Message-Id: <20210504184925.3399934-2-sean.anderson@seco.com>
Date:   Tue,  4 May 2021 14:49:25 -0400
From:   Sean Anderson <sean.anderson@...o.com>
To:     linux-pwm@...r.kernel.org, devicetree@...r.kernel.org
Cc:     linux-arm-kernel@...ts.infradead.org, linux-kernel@...r.kernel.org,
        michal.simek@...inx.com, Alvaro Gamez <alvaro.gamez@...ent.com>,
        Sean Anderson <sean.anderson@...o.com>,
        Lee Jones <lee.jones@...aro.org>,
        Thierry Reding <thierry.reding@...il.com>,
        Uwe Kleine-König 
        <u.kleine-koenig@...gutronix.de>
Subject: [PATCH v2 2/2] pwm: Add support for Xilinx AXI Timer

This adds PWM support for Xilinx LogiCORE IP AXI soft timers commonly
found on Xilinx FPGAs. There is another driver for this device located
at arch/microblaze/kernel/timer.c, but it is only used for timekeeping.
This driver was written with reference to Xilinx DS764 for v1.03.a [1].

[1] https://www.xilinx.com/support/documentation/ip_documentation/axi_timer/v1_03_a/axi_timer_ds764.pdf

Signed-off-by: Sean Anderson <sean.anderson@...o.com>
---
I tried adding a XILINX_PWM_ prefix to all the defines, but IMO it
really hurt readability. That prefix almost doubles the size the
defines, and is particularly excessive in something like
XILINX_PWM_TCSR_RUN_MASK.

Changes in v2:
- Don't compile this module by default for arm64
- Add dependencies on COMMON_CLK and HAS_IOMEM
- Add comment explaining why we depend on !MICROBLAZE
- Add comment describing device
- Rename TCSR_(SET|CLEAR) to TCSR_RUN_(SET|CLEAR)
- Use NSEC_TO_SEC instead of defining our own
- Use TCSR_RUN_MASK to check if the PWM is enabled, as suggested by Uwe
- Cast dividends to u64 to avoid overflow
- Check for over- and underflow when calculating TLR
- Set xilinx_pwm_ops.owner
- Don't set pwmchip.base to -1
- Check range of xlnx,count-width
- Ensure the clock is always running when the pwm is registered
- Remove debugfs file :l
- Report errors with dev_error_probe

 drivers/pwm/Kconfig      |  13 ++
 drivers/pwm/Makefile     |   1 +
 drivers/pwm/pwm-xilinx.c | 301 +++++++++++++++++++++++++++++++++++++++
 3 files changed, 315 insertions(+)
 create mode 100644 drivers/pwm/pwm-xilinx.c

diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig
index 8ae68d6203fb..b1ad77ec81e3 100644
--- a/drivers/pwm/Kconfig
+++ b/drivers/pwm/Kconfig
@@ -620,4 +620,17 @@ config PWM_VT8500
 	  To compile this driver as a module, choose M here: the module
 	  will be called pwm-vt8500.
 
+config PWM_XILINX
+	tristate "Xilinx AXI Timer PWM support"
+	depends on HAS_IOMEM && COMMON_CLK
+	# This driver conflicts with arch/microblaze/kernel/timer.c
+	depends on !MICROBLAZE
+	help
+	  PWM framework driver for Xilinx LogiCORE IP AXI Timers. This
+	  timer is typically a soft core which may be present in Xilinx
+	  FPGAs. If you don't have this IP in your design, choose N.
+
+	  To compile this driver as a module, choose M here: the module
+	  will be called pwm-xilinx.
+
 endif
diff --git a/drivers/pwm/Makefile b/drivers/pwm/Makefile
index d43b1e17e8e1..655df169b895 100644
--- a/drivers/pwm/Makefile
+++ b/drivers/pwm/Makefile
@@ -58,3 +58,4 @@ obj-$(CONFIG_PWM_TWL)		+= pwm-twl.o
 obj-$(CONFIG_PWM_TWL_LED)	+= pwm-twl-led.o
 obj-$(CONFIG_PWM_VISCONTI)	+= pwm-visconti.o
 obj-$(CONFIG_PWM_VT8500)	+= pwm-vt8500.o
+obj-$(CONFIG_PWM_XILINX)	+= pwm-xilinx.o
diff --git a/drivers/pwm/pwm-xilinx.c b/drivers/pwm/pwm-xilinx.c
new file mode 100644
index 000000000000..10483da1a942
--- /dev/null
+++ b/drivers/pwm/pwm-xilinx.c
@@ -0,0 +1,301 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Copyright (C) 2021 Sean Anderson <sean.anderson@...o.com>
+ *
+ * For Xilinx LogiCORE IP AXI Timer documentation, refer to DS764:
+ * https://www.xilinx.com/support/documentation/ip_documentation/axi_timer/v1_03_a/axi_timer_ds764.pdf
+ *
+ * Hardware limitations:
+ * - When changing both duty cycle and period, we may end up with one cycle
+ *   with the old duty cycle and the new period.
+ * - Cannot produce 100% duty cycle.
+ * - Only produces "normal" output.
+ */
+#include <asm/io.h>
+#include <linux/clk.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/platform_device.h>
+#include <linux/pwm.h>
+
+#define TCSR0	0x00
+#define TLR0	0x04
+#define TCR0	0x08
+#define TCSR1	0x10
+#define TLR1	0x14
+#define TCR1	0x18
+
+#define TCSR_MDT	BIT(0)
+#define TCSR_UDT	BIT(1)
+#define TCSR_GENT	BIT(2)
+#define TCSR_CAPT	BIT(3)
+#define TCSR_ARHT	BIT(4)
+#define TCSR_LOAD	BIT(5)
+#define TCSR_ENIT	BIT(6)
+#define TCSR_ENT	BIT(7)
+#define TCSR_TINT	BIT(8)
+#define TCSR_PWMA	BIT(9)
+#define TCSR_ENALL	BIT(10)
+#define TCSR_CASC	BIT(11)
+
+/*
+ * The idea here is to capture whether the PWM is actually running (e.g.
+ * because we or the bootloader set it up) and we need to be careful to ensure
+ * we don't cause a glitch. According to the device data sheet, to enable the
+ * PWM we need to
+ *
+ * - Set both timers to generate mode (MDT=1)
+ * - Set both timers to PWM mode (PWMA=1)
+ * - Enable the generate out signals (GENT=1)
+ *
+ * In addition,
+ *
+ * - The timer must be running (ENT=1)
+ * - The timer must auto-reload TLR into TCR (ARHT=1)
+ * - We must not be in the process of loading TLR into TCR (LOAD=0)
+ * - Cascade mode must be disabled (CASC=0)
+ *
+ * If any of these differ from usual, then the PWM is either disabled, or is
+ * running in a mode that this driver does not support.
+ */
+#define TCSR_RUN_SET (TCSR_GENT | TCSR_ARHT | TCSR_ENT | TCSR_PWMA)
+#define TCSR_RUN_CLEAR (TCSR_MDT | TCSR_LOAD)
+#define TCSR_RUN_MASK (TCSR_RUN_SET | TCSR_RUN_CLEAR)
+
+/**
+ * struct xilinx_pwm_device - Driver data for Xilinx AXI timer PWM driver
+ * @chip: PWM controller chip
+ * @clk: Parent clock
+ * @regs: Base address of this device
+ * @width: Width of the counters, in bits
+ */
+struct xilinx_pwm_device {
+	struct pwm_chip chip;
+	struct clk *clk;
+	void __iomem *regs;
+	unsigned int width;
+};
+
+static inline struct xilinx_pwm_device *xilinx_pwm_chip_to_device(struct pwm_chip *chip)
+{
+	return container_of(chip, struct xilinx_pwm_device, chip);
+}
+
+static bool xilinx_pwm_is_enabled(u32 tcsr0, u32 tcsr1)
+{
+	return ((TCSR_RUN_MASK | TCSR_CASC) & tcsr0) == TCSR_RUN_SET &&
+		(TCSR_RUN_MASK & tcsr1) == TCSR_RUN_SET;
+}
+
+static int xilinx_pwm_calc_tlr(struct xilinx_pwm_device *pwm, u32 *tlr, u32 tcsr,
+			       unsigned int period)
+{
+	u64 max_count = BIT_ULL(pwm->width) - 1;
+	u64 cycles = DIV_ROUND_DOWN_ULL((u64)period * clk_get_rate(pwm->clk),
+					NSEC_PER_SEC);
+
+	if (cycles < 2)
+		return -ERANGE;
+
+	if (tcsr & TCSR_UDT) {
+		if (cycles - 2 > max_count)
+			return -ERANGE;
+		*tlr = cycles - 2;
+	} else {
+		if (cycles > max_count + 2)
+			return -ERANGE;
+		*tlr = max_count - cycles + 2;
+	}
+
+	return 0;
+}
+
+static unsigned int xilinx_pwm_get_period(struct xilinx_pwm_device *pwm,
+					  u32 tlr, u32 tcsr)
+{
+	u64 cycles;
+
+	if (tcsr & TCSR_UDT)
+		cycles = tlr + 2;
+	else
+		cycles = (BIT_ULL(pwm->width) - 1) - tlr + 2;
+
+	return DIV_ROUND_UP_ULL(cycles * NSEC_PER_SEC, clk_get_rate(pwm->clk));
+}
+
+static int xilinx_pwm_apply(struct pwm_chip *chip, struct pwm_device *unused,
+			    const struct pwm_state *state)
+{
+	int ret;
+	struct xilinx_pwm_device *pwm = xilinx_pwm_chip_to_device(chip);
+	u32 tlr0, tlr1;
+	u32 tcsr0 = readl(pwm->regs + TCSR0);
+	u32 tcsr1 = readl(pwm->regs + TCSR1);
+	bool enabled = xilinx_pwm_is_enabled(tcsr0, tcsr1);
+
+	if (state->polarity != PWM_POLARITY_NORMAL)
+		return -EINVAL;
+
+	ret = xilinx_pwm_calc_tlr(pwm, &tlr0, tcsr0, state->period);
+	if (ret)
+		return ret;
+
+	ret = xilinx_pwm_calc_tlr(pwm, &tlr1, tcsr1, state->duty_cycle);
+	if (ret)
+		return ret;
+
+	if (!enabled && state->enabled)
+		clk_rate_exclusive_get(pwm->clk);
+
+	writel(tlr0, pwm->regs + TLR0);
+	writel(tlr1, pwm->regs + TLR1);
+
+	if (state->enabled) {
+		/* Only touch the TCSRs if we aren't already running */
+		if (!enabled) {
+			/* Load TLR into TCR */
+			writel(tcsr0 | TCSR_LOAD, pwm->regs + TCSR0);
+			writel(tcsr1 | TCSR_LOAD, pwm->regs + TCSR1);
+			/* Enable timers all at once with ENALL */
+			tcsr0 = (TCSR_RUN_SET & ~TCSR_ENT) | (tcsr0 & TCSR_UDT);
+			tcsr1 = TCSR_RUN_SET | TCSR_ENALL | (tcsr1 & TCSR_UDT);
+			writel(tcsr0, pwm->regs + TCSR0);
+			writel(tcsr1, pwm->regs + TCSR1);
+		}
+	} else {
+		writel(tcsr0 & ~TCSR_RUN_SET, pwm->regs + TCSR0);
+		writel(tcsr1 & ~TCSR_RUN_SET, pwm->regs + TCSR1);
+	}
+
+	if (enabled && !state->enabled)
+		clk_rate_exclusive_put(pwm->clk);
+
+	return 0;
+}
+
+static void xilinx_pwm_get_state(struct pwm_chip *chip,
+				 struct pwm_device *unused,
+				 struct pwm_state *state)
+{
+	struct xilinx_pwm_device *pwm = xilinx_pwm_chip_to_device(chip);
+	u32 tlr0, tlr1, tcsr0, tcsr1;
+
+	tlr0 = readl(pwm->regs + TLR0);
+	tlr1 = readl(pwm->regs + TLR1);
+	tcsr0 = readl(pwm->regs + TCSR0);
+	tcsr1 = readl(pwm->regs + TCSR1);
+
+	state->period = xilinx_pwm_get_period(pwm, tlr0, tcsr0);
+	state->duty_cycle = xilinx_pwm_get_period(pwm, tlr1, tcsr1);
+	state->enabled = xilinx_pwm_is_enabled(tcsr0, tcsr1);
+	state->polarity = PWM_POLARITY_NORMAL;
+}
+
+static const struct pwm_ops xilinx_pwm_ops = {
+	.apply = xilinx_pwm_apply,
+	.get_state = xilinx_pwm_get_state,
+	.owner = THIS_MODULE,
+};
+
+static int xilinx_pwm_probe(struct platform_device *pdev)
+{
+	bool enabled = false;
+	int i, ret;
+	struct device *dev = &pdev->dev;
+	struct xilinx_pwm_device *pwm;
+	u32 one_timer;
+
+	ret = of_property_read_u32(dev->of_node, "xlnx,one-timer-only",
+				   &one_timer);
+	if (ret || one_timer)
+		return dev_err_probe(dev, -EINVAL,
+				     "two timers are needed for PWM mode\n");
+
+	for (i = 0; i < 2; i++) {
+		char fmt[] = "xlnx,gen%u-assert";
+		char buf[sizeof(fmt)];
+		u32 gen;
+
+		snprintf(buf, sizeof(buf), fmt, i);
+		ret = of_property_read_u32(dev->of_node, buf, &gen);
+		if (ret || !gen)
+			return dev_err_probe(dev, -EINVAL,
+					     "generateout%u must be active high\n",
+					     i);
+	}
+
+	pwm = devm_kzalloc(&pdev->dev, sizeof(*pwm), GFP_KERNEL);
+	if (!pwm)
+		return -ENOMEM;
+	platform_set_drvdata(pdev, pwm);
+
+	pwm->chip.dev = &pdev->dev;
+	pwm->chip.ops = &xilinx_pwm_ops;
+	pwm->chip.npwm = 1;
+
+	pwm->regs = devm_platform_ioremap_resource(pdev, 0);
+	if (IS_ERR(pwm->regs))
+		return PTR_ERR(pwm->regs);
+
+	ret = of_property_read_u32(dev->of_node, "xlnx,count-width", &pwm->width);
+	if (ret || pwm->width < 8 || pwm->width > 32)
+		return dev_err_probe(dev, -EINVAL,
+				     "missing or invalid counter width\n");
+
+	pwm->clk = devm_clk_get(dev, NULL);
+	if (IS_ERR(pwm->clk))
+		return dev_err_probe(dev, PTR_ERR(pwm->clk), "missing clock\n");
+
+	ret = clk_prepare_enable(pwm->clk);
+	if (ret)
+		return dev_err_probe(dev, ret, "clock enable failed\n");
+
+	enabled = xilinx_pwm_is_enabled(readl(pwm->regs + TCSR0),
+					readl(pwm->regs + TCSR1));
+	if (enabled)
+		clk_rate_exclusive_get(pwm->clk);
+
+	ret = pwmchip_add(&pwm->chip);
+	if (ret) {
+		dev_err_probe(dev, ret, "could not register pwm chip\n");
+		if (enabled)
+			clk_rate_exclusive_put(pwm->clk);
+		clk_disable_unprepare(pwm->clk);
+	}
+	return ret;
+}
+
+static int xilinx_pwm_remove(struct platform_device *pdev)
+{
+	struct xilinx_pwm_device *pwm = platform_get_drvdata(pdev);
+	bool enabled = xilinx_pwm_is_enabled(readl(pwm->regs + TCSR0),
+					     readl(pwm->regs + TCSR1));
+
+	pwmchip_remove(&pwm->chip);
+	if (enabled)
+		clk_rate_exclusive_put(pwm->clk);
+	clk_disable_unprepare(pwm->clk);
+
+	return 0;
+}
+
+static const struct of_device_id xilinx_pwm_of_match[] = {
+	{ .compatible = "xlnx,xps-timer-1.00.a" },
+	{ .compatible = "xlnx,axi-timer-2.0" },
+	{},
+};
+MODULE_DEVICE_TABLE(of, xilinx_pwm_of_match);
+
+static struct platform_driver xilinx_pwm_driver = {
+	.probe = xilinx_pwm_probe,
+	.remove = xilinx_pwm_remove,
+	.driver = {
+		.name = "xilinx-pwm",
+		.of_match_table = of_match_ptr(xilinx_pwm_of_match),
+	},
+};
+module_platform_driver(xilinx_pwm_driver);
+
+MODULE_ALIAS("platform:xilinx-pwm");
+MODULE_DESCRIPTION("Xilinx LogiCORE IP AXI Timer PWM driver");
+MODULE_LICENSE("GPL v2");
-- 
2.25.1

Powered by blists - more mailing lists