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>
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2e3d446c6e
commit
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9 changed files with 211 additions and 2 deletions
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@ -344,6 +344,7 @@
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/drivers/ps2/*xec* @franciscomunoz @sjvasanth1
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/drivers/ps2/*npcx* @MulinChao @WealianLiao @ChiHuaL
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/drivers/pwm/*b91* @andy-liu-telink
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/drivers/pwm/*rpi_pico* @burumaj
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/drivers/pwm/*rv32m1* @henrikbrixandersen
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/drivers/pwm/*sam0* @nzmichaelh
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/drivers/pwm/*stm32* @gmarull
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@ -25,6 +25,7 @@ zephyr_library_sources_ifdef(CONFIG_PWM_MCUX_PWT pwm_mcux_pwt.c)
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zephyr_library_sources_ifdef(CONFIG_PWM_GECKO pwm_gecko.c)
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zephyr_library_sources_ifdef(CONFIG_PWM_GD32 pwm_gd32.c)
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zephyr_library_sources_ifdef(CONFIG_PWM_TEST pwm_test.c)
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zephyr_library_sources_ifdef(CONFIG_PWM_RPI_PICO pwm_rpi_pico.c)
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zephyr_library_sources_ifdef(CONFIG_USERSPACE pwm_handlers.c)
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zephyr_library_sources_ifdef(CONFIG_PWM_CAPTURE pwm_capture.c)
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@ -73,4 +73,6 @@ source "drivers/pwm/Kconfig.gd32"
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source "drivers/pwm/Kconfig.test"
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source "drivers/pwm/Kconfig.rpi_pico"
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endif # PWM
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14
drivers/pwm/Kconfig.rpi_pico
Normal file
14
drivers/pwm/Kconfig.rpi_pico
Normal file
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@ -0,0 +1,14 @@
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# Copyright (c) 2022, Joep Buruma
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# SPDX-License-Identifier: Apache-2.0
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# Workaround for not being able to have commas in macro arguments
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DT_COMPAT_RPI_PICO_PWM := raspberrypi,pico-pwm
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config PWM_RPI_PICO
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bool "RPi Pico PWM"
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default $(dt_compat_enabled,$(DT_COMPAT_RPI_PICO_PWM))
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depends on SOC_SERIES_RP2XXX
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depends on RESET
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select PICOSDK_USE_PWM
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help
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Enable PWM driver for RPi Pico family of MCUs
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182
drivers/pwm/pwm_rpi_pico.c
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182
drivers/pwm/pwm_rpi_pico.c
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@ -0,0 +1,182 @@
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/*
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* Copyright (c) 2022, Joep Buruma
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT raspberrypi_pico_pwm
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#include <zephyr/device.h>
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#include <zephyr/drivers/pwm.h>
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#include <zephyr/drivers/pinctrl.h>
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#include <zephyr/drivers/reset.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(pwm_rpi_pico, CONFIG_PWM_LOG_LEVEL);
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/* pico-sdk includes */
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#include <hardware/pwm.h>
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#include <hardware/structs/pwm.h>
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#define PWM_RPI_PICO_COUNTER_TOP_MAX UINT16_MAX
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#define PWM_RPI_NUM_CHANNELS (16U)
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struct pwm_rpi_slice_config {
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uint8_t integral;
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uint8_t frac;
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bool phase_correct;
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};
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struct pwm_rpi_config {
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/*
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* pwm_controller is the start address of the pwm peripheral.
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*/
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pwm_hw_t *pwm_controller;
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struct pwm_rpi_slice_config slice_configs[NUM_PWM_SLICES];
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const struct pinctrl_dev_config *pcfg;
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const struct reset_dt_spec reset;
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};
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static float pwm_rpi_get_clkdiv(const struct device *dev, int slice)
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{
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const struct pwm_rpi_config *cfg = dev->config;
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/* the divider is a fixed point 8.4 convert to float for use in pico-sdk */
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return (float)cfg->slice_configs[slice].integral +
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(float)cfg->slice_configs[slice].frac / 16.0;
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}
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static inline uint32_t pwm_rpi_channel_to_slice(uint32_t channel)
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{
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return channel / 2;
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}
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static inline uint32_t pwm_rpi_channel_to_pico_channel(uint32_t channel)
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{
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return channel % 2;
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}
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static int pwm_rpi_get_cycles_per_sec(const struct device *dev, uint32_t ch, uint64_t *cycles)
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{
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float f_clock_in;
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int slice = pwm_rpi_channel_to_slice(ch);
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if (ch >= PWM_RPI_NUM_CHANNELS) {
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return -EINVAL;
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}
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f_clock_in = (float)sys_clock_hw_cycles_per_sec();
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/* No need to check for divide by 0 since the minimum value of
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* pwm_rpi_get_clkdiv is 1
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*/
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*cycles = (uint64_t)(f_clock_in / pwm_rpi_get_clkdiv(dev, slice));
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return 0;
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}
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/* The pico_sdk only allows setting the polarity of both channels at once.
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* This is a convenience function to make setting the polarity of a single
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* channel easier.
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*/
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static void pwm_rpi_set_channel_polarity(const struct device *dev, int slice,
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int pico_channel, bool inverted)
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{
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const struct pwm_rpi_config *cfg = dev->config;
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bool pwm_polarity_a = (cfg->pwm_controller->slice[slice].csr & PWM_CH0_CSR_A_INV_BITS) > 0;
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bool pwm_polarity_b = (cfg->pwm_controller->slice[slice].csr & PWM_CH0_CSR_B_INV_BITS) > 0;
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if (pico_channel == PWM_CHAN_A) {
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pwm_polarity_a = inverted;
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} else if (pico_channel == PWM_CHAN_B) {
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pwm_polarity_b = inverted;
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}
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pwm_set_output_polarity(slice, pwm_polarity_a, pwm_polarity_b);
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}
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static int pwm_rpi_set_cycles(const struct device *dev, uint32_t ch, uint32_t period_cycles,
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uint32_t pulse_cycles, pwm_flags_t flags)
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{
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if (ch >= PWM_RPI_NUM_CHANNELS) {
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return -EINVAL;
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}
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if (period_cycles > PWM_RPI_PICO_COUNTER_TOP_MAX ||
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pulse_cycles > PWM_RPI_PICO_COUNTER_TOP_MAX) {
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return -EINVAL;
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}
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int slice = pwm_rpi_channel_to_slice(ch);
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/* this is the channel within a pwm slice */
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int pico_channel = pwm_rpi_channel_to_pico_channel(ch);
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pwm_rpi_set_channel_polarity(dev, slice, pico_channel,
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(flags & PWM_POLARITY_MASK) == PWM_POLARITY_INVERTED);
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pwm_set_wrap(slice, period_cycles);
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pwm_set_chan_level(slice, ch, pulse_cycles);
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return 0;
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};
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struct pwm_driver_api pwm_rpi_driver_api = {
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.get_cycles_per_sec = pwm_rpi_get_cycles_per_sec,
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.set_cycles = pwm_rpi_set_cycles,
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};
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static int pwm_rpi_init(const struct device *dev)
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{
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const struct pwm_rpi_config *cfg = dev->config;
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pwm_config slice_cfg;
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size_t slice_idx;
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int err;
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err = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
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if (err) {
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LOG_ERR("Failed to configure pins for PWM. err=%d", err);
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return err;
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}
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for (slice_idx = 0; slice_idx < NUM_PWM_SLICES; slice_idx++) {
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slice_cfg = pwm_get_default_config();
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pwm_config_set_clkdiv_mode(&slice_cfg, PWM_DIV_FREE_RUNNING);
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pwm_init(slice_idx, &slice_cfg, false);
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pwm_set_clkdiv_int_frac(slice_idx,
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cfg->slice_configs[slice_idx].integral,
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cfg->slice_configs[slice_idx].frac);
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pwm_set_enabled(slice_idx, true);
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}
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return 0;
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}
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#define PWM_INST_RPI_SLICE_DIVIDER(idx, n) \
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{ \
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.integral = DT_INST_PROP(idx, UTIL_CAT(divider_int_, n)), \
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.frac = DT_INST_PROP(idx, UTIL_CAT(divider_frac_, n)), \
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}
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#define PWM_RPI_INIT(idx) \
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\
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PINCTRL_DT_INST_DEFINE(idx); \
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static const struct pwm_rpi_config pwm_rpi_config_##idx = { \
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.pwm_controller = (pwm_hw_t *)DT_INST_REG_ADDR(idx), \
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.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(idx), \
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.slice_configs = { \
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PWM_INST_RPI_SLICE_DIVIDER(idx, 0), \
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PWM_INST_RPI_SLICE_DIVIDER(idx, 1), \
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PWM_INST_RPI_SLICE_DIVIDER(idx, 2), \
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PWM_INST_RPI_SLICE_DIVIDER(idx, 3), \
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PWM_INST_RPI_SLICE_DIVIDER(idx, 4), \
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PWM_INST_RPI_SLICE_DIVIDER(idx, 5), \
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PWM_INST_RPI_SLICE_DIVIDER(idx, 6), \
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PWM_INST_RPI_SLICE_DIVIDER(idx, 7), \
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}, \
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.reset = RESET_DT_SPEC_INST_GET(idx), \
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}; \
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\
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DEVICE_DT_INST_DEFINE(idx, pwm_rpi_init, NULL, NULL, &pwm_rpi_config_##idx, POST_KERNEL, \
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CONFIG_KERNEL_INIT_PRIORITY_DEVICE, &pwm_rpi_driver_api);
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DT_INST_FOREACH_STATUS_OKAY(PWM_RPI_INIT);
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@ -151,7 +151,7 @@
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clocks = <&system_clk>;
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interrupts = <4 RPI_PICO_DEFAULT_IRQ_PRIORITY>;
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interrupt-names = "PWM_IRQ_WRAP";
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label = "PWM_CTRL_0";
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label = "PWM_0";
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status = "disabled";
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#pwm-cells = <3>;
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};
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@ -93,6 +93,9 @@ if(CONFIG_HAS_RPI_PICO)
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zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_FLASH
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${rp2_common_dir}/hardware_flash/include)
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zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_PWM
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${rp2_common_dir}/hardware_pwm/include)
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# Some flash driver functions must be executed from the RAM.
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# Originally pico-sdk places them in the RW data section, so this
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# implementation does the same.
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@ -104,4 +107,5 @@ if(CONFIG_HAS_RPI_PICO)
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PROPERTIES
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COMPILE_FLAGS $<TARGET_PROPERTY:compiler,warning_no_pointer_arithmetic>
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)
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endif()
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@ -18,3 +18,8 @@ config PICOSDK_USE_FLASH
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bool
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help
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Use the flash driver from pico-sdk
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config PICOSDK_USE_PWM
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bool
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help
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Use the PWM driver from pico-sdk
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@ -41,7 +41,7 @@ static int rp2040_init(const struct device *arg)
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~(RESETS_RESET_ADC_BITS | RESETS_RESET_RTC_BITS |
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RESETS_RESET_SPI0_BITS | RESETS_RESET_SPI1_BITS |
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RESETS_RESET_UART0_BITS | RESETS_RESET_UART1_BITS |
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RESETS_RESET_USBCTRL_BITS));
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RESETS_RESET_USBCTRL_BITS | RESETS_RESET_PWM_BITS));
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clocks_init();
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