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[80.145.94.123]) by smtp.gmail.com with ESMTPSA id 5b1f17b1804b1-4264a2ca5casm161986155e9.32.2024.07.08.03.53.02 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 08 Jul 2024 03:53:02 -0700 (PDT) From: =?utf-8?q?Uwe_Kleine-K=C3=B6nig?= To: linux-pwm@vger.kernel.org Cc: Fabrice Gasnier , Maxime Coquelin , Alexandre Torgue , linux-stm32@st-md-mailman.stormreply.com, linux-arm-kernel@lists.infradead.org Subject: [PATCH 6/6] pwm: stm32: Implementation of the waveform callbacks Date: Mon, 8 Jul 2024 12:52:32 +0200 Message-ID: <69eb4b894ec82a0d53bc14450006a977d82551ec.1720435656.git.u.kleine-koenig@baylibre.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: References: MIME-Version: 1.0 X-Developer-Signature: v=1; a=openpgp-sha256; l=17011; i=u.kleine-koenig@baylibre.com; h=from:subject:message-id; bh=yhsRxTmP+cPE+8kUf176lTv2yrrTFVO2vxSx26zHd0I=; b=owEBbQGS/pANAwAKAY+A+1h9Ev5OAcsmYgBmi8T68q3i4AsqKv/3eD7+PVUgJ1AuvSqy1csHu PUxhL7FqsGJATMEAAEKAB0WIQQ/gaxpOnoeWYmt/tOPgPtYfRL+TgUCZovE+gAKCRCPgPtYfRL+ TnmxB/48DbmWoYO+leRSz4W37BtI4ysuXyR392jO9nkgRve/c9SnkG3uBLhg/6QE7spnYoYbe0M KPJeGj09jNTwvCcgbISAZvMNyXPkGUgE2JsuLlVKXGCqG1VET81iKxdlGFxFU0xq7VuLvUTfbTB 7VIAsOEXTvRjUz0Le9XvPqijxpbO0i+C3A7/dU8wvTLPnaU0LZLv5RsOjmQHue9A1BCwa79jmtN huhmVxha7Swm270SkzMaSjPNK3buIzx8no5wXG29nuZBFw86qWDWhbUByM1wEap5NPNWiy9azjc pz/3FFzKMMprILwMegbBznAx5C8xxK9cb0BscThbWYiT1iKa X-Developer-Key: i=u.kleine-koenig@baylibre.com; a=openpgp; fpr=0D2511F322BFAB1C1580266BE2DCDD9132669BD6 X-CRM114-Version: 20100106-BlameMichelson ( TRE 0.8.0 (BSD) ) MR-646709E3 X-CRM114-CacheID: sfid-20240708_035305_540914_6B81D952 X-CRM114-Status: GOOD ( 27.68 ) X-BeenThere: linux-arm-kernel@lists.infradead.org X-Mailman-Version: 2.1.34 Precedence: list List-Id: List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Sender: "linux-arm-kernel" Errors-To: linux-arm-kernel-bounces+linux-arm-kernel=archiver.kernel.org@lists.infradead.org Convert the stm32 pwm driver to use the new callbacks for hardware programming. Signed-off-by: Uwe Kleine-König --- drivers/pwm/pwm-stm32.c | 605 +++++++++++++++++++++++++--------------- 1 file changed, 384 insertions(+), 221 deletions(-) diff --git a/drivers/pwm/pwm-stm32.c b/drivers/pwm/pwm-stm32.c index fd754a99cf2e..4dedfabce63b 100644 --- a/drivers/pwm/pwm-stm32.c +++ b/drivers/pwm/pwm-stm32.c @@ -51,6 +51,384 @@ static u32 active_channels(struct stm32_pwm *dev) return ccer & TIM_CCER_CCXE; } +struct stm32_pwm_waveform { + u32 ccer; + u32 psc; + u32 arr; + u32 ccr; +}; + +static int stm32_pwm_round_waveform_tohw(struct pwm_chip *chip, + struct pwm_device *pwm, + const struct pwm_waveform *wf, + void *_wfhw) +{ + struct stm32_pwm_waveform *wfhw = _wfhw; + struct stm32_pwm *priv = to_stm32_pwm_dev(chip); + unsigned int ch = pwm->hwpwm; + unsigned long rate; + u64 ccr, duty; + int ret; + + if (wf->period_length == 0) { + *wfhw = (struct stm32_pwm_waveform){ + .ccer = 0, + }; + + return 0; + } + + ret = clk_enable(priv->clk); + if (ret) + return ret; + + wfhw->ccer = TIM_CCER_CCxE(ch + 1); + if (priv->have_complementary_output) + wfhw->ccer = TIM_CCER_CCxNE(ch); + + rate = clk_get_rate(priv->clk); + + if (active_channels(priv) & ~(1 << ch * 4)) { + u64 arr; + + /* + * Other channels are already enabled, so the configured PSC and + * ARR must be used for this channel, too. + */ + ret = regmap_read(priv->regmap, TIM_PSC, &wfhw->psc); + if (ret) + goto out; + + ret = regmap_read(priv->regmap, TIM_ARR, &wfhw->arr); + if (ret) + goto out; + + /* + * calculate the best value for ARR for the given PSC, refuse if + * the resulting period gets bigger than the requested one. + */ + arr = mul_u64_u64_div_u64(wf->period_length, rate, + (u64)NSEC_PER_SEC * (wfhw->psc + 1)); + if (arr <= wfhw->arr) { + /* + * requested period is small than the currently + * configured and unchangable period, report back the smallest + * possible period, i.e. the current state; Initialize + * ccr to anything valid. + */ + wfhw->ccr = 0; + ret = 1; + goto out; + } + + } else { + /* + * .probe() asserted that clk_get_rate() is not bigger than 1 GHz, so + * the calculations here won't overflow. + * First we need to find the minimal value for prescaler such that + * + * period_ns * clkrate + * ------------------------------ < max_arr + 1 + * NSEC_PER_SEC * (prescaler + 1) + * + * This equation is equivalent to + * + * period_ns * clkrate + * ---------------------------- < prescaler + 1 + * NSEC_PER_SEC * (max_arr + 1) + * + * Using integer division and knowing that the right hand side is + * integer, this is further equivalent to + * + * (period_ns * clkrate) // (NSEC_PER_SEC * (max_arr + 1)) ≤ prescaler + */ + u64 psc = mul_u64_u64_div_u64(wf->period_length, rate, + (u64)NSEC_PER_SEC * ((u64)priv->max_arr + 1)); + u64 arr; + + wfhw->psc = min_t(u64, psc, MAX_TIM_PSC); + + arr = mul_u64_u64_div_u64(wf->period_length, rate, + (u64)NSEC_PER_SEC * (wfhw->psc + 1)); + if (!arr) { + /* + * requested period is too small, report back the smallest + * possible period, i.e. ARR = 0. The only valid CCR + * value is then zero, too. + */ + wfhw->arr = 0; + wfhw->ccr = 0; + ret = 1; + goto out; + } + + /* + * ARR is limited intentionally to values less than + * priv->max_arr to allow 100% duty cycle. + */ + wfhw->arr = min_t(u64, arr, priv->max_arr) - 1; + } + + duty = mul_u64_u64_div_u64(wf->duty_length, rate, + (u64)NSEC_PER_SEC * (wfhw->psc + 1)); + duty = min_t(u64, duty, wfhw->arr + 1); + + if (wf->duty_length && wf->duty_offset && + wf->duty_length + wf->duty_offset >= wf->period_length) { + wfhw->ccer |= TIM_CCER_CCxP(ch + 1); + if (priv->have_complementary_output) + wfhw->ccer |= TIM_CCER_CCxNP(ch + 1); + + ccr = wfhw->arr + 1 - duty; + } else { + ccr = duty; + } + + wfhw->ccr = min_t(u64, ccr, wfhw->arr + 1); + + dev_dbg(&chip->dev, "pwm#%u: %lld/%lld [+%lld] @%lu -> CCER: %08x, PSC: %08x, ARR: %08x, CCR: %08x\n", + pwm->hwpwm, wf->duty_length, wf->period_length, wf->duty_offset, + rate, wfhw->ccer, wfhw->psc, wfhw->arr, wfhw->ccr); + +out: + clk_disable(priv->clk); + + return ret; +} + +/* + * This should be moved to lib/math/div64.c. Currently there are some changes + * pending to mul_u64_u64_div_u64. Uwe will care for that when the dust settles. + */ +static u64 stm32_pwm_mul_u64_u64_div_u64_roundup(u64 a, u64 b, u64 c) +{ + u64 res = mul_u64_u64_div_u64(a, b, c); + /* Those multiplications might overflow but it doesn't matter */ + u64 rem = a * b - c * res; + + if (rem) + res += 1; + + return res; +} + +static int stm32_pwm_round_waveform_fromhw(struct pwm_chip *chip, + struct pwm_device *pwm, + const void *_wfhw, + struct pwm_waveform *wf) +{ + const struct stm32_pwm_waveform *wfhw = _wfhw; + struct stm32_pwm *priv = to_stm32_pwm_dev(chip); + unsigned int ch = pwm->hwpwm; + + if (wfhw->ccer & TIM_CCER_CCxE(ch + 1)) { + unsigned long rate = clk_get_rate(priv->clk); + u64 ccr_ns; + + /* The result doesn't overflow for rate >= 15259 */ + wf->period_length = stm32_pwm_mul_u64_u64_div_u64_roundup(((u64)wfhw->psc + 1) * (wfhw->arr + 1), NSEC_PER_SEC, rate); + + ccr_ns = stm32_pwm_mul_u64_u64_div_u64_roundup(((u64)wfhw->psc + 1) * wfhw->ccr, NSEC_PER_SEC, rate); + + if (wfhw->ccer & TIM_CCER_CCxP(ch + 1)) { + wf->duty_length = + stm32_pwm_mul_u64_u64_div_u64_roundup(((u64)wfhw->psc + 1) * (wfhw->arr + 1 - wfhw->ccr), + NSEC_PER_SEC, rate); + + wf->duty_offset = ccr_ns; + } else { + wf->duty_length = ccr_ns; + wf->duty_offset = 0; + } + } else { + *wf = (struct pwm_waveform){ + .period_length = 0, + }; + } + + return 0; +} + +static int stm32_pwm_read_waveform(struct pwm_chip *chip, + struct pwm_device *pwm, + void *_wfhw) +{ + struct stm32_pwm_waveform *wfhw = _wfhw; + struct stm32_pwm *priv = to_stm32_pwm_dev(chip); + unsigned int ch = pwm->hwpwm; + int ret; + + ret = clk_enable(priv->clk); + if (ret) + return ret; + + ret = regmap_read(priv->regmap, TIM_CCER, &wfhw->ccer); + if (ret) + goto out; + + if (wfhw->ccer & TIM_CCER_CCxE(ch + 1)) { + ret = regmap_read(priv->regmap, TIM_PSC, &wfhw->psc); + if (ret) + goto out; + + ret = regmap_read(priv->regmap, TIM_ARR, &wfhw->arr); + if (ret) + goto out; + + if (wfhw->arr == U32_MAX) + wfhw->arr -= 1; + + ret = regmap_read(priv->regmap, TIM_CCRx(ch + 1), &wfhw->ccr); + if (ret) + goto out; + + if (wfhw->ccr > wfhw->arr + 1) + wfhw->ccr = wfhw->arr + 1; + } + +out: + clk_disable(priv->clk); + + return ret; +} + +static int stm32_pwm_write_waveform(struct pwm_chip *chip, + struct pwm_device *pwm, + const void *_wfhw) +{ + const struct stm32_pwm_waveform *wfhw = _wfhw; + struct stm32_pwm *priv = to_stm32_pwm_dev(chip); + unsigned int ch = pwm->hwpwm; + int ret; + + ret = clk_enable(priv->clk); + if (ret) + return ret; + + if (wfhw->ccer & TIM_CCER_CCxE(ch + 1)) { + u32 ccer, mask; + unsigned shift; + u32 ccmr; + + ret = regmap_read(priv->regmap, TIM_CCER, &ccer); + if (ret) + goto out; + + /* If there are other channels enabled, don't update PSC and ARR */ + if (ccer & ~TIM_CCER_CCxE(ch + 1) & TIM_CCER_CCXE) { + u32 psc, arr; + + ret = regmap_read(priv->regmap, TIM_PSC, &psc); + if (ret) + goto out; + + if (psc != wfhw->psc) { + ret = -EBUSY; + goto out; + } + + regmap_read(priv->regmap, TIM_ARR, &arr); + if (ret) + goto out; + + if (arr != wfhw->arr) { + ret = -EBUSY; + goto out; + } + } else { + ret = regmap_write(priv->regmap, TIM_PSC, wfhw->psc); + if (ret) + goto out; + + ret = regmap_write(priv->regmap, TIM_ARR, wfhw->arr); + if (ret) + goto out; + + ret = regmap_set_bits(priv->regmap, TIM_CR1, TIM_CR1_ARPE); + if (ret) + goto out; + + } + + /* set polarity */ + mask = TIM_CCER_CCxP(ch + 1) | TIM_CCER_CCxNP(ch + 1); + ret = regmap_update_bits(priv->regmap, TIM_CCER, mask, wfhw->ccer); + if (ret) + goto out; + + ret = regmap_write(priv->regmap, TIM_CCRx(ch + 1), wfhw->ccr); + if (ret) + goto out; + + /* Configure output mode */ + shift = (ch & 0x1) * CCMR_CHANNEL_SHIFT; + ccmr = (TIM_CCMR_PE | TIM_CCMR_M1) << shift; + mask = CCMR_CHANNEL_MASK << shift; + + if (ch < 2) + ret = regmap_update_bits(priv->regmap, TIM_CCMR1, mask, ccmr); + else + ret = regmap_update_bits(priv->regmap, TIM_CCMR2, mask, ccmr); + if (ret) + goto out; + + ret = regmap_set_bits(priv->regmap, TIM_BDTR, TIM_BDTR_MOE); + if (ret) + goto out; + + if (!(ccer & TIM_CCER_CCxE(ch + 1))) { + mask = TIM_CCER_CCxE(ch + 1) | TIM_CCER_CCxNE(ch + 1); + + ret = clk_enable(priv->clk); + if (ret) + goto out; + + ccer = (ccer & ~mask) | (wfhw->ccer & mask); + regmap_write(priv->regmap, TIM_CCER, ccer); + + /* Make sure that registers are updated */ + regmap_set_bits(priv->regmap, TIM_EGR, TIM_EGR_UG); + + /* Enable controller */ + regmap_set_bits(priv->regmap, TIM_CR1, TIM_CR1_CEN); + } + + } else { + /* disable channel */ + u32 mask, ccer; + + mask = TIM_CCER_CCxE(ch + 1); + if (priv->have_complementary_output) + mask |= TIM_CCER_CCxNE(ch + 1); + + ret = regmap_read(priv->regmap, TIM_CCER, &ccer); + if (ret) + goto out; + + if (ccer & mask) { + ccer = ccer & ~mask; + + ret = regmap_write(priv->regmap, TIM_CCER, ccer); + if (ret) + goto out; + + if (!(ccer & TIM_CCER_CCXE)) { + /* When all channels are disabled, we can disable the controller */ + ret = regmap_clear_bits(priv->regmap, TIM_CR1, TIM_CR1_CEN); + if (ret) + goto out; + } + + clk_disable(priv->clk); + } + } + +out: + clk_disable(priv->clk); + + return ret; +} + #define TIM_CCER_CC12P (TIM_CCER_CC1P | TIM_CCER_CC2P) #define TIM_CCER_CC12E (TIM_CCER_CC1E | TIM_CCER_CC2E) #define TIM_CCER_CC34P (TIM_CCER_CC3P | TIM_CCER_CC4P) @@ -308,228 +686,13 @@ static int stm32_pwm_capture(struct pwm_chip *chip, struct pwm_device *pwm, return ret; } -static int stm32_pwm_config(struct stm32_pwm *priv, unsigned int ch, - u64 duty_ns, u64 period_ns) -{ - unsigned long long prd, dty; - unsigned long long prescaler; - u32 ccmr, mask, shift; - - /* - * .probe() asserted that clk_get_rate() is not bigger than 1 GHz, so - * the calculations here won't overflow. - * First we need to find the minimal value for prescaler such that - * - * period_ns * clkrate - * ------------------------------ < max_arr + 1 - * NSEC_PER_SEC * (prescaler + 1) - * - * This equation is equivalent to - * - * period_ns * clkrate - * ---------------------------- < prescaler + 1 - * NSEC_PER_SEC * (max_arr + 1) - * - * Using integer division and knowing that the right hand side is - * integer, this is further equivalent to - * - * (period_ns * clkrate) // (NSEC_PER_SEC * (max_arr + 1)) ≤ prescaler - */ - - prescaler = mul_u64_u64_div_u64(period_ns, clk_get_rate(priv->clk), - (u64)NSEC_PER_SEC * ((u64)priv->max_arr + 1)); - if (prescaler > MAX_TIM_PSC) - return -EINVAL; - - prd = mul_u64_u64_div_u64(period_ns, clk_get_rate(priv->clk), - (u64)NSEC_PER_SEC * (prescaler + 1)); - if (!prd) - return -EINVAL; - - /* - * All channels share the same prescaler and counter so when two - * channels are active at the same time we can't change them - */ - if (active_channels(priv) & ~(1 << ch * 4)) { - u32 psc, arr; - - regmap_read(priv->regmap, TIM_PSC, &psc); - regmap_read(priv->regmap, TIM_ARR, &arr); - - if ((psc != prescaler) || (arr != prd - 1)) - return -EBUSY; - } - - regmap_write(priv->regmap, TIM_PSC, prescaler); - regmap_write(priv->regmap, TIM_ARR, prd - 1); - regmap_set_bits(priv->regmap, TIM_CR1, TIM_CR1_ARPE); - - /* Calculate the duty cycles */ - dty = mul_u64_u64_div_u64(duty_ns, clk_get_rate(priv->clk), - (u64)NSEC_PER_SEC * (prescaler + 1)); - - regmap_write(priv->regmap, TIM_CCRx(ch + 1), dty); - - /* Configure output mode */ - shift = (ch & 0x1) * CCMR_CHANNEL_SHIFT; - ccmr = (TIM_CCMR_PE | TIM_CCMR_M1) << shift; - mask = CCMR_CHANNEL_MASK << shift; - - if (ch < 2) - regmap_update_bits(priv->regmap, TIM_CCMR1, mask, ccmr); - else - regmap_update_bits(priv->regmap, TIM_CCMR2, mask, ccmr); - - regmap_set_bits(priv->regmap, TIM_BDTR, TIM_BDTR_MOE); - - return 0; -} - -static int stm32_pwm_set_polarity(struct stm32_pwm *priv, unsigned int ch, - enum pwm_polarity polarity) -{ - u32 mask; - - mask = TIM_CCER_CCxP(ch + 1); - if (priv->have_complementary_output) - mask |= TIM_CCER_CCxNP(ch + 1); - - regmap_update_bits(priv->regmap, TIM_CCER, mask, - polarity == PWM_POLARITY_NORMAL ? 0 : mask); - - return 0; -} - -static int stm32_pwm_enable(struct stm32_pwm *priv, unsigned int ch) -{ - u32 mask; - int ret; - - ret = clk_enable(priv->clk); - if (ret) - return ret; - - /* Enable channel */ - mask = TIM_CCER_CCxE(ch + 1); - if (priv->have_complementary_output) - mask |= TIM_CCER_CCxNE(ch); - - regmap_set_bits(priv->regmap, TIM_CCER, mask); - - /* Make sure that registers are updated */ - regmap_set_bits(priv->regmap, TIM_EGR, TIM_EGR_UG); - - /* Enable controller */ - regmap_set_bits(priv->regmap, TIM_CR1, TIM_CR1_CEN); - - return 0; -} - -static void stm32_pwm_disable(struct stm32_pwm *priv, unsigned int ch) -{ - u32 mask; - - /* Disable channel */ - mask = TIM_CCER_CCxE(ch + 1); - if (priv->have_complementary_output) - mask |= TIM_CCER_CCxNE(ch + 1); - - regmap_clear_bits(priv->regmap, TIM_CCER, mask); - - /* When all channels are disabled, we can disable the controller */ - if (!active_channels(priv)) - regmap_clear_bits(priv->regmap, TIM_CR1, TIM_CR1_CEN); - - clk_disable(priv->clk); -} - -static int stm32_pwm_apply(struct pwm_chip *chip, struct pwm_device *pwm, - const struct pwm_state *state) -{ - bool enabled; - struct stm32_pwm *priv = to_stm32_pwm_dev(chip); - int ret; - - enabled = pwm->state.enabled; - - if (!state->enabled) { - if (enabled) - stm32_pwm_disable(priv, pwm->hwpwm); - return 0; - } - - if (state->polarity != pwm->state.polarity) - stm32_pwm_set_polarity(priv, pwm->hwpwm, state->polarity); - - ret = stm32_pwm_config(priv, pwm->hwpwm, - state->duty_cycle, state->period); - if (ret) - return ret; - - if (!enabled && state->enabled) - ret = stm32_pwm_enable(priv, pwm->hwpwm); - - return ret; -} - -static int stm32_pwm_apply_locked(struct pwm_chip *chip, struct pwm_device *pwm, - const struct pwm_state *state) -{ - struct stm32_pwm *priv = to_stm32_pwm_dev(chip); - int ret; - - /* protect common prescaler for all active channels */ - mutex_lock(&priv->lock); - ret = stm32_pwm_apply(chip, pwm, state); - mutex_unlock(&priv->lock); - - return ret; -} - -static int stm32_pwm_get_state(struct pwm_chip *chip, - struct pwm_device *pwm, struct pwm_state *state) -{ - struct stm32_pwm *priv = to_stm32_pwm_dev(chip); - int ch = pwm->hwpwm; - unsigned long rate; - u32 ccer, psc, arr, ccr; - u64 dty, prd; - int ret; - - mutex_lock(&priv->lock); - - ret = regmap_read(priv->regmap, TIM_CCER, &ccer); - if (ret) - goto out; - - state->enabled = ccer & TIM_CCER_CCxE(ch + 1); - state->polarity = (ccer & TIM_CCER_CCxP(ch + 1)) ? - PWM_POLARITY_INVERSED : PWM_POLARITY_NORMAL; - ret = regmap_read(priv->regmap, TIM_PSC, &psc); - if (ret) - goto out; - ret = regmap_read(priv->regmap, TIM_ARR, &arr); - if (ret) - goto out; - ret = regmap_read(priv->regmap, TIM_CCRx(ch + 1), &ccr); - if (ret) - goto out; - - rate = clk_get_rate(priv->clk); - - prd = (u64)NSEC_PER_SEC * (psc + 1) * (arr + 1); - state->period = DIV_ROUND_UP_ULL(prd, rate); - dty = (u64)NSEC_PER_SEC * (psc + 1) * ccr; - state->duty_cycle = DIV_ROUND_UP_ULL(dty, rate); - -out: - mutex_unlock(&priv->lock); - return ret; -} - static const struct pwm_ops stm32pwm_ops = { - .apply = stm32_pwm_apply_locked, - .get_state = stm32_pwm_get_state, + .sizeof_wfhw = sizeof(struct stm32_pwm_waveform), + .round_waveform_tohw = stm32_pwm_round_waveform_tohw, + .round_waveform_fromhw = stm32_pwm_round_waveform_fromhw, + .read_waveform = stm32_pwm_read_waveform, + .write_waveform = stm32_pwm_write_waveform, + .capture = IS_ENABLED(CONFIG_DMA_ENGINE) ? stm32_pwm_capture : NULL, };