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 struct resource *res; 405 int ret; 406 407 atmel_pwm = devm_kzalloc(&pdev->dev, sizeof(*atmel_pwm), GFP_KERNEL); 408 if (!atmel_pwm) 409 return -ENOMEM; 410 411 mutex_init(&atmel_pwm->isr_lock); 412 atmel_pwm->data = of_device_get_match_data(&pdev->dev); 413 atmel_pwm->updated_pwms = 0; 414 415 res = platform_get_resource(pdev, IORESOURCE_MEM, 0); 416 atmel_pwm->base = devm_ioremap_resource(&pdev->dev, res); 417 if (IS_ERR(atmel_pwm->base)) 418 return PTR_ERR(atmel_pwm->base); 419 420 atmel_pwm->clk = devm_clk_get(&pdev->dev, NULL); 421 if (IS_ERR(atmel_pwm->clk)) 422 return PTR_ERR(atmel_pwm->clk); 423 424 ret = clk_prepare(atmel_pwm->clk); 425 if (ret) { 426 dev_err(&pdev->dev, "failed to prepare PWM clock\n"); 427 return ret; 428 } 429 430 atmel_pwm->chip.dev = &pdev->dev; 431 atmel_pwm->chip.ops = &atmel_pwm_ops; 432 atmel_pwm->chip.of_xlate = of_pwm_xlate_with_flags; 433 atmel_pwm->chip.of_pwm_n_cells = 3; 434 atmel_pwm->chip.base = -1; 435 atmel_pwm->chip.npwm = 4; 436 437 ret = pwmchip_add(&atmel_pwm->chip); 438 if (ret < 0) { 439 dev_err(&pdev->dev, "failed to add PWM chip %d\n", ret); 440 goto unprepare_clk; 441 } 442 443 platform_set_drvdata(pdev, atmel_pwm); 444 445 return ret; 446 447 unprepare_clk: 448 clk_unprepare(atmel_pwm->clk); 449 return ret; 450 } 451 452 static int atmel_pwm_remove(struct platform_device *pdev) 453 { 454 struct atmel_pwm_chip *atmel_pwm = platform_get_drvdata(pdev); 455 456 clk_unprepare(atmel_pwm->clk); 457 mutex_destroy(&atmel_pwm->isr_lock); 458 459 return pwmchip_remove(&atmel_pwm->chip); 460 } 461 462 static struct platform_driver atmel_pwm_driver = { 463 .driver = { 464 .name = "atmel-pwm", 465 .of_match_table = of_match_ptr(atmel_pwm_dt_ids), 466 }, 467 .probe = atmel_pwm_probe, 468 .remove = atmel_pwm_remove, 469 }; 470 module_platform_driver(atmel_pwm_driver); 471 472 MODULE_ALIAS("platform:atmel-pwm"); 473 MODULE_AUTHOR("Bo Shen <voice.shen@atmel.com>"); 474 MODULE_DESCRIPTION("Atmel PWM driver"); 475 MODULE_LICENSE("GPL v2"); 476