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drivers: comparator: Initial Comparator support for Renesas RA

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Initial Comparator driver support for Renesas RA

Signed-off-by: Khoa Nguyen <khoa.nguyen.xh@renesas.com>
This commit is contained in:
Khoa Nguyen 2025-02-05 16:23:13 +07:00 • committed by Benjamin Cabé
commit cf9e92742b
8 changed files with 470 additions and 0 deletions
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1
drivers/comparator/CMakeLists.txt
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@ -12,3 +12,4 @@ zephyr_library_sources_ifdef(CONFIG_COMPARATOR_MCUX_ACMP comparator_mcux_acmp.c)
zephyr_library_sources_ifdef(CONFIG_COMPARATOR_NRF_COMP comparator_nrf_comp.c)
zephyr_library_sources_ifdef(CONFIG_COMPARATOR_NRF_LPCOMP comparator_nrf_lpcomp.c)
zephyr_library_sources_ifdef(CONFIG_COMPARATOR_SHELL comparator_shell.c)
zephyr_library_sources_ifdef(CONFIG_COMPARATOR_RENESAS_RA comparator_renesas_ra.c)

1
drivers/comparator/Kconfig
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@ -24,5 +24,6 @@ rsource "Kconfig.mcux_acmp"
rsource "Kconfig.nrf_comp"
rsource "Kconfig.nrf_lpcomp"
rsource "Kconfig.shell"
rsource "Kconfig.renesas_ra"
endif # COMPARATOR

11
drivers/comparator/Kconfig.renesas_ra Normal file
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@ -0,0 +1,11 @@
# Copyright (c) 2025 Renesas Electronics Corporation
# SPDX-License-Identifier: Apache-2.0
config COMPARATOR_RENESAS_RA
bool "Renesas RA ACMPHS"
default y
depends on DT_HAS_RENESAS_RA_ACMPHS_ENABLED
select USE_RA_FSP_ACMPHS
select PINCTRL
help
Enable Renesas RA ACMPHS Driver.

282
drivers/comparator/comparator_renesas_ra.c Normal file
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@ -0,0 +1,282 @@
/*
* Copyright (c) 2025 Renesas Electronics Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT renesas_ra_acmphs
#include <zephyr/drivers/comparator.h>
#include <zephyr/drivers/pinctrl.h>
#include <zephyr/logging/log.h>
#include <zephyr/sys/atomic.h>
#include <zephyr/kernel.h>
#include <zephyr/irq.h>
#include <soc.h>
#include "r_acmphs.h"
LOG_MODULE_REGISTER(acmphs_renesas_ra, CONFIG_COMPARATOR_LOG_LEVEL);
#define ACMPHS_RENESAS_RA_FLAG_HS BIT(0)
void comp_hs_int_isr(void);
struct acmphs_renesas_ra_global_config {
const struct pinctrl_dev_config *pcfg;
};
struct acmphs_renesas_ra_config {
const struct pinctrl_dev_config *pcfg;
};
struct acmphs_renesas_ra_data {
const struct device *dev;
acmphs_instance_ctrl_t acmphs;
comparator_cfg_t fsp_config;
comparator_callback_t user_cb;
void *user_cb_data;
atomic_t flags;
};
static int acmphs_renesas_get_output(const struct device *dev)
{
struct acmphs_renesas_ra_data *data = dev->data;
comparator_status_t status;
fsp_err_t fsp_err;
fsp_err = R_ACMPHS_StatusGet(&data->acmphs, &status);
if (FSP_SUCCESS != fsp_err) {
return -EIO;
}
switch (status.state) {
case COMPARATOR_STATE_OUTPUT_LOW:
return 0;
case COMPARATOR_STATE_OUTPUT_HIGH:
return 1;
case COMPARATOR_STATE_OUTPUT_DISABLED:
LOG_ERR("Need to set trigger to open comparator first");
return -EIO;
}
return 0;
}
static int acmphs_renesas_set_trigger(const struct device *dev, enum comparator_trigger trigger)
{
struct acmphs_renesas_ra_data *data = dev->data;
/* Disable interrupt */
data->acmphs.p_reg->CMPCTL &= ~R_ACMPHS0_CMPCTL_CEG_Msk;
switch (trigger) {
case COMPARATOR_TRIGGER_RISING_EDGE:
data->fsp_config.trigger = COMPARATOR_TRIGGER_RISING;
break;
case COMPARATOR_TRIGGER_FALLING_EDGE:
data->fsp_config.trigger = COMPARATOR_TRIGGER_FALLING;
break;
case COMPARATOR_TRIGGER_BOTH_EDGES:
data->fsp_config.trigger = COMPARATOR_TRIGGER_BOTH_EDGE;
break;
case COMPARATOR_TRIGGER_NONE:
data->fsp_config.trigger = COMPARATOR_TRIGGER_NO_EDGE;
break;
}
data->acmphs.p_reg->CMPCTL |= (data->fsp_config.trigger << R_ACMPHS0_CMPCTL_CEG_Pos);
return 0;
}
static int acmphs_renesas_set_trigger_callback(const struct device *dev,
comparator_callback_t callback, void *user_data)
{
struct acmphs_renesas_ra_data *data = dev->data;
/* Disable interrupt */
data->acmphs.p_reg->CMPCTL &= ~R_ACMPHS0_CMPCTL_CEG_Msk;
data->user_cb = callback;
data->user_cb_data = user_data;
/* Enable interrupt */
data->acmphs.p_reg->CMPCTL |= (data->fsp_config.trigger << R_ACMPHS0_CMPCTL_CEG_Pos);
return 0;
}
static int acmphs_renesas_trigger_is_pending(const struct device *dev)
{
struct acmphs_renesas_ra_data *data = dev->data;
if (data->flags & ACMPHS_RENESAS_RA_FLAG_HS) {
atomic_and(&data->flags, ~ACMPHS_RENESAS_RA_FLAG_HS);
return 1;
}
return 0;
}
static void acmphs_renesas_ra_hs_isr(comparator_callback_args_t *fsp_args)
{
const struct device *dev = fsp_args->p_context;
struct acmphs_renesas_ra_data *data = dev->data;
comparator_callback_t cb = data->user_cb;
if (cb != NULL) {
cb(dev, data->user_cb_data);
return;
}
atomic_or(&data->flags, ACMPHS_RENESAS_RA_FLAG_HS);
}
static int acmphs_renesas_ra_global_init(const struct device *dev)
{
const struct acmphs_renesas_ra_global_config *cfg = dev->config;
int ret;
ret = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
if (ret < 0) {
LOG_DBG("pin VCOUT initial failed");
return ret;
}
return 0;
}
static int acmphs_renesas_ra_init(const struct device *dev)
{
struct acmphs_renesas_ra_data *data = dev->data;
const struct acmphs_renesas_ra_config *cfg = dev->config;
fsp_err_t fsp_err;
int ret;
ret = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
if (ret < 0) {
LOG_DBG("pin default initial failed");
return ret;
}
data->fsp_config.p_context = dev;
fsp_err = R_ACMPHS_Open(&data->acmphs, &data->fsp_config);
if (FSP_SUCCESS != fsp_err) {
return -EIO;
}
/*
* Once the analog comparator is configurate, the program must wait
* for the ACMPHS stabilization time (300ns enabling + 200ns input switching)
* before using the comparator.
*/
k_usleep(5);
fsp_err = R_ACMPHS_OutputEnable(&data->acmphs);
if (FSP_SUCCESS != fsp_err) {
return -EIO;
}
return 0;
}
static DEVICE_API(comparator, acmphs_renesas_ra_api) = {
.get_output = acmphs_renesas_get_output,
.set_trigger = acmphs_renesas_set_trigger,
.set_trigger_callback = acmphs_renesas_set_trigger_callback,
.trigger_is_pending = acmphs_renesas_trigger_is_pending,
};
PINCTRL_DT_DEFINE(DT_INST(0, renesas_ra_acmphs_global));
static const struct acmphs_renesas_ra_global_config acmphs_renesas_ra_global_config = {
.pcfg = PINCTRL_DT_DEV_CONFIG_GET(DT_INST(0, renesas_ra_acmphs_global)),
};
DEVICE_DT_DEFINE(DT_COMPAT_GET_ANY_STATUS_OKAY(renesas_ra_acmphs_global),
acmphs_renesas_ra_global_init, NULL, NULL, &acmphs_renesas_ra_global_config,
PRE_KERNEL_2, CONFIG_COMPARATOR_INIT_PRIORITY, NULL)
#define ACMPHS_RENESAS_RA_IRQ_INIT(idx) \
{ \
R_ICU->IELSR_b[DT_INST_IRQ_BY_NAME(idx, hs, irq)].IELS = \
BSP_PRV_IELS_ENUM(CONCAT(EVENT_ACMPHS, DT_INST_PROP(idx, channel), _INT)); \
\
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(idx, hs, irq), \
DT_INST_IRQ_BY_NAME(idx, hs, priority), comp_hs_int_isr, \
DEVICE_DT_INST_GET(idx), 0); \
\
irq_enable(DT_INST_IRQ_BY_NAME(idx, hs, irq)); \
}
#define FILTER_PARAMETER(idx) \
COND_CODE_1(IS_EQ(DT_INST_PROP(idx, noise_filter), 1), \
(COMPARATOR_FILTER_OFF), (UTIL_CAT(COMPARATOR_FILTER_, DT_INST_PROP(idx, noise_filter))))
#define INVERT_PARAMETER(idx) \
COND_CODE_1(DT_INST_PROP(idx, output_invert_polarity), \
(COMPARATOR_POLARITY_INVERT_ON), (COMPARATOR_POLARITY_INVERT_OFF))
#define PIN_OUTPUT_PARAMETER(idx) \
COND_CODE_1(DT_INST_PROP(idx, pin_output_enable), \
(COMPARATOR_PIN_OUTPUT_ON), (COMPARATOR_PIN_OUTPUT_OFF))
#define IRQ_PARAMETER(idx) \
COND_CODE_1(DT_INST_IRQ_HAS_NAME(idx, hs), \
(DT_INST_IRQ_BY_NAME(idx, hs, irq)), (FSP_INVALID_VECTOR))
#define IPL_PARAMETER(idx) \
COND_CODE_1(DT_INST_IRQ_HAS_NAME(idx, hs), \
(DT_INST_IRQ_BY_NAME(idx, hs, priority)), (BSP_IRQ_DISABLED))
#define IRQ_INIT_MACRO_FUNCTION(idx) \
COND_CODE_1(DT_INST_IRQ_HAS_NAME(idx, hs), (ACMPHS_RENESAS_RA_IRQ_INIT(idx);), ())
#define ACMPHS_RENESAS_RA_INIT(idx) \
PINCTRL_DT_INST_DEFINE(idx); \
static r_acmphs_extended_cfg_t g_acmphs_cfg_extend_##idx = { \
.input_voltage = UTIL_CAT(ACMPHS_INPUT_, \
DT_INST_STRING_UPPER_TOKEN(idx, compare_input_source)), \
.reference_voltage = \
UTIL_CAT(ACMPHS_REFERENCE_, \
DT_INST_STRING_UPPER_TOKEN(idx, reference_input_source)), \
.maximum_status_retries = 1024, \
}; \
static const struct acmphs_renesas_ra_config acmphs_renesas_ra_config_##idx = { \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(idx), \
}; \
static struct acmphs_renesas_ra_data acmphs_renesas_ra_data_##idx = { \
.dev = DEVICE_DT_INST_GET(idx), \
.fsp_config = \
{ \
.channel = DT_INST_PROP(idx, channel), \
.mode = COMPARATOR_MODE_NORMAL, \
.trigger = COMPARATOR_TRIGGER_NO_EDGE, \
.filter = FILTER_PARAMETER(idx), \
.invert = INVERT_PARAMETER(idx), \
.pin_output = PIN_OUTPUT_PARAMETER(idx), \
.p_extend = &g_acmphs_cfg_extend_##idx, \
.irq = IRQ_PARAMETER(idx), \
.ipl = IPL_PARAMETER(idx), \
.p_callback = acmphs_renesas_ra_hs_isr, \
}, \
.flags = 0, \
}; \
static int acmphs_renesas_ra_init##idx(const struct device *dev) \
{ \
IRQ_INIT_MACRO_FUNCTION(idx) \
return acmphs_renesas_ra_init(dev); \
} \
\
DEVICE_DT_INST_DEFINE(idx, acmphs_renesas_ra_init##idx, NULL, \
&acmphs_renesas_ra_data_##idx, &acmphs_renesas_ra_config_##idx, \
POST_KERNEL, CONFIG_COMPARATOR_INIT_PRIORITY, \
&acmphs_renesas_ra_api)
DT_INST_FOREACH_STATUS_OKAY(ACMPHS_RENESAS_RA_INIT);

49
dts/bindings/comparator/renesas,ra-acmphs-global.yaml Normal file
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@ -0,0 +1,49 @@
# Copyright (c) 2025 Renesas Electronics Corporation
# SPDX-License-Identifier: Apache-2.0
description: |
Renesas RA ACMPHS (High-Speed Analog COMParator) Global
The following example displays the minimum node layout:
acmphs_global: acmphs_global@deadbeef {
compatible = "renesas,ra-acmphs-global";
reg = <0xdeadbeef 0x200>;
status = "disabled";
acmphs0: acmphs0 {
...
};
};
If the pin-output-enable is selected in the comparator controller node,
this global node needs to define the VCOUT pin to enable output on that pin.
Note: The VCOUT pinctrl for the comparator global node is already defined
on each board that supported comparator. Please check the board’s pinctrl
before defining it.
acmphs_vcout: acmphs_vcout {
group1 {
/* VCOUT */
psels = <RA_PSEL(RA_PSEL_ACMPHS_VCOUT, ..., ...)>;
};
};
&acmphs_global {
pinctrl-0 = <&acmphs_vcout>;
pinctrl-names = "default";
status = "okay";
acmphs0 {
...
};
};
Note: There is only one VCOUT shared across all comparator controller nodes.
Therefore, the VCOUT value is the logical OR of the output signals from all
comparator controllers that have pin-output-enable enabled.
compatible: "renesas,ra-acmphs-global"
include: [base.yaml, pinctrl-device.yaml]

119
dts/bindings/comparator/renesas,ra-acmphs.yaml Normal file
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@ -0,0 +1,119 @@
# Copyright (c) 2025 Renesas Electronics Corporation
# SPDX-License-Identifier: Apache-2.0
description: |
Renesas RA ACMPHS (High-Speed Analog COMParator) Controller
The following example displays the minimum node layout:
acmphs_global: acmphs_global@deadbeef {
...
acmphs0: acmphs0 {
compatible = "renesas,ra-acmphs";
channel = <0>;
status = "disabled";
};
};
Enabling the comparator controller node requires setting the minimum
default configuration of the comparator. This includes selecting the
positive and negative inputs, and routing them using pinctrl:
Note: A set of pinctrl for the default comparator controller node is
already defined on each board that supported comparator. Please check
the board’s pinctrl before defining it.
&pinctrl {
acmphs_ivref0: acmphs_ivref0 {
group1 {
/* IVREF0 */
psels = <RA_PSEL(RA_PSEL_ACMPHS, ..., ...)>;
renesas,analog-enable;
};
};
acmphs0_ivcmp0: acmphs0_ivcmp0 {
group1 {
/* CH0 IVCMP0 */
psels = <RA_PSEL(RA_PSEL_ACMPHS, ..., ...)>;
renesas,analog-enable;
};
};
};
&acmphs_global {
status = "okay";
acmphs0 {
pinctrl-0 = <&acmphs_ivref0 &acmphs0_ivcmp0>;
pinctrl-names = "default";
interrupts = <90 12>;
interrupt-names = "hs";
reference-input-source = "ivref0";
compare-input-source = "ivcmp0";
status = "okay";
};
};
compatible: "renesas,ra-acmphs"
include: [base.yaml, pinctrl-device.yaml]
properties:
channel:
type: int
required: true
interrupts:
description: |
IRQ number and priority to use for interrupt Comparator:
- "hs": generated on valid edge detection from comparison result
Note: when this interrupts property is not defined, none of the trigger APIs
can be used (set_trigger, set_trigger_callback, trigger_is_pending).
reference-input-source:
type: string
required: true
enum:
- "ivref0"
- "ivref1"
- "ivref2"
- "ivref3"
description: |
Select the Analog reference voltage source.
Note: ivref2 is connected to Vref
ivref3 is connected to DA0 (DAC)
If either of these is selected, there is no need to configure pinsel for pinctrl.
compare-input-source:
type: string
required: true
enum:
- "ivcmp0"
- "ivcmp1"
- "ivcmp2"
- "ivcmp3"
description: |
Select the Analog compare voltage source.
Note: ivcmp1 is connected to DA0 (DAC)
If ivcmp1 is selected, there is no need to configure pinsel for pinctrl.
noise-filter:
type: int
enum: [1, 8, 16, 32]
default: 32
description: |
Select the PCLK divisor for the hardware digital debounce filter.
Larger divisors provide a longer debounce and take longer for the output to update.
output-invert-polarity:
type: boolean
description: |
When enabled comparator output is inverted.
pin-output-enable:
type: boolean
description: |
Turn this on to enable the CMPOUTn signal for this channel.
The CMPOUTn signal for each channel is OR'd together and the result is output to VCOUT.

2
include/zephyr/dt-bindings/pinctrl/renesas/pinctrl-ra.h
View file

@ -16,6 +16,7 @@
#define RA_PSEL_HIZ_JTAG_SWD 0x0
#define RA_PSEL_ADC 0x0
#define RA_PSEL_DAC 0x0
#define RA_PSEL_ACMPHS 0x0
#define RA_PSEL_AGT 0x1
#define RA_PSEL_GPT0 0x2
#define RA_PSEL_GPT1 0x3
@ -32,6 +33,7 @@
#define RA_PSEL_SPI 0x6
#define RA_PSEL_I2C 0x7
#define RA_PSEL_CLKOUT_RTC 0x9
#define RA_PSEL_ACMPHS_VCOUT 0x9
#define RA_PSEL_CAC_ADC 0xa
#define RA_PSEL_CAC_DAC 0xa
#define RA_PSEL_BUS 0xb

5
modules/Kconfig.renesas_fsp
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@ -154,6 +154,11 @@ config USE_RA_FSP_DAC
help
Enable RA FSP DAC driver
config USE_RA_FSP_ACMPHS
bool
help
Enable RA FSP ACMPHS driver
endif # HAS_RENESAS_RA_FSP
if HAS_RENESAS_RZ_FSP