/Kconfig
@@ -18,3 +18,8 @@
bool
help
Use the flash driver from pico-sdk
+
+config PICOSDK_USE_PWM
+ bool
+ help
+ Use the PWM driver from pico-sdk
diff --git a/soc/arm/rpi_pico/rp2/soc.c b/soc/arm/rpi_pico/rp2/soc.c
index 04f73ef..3df9b98 100644
--- a/soc/arm/rpi_pico/rp2/soc.c
+++ b/soc/arm/rpi_pico/rp2/soc.c
@@ -41,7 +41,7 @@
~(RESETS_RESET_ADC_BITS | RESETS_RESET_RTC_BITS |
RESETS_RESET_SPI0_BITS | RESETS_RESET_SPI1_BITS |
RESETS_RESET_UART0_BITS | RESETS_RESET_UART1_BITS |
- RESETS_RESET_USBCTRL_BITS));
+ RESETS_RESET_USBCTRL_BITS | RESETS_RESET_PWM_BITS));
clocks_init();
