pkarashchenko commented on code in PR #12054: URL: https://github.com/apache/nuttx/pull/12054#discussion_r1552939771
########## arch/arm64/src/imx9/imx9_tpm_pwm.c: ########## @@ -0,0 +1,686 @@ +/**************************************************************************** + * arch/arm64/src/imx9/imx9_tpm_pwm.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <stdbool.h> +#include <errno.h> +#include <debug.h> +#include <time.h> +#include <inttypes.h> + +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <nuttx/semaphore.h> +#include <nuttx/timers/pwm.h> + +#include <arch/board/board.h> + +#include "arm64_arch.h" +#include "imx9_tpm_pwm.h" +#include "imx9_iomuxc.h" +#include "imx9_ccm.h" + +#include "hardware/imx9_iomuxc.h" +#include "hardware/imx9_pinmux.h" +#include "hardware/imx9_ccm.h" + +#ifdef CONFIG_IMX9_TPM_PWM + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define CHMUX(priv, x) (((priv->chmux) >> (x)) & 0xff) + +/* This is a temporary shortcut to configure TPM1 and TPM3 + * frequencies correctly; they don't have an own root clock + * + * TODO: Determine the frequencies in a more proper way + */ + +#define AON_CLK_FREQ 133333333 +#define WAKEUP_CLK_FREQ 133333333 +#define OSC_24_CLK_FREQ 24000000 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/* This structure represents the state of one PWM timer */ + +struct imx9_pwmtimer_s +{ + const struct pwm_ops_s *ops; /* PWM operations */ + const tpm_pwm_id_t id; /* PWM_TPM1...PWM_TPM6 */ + const uintptr_t base; /* The base address of the TPM */ + const int n_channels; /* Number of channels used for TPM block */ + const uint32_t chmux; /* Additional muxing of TPM outputs */ + const int clk; /* Input clock frequency for the TPM */ + uint32_t period; + unsigned frequency; /* Current frequency setting */ +}; + +/**************************************************************************** + * Static Function Prototypes + ****************************************************************************/ + +/* PWM driver methods */ + +static int pwm_setup(struct pwm_lowerhalf_s *dev); +static int pwm_shutdown(struct pwm_lowerhalf_s *dev); + +static int pwm_start(struct pwm_lowerhalf_s *dev, + const struct pwm_info_s *info); + +static int pwm_stop(struct pwm_lowerhalf_s *dev); +static int pwm_ioctl(struct pwm_lowerhalf_s *dev, + int cmd, unsigned long arg); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/* This is the list of lower half PWM driver methods used by the upper half + * driver + */ + +static const struct pwm_ops_s g_pwmops = +{ + .setup = pwm_setup, + .shutdown = pwm_shutdown, + .start = pwm_start, + .stop = pwm_stop, + .ioctl = pwm_ioctl, +}; + +static struct imx9_pwmtimer_s g_pwmdev[] = +{ +#ifdef CONFIG_IMX9_TPM1_PWM + { + .ops = &g_pwmops, + .id = PWM_TPM1, + .base = IMX9_TPM1_BASE, + .n_channels = CONFIG_IMX9_TPM1_PWM_NCHANNELS, + .chmux = CONFIG_IMX9_TPM1_PWM_CHMUX, + .clk = AON_CLK_FREQ, + }, +#endif + +#ifdef CONFIG_IMX9_TPM2_PWM + { + .ops = &g_pwmops, + .id = PWM_TPM2, + .base = IMX9_TPM2_BASE, + .n_channels = CONFIG_IMX9_TPM2_PWM_NCHANNELS, + .chmux = CONFIG_IMX9_TPM2_PWM_CHMUX, + .clk = OSC_24_CLK_FREQ, + }, +#endif + +#ifdef CONFIG_IMX9_TPM3_PWM + { + .ops = &g_pwmops, + .id = PWM_TPM3, + .base = IMX9_TPM3_BASE, + .n_channels = CONFIG_IMX9_TPM3_PWM_NCHANNELS, + .chmux = CONFIG_IMX9_TPM3_PWM_CHMUX, + .clk = WAKEUP_CLK_FREQ, + }, +#endif + +#ifdef CONFIG_IMX9_TPM4_PWM + { + .ops = &g_pwmops, + .id = PWM_TPM4, + .base = IMX9_TPM4_BASE, + .n_channels = CONFIG_IMX9_TPM4_PWM_NCHANNELS, + .chmux = CONFIG_IMX9_TPM4_PWM_CHMUX, + .clk = OSC_24_CLK_FREQ, + }, +#endif + +#ifdef CONFIG_IMX9_TPM5_PWM + { + .ops = &g_pwmops, + .id = PWM_TPM5, + .base = IMX9_TPM5_BASE, + .n_channels = CONFIG_IMX9_TPM5_PWM_NCHANNELS, + .chmux = CONFIG_IMX9_TPM5_PWM_CHMUX, + .clk = OSC_24_CLK_FREQ, + }, +#endif + +#ifdef CONFIG_IMX9_TPM6_PWM + { + .ops = &g_pwmops, + .id = PWM_TPM6, + .base = IMX9_TPM6_BASE, + .n_channels = CONFIG_IMX9_TPM6_PWM_NCHANNELS, + .chmux = CONFIG_IMX9_TPM6_PWM_CHMUX, + .clk = OSC_24_CLK_FREQ, + }, +#endif +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: pwm_getreg + * + * Description: + * Read the value of an PWM timer register. + * + * Input Parameters: + * priv - A reference to the PWM block status + * offset - The offset to the register to read + * + * Returned Value: + * The current contents of the specified register + * + ****************************************************************************/ + +static inline uint32_t pwm_getreg(struct imx9_pwmtimer_s *priv, int offset) +{ + return getreg32(priv->base + offset); +} + +/**************************************************************************** + * Name: pwm_putreg + * + * Description: + * Read the value of an PWM timer register. + * + * Input Parameters: + * priv - A reference to the PWM block status + * offset - The offset to the register to read + * + * Returned Value: + * None + * + ****************************************************************************/ + +static inline void pwm_putreg(struct imx9_pwmtimer_s *priv, int offset, + uint32_t value) +{ + putreg32(value, priv->base + offset); +} + +/**************************************************************************** + * Name: tpm_mux + * + * Description: + * Mux the tpm output pins to pads. The macros TPMn_PWMx_MUX + * need to be defined in the board.h file + * + * Input Parameters: + * None + * + * Returned Value: + * None + * + ****************************************************************************/ + +static void tpm_mux(void) +{ +#ifdef CONFIG_IMX9_TPM1_PWM +# ifdef TPM1_PWM0_MUX + imx9_iomux_configure(TPM1_PWM0_MUX); +# endif + +# ifdef TPM1_PWM1_MUX + imx9_iomux_configure(TPM1_PWM1_MUX); +# endif + +# ifdef TPM1_PWM2_MUX + imx9_iomux_configure(TPM1_PWM2_MUX); +# endif + +# ifdef TPM1_PWM3_MUX + imx9_iomux_configure(TPM1_PWM3_MUX); +# endif +#endif + +#ifdef CONFIG_IMX9_TPM2_PWM +# ifdef TPM2_PWM0_MUX + imx9_iomux_configure(TPM2_PWM0_MUX); +# endif + +# ifdef TPM2_PWM1_MUX + imx9_iomux_configure(TPM2_PWM1_MUX); +# endif + +# ifdef TPM2_PWM2_MUX + imx9_iomux_configure(TPM2_PWM2_MUX); +# endif + +# ifdef TPM2_PWM3_MUX + imx9_iomux_configure(TPM2_PWM3_MUX); +# endif +#endif + +#ifdef CONFIG_IMX9_TPM3_PWM +# ifdef TPM3_PWM0_MUX + imx9_iomux_configure(TPM3_PWM0_MUX); +# endif + +# ifdef TPM3_PWM1_MUX + imx9_iomux_configure(TPM3_PWM1_MUX); +# endif + +# ifdef TPM3_PWM2_MUX + imx9_iomux_configure(TPM3_PWM2_MUX); +# endif + +# ifdef TPM3_PWM3_MUX + imx9_iomux_configure(TPM3_PWM3_MUX); +# endif +#endif + +#ifdef CONFIG_IMX9_TPM4_PWM +# ifdef TPM4_PWM0_MUX + imx9_iomux_configure(TPM4_PWM0_MUX); +# endif + +# ifdef TPM4_PWM1_MUX + imx9_iomux_configure(TPM4_PWM1_MUX); +# endif + +# ifdef TPM4_PWM2_MUX + imx9_iomux_configure(TPM4_PWM2_MUX); +# endif + +# ifdef TPM4_PWM3_MUX + imx9_iomux_configure(TPM4_PWM3_MUX); +# endif +#endif + +#ifdef CONFIG_IMX9_TPM5_PWM +# ifdef TPM5_PWM0_MUX + imx9_iomux_configure(TPM5_PWM0_MUX); +# endif + +# ifdef TPM5_PWM1_MUX + imx9_iomux_configure(TPM5_PWM1_MUX); +# endif + +# ifdef TPM5_PWM2_MUX + imx9_iomux_configure(TPM5_PWM2_MUX); +# endif + +# ifdef TPM5_PWM3_MUX + imx9_iomux_configure(TPM5_PWM3_MUX); +# endif +#endif + +#ifdef CONFIG_IMX9_TPM6_PWM +# ifdef TPM6_PWM0_MUX + imx9_iomux_configure(TPM6_PWM0_MUX); +# endif + +# ifdef TPM6_PWM1_MUX + imx9_iomux_configure(TPM6_PWM1_MUX); +# endif + +# ifdef TPM6_PWM2_MUX + imx9_iomux_configure(TPM6_PWM2_MUX); +# endif + +# ifdef TPM6_PWM3_MUX + imx9_iomux_configure(TPM6_PWM3_MUX); +# endif +#endif +} + +/**************************************************************************** + * Name: pwm_update_frequency + * + * Description: + * Initialize the timer trigger, generating the PWM freuency + * + * Input Parameters: + * priv - A reference to the lower half PWM driver state structure + * freq - The requested PWM frequency for this flexio block + * + * Returned Value: + * Zero on success, negated error value on failure + * + ****************************************************************************/ + +static int pwm_update_frequency(struct imx9_pwmtimer_s *priv, int freq) +{ + if (freq != priv->frequency) + { + priv->period = freq > 0 ? priv->clk / freq : 0; + + pwminfo("PWM%d frequency: %" PRIu32" period: %" PRIu32 "\n", priv->id, + freq, priv->period); + + /* Set the period */ + + pwm_putreg(priv, IMX9_TPM_MOD_OFFSET, priv->period); + + priv->frequency = freq; + } + + return OK; +} + +/**************************************************************************** + * Name: pwm_update_duty + * + * Description: + * Change the channel duty cycle. + * + * Input Parameters: + * priv - A reference to the lower half PWM driver state structure + * period - PWM pulse width in timer ticks + * channel - Channel to by updated + * + * Returned Value: + * Zero on success; a negated errno value on failure + * + ****************************************************************************/ + +static int pwm_update_duty(struct imx9_pwmtimer_s *priv, int pwm_ch, + ub16_t duty16) +{ + uint64_t duty = ub16toi(duty16); + uint32_t edge = (duty * priv->period + 0x8000) >> 16; + int timer = pwm_ch - 1; + + if (pwm_ch == 0 || timer > priv->n_channels) + { + pwmerr("ERROR: PWM%d has no such channel: %d\n", priv->id, timer); + return -EINVAL; + } + + pwminfo("PWM%d channel %d, p: %d e: %" PRIu32 "\n", priv->id, + CHMUX(priv, timer), priv->period, edge); + + pwm_putreg(priv, IMX9_TPM_CXV_OFFSET(CHMUX(priv, timer)), edge); + + return OK; +} + +/**************************************************************************** + * Name: pwm_setup + * + * Description: + * This method is called when the driver is opened. The lower half driver + * should configure and initialize the device so that it is ready for use. + * It should not, however, output pulses until the start method is called. + * + * Input Parameters: + * dev - A reference to the lower half PWM driver state structure + * + * Returned Value: + * Zero on success; a negated errno value on failure + * + * Assumptions: + * + ****************************************************************************/ + +static int pwm_setup(struct pwm_lowerhalf_s *dev) +{ + return OK; +} + +/**************************************************************************** + * Name: pwm_shutdown + * + * Description: + * This method is called when the driver is closed. The lower half driver + * stop pulsed output, free any resources, disable the timer hardware, and + * put the system into the lowest possible power usage state + * + * Input Parameters: + * dev - A reference to the lower half PWM driver state structure + * + * Returned Value: + * Zero on success; a negated errno value on failure + * + ****************************************************************************/ + +static int pwm_shutdown(struct pwm_lowerhalf_s *dev) +{ + /* Make sure that the output has been stopped */ + + pwm_stop(dev); + + return OK; +} + +/**************************************************************************** + * Name: pwm_start + * + * Description: + * (Re-)initialize the timer resources and start the pulsed output + * + * Input Parameters: + * dev - A reference to the lower half PWM driver state structure + * info - A reference to the characteristics of the pulsed output + * + * Returned Value: + * Zero on success; a negated errno value on failure + * + ****************************************************************************/ + +static int pwm_start(struct pwm_lowerhalf_s *dev, + const struct pwm_info_s *info) +{ + struct imx9_pwmtimer_s *priv = (struct imx9_pwmtimer_s *)dev; + int ret = OK; + int i; + + if (priv == NULL || info == NULL || info->frequency == 0) + { + return -EINVAL; + } + + /* Set the frequency if not changed */ + + if (pwm_update_frequency(priv, info->frequency) == OK) + { + /* Handle channel specific setup */ + + for (i = 0; i < CONFIG_PWM_NCHANNELS; i++) + { + if (ret != OK || info->channels[i].channel == -1) + { + break; + } + + pwm_update_duty(priv, info->channels[i].channel, + info->channels[i].duty); + } + } + + return ret; +} + +/**************************************************************************** + * Name: pwm_stop + * + * Description: + * Stop the pulsed output and reset the timer resources + * + * Input Parameters: + * dev - A reference to the lower half PWM driver state structure + * + * Returned Value: + * Zero on success; a negated errno value on failure + * + * Assumptions: + * This function is called to stop the pulsed output at anytime. + * + ****************************************************************************/ + +static int pwm_stop(struct pwm_lowerhalf_s *dev) +{ + struct imx9_pwmtimer_s *priv = (struct imx9_pwmtimer_s *)dev; + int i; + + pwminfo("PWM%d stop\n", priv->id); + + /* Check that timer is valid */ + + if (priv == NULL) + { + return -EINVAL; + } + + /* Disable the channels */ + + for (i = 0; i < priv->n_channels; i++) + { + pwm_putreg(priv, IMX9_TPM_CXSC_OFFSET(CHMUX(priv, i)), 0); + } + + /* Set frequency to 0 */ + + pwm_update_frequency(priv, 0); + + return OK; +} + +/**************************************************************************** + * Name: pwm_ioctl + * + * Description: + * Lower-half logic may support platform-specific ioctl commands + * + * Input Parameters: + * dev - A reference to the lower half PWM driver state structure + * cmd - The ioctl command + * arg - The argument accompanying the ioctl command + * + * Returned Value: + * Zero on success; a negated errno value on failure + * + ****************************************************************************/ + +static int pwm_ioctl(struct pwm_lowerhalf_s *dev, int cmd, + unsigned long arg) +{ + return -ENOTTY; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imx9_tpm_pwm_init + * + * Description: + * Initialize tpm blocks to generate EPWM. + * + * Input Parameters: + * pwmid - A number identifying the pwm block. The number of valid + * IDs varies depending on the configuration. + * + * Returned Value: + * On success, a pointer to the lower half PWM driver is + * returned. NULL is returned on any failure. + * + ****************************************************************************/ + +struct pwm_lowerhalf_s *imx9_tpm_pwm_init(tpm_pwm_id_t pwmid) +{ + struct imx9_pwmtimer_s *lower = NULL; + int i; + + for (i = 0; i < sizeof(g_pwmdev) / sizeof(struct imx9_pwmtimer_s); i++) Review Comment: No push to use it. I was thinking that since code is in kernel and `nitems` is defined in Nuttx headers then it is safe to use it. We can keep `sizeof` -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: commits-unsubscr...@nuttx.apache.org For queries about this service, please contact Infrastructure at: us...@infra.apache.org
