blob: b05208673ff3e427a7c773e7c6c8be01520967f1 [file] [log] [blame]
/*
* Copyright (c) 2016 Linaro Limited.
* Copyright (c) 2020 Teslabs Engineering S.L.
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT st_stm32_pwm
#include <errno.h>
#include <soc.h>
#include <stm32_ll_rcc.h>
#include <stm32_ll_tim.h>
#include <drivers/pwm.h>
#include <device.h>
#include <kernel.h>
#include <init.h>
#include <drivers/clock_control/stm32_clock_control.h>
#include <pinmux/pinmux_stm32.h>
#include <logging/log.h>
LOG_MODULE_REGISTER(pwm_stm32, CONFIG_PWM_LOG_LEVEL);
/* L0 series MCUs only have 16-bit timers and don't have below macro defined */
#ifndef IS_TIM_32B_COUNTER_INSTANCE
#define IS_TIM_32B_COUNTER_INSTANCE(INSTANCE) (0)
#endif
/** PWM data. */
struct pwm_stm32_data {
/** Timer clock (Hz). */
uint32_t tim_clk;
};
/** PWM configuration. */
struct pwm_stm32_config {
/** Timer instance. */
TIM_TypeDef *timer;
/** Prescaler. */
uint32_t prescaler;
/** Clock configuration. */
struct stm32_pclken pclken;
/** pinctrl configurations. */
const struct soc_gpio_pinctrl *pinctrl;
/** Number of pinctrl configurations. */
size_t pinctrl_len;
};
/** Series F3, F7, G0, G4, H7, L4, MP1 and WB have up to 6 channels, others up
* to 4.
*/
#if defined(CONFIG_SOC_SERIES_STM32F3X) || \
defined(CONFIG_SOC_SERIES_STM32F7X) || \
defined(CONFIG_SOC_SERIES_STM32G0X) || \
defined(CONFIG_SOC_SERIES_STM32G4X) || \
defined(CONFIG_SOC_SERIES_STM32H7X) || \
defined(CONFIG_SOC_SERIES_STM32L4X) || \
defined(CONFIG_SOC_SERIES_STM32MP1X) || \
defined(CONFIG_SOC_SERIES_STM32WBX)
#define TIMER_HAS_6CH 1
#else
#define TIMER_HAS_6CH 0
#endif
/** Maximum number of timer channels. */
#if TIMER_HAS_6CH
#define TIMER_MAX_CH 6u
#else
#define TIMER_MAX_CH 4u
#endif
/** Channel to LL mapping. */
static const uint32_t ch2ll[TIMER_MAX_CH] = {
LL_TIM_CHANNEL_CH1, LL_TIM_CHANNEL_CH2,
LL_TIM_CHANNEL_CH3, LL_TIM_CHANNEL_CH4,
#if TIMER_HAS_6CH
LL_TIM_CHANNEL_CH5, LL_TIM_CHANNEL_CH6
#endif
};
/** Channel to compare set function mapping. */
static void (*const set_timer_compare[TIMER_MAX_CH])(TIM_TypeDef *,
uint32_t) = {
LL_TIM_OC_SetCompareCH1, LL_TIM_OC_SetCompareCH2,
LL_TIM_OC_SetCompareCH3, LL_TIM_OC_SetCompareCH4,
#if TIMER_HAS_6CH
LL_TIM_OC_SetCompareCH5, LL_TIM_OC_SetCompareCH6
#endif
};
/**
* Obtain LL polarity from PWM flags.
*
* @param flags PWM flags.
*
* @return LL polarity.
*/
static uint32_t get_polarity(pwm_flags_t flags)
{
if ((flags & PWM_POLARITY_MASK) == PWM_POLARITY_NORMAL) {
return LL_TIM_OCPOLARITY_HIGH;
}
return LL_TIM_OCPOLARITY_LOW;
}
/**
* Obtain timer clock speed.
*
* @param pclken Timer clock control subsystem.
* @param tim_clk Where computed timer clock will be stored.
*
* @return 0 on success, error code otherwise.
*/
static int get_tim_clk(const struct stm32_pclken *pclken, uint32_t *tim_clk)
{
int r;
const struct device *clk;
uint32_t bus_clk, apb_psc;
clk = DEVICE_DT_GET(STM32_CLOCK_CONTROL_NODE);
r = clock_control_get_rate(clk, (clock_control_subsys_t *)pclken,
&bus_clk);
if (r < 0) {
return r;
}
#if defined(CONFIG_SOC_SERIES_STM32H7X)
if (pclken->bus == STM32_CLOCK_BUS_APB1) {
apb_psc = STM32_D2PPRE1;
} else {
apb_psc = STM32_D2PPRE2;
}
#else
if (pclken->bus == STM32_CLOCK_BUS_APB1) {
apb_psc = STM32_APB1_PRESCALER;
}
#if !defined(CONFIG_SOC_SERIES_STM32F0X) && !defined(CONFIG_SOC_SERIES_STM32G0X)
else {
apb_psc = STM32_APB2_PRESCALER;
}
#endif
#endif
#if defined(RCC_DCKCFGR_TIMPRE) || defined(RCC_DCKCFGR1_TIMPRE) || \
defined(RCC_CFGR_TIMPRE)
/*
* There are certain series (some F4, F7 and H7) that have the TIMPRE
* bit to control the clock frequency of all the timers connected to
* APB1 and APB2 domains.
*
* Up to a certain threshold value of APB{1,2} prescaler, timer clock
* equals to HCLK. This threshold value depends on TIMPRE setting
* (2 if TIMPRE=0, 4 if TIMPRE=1). Above threshold, timer clock is set
* to a multiple of the APB domain clock PCLK{1,2} (2 if TIMPRE=0, 4 if
* TIMPRE=1).
*/
if (LL_RCC_GetTIMPrescaler() == LL_RCC_TIM_PRESCALER_TWICE) {
/* TIMPRE = 0 */
if (apb_psc <= 2u) {
LL_RCC_ClocksTypeDef clocks;
LL_RCC_GetSystemClocksFreq(&clocks);
*tim_clk = clocks.HCLK_Frequency;
} else {
*tim_clk = bus_clk * 2u;
}
} else {
/* TIMPRE = 1 */
if (apb_psc <= 4u) {
LL_RCC_ClocksTypeDef clocks;
LL_RCC_GetSystemClocksFreq(&clocks);
*tim_clk = clocks.HCLK_Frequency;
} else {
*tim_clk = bus_clk * 4u;
}
}
#else
/*
* If the APB prescaler equals 1, the timer clock frequencies
* are set to the same frequency as that of the APB domain.
* Otherwise, they are set to twice (×2) the frequency of the
* APB domain.
*/
if (apb_psc == 1u) {
*tim_clk = bus_clk;
} else {
*tim_clk = bus_clk * 2u;
}
#endif
return 0;
}
static int pwm_stm32_pin_set(const struct device *dev, uint32_t pwm,
uint32_t period_cycles, uint32_t pulse_cycles,
pwm_flags_t flags)
{
const struct pwm_stm32_config *cfg = dev->config;
uint32_t channel;
if (pwm < 1u || pwm > TIMER_MAX_CH) {
LOG_ERR("Invalid channel (%d)", pwm);
return -EINVAL;
}
if (pulse_cycles > period_cycles) {
LOG_ERR("Invalid combination of pulse and period cycles");
return -EINVAL;
}
/*
* Non 32-bit timers count from 0 up to the value in the ARR register
* (16-bit). Thus period_cycles cannot be greater than UINT16_MAX + 1.
*/
if (!IS_TIM_32B_COUNTER_INSTANCE(cfg->timer) &&
(period_cycles > UINT16_MAX + 1)) {
return -ENOTSUP;
}
channel = ch2ll[pwm - 1u];
if (period_cycles == 0u) {
LL_TIM_CC_DisableChannel(cfg->timer, channel);
return 0;
}
if (!LL_TIM_CC_IsEnabledChannel(cfg->timer, channel)) {
LL_TIM_OC_InitTypeDef oc_init;
LL_TIM_OC_StructInit(&oc_init);
oc_init.OCMode = LL_TIM_OCMODE_PWM1;
oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
oc_init.CompareValue = pulse_cycles;
oc_init.OCPolarity = get_polarity(flags);
if (LL_TIM_OC_Init(cfg->timer, channel, &oc_init) != SUCCESS) {
LOG_ERR("Could not initialize timer channel output");
return -EIO;
}
LL_TIM_EnableARRPreload(cfg->timer);
LL_TIM_OC_EnablePreload(cfg->timer, channel);
LL_TIM_SetAutoReload(cfg->timer, period_cycles - 1u);
LL_TIM_GenerateEvent_UPDATE(cfg->timer);
} else {
LL_TIM_OC_SetPolarity(cfg->timer, channel, get_polarity(flags));
set_timer_compare[pwm - 1u](cfg->timer, pulse_cycles);
LL_TIM_SetAutoReload(cfg->timer, period_cycles - 1u);
}
return 0;
}
static int pwm_stm32_get_cycles_per_sec(const struct device *dev,
uint32_t pwm,
uint64_t *cycles)
{
struct pwm_stm32_data *data = dev->data;
const struct pwm_stm32_config *cfg = dev->config;
*cycles = (uint64_t)(data->tim_clk / (cfg->prescaler + 1));
return 0;
}
static const struct pwm_driver_api pwm_stm32_driver_api = {
.pin_set = pwm_stm32_pin_set,
.get_cycles_per_sec = pwm_stm32_get_cycles_per_sec,
};
static int pwm_stm32_init(const struct device *dev)
{
struct pwm_stm32_data *data = dev->data;
const struct pwm_stm32_config *cfg = dev->config;
int r;
const struct device *clk;
LL_TIM_InitTypeDef init;
/* enable clock and store its speed */
clk = DEVICE_DT_GET(STM32_CLOCK_CONTROL_NODE);
r = clock_control_on(clk, (clock_control_subsys_t *)&cfg->pclken);
if (r < 0) {
LOG_ERR("Could not initialize clock (%d)", r);
return r;
}
r = get_tim_clk(&cfg->pclken, &data->tim_clk);
if (r < 0) {
LOG_ERR("Could not obtain timer clock (%d)", r);
return r;
}
/* configure pinmux */
r = stm32_dt_pinctrl_configure(cfg->pinctrl,
cfg->pinctrl_len,
(uint32_t)cfg->timer);
if (r < 0) {
LOG_ERR("PWM pinctrl setup failed (%d)", r);
return r;
}
/* initialize timer */
LL_TIM_StructInit(&init);
init.Prescaler = cfg->prescaler;
init.CounterMode = LL_TIM_COUNTERMODE_UP;
init.Autoreload = 0u;
init.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
if (LL_TIM_Init(cfg->timer, &init) != SUCCESS) {
LOG_ERR("Could not initialize timer");
return -EIO;
}
#if !defined(CONFIG_SOC_SERIES_STM32L0X) && !defined(CONFIG_SOC_SERIES_STM32L1X)
/* enable outputs and counter */
if (IS_TIM_BREAK_INSTANCE(cfg->timer)) {
LL_TIM_EnableAllOutputs(cfg->timer);
}
#endif
LL_TIM_EnableCounter(cfg->timer);
return 0;
}
#define DT_INST_CLK(index, inst) \
{ \
.bus = DT_CLOCKS_CELL(DT_PARENT(DT_DRV_INST(index)), bus), \
.enr = DT_CLOCKS_CELL(DT_PARENT(DT_DRV_INST(index)), bits) \
}
#define PWM_DEVICE_INIT(index) \
static struct pwm_stm32_data pwm_stm32_data_##index; \
\
static const struct soc_gpio_pinctrl pwm_pins_##index[] = \
ST_STM32_DT_INST_PINCTRL(index, 0); \
\
static const struct pwm_stm32_config pwm_stm32_config_##index = { \
.timer = (TIM_TypeDef *)DT_REG_ADDR( \
DT_PARENT(DT_DRV_INST(index))), \
.prescaler = DT_INST_PROP(index, st_prescaler), \
.pclken = DT_INST_CLK(index, timer), \
.pinctrl = pwm_pins_##index, \
.pinctrl_len = ARRAY_SIZE(pwm_pins_##index), \
}; \
\
DEVICE_DT_INST_DEFINE(index, &pwm_stm32_init, NULL, \
&pwm_stm32_data_##index, \
&pwm_stm32_config_##index, POST_KERNEL, \
CONFIG_KERNEL_INIT_PRIORITY_DEVICE, \
&pwm_stm32_driver_api);
DT_INST_FOREACH_STATUS_OKAY(PWM_DEVICE_INIT)