drivers/pwm/pwm-atmel.c

   1 // SPDX-License-Identifier: GPL-2.0-only
   2 /*
   3  * Driver for Atmel Pulse Width Modulation Controller
   4  *
   5  * Copyright (C) 2013 Atmel Corporation
   6  *               Bo Shen <voice.shen@atmel.com>
   7  *
   8  * Links to reference manuals for the supported PWM chips can be found in
   9  * Documentation/arm/microchip.rst.
  10  *
  11  * Limitations:
  12  * - Periods start with the inactive level.
  13  * - Hardware has to be stopped in general to update settings.
  14  *
  15  * Software bugs/possible improvements:
  16  * - When atmel_pwm_apply() is called with state->enabled=false a change in
  17  *   state->polarity isn't honored.
  18  * - Instead of sleeping to wait for a completed period, the interrupt
  19  *   functionality could be used.
  20  */
  21
  22 #include <linux/clk.h>
  23 #include <linux/delay.h>
  24 #include <linux/err.h>
  25 #include <linux/io.h>
  26 #include <linux/module.h>
  27 #include <linux/mutex.h>
  28 #include <linux/of.h>
  29 #include <linux/of_device.h>
  30 #include <linux/platform_device.h>
  31 #include <linux/pwm.h>
  32 #include <linux/slab.h>
  33
  34 /* The following is global registers for PWM controller */
  35 #define PWM_ENA                 0x04
  36 #define PWM_DIS                 0x08
  37 #define PWM_SR                  0x0C
  38 #define PWM_ISR                 0x1C
  39 /* Bit field in SR */
  40 #define PWM_SR_ALL_CH_ON        0x0F
  41
  42 /* The following register is PWM channel related registers */
  43 #define PWM_CH_REG_OFFSET       0x200
  44 #define PWM_CH_REG_SIZE         0x20
  45
  46 #define PWM_CMR                 0x0
  47 /* Bit field in CMR */
  48 #define PWM_CMR_CPOL            (1 << 9)
  49 #define PWM_CMR_UPD_CDTY        (1 << 10)
  50 #define PWM_CMR_CPRE_MSK        0xF
  51
  52 /* The following registers for PWM v1 */
  53 #define PWMV1_CDTY              0x04
  54 #define PWMV1_CPRD              0x08
  55 #define PWMV1_CUPD              0x10
  56
  57 /* The following registers for PWM v2 */
  58 #define PWMV2_CDTY              0x04
  59 #define PWMV2_CDTYUPD           0x08
  60 #define PWMV2_CPRD              0x0C
  61 #define PWMV2_CPRDUPD           0x10
  62
  63 #define PWM_MAX_PRES            10
  64
  65 struct atmel_pwm_registers {
  66         u8 period;
  67         u8 period_upd;
  68         u8 duty;
  69         u8 duty_upd;
  70 };
  71
  72 struct atmel_pwm_config {
  73         u32 period_bits;
  74 };
  75
  76 struct atmel_pwm_data {
  77         struct atmel_pwm_registers regs;
  78         struct atmel_pwm_config cfg;
  79 };
  80
  81 struct atmel_pwm_chip {
  82         struct pwm_chip chip;
  83         struct clk *clk;
  84         void __iomem *base;
  85         const struct atmel_pwm_data *data;
  86
  87         unsigned int updated_pwms;
  88         /* ISR is cleared when read, ensure only one thread does that */
  89         struct mutex isr_lock;
  90 };
  91
  92 static inline struct atmel_pwm_chip *to_atmel_pwm_chip(struct pwm_chip *chip)
  93 {
  94         return container_of(chip, struct atmel_pwm_chip, chip);
  95 }
  96
  97 static inline u32 atmel_pwm_readl(struct atmel_pwm_chip *chip,
  98                                   unsigned long offset)
  99 {
 100         return readl_relaxed(chip->base + offset);
 101 }
 102
 103 static inline void atmel_pwm_writel(struct atmel_pwm_chip *chip,
 104                                     unsigned long offset, unsigned long val)
 105 {
 106         writel_relaxed(val, chip->base + offset);
 107 }
 108
 109 static inline u32 atmel_pwm_ch_readl(struct atmel_pwm_chip *chip,
 110                                      unsigned int ch, unsigned long offset)
 111 {
 112         unsigned long base = PWM_CH_REG_OFFSET + ch * PWM_CH_REG_SIZE;
 113
 114         return atmel_pwm_readl(chip, base + offset);
 115 }
 116
 117 static inline void atmel_pwm_ch_writel(struct atmel_pwm_chip *chip,
 118                                        unsigned int ch, unsigned long offset,
 119                                        unsigned long val)
 120 {
 121         unsigned long base = PWM_CH_REG_OFFSET + ch * PWM_CH_REG_SIZE;
 122
 123         atmel_pwm_writel(chip, base + offset, val);
 124 }
 125
 126 static int atmel_pwm_calculate_cprd_and_pres(struct pwm_chip *chip,
 127                                              const struct pwm_state *state,
 128                                              unsigned long *cprd, u32 *pres)
 129 {
 130         struct atmel_pwm_chip *atmel_pwm = to_atmel_pwm_chip(chip);
 131         unsigned long long cycles = state->period;
 132         int shift;
 133
 134         /* Calculate the period cycles and prescale value */
 135         cycles *= clk_get_rate(atmel_pwm->clk);
 136         do_div(cycles, NSEC_PER_SEC);
 137
 138         /*
 139          * The register for the period length is cfg.period_bits bits wide.
 140          * So for each bit the number of clock cycles is wider divide the input
 141          * clock frequency by two using pres and shift cprd accordingly.
 142          */
 143         shift = fls(cycles) - atmel_pwm->data->cfg.period_bits;
 144
 145         if (shift > PWM_MAX_PRES) {
 146                 dev_err(chip->dev, "pres exceeds the maximum value\n");
 147                 return -EINVAL;
 148         } else if (shift > 0) {
 149                 *pres = shift;
 150                 cycles >>= *pres;
 151         } else {
 152                 *pres = 0;
 153         }
 154
 155         *cprd = cycles;
 156
 157         return 0;
 158 }
 159
 160 static void atmel_pwm_calculate_cdty(const struct pwm_state *state,
 161                                      unsigned long cprd, unsigned long *cdty)
 162 {
 163         unsigned long long cycles = state->duty_cycle;
 164
 165         cycles *= cprd;
 166         do_div(cycles, state->period);
 167         *cdty = cprd - cycles;
 168 }
 169
 170 static void atmel_pwm_update_cdty(struct pwm_chip *chip, struct pwm_device *pwm,
 171                                   unsigned long cdty)
 172 {
 173         struct atmel_pwm_chip *atmel_pwm = to_atmel_pwm_chip(chip);
 174         u32 val;
 175
 176         if (atmel_pwm->data->regs.duty_upd ==
 177             atmel_pwm->data->regs.period_upd) {
 178                 val = atmel_pwm_ch_readl(atmel_pwm, pwm->hwpwm, PWM_CMR);
 179                 val &= ~PWM_CMR_UPD_CDTY;
 180                 atmel_pwm_ch_writel(atmel_pwm, pwm->hwpwm, PWM_CMR, val);
 181         }
 182
 183         atmel_pwm_ch_writel(atmel_pwm, pwm->hwpwm,
 184                             atmel_pwm->data->regs.duty_upd, cdty);
 185 }
 186
 187 static void atmel_pwm_set_cprd_cdty(struct pwm_chip *chip,
 188                                     struct pwm_device *pwm,
 189                                     unsigned long cprd, unsigned long cdty)
 190 {
 191         struct atmel_pwm_chip *atmel_pwm = to_atmel_pwm_chip(chip);
 192
 193         atmel_pwm_ch_writel(atmel_pwm, pwm->hwpwm,
 194                             atmel_pwm->data->regs.duty, cdty);
 195         atmel_pwm_ch_writel(atmel_pwm, pwm->hwpwm,
 196                             atmel_pwm->data->regs.period, cprd);
 197 }
 198
 199 static void atmel_pwm_disable(struct pwm_chip *chip, struct pwm_device *pwm,
 200                               bool disable_clk)
 201 {
 202         struct atmel_pwm_chip *atmel_pwm = to_atmel_pwm_chip(chip);
 203         unsigned long timeout = jiffies + 2 * HZ;
 204
 205         /*
 206          * Wait for at least a complete period to have passed before disabling a
 207          * channel to be sure that CDTY has been updated
 208          */
 209         mutex_lock(&atmel_pwm->isr_lock);
 210         atmel_pwm->updated_pwms |= atmel_pwm_readl(atmel_pwm, PWM_ISR);
 211
 212         while (!(atmel_pwm->updated_pwms & (1 << pwm->hwpwm)) &&
 213                time_before(jiffies, timeout)) {
 214                 usleep_range(10, 100);
 215                 atmel_pwm->updated_pwms |= atmel_pwm_readl(atmel_pwm, PWM_ISR);
 216         }
 217
 218         mutex_unlock(&atmel_pwm->isr_lock);
 219         atmel_pwm_writel(atmel_pwm, PWM_DIS, 1 << pwm->hwpwm);
 220
 221         /*
 222          * Wait for the PWM channel disable operation to be effective before
 223          * stopping the clock.
 224          */
 225         timeout = jiffies + 2 * HZ;
 226
 227         while ((atmel_pwm_readl(atmel_pwm, PWM_SR) & (1 << pwm->hwpwm)) &&
 228                time_before(jiffies, timeout))
 229                 usleep_range(10, 100);
 230
 231         if (disable_clk)
 232                 clk_disable(atmel_pwm->clk);
 233 }
 234
 235 static int atmel_pwm_apply(struct pwm_chip *chip, struct pwm_device *pwm,
 236                            const struct pwm_state *state)
 237 {
 238         struct atmel_pwm_chip *atmel_pwm = to_atmel_pwm_chip(chip);
 239         struct pwm_state cstate;
 240         unsigned long cprd, cdty;
 241         u32 pres, val;
 242         int ret;
 243
 244         pwm_get_state(pwm, &cstate);
 245
 246         if (state->enabled) {
 247                 if (cstate.enabled &&
 248                     cstate.polarity == state->polarity &&
 249                     cstate.period == state->period) {
 250                         cprd = atmel_pwm_ch_readl(atmel_pwm, pwm->hwpwm,
 251                                                   atmel_pwm->data->regs.period);
 252                         atmel_pwm_calculate_cdty(state, cprd, &cdty);
 253                         atmel_pwm_update_cdty(chip, pwm, cdty);
 254                         return 0;
 255                 }
 256
 257                 ret = atmel_pwm_calculate_cprd_and_pres(chip, state, &cprd,
 258                                                         &pres);
 259                 if (ret) {
 260                         dev_err(chip->dev,
 261                                 "failed to calculate cprd and prescaler\n");
 262                         return ret;
 263                 }
 264
 265                 atmel_pwm_calculate_cdty(state, cprd, &cdty);
 266
 267                 if (cstate.enabled) {
 268                         atmel_pwm_disable(chip, pwm, false);
 269                 } else {
 270                         ret = clk_enable(atmel_pwm->clk);
 271                         if (ret) {
 272                                 dev_err(chip->dev, "failed to enable clock\n");
 273                                 return ret;
 274                         }
 275                 }
 276
 277                 /* It is necessary to preserve CPOL, inside CMR */
 278                 val = atmel_pwm_ch_readl(atmel_pwm, pwm->hwpwm, PWM_CMR);
 279                 val = (val & ~PWM_CMR_CPRE_MSK) | (pres & PWM_CMR_CPRE_MSK);
 280                 if (state->polarity == PWM_POLARITY_NORMAL)
 281                         val &= ~PWM_CMR_CPOL;
 282                 else
 283                         val |= PWM_CMR_CPOL;
 284                 atmel_pwm_ch_writel(atmel_pwm, pwm->hwpwm, PWM_CMR, val);
 285                 atmel_pwm_set_cprd_cdty(chip, pwm, cprd, cdty);
 286                 mutex_lock(&atmel_pwm->isr_lock);
 287                 atmel_pwm->updated_pwms |= atmel_pwm_readl(atmel_pwm, PWM_ISR);
 288                 atmel_pwm->updated_pwms &= ~(1 << pwm->hwpwm);
 289                 mutex_unlock(&atmel_pwm->isr_lock);
 290                 atmel_pwm_writel(atmel_pwm, PWM_ENA, 1 << pwm->hwpwm);
 291         } else if (cstate.enabled) {
 292                 atmel_pwm_disable(chip, pwm, true);
 293         }
 294
 295         return 0;
 296 }
 297
 298 static void atmel_pwm_get_state(struct pwm_chip *chip, struct pwm_device *pwm,
 299                                 struct pwm_state *state)
 300 {
 301         struct atmel_pwm_chip *atmel_pwm = to_atmel_pwm_chip(chip);
 302         u32 sr, cmr;
 303
 304         sr = atmel_pwm_readl(atmel_pwm, PWM_SR);
 305         cmr = atmel_pwm_ch_readl(atmel_pwm, pwm->hwpwm, PWM_CMR);
 306
 307         if (sr & (1 << pwm->hwpwm)) {
 308                 unsigned long rate = clk_get_rate(atmel_pwm->clk);
 309                 u32 cdty, cprd, pres;
 310                 u64 tmp;
 311
 312                 pres = cmr & PWM_CMR_CPRE_MSK;
 313
 314                 cprd = atmel_pwm_ch_readl(atmel_pwm, pwm->hwpwm,
 315                                           atmel_pwm->data->regs.period);
 316                 tmp = (u64)cprd * NSEC_PER_SEC;
 317                 tmp <<= pres;
 318                 state->period = DIV64_U64_ROUND_UP(tmp, rate);
 319
 320                 cdty = atmel_pwm_ch_readl(atmel_pwm, pwm->hwpwm,
 321                                           atmel_pwm->data->regs.duty);
 322                 tmp = (u64)cdty * NSEC_PER_SEC;
 323                 tmp <<= pres;
 324                 state->duty_cycle = DIV64_U64_ROUND_UP(tmp, rate);
 325
 326                 state->enabled = true;
 327         } else {
 328                 state->enabled = false;
 329         }
 330
 331         if (cmr & PWM_CMR_CPOL)
 332                 state->polarity = PWM_POLARITY_INVERSED;
 333         else
 334                 state->polarity = PWM_POLARITY_NORMAL;
 335 }
 336
 337 static const struct pwm_ops atmel_pwm_ops = {
 338         .apply = atmel_pwm_apply,
 339         .get_state = atmel_pwm_get_state,
 340         .owner = THIS_MODULE,
 341 };
 342
 343 static const struct atmel_pwm_data atmel_sam9rl_pwm_data = {
 344         .regs = {
 345                 .period         = PWMV1_CPRD,
 346                 .period_upd     = PWMV1_CUPD,
 347                 .duty           = PWMV1_CDTY,
 348                 .duty_upd       = PWMV1_CUPD,
 349         },
 350         .cfg = {
 351                 /* 16 bits to keep period and duty. */
 352                 .period_bits    = 16,
 353         },
 354 };
 355
 356 static const struct atmel_pwm_data atmel_sama5_pwm_data = {
 357         .regs = {
 358                 .period         = PWMV2_CPRD,
 359                 .period_upd     = PWMV2_CPRDUPD,
 360                 .duty           = PWMV2_CDTY,
 361                 .duty_upd       = PWMV2_CDTYUPD,
 362         },
 363         .cfg = {
 364                 /* 16 bits to keep period and duty. */
 365                 .period_bits    = 16,
 366         },
 367 };
 368
 369 static const struct atmel_pwm_data mchp_sam9x60_pwm_data = {
 370         .regs = {
 371                 .period         = PWMV1_CPRD,
 372                 .period_upd     = PWMV1_CUPD,
 373                 .duty           = PWMV1_CDTY,
 374                 .duty_upd       = PWMV1_CUPD,
 375         },
 376         .cfg = {
 377                 /* 32 bits to keep period and duty. */
 378                 .period_bits    = 32,
 379         },
 380 };
 381
 382 static const struct of_device_id atmel_pwm_dt_ids[] = {
 383         {
 384                 .compatible = "atmel,at91sam9rl-pwm",
 385                 .data = &atmel_sam9rl_pwm_data,
 386         }, {
 387                 .compatible = "atmel,sama5d3-pwm",
 388                 .data = &atmel_sama5_pwm_data,
 389         }, {
 390                 .compatible = "atmel,sama5d2-pwm",
 391                 .data = &atmel_sama5_pwm_data,
 392         }, {
 393                 .compatible = "microchip,sam9x60-pwm",
 394                 .data = &mchp_sam9x60_pwm_data,
 395         }, {
 396                 /* sentinel */
 397         },
 398 };
 399 MODULE_DEVICE_TABLE(of, atmel_pwm_dt_ids);
 400
 401 static int atmel_pwm_probe(struct platform_device *pdev)
 402 {
 403         struct atmel_pwm_chip *atmel_pwm;
 404         int ret;
 405
 406         atmel_pwm = devm_kzalloc(&pdev->dev, sizeof(*atmel_pwm), GFP_KERNEL);
 407         if (!atmel_pwm)
 408                 return -ENOMEM;
 409
 410         mutex_init(&atmel_pwm->isr_lock);
 411         atmel_pwm->data = of_device_get_match_data(&pdev->dev);
 412         atmel_pwm->updated_pwms = 0;
 413
 414         atmel_pwm->base = devm_platform_ioremap_resource(pdev, 0);
 415         if (IS_ERR(atmel_pwm->base))
 416                 return PTR_ERR(atmel_pwm->base);
 417
 418         atmel_pwm->clk = devm_clk_get(&pdev->dev, NULL);
 419         if (IS_ERR(atmel_pwm->clk))
 420                 return PTR_ERR(atmel_pwm->clk);
 421
 422         ret = clk_prepare(atmel_pwm->clk);
 423         if (ret) {
 424                 dev_err(&pdev->dev, "failed to prepare PWM clock\n");
 425                 return ret;
 426         }
 427
 428         atmel_pwm->chip.dev = &pdev->dev;
 429         atmel_pwm->chip.ops = &atmel_pwm_ops;
 430         atmel_pwm->chip.of_xlate = of_pwm_xlate_with_flags;
 431         atmel_pwm->chip.of_pwm_n_cells = 3;
 432         atmel_pwm->chip.base = -1;
 433         atmel_pwm->chip.npwm = 4;
 434
 435         ret = pwmchip_add(&atmel_pwm->chip);
 436         if (ret < 0) {
 437                 dev_err(&pdev->dev, "failed to add PWM chip %d\n", ret);
 438                 goto unprepare_clk;
 439         }
 440
 441         platform_set_drvdata(pdev, atmel_pwm);
 442
 443         return ret;
 444
 445 unprepare_clk:
 446         clk_unprepare(atmel_pwm->clk);
 447         return ret;
 448 }
 449
 450 static int atmel_pwm_remove(struct platform_device *pdev)
 451 {
 452         struct atmel_pwm_chip *atmel_pwm = platform_get_drvdata(pdev);
 453
 454         clk_unprepare(atmel_pwm->clk);
 455         mutex_destroy(&atmel_pwm->isr_lock);
 456
 457         return pwmchip_remove(&atmel_pwm->chip);
 458 }
 459
 460 static struct platform_driver atmel_pwm_driver = {
 461         .driver = {
 462                 .name = "atmel-pwm",
 463                 .of_match_table = of_match_ptr(atmel_pwm_dt_ids),
 464         },
 465         .probe = atmel_pwm_probe,
 466         .remove = atmel_pwm_remove,
 467 };
 468 module_platform_driver(atmel_pwm_driver);
 469
 470 MODULE_ALIAS("platform:atmel-pwm");
 471 MODULE_AUTHOR("Bo Shen <voice.shen@atmel.com>");
 472 MODULE_DESCRIPTION("Atmel PWM driver");
 473 MODULE_LICENSE("GPL v2");