drivers/pwm/pwm_mcux_pwt.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2021 Vestas Wind Systems A/S
  * Copyright 2024 NXP
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #define DT_DRV_COMPAT nxp_kinetis_pwt

 #include <zephyr/drivers/clock_control.h>
 #include <errno.h>
 #include <zephyr/drivers/pwm.h>
 #include <zephyr/irq.h>
 #include <soc.h>
 #include <fsl_pwt.h>
 #include <fsl_clock.h>
 #include <zephyr/drivers/pinctrl.h>

 #include <zephyr/logging/log.h>

 LOG_MODULE_REGISTER(pwm_mcux_pwt, CONFIG_PWM_LOG_LEVEL);

 /* Number of PWT input ports */
 #define PWT_INPUTS 4U

 struct mcux_pwt_config {
 	PWT_Type *base;
 	const struct device *clock_dev;
 	clock_control_subsys_t clock_subsys;
 	pwt_clock_source_t pwt_clock_source;
 	pwt_clock_prescale_t prescale;
 	void (*irq_config_func)(const struct device *dev);
 	const struct pinctrl_dev_config *pincfg;
 };

 struct mcux_pwt_data {
 	uint32_t clock_freq;
 	uint32_t period_cycles;
 	uint32_t high_overflows;
 	uint32_t low_overflows;
 	pwm_capture_callback_handler_t callback;
 	void *user_data;
 	pwt_config_t pwt_config;
 	bool continuous : 1;
 	bool inverted : 1;
 	bool overflowed : 1;
 };

 static inline bool mcux_pwt_is_active(const struct device *dev)
 {
 	const struct mcux_pwt_config *config = dev->config;

 	return !!(config->base->CS & PWT_CS_PWTEN_MASK);
 }

 static int mcux_pwt_set_cycles(const struct device *dev, uint32_t channel,
 			       uint32_t period_cycles, uint32_t pulse_cycles,
 			       pwm_flags_t flags)
 {
 	ARG_UNUSED(dev);
 	ARG_UNUSED(channel);
 	ARG_UNUSED(period_cycles);
 	ARG_UNUSED(pulse_cycles);
 	ARG_UNUSED(flags);

 	LOG_ERR("pwt only supports pwm capture");

 	return -ENOTSUP;
 }

 static int mcux_pwt_configure_capture(const struct device *dev,
 				      uint32_t channel, pwm_flags_t flags,
 				      pwm_capture_callback_handler_t cb,
 				      void *user_data)
 {
 	const struct mcux_pwt_config *config = dev->config;
 	struct mcux_pwt_data *data = dev->data;

 	if (channel >= PWT_INPUTS) {
 		LOG_ERR("invalid channel %d", channel);
 		return -EINVAL;
 	}

 	if (mcux_pwt_is_active(dev)) {
 		LOG_ERR("pwm capture in progress");
 		return -EBUSY;
 	}

 #if defined(CONFIG_SOC_SERIES_KE1XZ)
 	if ((flags & PWM_CAPTURE_TYPE_MASK) == PWM_CAPTURE_TYPE_BOTH) {
 		LOG_ERR("Cannot capture both period and pulse width");
 		return -ENOTSUP;
 	}

 	if (((flags & PWM_CAPTURE_TYPE_MASK) == PWM_CAPTURE_TYPE_PERIOD) &&
 		((flags & PWM_POLARITY_MASK) == PWM_POLARITY_NORMAL)) {
 		LOG_ERR("Cannot capture period in normal polarity (active-high pulse)");
 		return -ENOTSUP;
 	}
 #endif

 	data->callback = cb;
 	data->user_data = user_data;

 	data->pwt_config.inputSelect = channel;

 	data->continuous =
 		(flags & PWM_CAPTURE_MODE_MASK) == PWM_CAPTURE_MODE_CONTINUOUS;
 	data->inverted =
 		(flags & PWM_POLARITY_MASK) == PWM_POLARITY_INVERTED;

 	PWT_Init(config->base, &data->pwt_config);
 	PWT_EnableInterrupts(config->base,
 			     kPWT_PulseWidthReadyInterruptEnable |
 			     kPWT_CounterOverflowInterruptEnable);

 	return 0;
 }

 static int mcux_pwt_enable_capture(const struct device *dev, uint32_t channel)
 {
 	const struct mcux_pwt_config *config = dev->config;
 	struct mcux_pwt_data *data = dev->data;

 	if (channel >= PWT_INPUTS) {
 		LOG_ERR("invalid channel %d", channel);
 		return -EINVAL;
 	}

 	if (!data->callback) {
 		LOG_ERR("PWM capture not configured");
 		return -EINVAL;
 	}

 	if (mcux_pwt_is_active(dev)) {
 		LOG_ERR("PWM capture already enabled");
 		return -EBUSY;
 	}

 	data->overflowed = false;
 	data->high_overflows = 0;
 	data->low_overflows = 0;
 	PWT_StartTimer(config->base);

 	return 0;
 }

 static int mcux_pwt_disable_capture(const struct device *dev, uint32_t channel)
 {
 	const struct mcux_pwt_config *config = dev->config;

 	if (channel >= PWT_INPUTS) {
 		LOG_ERR("invalid channel %d", channel);
 		return -EINVAL;
 	}

 	PWT_StopTimer(config->base);

 	return 0;
 }

 static int mcux_pwt_calc_period(uint16_t ppw, uint16_t npw,
 				uint32_t high_overflows,
 				uint32_t low_overflows,
 				uint32_t *result)
 {
 	uint32_t period;

 	/* Calculate sum of overflow counters */
 	if (u32_add_overflow(high_overflows, low_overflows, &period)) {
 		return -ERANGE;
 	}

 	/* Calculate cycles from sum of overflow counters */
 	if (u32_mul_overflow(period, 0xFFFFU, &period)) {
 		return -ERANGE;
 	}

 	/* Add positive pulse width */
 	if (u32_add_overflow(period, ppw, &period)) {
 		return -ERANGE;
 	}

 	/* Add negative pulse width */
 	if (u32_add_overflow(period, npw, &period)) {
 		return -ERANGE;
 	}

 	*result = period;

 	return 0;
 }

 static int mcux_pwt_calc_pulse(uint16_t pw, uint32_t overflows,
 			       uint32_t *result)
 {
 	uint32_t pulse;

 	/* Calculate cycles from overflow counter */
 	if (u32_mul_overflow(overflows, 0xFFFFU, &pulse)) {
 		return -ERANGE;
 	}

 	/* Add pulse width */
 	if (u32_add_overflow(pulse, pw, &pulse)) {
 		return -ERANGE;
 	}

 	*result = pulse;

 	return 0;
 }

 static void mcux_pwt_isr(const struct device *dev)
 {
 	const struct mcux_pwt_config *config = dev->config;
 	struct mcux_pwt_data *data = dev->data;
 	uint32_t period = 0;
 	uint32_t pulse = 0;
 	uint32_t flags;
 	uint16_t ppw;
 	uint16_t npw;
 	int err;

 	flags = PWT_GetStatusFlags(config->base);

 	if (flags & kPWT_CounterOverflowFlag) {
 		if (config->base->CR & PWT_CR_LVL_MASK) {
 			data->overflowed |= u32_add_overflow(1,
 				data->high_overflows, &data->high_overflows);
 		} else {
 			data->overflowed |= u32_add_overflow(1,
 				data->low_overflows, &data->low_overflows);
 		}

 		PWT_ClearStatusFlags(config->base, kPWT_CounterOverflowFlag);
 	}

 	if (flags & kPWT_PulseWidthValidFlag) {
 		ppw = PWT_ReadPositivePulseWidth(config->base);
 		npw = PWT_ReadNegativePulseWidth(config->base);

 		if (!data->continuous) {
 			PWT_StopTimer(config->base);
 		}

 		if (data->inverted) {
 			err = mcux_pwt_calc_pulse(npw, data->low_overflows,
 						  &pulse);
 		} else {
 			err = mcux_pwt_calc_pulse(ppw, data->high_overflows,
 						  &pulse);
 		}

 		if (err == 0) {
 			err = mcux_pwt_calc_period(ppw, npw,
 						   data->high_overflows,
 						   data->low_overflows,
 						   &period);
 		}

 		if (data->overflowed) {
 			err = -ERANGE;
 		}

 		LOG_DBG("period = %d, pulse = %d, err = %d", period, pulse,
 			err);

 		if (data->callback) {
 			data->callback(dev, data->pwt_config.inputSelect,
 				       period, pulse, err, data->user_data);
 		}

 		data->overflowed = false;
 		data->high_overflows = 0;
 		data->low_overflows = 0;
 		PWT_ClearStatusFlags(config->base, kPWT_PulseWidthValidFlag);
 	}
 }

 static int mcux_pwt_get_cycles_per_sec(const struct device *dev,
 				       uint32_t channel, uint64_t *cycles)
 {
 	const struct mcux_pwt_config *config = dev->config;
 	struct mcux_pwt_data *data = dev->data;

 	ARG_UNUSED(channel);

 	*cycles = data->clock_freq >> config->prescale;

 	return 0;
 }

 static int mcux_pwt_init(const struct device *dev)
 {
 	const struct mcux_pwt_config *config = dev->config;
 	struct mcux_pwt_data *data = dev->data;
 	pwt_config_t *pwt_config = &data->pwt_config;
 	int err;

 	if (!device_is_ready(config->clock_dev)) {
 		LOG_ERR("clock control device not ready");
 		return -ENODEV;
 	}

 	if (clock_control_get_rate(config->clock_dev, config->clock_subsys,
 				   &data->clock_freq)) {
 		LOG_ERR("could not get clock frequency");
 		return -EINVAL;
 	}

 	PWT_GetDefaultConfig(pwt_config);
 	pwt_config->clockSource = config->pwt_clock_source;
 	pwt_config->prescale = config->prescale;
 	pwt_config->enableFirstCounterLoad = true;
 	PWT_Init(config->base, pwt_config);

 	err = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
 	if (err) {
 		return err;
 	}

 	config->irq_config_func(dev);

 	return 0;
 }

 static const struct pwm_driver_api mcux_pwt_driver_api = {
 	.set_cycles = mcux_pwt_set_cycles,
 	.get_cycles_per_sec = mcux_pwt_get_cycles_per_sec,
 	.configure_capture = mcux_pwt_configure_capture,
 	.enable_capture = mcux_pwt_enable_capture,
 	.disable_capture = mcux_pwt_disable_capture,
 };

 #define TO_PWT_PRESCALE_DIVIDE(val) _DO_CONCAT(kPWT_Prescale_Divide_, val)

 #define PWT_DEVICE(n) \
 	static void mcux_pwt_config_func_##n(const struct device *dev);	\
 									\
 	PINCTRL_DT_INST_DEFINE(n);					\
 									\
 	static const struct mcux_pwt_config mcux_pwt_config_##n = {	\
 		.base = (PWT_Type *)DT_INST_REG_ADDR(n),		\
 		.clock_dev = DEVICE_DT_GET(DT_INST_CLOCKS_CTLR(n)),	\
 		.clock_subsys =						\
 		(clock_control_subsys_t)DT_INST_CLOCKS_CELL(n, name),	\
 		.pwt_clock_source = kPWT_BusClock,			\
 		.prescale =						\
 		TO_PWT_PRESCALE_DIVIDE(DT_INST_PROP(n, prescaler)),	\
 		.irq_config_func = mcux_pwt_config_func_##n,		\
 		.pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(n),		\
 	};								\
 									\
 	static struct mcux_pwt_data mcux_pwt_data_##n;			\
 									\
 	DEVICE_DT_INST_DEFINE(n, &mcux_pwt_init,			\
 			NULL, &mcux_pwt_data_##n,			\
 			&mcux_pwt_config_##n,				\
 			POST_KERNEL,					\
 			CONFIG_PWM_INIT_PRIORITY,			\
 			&mcux_pwt_driver_api);				\
 									\
 	static void mcux_pwt_config_func_##n(const struct device *dev)	\
 	{								\
 		IRQ_CONNECT(DT_INST_IRQN(n), DT_INST_IRQ(n, priority),	\
 			mcux_pwt_isr, DEVICE_DT_INST_GET(n), 0);	\
 		irq_enable(DT_INST_IRQN(n));				\
 	}

 DT_INST_FOREACH_STATUS_OKAY(PWT_DEVICE)
	/*
	* Copyright (c) 2021 Vestas Wind Systems A/S
	* Copyright 2024 NXP
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#define DT_DRV_COMPAT nxp_kinetis_pwt

	#include <zephyr/drivers/clock_control.h>
	#include <errno.h>
	#include <zephyr/drivers/pwm.h>
	#include <zephyr/irq.h>
	#include <soc.h>
	#include <fsl_pwt.h>
	#include <fsl_clock.h>
	#include <zephyr/drivers/pinctrl.h>

	#include <zephyr/logging/log.h>

	LOG_MODULE_REGISTER(pwm_mcux_pwt, CONFIG_PWM_LOG_LEVEL);

	/* Number of PWT input ports */
	#define PWT_INPUTS 4U

	struct mcux_pwt_config {
	PWT_Type *base;
	const struct device *clock_dev;
	clock_control_subsys_t clock_subsys;
	pwt_clock_source_t pwt_clock_source;
	pwt_clock_prescale_t prescale;
	void (irq_config_func)(const struct device dev);
	const struct pinctrl_dev_config *pincfg;
	};

	struct mcux_pwt_data {
	uint32_t clock_freq;
	uint32_t period_cycles;
	uint32_t high_overflows;
	uint32_t low_overflows;
	pwm_capture_callback_handler_t callback;
	void *user_data;
	pwt_config_t pwt_config;
	bool continuous : 1;
	bool inverted : 1;
	bool overflowed : 1;
	};

	static inline bool mcux_pwt_is_active(const struct device *dev)
	{
	const struct mcux_pwt_config *config = dev->config;

	return !!(config->base->CS & PWT_CS_PWTEN_MASK);
	}

	static int mcux_pwt_set_cycles(const struct device *dev, uint32_t channel,
	uint32_t period_cycles, uint32_t pulse_cycles,
	pwm_flags_t flags)
	{
	ARG_UNUSED(dev);
	ARG_UNUSED(channel);
	ARG_UNUSED(period_cycles);
	ARG_UNUSED(pulse_cycles);
	ARG_UNUSED(flags);

	LOG_ERR("pwt only supports pwm capture");

	return -ENOTSUP;
	}

	static int mcux_pwt_configure_capture(const struct device *dev,
	uint32_t channel, pwm_flags_t flags,
	pwm_capture_callback_handler_t cb,
	void *user_data)
	{
	const struct mcux_pwt_config *config = dev->config;
	struct mcux_pwt_data *data = dev->data;

	if (channel >= PWT_INPUTS) {
	LOG_ERR("invalid channel %d", channel);
	return -EINVAL;
	}

	if (mcux_pwt_is_active(dev)) {
	LOG_ERR("pwm capture in progress");
	return -EBUSY;
	}

	#if defined(CONFIG_SOC_SERIES_KE1XZ)
	if ((flags & PWM_CAPTURE_TYPE_MASK) == PWM_CAPTURE_TYPE_BOTH) {
	LOG_ERR("Cannot capture both period and pulse width");
	return -ENOTSUP;
	}

	if (((flags & PWM_CAPTURE_TYPE_MASK) == PWM_CAPTURE_TYPE_PERIOD) &&
	((flags & PWM_POLARITY_MASK) == PWM_POLARITY_NORMAL)) {
	LOG_ERR("Cannot capture period in normal polarity (active-high pulse)");
	return -ENOTSUP;
	}
	#endif

	data->callback = cb;
	data->user_data = user_data;

	data->pwt_config.inputSelect = channel;

	data->continuous =
	(flags & PWM_CAPTURE_MODE_MASK) == PWM_CAPTURE_MODE_CONTINUOUS;
	data->inverted =
	(flags & PWM_POLARITY_MASK) == PWM_POLARITY_INVERTED;

	PWT_Init(config->base, &data->pwt_config);
	PWT_EnableInterrupts(config->base,
	kPWT_PulseWidthReadyInterruptEnable \|
	kPWT_CounterOverflowInterruptEnable);

	return 0;
	}

	static int mcux_pwt_enable_capture(const struct device *dev, uint32_t channel)
	{
	const struct mcux_pwt_config *config = dev->config;
	struct mcux_pwt_data *data = dev->data;

	if (channel >= PWT_INPUTS) {
	LOG_ERR("invalid channel %d", channel);
	return -EINVAL;
	}

	if (!data->callback) {
	LOG_ERR("PWM capture not configured");
	return -EINVAL;
	}

	if (mcux_pwt_is_active(dev)) {
	LOG_ERR("PWM capture already enabled");
	return -EBUSY;
	}

	data->overflowed = false;
	data->high_overflows = 0;
	data->low_overflows = 0;
	PWT_StartTimer(config->base);

	return 0;
	}

	static int mcux_pwt_disable_capture(const struct device *dev, uint32_t channel)
	{
	const struct mcux_pwt_config *config = dev->config;

	if (channel >= PWT_INPUTS) {
	LOG_ERR("invalid channel %d", channel);
	return -EINVAL;
	}

	PWT_StopTimer(config->base);

	return 0;
	}

	static int mcux_pwt_calc_period(uint16_t ppw, uint16_t npw,
	uint32_t high_overflows,
	uint32_t low_overflows,
	uint32_t *result)
	{
	uint32_t period;

	/* Calculate sum of overflow counters */
	if (u32_add_overflow(high_overflows, low_overflows, &period)) {
	return -ERANGE;
	}

	/* Calculate cycles from sum of overflow counters */
	if (u32_mul_overflow(period, 0xFFFFU, &period)) {
	return -ERANGE;
	}

	/* Add positive pulse width */
	if (u32_add_overflow(period, ppw, &period)) {
	return -ERANGE;
	}

	/* Add negative pulse width */
	if (u32_add_overflow(period, npw, &period)) {
	return -ERANGE;
	}

	*result = period;

	return 0;
	}

	static int mcux_pwt_calc_pulse(uint16_t pw, uint32_t overflows,
	uint32_t *result)
	{
	uint32_t pulse;

	/* Calculate cycles from overflow counter */
	if (u32_mul_overflow(overflows, 0xFFFFU, &pulse)) {
	return -ERANGE;
	}

	/* Add pulse width */
	if (u32_add_overflow(pulse, pw, &pulse)) {
	return -ERANGE;
	}

	*result = pulse;

	return 0;
	}

	static void mcux_pwt_isr(const struct device *dev)
	{
	const struct mcux_pwt_config *config = dev->config;
	struct mcux_pwt_data *data = dev->data;
	uint32_t period = 0;
	uint32_t pulse = 0;
	uint32_t flags;
	uint16_t ppw;
	uint16_t npw;
	int err;

	flags = PWT_GetStatusFlags(config->base);

	if (flags & kPWT_CounterOverflowFlag) {
	if (config->base->CR & PWT_CR_LVL_MASK) {
	data->overflowed \|= u32_add_overflow(1,
	data->high_overflows, &data->high_overflows);
	} else {
	data->overflowed \|= u32_add_overflow(1,
	data->low_overflows, &data->low_overflows);
	}

	PWT_ClearStatusFlags(config->base, kPWT_CounterOverflowFlag);
	}

	if (flags & kPWT_PulseWidthValidFlag) {
	ppw = PWT_ReadPositivePulseWidth(config->base);
	npw = PWT_ReadNegativePulseWidth(config->base);

	if (!data->continuous) {
	PWT_StopTimer(config->base);
	}

	if (data->inverted) {
	err = mcux_pwt_calc_pulse(npw, data->low_overflows,
	&pulse);
	} else {
	err = mcux_pwt_calc_pulse(ppw, data->high_overflows,
	&pulse);
	}

	if (err == 0) {
	err = mcux_pwt_calc_period(ppw, npw,
	data->high_overflows,
	data->low_overflows,
	&period);
	}

	if (data->overflowed) {
	err = -ERANGE;
	}

	LOG_DBG("period = %d, pulse = %d, err = %d", period, pulse,
	err);

	if (data->callback) {
	data->callback(dev, data->pwt_config.inputSelect,
	period, pulse, err, data->user_data);
	}

	data->overflowed = false;
	data->high_overflows = 0;
	data->low_overflows = 0;
	PWT_ClearStatusFlags(config->base, kPWT_PulseWidthValidFlag);
	}
	}

	static int mcux_pwt_get_cycles_per_sec(const struct device *dev,
	uint32_t channel, uint64_t *cycles)
	{
	const struct mcux_pwt_config *config = dev->config;
	struct mcux_pwt_data *data = dev->data;

	ARG_UNUSED(channel);

	*cycles = data->clock_freq >> config->prescale;

	return 0;
	}

	static int mcux_pwt_init(const struct device *dev)
	{
	const struct mcux_pwt_config *config = dev->config;
	struct mcux_pwt_data *data = dev->data;
	pwt_config_t *pwt_config = &data->pwt_config;
	int err;

	if (!device_is_ready(config->clock_dev)) {
	LOG_ERR("clock control device not ready");
	return -ENODEV;
	}

	if (clock_control_get_rate(config->clock_dev, config->clock_subsys,
	&data->clock_freq)) {
	LOG_ERR("could not get clock frequency");
	return -EINVAL;
	}

	PWT_GetDefaultConfig(pwt_config);
	pwt_config->clockSource = config->pwt_clock_source;
	pwt_config->prescale = config->prescale;
	pwt_config->enableFirstCounterLoad = true;
	PWT_Init(config->base, pwt_config);

	err = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
	if (err) {
	return err;
	}

	config->irq_config_func(dev);

	return 0;
	}

	static const struct pwm_driver_api mcux_pwt_driver_api = {
	.set_cycles = mcux_pwt_set_cycles,
	.get_cycles_per_sec = mcux_pwt_get_cycles_per_sec,
	.configure_capture = mcux_pwt_configure_capture,
	.enable_capture = mcux_pwt_enable_capture,
	.disable_capture = mcux_pwt_disable_capture,
	};

	#define TO_PWT_PRESCALE_DIVIDE(val) _DO_CONCAT(kPWT_Prescale_Divide_, val)

	#define PWT_DEVICE(n) \
	static void mcux_pwt_config_func_##n(const struct device *dev); \
	\
	PINCTRL_DT_INST_DEFINE(n); \
	\
	static const struct mcux_pwt_config mcux_pwt_config_##n = { \
	.base = (PWT_Type *)DT_INST_REG_ADDR(n), \
	.clock_dev = DEVICE_DT_GET(DT_INST_CLOCKS_CTLR(n)), \
	.clock_subsys = \
	(clock_control_subsys_t)DT_INST_CLOCKS_CELL(n, name), \
	.pwt_clock_source = kPWT_BusClock, \
	.prescale = \
	TO_PWT_PRESCALE_DIVIDE(DT_INST_PROP(n, prescaler)), \
	.irq_config_func = mcux_pwt_config_func_##n, \
	.pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(n), \
	}; \
	\
	static struct mcux_pwt_data mcux_pwt_data_##n; \
	\
	DEVICE_DT_INST_DEFINE(n, &mcux_pwt_init, \
	NULL, &mcux_pwt_data_##n, \
	&mcux_pwt_config_##n, \
	POST_KERNEL, \
	CONFIG_PWM_INIT_PRIORITY, \
	&mcux_pwt_driver_api); \
	\
	static void mcux_pwt_config_func_##n(const struct device *dev) \
	{ \
	IRQ_CONNECT(DT_INST_IRQN(n), DT_INST_IRQ(n, priority), \
	mcux_pwt_isr, DEVICE_DT_INST_GET(n), 0); \
	irq_enable(DT_INST_IRQN(n)); \
	}

	DT_INST_FOREACH_STATUS_OKAY(PWT_DEVICE)