1 // SPDX-License-Identifier: GPL-2.0
2 /*
3 * corePWM driver for Microchip "soft" FPGA IP cores.
4 *
5 * Copyright (c) 2021-2023 Microchip Corporation. All rights reserved.
6 * Author: Conor Dooley <conor.dooley@microchip.com>
7 * Documentation:
8 * https://www.microsemi.com/document-portal/doc_download/1245275-corepwm-hb
9 *
10 * Limitations:
11 * - If the IP block is configured without "shadow registers", all register
12 * writes will take effect immediately, causing glitches on the output.
13 * If shadow registers *are* enabled, setting the "SYNC_UPDATE" register
14 * notifies the core that it needs to update the registers defining the
15 * waveform from the contents of the "shadow registers". Otherwise, changes
16 * will take effective immediately, even for those channels.
17 * As setting the period/duty cycle takes 4 register writes, there is a window
18 * in which this races against the start of a new period.
19 * - The IP block has no concept of a duty cycle, only rising/falling edges of
20 * the waveform. Unfortunately, if the rising & falling edges registers have
21 * the same value written to them the IP block will do whichever of a rising
22 * or a falling edge is possible. I.E. a 50% waveform at twice the requested
23 * period. Therefore to get a 0% waveform, the output is set the max high/low
24 * time depending on polarity.
25 * If the duty cycle is 0%, and the requested period is less than the
26 * available period resolution, this will manifest as a ~100% waveform (with
27 * some output glitches) rather than 50%.
28 * - The PWM period is set for the whole IP block not per channel. The driver
29 * will only change the period if no other PWM output is enabled.
30 */
31
32 #include <linux/clk.h>
33 #include <linux/delay.h>
34 #include <linux/err.h>
35 #include <linux/io.h>
36 #include <linux/ktime.h>
37 #include <linux/math.h>
38 #include <linux/module.h>
39 #include <linux/mutex.h>
40 #include <linux/of.h>
41 #include <linux/platform_device.h>
42 #include <linux/pwm.h>
43
44 #define MCHPCOREPWM_PRESCALE_MAX 0xff
45 #define MCHPCOREPWM_PERIOD_STEPS_MAX 0xfe
46 #define MCHPCOREPWM_PERIOD_MAX 0xff00
47
48 #define MCHPCOREPWM_PRESCALE 0x00
49 #define MCHPCOREPWM_PERIOD 0x04
50 #define MCHPCOREPWM_EN(i) (0x08 + 0x04 * (i)) /* 0x08, 0x0c */
51 #define MCHPCOREPWM_POSEDGE(i) (0x10 + 0x08 * (i)) /* 0x10, 0x18, ..., 0x88 */
52 #define MCHPCOREPWM_NEGEDGE(i) (0x14 + 0x08 * (i)) /* 0x14, 0x1c, ..., 0x8c */
53 #define MCHPCOREPWM_SYNC_UPD 0xe4
54 #define MCHPCOREPWM_TIMEOUT_MS 100u
55
56 struct mchp_core_pwm_chip {
57 struct clk *clk;
58 void __iomem *base;
59 struct mutex lock; /* protects the shared period */
60 ktime_t update_timestamp;
61 u32 sync_update_mask;
62 u16 channel_enabled;
63 };
64
to_mchp_core_pwm(struct pwm_chip * chip)65 static inline struct mchp_core_pwm_chip *to_mchp_core_pwm(struct pwm_chip *chip)
66 {
67 return pwmchip_get_drvdata(chip);
68 }
69
mchp_core_pwm_enable(struct pwm_chip * chip,struct pwm_device * pwm,bool enable,u64 period)70 static void mchp_core_pwm_enable(struct pwm_chip *chip, struct pwm_device *pwm,
71 bool enable, u64 period)
72 {
73 struct mchp_core_pwm_chip *mchp_core_pwm = to_mchp_core_pwm(chip);
74 u8 channel_enable, reg_offset, shift;
75
76 /*
77 * There are two adjacent 8 bit control regs, the lower reg controls
78 * 0-7 and the upper reg 8-15. Check if the pwm is in the upper reg
79 * and if so, offset by the bus width.
80 */
81 reg_offset = MCHPCOREPWM_EN(pwm->hwpwm >> 3);
82 shift = pwm->hwpwm & 7;
83
84 channel_enable = readb_relaxed(mchp_core_pwm->base + reg_offset);
85 channel_enable &= ~(1 << shift);
86 channel_enable |= (enable << shift);
87
88 writel_relaxed(channel_enable, mchp_core_pwm->base + reg_offset);
89 mchp_core_pwm->channel_enabled &= ~BIT(pwm->hwpwm);
90 mchp_core_pwm->channel_enabled |= enable << pwm->hwpwm;
91
92 /*
93 * The updated values will not appear on the bus until they have been
94 * applied to the waveform at the beginning of the next period.
95 * This is a NO-OP if the channel does not have shadow registers.
96 */
97 if (mchp_core_pwm->sync_update_mask & (1 << pwm->hwpwm))
98 mchp_core_pwm->update_timestamp = ktime_add_ns(ktime_get(), period);
99 }
100
mchp_core_pwm_wait_for_sync_update(struct mchp_core_pwm_chip * mchp_core_pwm,unsigned int channel)101 static void mchp_core_pwm_wait_for_sync_update(struct mchp_core_pwm_chip *mchp_core_pwm,
102 unsigned int channel)
103 {
104 /*
105 * If a shadow register is used for this PWM channel, and iff there is
106 * a pending update to the waveform, we must wait for it to be applied
107 * before attempting to read its state. Reading the registers yields
108 * the currently implemented settings & the new ones are only readable
109 * once the current period has ended.
110 */
111
112 if (mchp_core_pwm->sync_update_mask & (1 << channel)) {
113 ktime_t current_time = ktime_get();
114 s64 remaining_ns;
115 u32 delay_us;
116
117 remaining_ns = ktime_to_ns(ktime_sub(mchp_core_pwm->update_timestamp,
118 current_time));
119
120 /*
121 * If the update has gone through, don't bother waiting for
122 * obvious reasons. Otherwise wait around for an appropriate
123 * amount of time for the update to go through.
124 */
125 if (remaining_ns <= 0)
126 return;
127
128 delay_us = DIV_ROUND_UP_ULL(remaining_ns, NSEC_PER_USEC);
129 fsleep(delay_us);
130 }
131 }
132
mchp_core_pwm_calc_duty(const struct pwm_state * state,u64 clk_rate,u8 prescale,u8 period_steps)133 static u64 mchp_core_pwm_calc_duty(const struct pwm_state *state, u64 clk_rate,
134 u8 prescale, u8 period_steps)
135 {
136 u64 duty_steps, tmp;
137
138 /*
139 * Calculate the duty cycle in multiples of the prescaled period:
140 * duty_steps = duty_in_ns / step_in_ns
141 * step_in_ns = (prescale * NSEC_PER_SEC) / clk_rate
142 * The code below is rearranged slightly to only divide once.
143 */
144 tmp = (((u64)prescale) + 1) * NSEC_PER_SEC;
145 duty_steps = mul_u64_u64_div_u64(state->duty_cycle, clk_rate, tmp);
146
147 return duty_steps;
148 }
149
mchp_core_pwm_apply_duty(struct pwm_chip * chip,struct pwm_device * pwm,const struct pwm_state * state,u64 duty_steps,u16 period_steps)150 static void mchp_core_pwm_apply_duty(struct pwm_chip *chip, struct pwm_device *pwm,
151 const struct pwm_state *state, u64 duty_steps,
152 u16 period_steps)
153 {
154 struct mchp_core_pwm_chip *mchp_core_pwm = to_mchp_core_pwm(chip);
155 u8 posedge, negedge;
156 u8 first_edge = 0, second_edge = duty_steps;
157
158 /*
159 * Setting posedge == negedge doesn't yield a constant output,
160 * so that's an unsuitable setting to model duty_steps = 0.
161 * In that case set the unwanted edge to a value that never
162 * triggers.
163 */
164 if (duty_steps == 0)
165 first_edge = period_steps + 1;
166
167 if (state->polarity == PWM_POLARITY_INVERSED) {
168 negedge = first_edge;
169 posedge = second_edge;
170 } else {
171 posedge = first_edge;
172 negedge = second_edge;
173 }
174
175 /*
176 * Set the sync bit which ensures that periods that already started are
177 * completed unaltered. At each counter reset event the values are
178 * updated from the shadow registers.
179 */
180 writel_relaxed(posedge, mchp_core_pwm->base + MCHPCOREPWM_POSEDGE(pwm->hwpwm));
181 writel_relaxed(negedge, mchp_core_pwm->base + MCHPCOREPWM_NEGEDGE(pwm->hwpwm));
182 }
183
mchp_core_pwm_calc_period(const struct pwm_state * state,unsigned long clk_rate,u16 * prescale,u16 * period_steps)184 static int mchp_core_pwm_calc_period(const struct pwm_state *state, unsigned long clk_rate,
185 u16 *prescale, u16 *period_steps)
186 {
187 u64 tmp;
188
189 /*
190 * Calculate the period cycles and prescale values.
191 * The registers are each 8 bits wide & multiplied to compute the period
192 * using the formula:
193 * (prescale + 1) * (period_steps + 1)
194 * period = -------------------------------------
195 * clk_rate
196 * so the maximum period that can be generated is 0x10000 times the
197 * period of the input clock.
198 * However, due to the design of the "hardware", it is not possible to
199 * attain a 100% duty cycle if the full range of period_steps is used.
200 * Therefore period_steps is restricted to 0xfe and the maximum multiple
201 * of the clock period attainable is (0xff + 1) * (0xfe + 1) = 0xff00
202 *
203 * The prescale and period_steps registers operate similarly to
204 * CLK_DIVIDER_ONE_BASED, where the value used by the hardware is that
205 * in the register plus one.
206 * It's therefore not possible to set a period lower than 1/clk_rate, so
207 * if tmp is 0, abort. Without aborting, we will set a period that is
208 * greater than that requested and, more importantly, will trigger the
209 * neg-/pos-edge issue described in the limitations.
210 */
211 tmp = mul_u64_u64_div_u64(state->period, clk_rate, NSEC_PER_SEC);
212 if (tmp >= MCHPCOREPWM_PERIOD_MAX) {
213 *prescale = MCHPCOREPWM_PRESCALE_MAX;
214 *period_steps = MCHPCOREPWM_PERIOD_STEPS_MAX;
215
216 return 0;
217 }
218
219 /*
220 * There are multiple strategies that could be used to choose the
221 * prescale & period_steps values.
222 * Here the idea is to pick values so that the selection of duty cycles
223 * is as finegrain as possible, while also keeping the period less than
224 * that requested.
225 *
226 * A simple way to satisfy the first condition is to always set
227 * period_steps to its maximum value. This neatly also satisfies the
228 * second condition too, since using the maximum value of period_steps
229 * to calculate prescale actually calculates its upper bound.
230 * Integer division will ensure a round down, so the period will thereby
231 * always be less than that requested.
232 *
233 * The downside of this approach is a significant degree of inaccuracy,
234 * especially as tmp approaches integer multiples of
235 * MCHPCOREPWM_PERIOD_STEPS_MAX.
236 *
237 * As we must produce a period less than that requested, and for the
238 * sake of creating a simple algorithm, disallow small values of tmp
239 * that would need special handling.
240 */
241 if (tmp < MCHPCOREPWM_PERIOD_STEPS_MAX + 1)
242 return -EINVAL;
243
244 /*
245 * This "optimal" value for prescale is be calculated using the maximum
246 * permitted value of period_steps, 0xfe.
247 *
248 * period * clk_rate
249 * prescale = ------------------------- - 1
250 * NSEC_PER_SEC * (0xfe + 1)
251 *
252 *
253 * period * clk_rate
254 * ------------------- was precomputed as `tmp`
255 * NSEC_PER_SEC
256 */
257 *prescale = ((u16)tmp) / (MCHPCOREPWM_PERIOD_STEPS_MAX + 1) - 1;
258
259 /*
260 * period_steps can be computed from prescale:
261 * period * clk_rate
262 * period_steps = ----------------------------- - 1
263 * NSEC_PER_SEC * (prescale + 1)
264 *
265 * However, in this approximation, we simply use the maximum value that
266 * was used to compute prescale.
267 */
268 *period_steps = MCHPCOREPWM_PERIOD_STEPS_MAX;
269
270 return 0;
271 }
272
mchp_core_pwm_apply_locked(struct pwm_chip * chip,struct pwm_device * pwm,const struct pwm_state * state)273 static int mchp_core_pwm_apply_locked(struct pwm_chip *chip, struct pwm_device *pwm,
274 const struct pwm_state *state)
275 {
276 struct mchp_core_pwm_chip *mchp_core_pwm = to_mchp_core_pwm(chip);
277 bool period_locked;
278 unsigned long clk_rate;
279 u64 duty_steps;
280 u16 prescale, period_steps;
281 int ret;
282
283 if (!state->enabled) {
284 mchp_core_pwm_enable(chip, pwm, false, pwm->state.period);
285 return 0;
286 }
287
288 /*
289 * If clk_rate is too big, the following multiplication might overflow.
290 * However this is implausible, as the fabric of current FPGAs cannot
291 * provide clocks at a rate high enough.
292 */
293 clk_rate = clk_get_rate(mchp_core_pwm->clk);
294 if (clk_rate >= NSEC_PER_SEC)
295 return -EINVAL;
296
297 ret = mchp_core_pwm_calc_period(state, clk_rate, &prescale, &period_steps);
298 if (ret)
299 return ret;
300
301 /*
302 * If the only thing that has changed is the duty cycle or the polarity,
303 * we can shortcut the calculations and just compute/apply the new duty
304 * cycle pos & neg edges
305 * As all the channels share the same period, do not allow it to be
306 * changed if any other channels are enabled.
307 * If the period is locked, it may not be possible to use a period
308 * less than that requested. In that case, we just abort.
309 */
310 period_locked = mchp_core_pwm->channel_enabled & ~(1 << pwm->hwpwm);
311
312 if (period_locked) {
313 u16 hw_prescale;
314 u16 hw_period_steps;
315
316 hw_prescale = readb_relaxed(mchp_core_pwm->base + MCHPCOREPWM_PRESCALE);
317 hw_period_steps = readb_relaxed(mchp_core_pwm->base + MCHPCOREPWM_PERIOD);
318
319 if ((period_steps + 1) * (prescale + 1) <
320 (hw_period_steps + 1) * (hw_prescale + 1))
321 return -EINVAL;
322
323 /*
324 * It is possible that something could have set the period_steps
325 * register to 0xff, which would prevent us from setting a 100%
326 * or 0% relative duty cycle, as explained above in
327 * mchp_core_pwm_calc_period().
328 * The period is locked and we cannot change this, so we abort.
329 */
330 if (hw_period_steps == MCHPCOREPWM_PERIOD_STEPS_MAX)
331 return -EINVAL;
332
333 prescale = hw_prescale;
334 period_steps = hw_period_steps;
335 }
336
337 duty_steps = mchp_core_pwm_calc_duty(state, clk_rate, prescale, period_steps);
338
339 /*
340 * Because the period is not per channel, it is possible that the
341 * requested duty cycle is longer than the period, in which case cap it
342 * to the period, IOW a 100% duty cycle.
343 */
344 if (duty_steps > period_steps)
345 duty_steps = period_steps + 1;
346
347 if (!period_locked) {
348 writel_relaxed(prescale, mchp_core_pwm->base + MCHPCOREPWM_PRESCALE);
349 writel_relaxed(period_steps, mchp_core_pwm->base + MCHPCOREPWM_PERIOD);
350 }
351
352 mchp_core_pwm_apply_duty(chip, pwm, state, duty_steps, period_steps);
353
354 mchp_core_pwm_enable(chip, pwm, true, pwm->state.period);
355
356 return 0;
357 }
358
mchp_core_pwm_apply(struct pwm_chip * chip,struct pwm_device * pwm,const struct pwm_state * state)359 static int mchp_core_pwm_apply(struct pwm_chip *chip, struct pwm_device *pwm,
360 const struct pwm_state *state)
361 {
362 struct mchp_core_pwm_chip *mchp_core_pwm = to_mchp_core_pwm(chip);
363 int ret;
364
365 mutex_lock(&mchp_core_pwm->lock);
366
367 mchp_core_pwm_wait_for_sync_update(mchp_core_pwm, pwm->hwpwm);
368
369 ret = mchp_core_pwm_apply_locked(chip, pwm, state);
370
371 mutex_unlock(&mchp_core_pwm->lock);
372
373 return ret;
374 }
375
mchp_core_pwm_get_state(struct pwm_chip * chip,struct pwm_device * pwm,struct pwm_state * state)376 static int mchp_core_pwm_get_state(struct pwm_chip *chip, struct pwm_device *pwm,
377 struct pwm_state *state)
378 {
379 struct mchp_core_pwm_chip *mchp_core_pwm = to_mchp_core_pwm(chip);
380 u64 rate;
381 u16 prescale, period_steps;
382 u8 duty_steps, posedge, negedge;
383
384 mutex_lock(&mchp_core_pwm->lock);
385
386 mchp_core_pwm_wait_for_sync_update(mchp_core_pwm, pwm->hwpwm);
387
388 if (mchp_core_pwm->channel_enabled & (1 << pwm->hwpwm))
389 state->enabled = true;
390 else
391 state->enabled = false;
392
393 rate = clk_get_rate(mchp_core_pwm->clk);
394
395 /*
396 * Calculating the period:
397 * The registers are each 8 bits wide & multiplied to compute the period
398 * using the formula:
399 * (prescale + 1) * (period_steps + 1)
400 * period = -------------------------------------
401 * clk_rate
402 *
403 * Note:
404 * The prescale and period_steps registers operate similarly to
405 * CLK_DIVIDER_ONE_BASED, where the value used by the hardware is that
406 * in the register plus one.
407 */
408 prescale = readb_relaxed(mchp_core_pwm->base + MCHPCOREPWM_PRESCALE);
409 period_steps = readb_relaxed(mchp_core_pwm->base + MCHPCOREPWM_PERIOD);
410
411 state->period = (period_steps + 1) * (prescale + 1);
412 state->period *= NSEC_PER_SEC;
413 state->period = DIV64_U64_ROUND_UP(state->period, rate);
414
415 posedge = readb_relaxed(mchp_core_pwm->base + MCHPCOREPWM_POSEDGE(pwm->hwpwm));
416 negedge = readb_relaxed(mchp_core_pwm->base + MCHPCOREPWM_NEGEDGE(pwm->hwpwm));
417
418 mutex_unlock(&mchp_core_pwm->lock);
419
420 if (negedge == posedge) {
421 state->duty_cycle = state->period;
422 state->period *= 2;
423 } else {
424 duty_steps = abs((s16)posedge - (s16)negedge);
425 state->duty_cycle = duty_steps * (prescale + 1) * NSEC_PER_SEC;
426 state->duty_cycle = DIV64_U64_ROUND_UP(state->duty_cycle, rate);
427 }
428
429 state->polarity = negedge < posedge ? PWM_POLARITY_INVERSED : PWM_POLARITY_NORMAL;
430
431 return 0;
432 }
433
434 static const struct pwm_ops mchp_core_pwm_ops = {
435 .apply = mchp_core_pwm_apply,
436 .get_state = mchp_core_pwm_get_state,
437 };
438
439 static const struct of_device_id mchp_core_of_match[] = {
440 {
441 .compatible = "microchip,corepwm-rtl-v4",
442 },
443 { /* sentinel */ }
444 };
445 MODULE_DEVICE_TABLE(of, mchp_core_of_match);
446
mchp_core_pwm_probe(struct platform_device * pdev)447 static int mchp_core_pwm_probe(struct platform_device *pdev)
448 {
449 struct pwm_chip *chip;
450 struct mchp_core_pwm_chip *mchp_core_pwm;
451 struct resource *regs;
452 int ret;
453
454 chip = devm_pwmchip_alloc(&pdev->dev, 16, sizeof(*mchp_core_pwm));
455 if (IS_ERR(chip))
456 return PTR_ERR(chip);
457 mchp_core_pwm = to_mchp_core_pwm(chip);
458
459 mchp_core_pwm->base = devm_platform_get_and_ioremap_resource(pdev, 0, ®s);
460 if (IS_ERR(mchp_core_pwm->base))
461 return PTR_ERR(mchp_core_pwm->base);
462
463 mchp_core_pwm->clk = devm_clk_get_enabled(&pdev->dev, NULL);
464 if (IS_ERR(mchp_core_pwm->clk))
465 return dev_err_probe(&pdev->dev, PTR_ERR(mchp_core_pwm->clk),
466 "failed to get PWM clock\n");
467
468 if (of_property_read_u32(pdev->dev.of_node, "microchip,sync-update-mask",
469 &mchp_core_pwm->sync_update_mask))
470 mchp_core_pwm->sync_update_mask = 0;
471
472 mutex_init(&mchp_core_pwm->lock);
473
474 chip->ops = &mchp_core_pwm_ops;
475
476 mchp_core_pwm->channel_enabled = readb_relaxed(mchp_core_pwm->base + MCHPCOREPWM_EN(0));
477 mchp_core_pwm->channel_enabled |=
478 readb_relaxed(mchp_core_pwm->base + MCHPCOREPWM_EN(1)) << 8;
479
480 /*
481 * Enable synchronous update mode for all channels for which shadow
482 * registers have been synthesised.
483 */
484 writel_relaxed(1U, mchp_core_pwm->base + MCHPCOREPWM_SYNC_UPD);
485 mchp_core_pwm->update_timestamp = ktime_get();
486
487 ret = devm_pwmchip_add(&pdev->dev, chip);
488 if (ret)
489 return dev_err_probe(&pdev->dev, ret, "Failed to add pwmchip\n");
490
491 return 0;
492 }
493
494 static struct platform_driver mchp_core_pwm_driver = {
495 .driver = {
496 .name = "mchp-core-pwm",
497 .of_match_table = mchp_core_of_match,
498 },
499 .probe = mchp_core_pwm_probe,
500 };
501 module_platform_driver(mchp_core_pwm_driver);
502
503 MODULE_LICENSE("GPL");
504 MODULE_AUTHOR("Conor Dooley <conor.dooley@microchip.com>");
505 MODULE_DESCRIPTION("corePWM driver for Microchip FPGAs");
506