Hello, On Fri, Nov 12, 2021 at 01:55:04PM -0500, Sean Anderson wrote: > This adds PWM support for Xilinx LogiCORE IP AXI soft timers commonly > found on Xilinx FPGAs. At the moment clock control is very basic: we > just enable the clock during probe and pin the frequency. In the future, > someone could add support for disabling the clock when not in use. > > Some common code has been specially demarcated. While currently only > used by the PWM driver, it is anticipated that it may be split off in > the future to be used by the timer driver as well. > > 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@xxxxxxxx> > --- > > Changes in v10: > - Fix compilation error in timer driver > > Changes in v9: > - Refactor "if { return } else if { }" to "if { return } if { }" > - Remove drivers/clocksource/timer-xilinx-common.c from MAINTAINERS > - Remove xilinx_timer_common_init and integrate it into xilinx_timer_probe > > Changes in v8: > - Drop new timer driver; it has been deferred for future series > > Changes in v7: > - Add dependency on OF_ADDRESS > - Fix period_cycles calculation > - Fix typo in limitations > > Changes in v6: > - Capitalize error messages > - Don't disable regmap locking to allow inspection of registers via > debugfs > - Prevent overflow when calculating period_cycles > - Remove enabled variable from xilinx_pwm_apply > - Swap order of period_cycle range comparisons > > Changes in v5: > - Allow non-zero #pwm-cells > - Correctly set duty_cycle in get_state when TLR0=TLR1 > - Elaborate on limitation section > - Perform some additional checks/rounding in apply_state > - Remove xlnx,axi-timer-2.0 compatible string > - Rework duty-cycle and period calculations with feedback from Uwe > - Switch to regmap to abstract endianness issues > - Use more verbose error messages > > Changes in v4: > - Don't use volatile in read/write replacements. Some arches have it and > some don't. > - Put common timer properties into their own struct to better reuse > code. > - Remove references to properties which are not good enough for Linux. > > Changes in v3: > - Add clockevent and clocksource support > - Remove old microblaze driver > - Rewrite probe to only use a device_node, since timers may need to be > initialized before we have proper devices. This does bloat the code a bit > since we can no longer rely on helpers such as dev_err_probe. We also > cannot rely on device resources being free'd on failure, so we must free > them manually. > - We now access registers through xilinx_timer_(read|write). This allows us > to deal with endianness issues, as originally seen in the microblaze > driver. CAVEAT EMPTOR: I have not tested this on big-endian! > > Changes in v2: > - Add comment describing device > - Add comment explaining why we depend on !MICROBLAZE > - Add dependencies on COMMON_CLK and HAS_IOMEM > - Cast dividends to u64 to avoid overflow > - Check for over- and underflow when calculating TLR > - Check range of xlnx,count-width > - Don't compile this module by default for arm64 > - Don't set pwmchip.base to -1 > - Ensure the clock is always running when the pwm is registered > - Remove debugfs file :l > - Rename TCSR_(SET|CLEAR) to TCSR_RUN_(SET|CLEAR) > - Report errors with dev_error_probe > - Set xilinx_pwm_ops.owner > - Use NSEC_TO_SEC instead of defining our own > - Use TCSR_RUN_MASK to check if the PWM is enabled, as suggested by Uwe > > MAINTAINERS | 6 + > arch/microblaze/kernel/timer.c | 3 + > drivers/pwm/Kconfig | 14 ++ > drivers/pwm/Makefile | 1 + > drivers/pwm/pwm-xilinx.c | 311 +++++++++++++++++++++++++++++ > include/clocksource/timer-xilinx.h | 91 +++++++++ > 6 files changed, 426 insertions(+) > create mode 100644 drivers/pwm/pwm-xilinx.c > create mode 100644 include/clocksource/timer-xilinx.h > > diff --git a/MAINTAINERS b/MAINTAINERS > index 3b79fd441dde..6f0f57c041c4 100644 > --- a/MAINTAINERS > +++ b/MAINTAINERS > @@ -20614,6 +20614,12 @@ F: drivers/misc/Makefile > F: drivers/misc/xilinx_sdfec.c > F: include/uapi/misc/xilinx_sdfec.h > > +XILINX PWM DRIVER > +M: Sean Anderson <sean.anderson@xxxxxxxx> > +S: Maintained > +F: drivers/pwm/pwm-xilinx.c > +F: include/clocksource/timer-xilinx.h > + > XILINX UARTLITE SERIAL DRIVER > M: Peter Korsgaard <jacmet@xxxxxxxxxx> > L: linux-serial@xxxxxxxxxxxxxxx > diff --git a/arch/microblaze/kernel/timer.c b/arch/microblaze/kernel/timer.c > index f8832cf49384..dea34a3d4aa4 100644 > --- a/arch/microblaze/kernel/timer.c > +++ b/arch/microblaze/kernel/timer.c > @@ -251,6 +251,9 @@ static int __init xilinx_timer_init(struct device_node *timer) > u32 timer_num = 1; > int ret; > > + if (of_property_read_bool(timer, "#pwm-cells")) > + return 0; > + > if (initialized) > return -EINVAL; > > diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig > index aa29841bbb79..47f25237754f 100644 > --- a/drivers/pwm/Kconfig > +++ b/drivers/pwm/Kconfig > @@ -638,4 +638,18 @@ 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 OF_ADDRESS > + depends on COMMON_CLK > + select REGMAP_MMIO > + help > + PWM driver for Xilinx LogiCORE IP AXI timers. This timer is > + typically a soft core which may be present in Xilinx FPGAs. > + This device may also be present in Microblaze soft processors. > + 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 708840b7fba8..ea785480359b 100644 > --- a/drivers/pwm/Makefile > +++ b/drivers/pwm/Makefile > @@ -60,3 +60,4 @@ 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..d79ef202d62f > --- /dev/null > +++ b/drivers/pwm/pwm-xilinx.c > @@ -0,0 +1,311 @@ > +// SPDX-License-Identifier: GPL-2.0+ > +/* > + * Copyright (C) 2021 Sean Anderson <sean.anderson@xxxxxxxx> > + * > + * Limitations: > + * - When changing both duty cycle and period, we may end up with one cycle > + * with the old duty cycle and the new period. This is because the counters > + * may only be reloaded by first stopping them, or by letting them be > + * automatically reloaded at the end of a cycle. If this automatic reload > + * happens after we set TLR0 but before we set TLR1 then we will have a > + * bad cycle. This could probably be fixed by reading TCR0 just before > + * reprogramming, but I think it would add complexity for little gain. > + * - Cannot produce 100% duty cycle by configuring the TLRs. This might be > + * possible by stopping the counters at an appropriate point in the cycle, > + * but this is not (yet) implemented. > + * - Only produces "normal" output. > + * - Always produces low output if disabled. > + */ > + > +#include <clocksource/timer-xilinx.h> > +#include <linux/clk.h> > +#include <linux/clk-provider.h> > +#include <linux/device.h> > +#include <linux/module.h> > +#include <linux/of.h> > +#include <linux/platform_device.h> > +#include <linux/pwm.h> > +#include <linux/regmap.h> > + > +/* > + * The following functions are "common" to drivers for this device, and may be > + * exported at a future date. > + */ > +u32 xilinx_timer_tlr_cycles(struct xilinx_timer_priv *priv, u32 tcsr, > + u64 cycles) > +{ > + WARN_ON(cycles < 2 || cycles - 2 > priv->max); > + > + if (tcsr & TCSR_UDT) > + return cycles - 2; > + return priv->max - cycles + 2; > +} > + > +unsigned int xilinx_timer_get_period(struct xilinx_timer_priv *priv, > + u32 tlr, u32 tcsr) > +{ > + u64 cycles; > + > + if (tcsr & TCSR_UDT) > + cycles = tlr + 2; > + else > + cycles = (u64)priv->max - tlr + 2; > + > + /* cycles has a max of 2^32 + 2 */ > + return DIV64_U64_ROUND_CLOSEST(cycles * NSEC_PER_SEC, > + clk_get_rate(priv->clk)); Please round up here. > +} > + > +/* > + * 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 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_PWM_SET (TCSR_GENT | TCSR_ARHT | TCSR_ENT | TCSR_PWMA) > +#define TCSR_PWM_CLEAR (TCSR_MDT | TCSR_LOAD) > +#define TCSR_PWM_MASK (TCSR_PWM_SET | TCSR_PWM_CLEAR) > + > +struct xilinx_pwm_device { > + struct pwm_chip chip; > + struct xilinx_timer_priv priv; > +}; > + > +static inline struct xilinx_timer_priv > +*xilinx_pwm_chip_to_priv(struct pwm_chip *chip) > +{ > + return &container_of(chip, struct xilinx_pwm_device, chip)->priv; > +} > + > +static bool xilinx_timer_pwm_enabled(u32 tcsr0, u32 tcsr1) > +{ > + return ((TCSR_PWM_MASK | TCSR_CASC) & tcsr0) == TCSR_PWM_SET && > + (TCSR_PWM_MASK & tcsr1) == TCSR_PWM_SET; > +} > + > +static int xilinx_pwm_apply(struct pwm_chip *chip, struct pwm_device *unused, > + const struct pwm_state *state) > +{ > + struct xilinx_timer_priv *priv = xilinx_pwm_chip_to_priv(chip); > + u32 tlr0, tlr1, tcsr0, tcsr1; > + u64 period_cycles, duty_cycles; > + unsigned long rate; > + > + if (state->polarity != PWM_POLARITY_NORMAL) > + return -EINVAL; > + > + /* > + * To be representable by TLR, cycles must be between 2 and > + * priv->max + 2. To enforce this we can reduce the duty > + * cycle, but we may not increase it. > + */ > + rate = clk_get_rate(priv->clk); > + /* Prevent overflow by clamping to the worst case of rate */ I wouldn't have called this "worst case of rate", maybe better use "maximal rate"? > + period_cycles = min_t(u64, state->period, ULONG_MAX * NSEC_PER_SEC); > + period_cycles = mul_u64_u32_div(period_cycles, rate, NSEC_PER_SEC); > + if (period_cycles < 2 || period_cycles - 2 > priv->max) > + return -ERANGE; if period_cycles - 2 > priv->max the right reaction is to do period_cycles = priv->max + 2 . > + duty_cycles = mul_u64_u32_div(state->duty_cycle, rate, NSEC_PER_SEC); duty_cycle needs sanitation in case period was reduced and duty_cycle is bigger now than period. > + /* > + * If we specify 100% duty cycle, we will get 0% instead, so decrease > + * the duty cycle count by one. > + */ > + if (period_cycles == duty_cycles) > + duty_cycles--; > + > + /* Round down to 0% duty cycle for unrepresentable duty cycles */ > + if (duty_cycles < 2) > + duty_cycles = period_cycles; > + > + regmap_read(priv->map, TCSR0, &tcsr0); > + regmap_read(priv->map, TCSR1, &tcsr1); > + tlr0 = xilinx_timer_tlr_cycles(priv, tcsr0, period_cycles); > + tlr1 = xilinx_timer_tlr_cycles(priv, tcsr1, duty_cycles); > + regmap_write(priv->map, TLR0, tlr0); > + regmap_write(priv->map, TLR1, tlr1); > + > + if (state->enabled) { > + /* > + * If the PWM is already running, then the counters will be > + * reloaded at the end of the current cycle. > + */ > + if (!xilinx_timer_pwm_enabled(tcsr0, tcsr1)) { > + /* Load TLR into TCR */ > + regmap_write(priv->map, TCSR0, tcsr0 | TCSR_LOAD); > + regmap_write(priv->map, TCSR1, tcsr1 | TCSR_LOAD); > + /* Enable timers all at once with ENALL */ > + tcsr0 = (TCSR_PWM_SET & ~TCSR_ENT) | (tcsr0 & TCSR_UDT); > + tcsr1 = TCSR_PWM_SET | TCSR_ENALL | (tcsr1 & TCSR_UDT); > + regmap_write(priv->map, TCSR0, tcsr0); > + regmap_write(priv->map, TCSR1, tcsr1); > + } > + } else { > + regmap_write(priv->map, TCSR0, 0); > + regmap_write(priv->map, TCSR1, 0); > + } > + > + return 0; > +} > + > +static void xilinx_pwm_get_state(struct pwm_chip *chip, > + struct pwm_device *unused, > + struct pwm_state *state) > +{ > + struct xilinx_timer_priv *priv = xilinx_pwm_chip_to_priv(chip); > + u32 tlr0, tlr1, tcsr0, tcsr1; > + > + regmap_read(priv->map, TLR0, &tlr0); > + regmap_read(priv->map, TLR1, &tlr1); > + regmap_read(priv->map, TCSR0, &tcsr0); > + regmap_read(priv->map, TCSR1, &tcsr1); > + state->period = xilinx_timer_get_period(priv, tlr0, tcsr0); > + state->duty_cycle = xilinx_timer_get_period(priv, tlr1, tcsr1); > + state->enabled = xilinx_timer_pwm_enabled(tcsr0, tcsr1); > + state->polarity = PWM_POLARITY_NORMAL; > + > + /* 100% duty cycle results in constant low output */ > + if (state->period == state->duty_cycle) > + state->duty_cycle = 0; > +} > + > +static const struct pwm_ops xilinx_pwm_ops = { > + .apply = xilinx_pwm_apply, > + .get_state = xilinx_pwm_get_state, > + .owner = THIS_MODULE, > +}; > + > +static const struct regmap_config xilinx_pwm_regmap_config = { > + .reg_bits = 32, > + .reg_stride = 4, > + .val_bits = 32, > + .val_format_endian = REGMAP_ENDIAN_LITTLE, > + .max_register = TCR1, > +}; > + > +static int xilinx_timer_probe(struct platform_device *pdev) > +{ > + int ret; > + struct device *dev = &pdev->dev; > + struct device_node *np = dev->of_node; > + struct xilinx_timer_priv *priv; > + struct xilinx_pwm_device *pwm; The name "pwm" is usually reserved for struct pwm_device pointers. A typical name for this would be xlnxpwm or ddata. > + u32 pwm_cells, one_timer, width; > + void __iomem *regs; > + > + ret = of_property_read_u32(np, "#pwm-cells", &pwm_cells); > + if (ret == -EINVAL) > + return -ENODEV; A comment about why this is done would be great. > + if (ret) > + return dev_err_probe(dev, ret, "could not read #pwm-cells\n"); > + > + pwm = devm_kzalloc(dev, sizeof(*pwm), GFP_KERNEL); > + if (!pwm) > + return -ENOMEM; > + platform_set_drvdata(pdev, pwm); > + priv = &pwm->priv; > + > + regs = devm_platform_ioremap_resource(pdev, 0); > + if (IS_ERR(regs)) > + return PTR_ERR(regs); > + > + priv->map = devm_regmap_init_mmio(dev, regs, > + &xilinx_pwm_regmap_config); > + if (IS_ERR(priv->map)) > + return dev_err_probe(dev, PTR_ERR(priv->map), > + "Could not create regmap\n"); > + > + ret = of_property_read_u32(np, "xlnx,one-timer-only", &one_timer); > + if (ret) > + return dev_err_probe(dev, ret, > + "Could not read xlnx,one-timer-only\n"); > + > + if (one_timer) > + return dev_err_probe(dev, -EINVAL, > + "Two timers required for PWM mode\n"); > + > + > + ret = of_property_read_u32(np, "xlnx,count-width", &width); > + if (ret == -EINVAL) > + width = 32; > + else if (ret) > + return dev_err_probe(dev, ret, > + "Could not read xlnx,count-width\n"); > + > + if (width != 8 && width != 16 && width != 32) > + return dev_err_probe(dev, -EINVAL, > + "Invalid counter width %d\n", width); > + priv->max = BIT_ULL(width) - 1; > + > + /* > + * The polarity of the generate outputs must be active high for PWM s/generate/generated/ > + * mode to work. We could determine this from the device tree, but > + * alas, such properties are not allowed to be used. > + */ > + > + priv->clk = devm_clk_get(dev, "s_axi_aclk"); > + if (IS_ERR(priv->clk)) > + return dev_err_probe(dev, PTR_ERR(priv->clk), > + "Could not get clock\n"); > + > + ret = clk_prepare_enable(priv->clk); > + if (ret) > + return dev_err_probe(dev, ret, "Clock enable failed\n"); > + clk_rate_exclusive_get(priv->clk); > + > + pwm->chip.dev = dev; > + pwm->chip.ops = &xilinx_pwm_ops; > + pwm->chip.npwm = 1; > + ret = pwmchip_add(&pwm->chip); > + if (ret) { > + clk_rate_exclusive_put(priv->clk); > + clk_disable_unprepare(priv->clk); > + return dev_err_probe(dev, ret, "Could not register PWM chip\n"); > + } > + > + return 0; > +} > + > +static int xilinx_timer_remove(struct platform_device *pdev) > +{ > + struct xilinx_pwm_device *pwm = platform_get_drvdata(pdev); > + > + pwmchip_remove(&pwm->chip); > + clk_rate_exclusive_put(pwm->priv.clk); > + clk_disable_unprepare(pwm->priv.clk); > + return 0; > +} > + > +static const struct of_device_id xilinx_timer_of_match[] = { > + { .compatible = "xlnx,xps-timer-1.00.a", }, > + {}, > +}; > +MODULE_DEVICE_TABLE(of, xilinx_timer_of_match); > + > +static struct platform_driver xilinx_timer_driver = { > + .probe = xilinx_timer_probe, > + .remove = xilinx_timer_remove, > + .driver = { > + .name = "xilinx-timer", Doesn't this give a wrong impression as this is a PWM driver, not a timer driver? > + .of_match_table = of_match_ptr(xilinx_timer_of_match), > + }, > +}; > +module_platform_driver(xilinx_timer_driver); > + > +MODULE_ALIAS("platform:xilinx-timer"); > +MODULE_DESCRIPTION("Xilinx LogiCORE IP AXI Timer driver"); > +MODULE_LICENSE("GPL v2"); > diff --git a/include/clocksource/timer-xilinx.h b/include/clocksource/timer-xilinx.h > new file mode 100644 > index 000000000000..1f7757b84a5e > --- /dev/null > +++ b/include/clocksource/timer-xilinx.h > @@ -0,0 +1,91 @@ > +/* SPDX-License-Identifier: GPL-2.0+ */ > +/* > + * Copyright (C) 2021 Sean Anderson <sean.anderson@xxxxxxxx> > + */ > + > +#ifndef XILINX_TIMER_H > +#define XILINX_TIMER_H > + > +#include <linux/compiler.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) > + > +struct clk; > +struct device_node; > +struct regmap; > + > +/** > + * struct xilinx_timer_priv - Private data for Xilinx AXI timer drivers > + * @map: Regmap of the device, possibly with an offset > + * @clk: Parent clock > + * @max: Maximum value of the counters > + */ > +struct xilinx_timer_priv { > + struct regmap *map; > + struct clk *clk; > + u32 max; > +}; > + > +/** > + * xilinx_timer_tlr_cycles() - Calculate the TLR for a period specified > + * in clock cycles > + * @priv: The timer's private data > + * @tcsr: The value of the TCSR register for this counter > + * @cycles: The number of cycles in this period > + * > + * Callers of this function MUST ensure that @cycles is representable as > + * a TLR. > + * > + * Return: The calculated value for TLR > + */ > +u32 xilinx_timer_tlr_cycles(struct xilinx_timer_priv *priv, u32 tcsr, > + u64 cycles); > + > +/** > + * xilinx_timer_get_period() - Get the current period of a counter > + * @priv: The timer's private data > + * @tlr: The value of TLR for this counter > + * @tcsr: The value of TCSR for this counter > + * > + * Return: The period, in ns > + */ > +unsigned int xilinx_timer_get_period(struct xilinx_timer_priv *priv, > + u32 tlr, u32 tcsr); > + > +/** > + * xilinx_timer_common_init() - Perform common initialization for Xilinx > + * AXI timer drivers. > + * @priv: The timer's private data > + * @np: The devicetree node for the timer > + * @one_timer: Set to %1 if there is only one timer > + * > + * This performs common initialization, such as detecting endianness, > + * and parsing devicetree properties. @priv->regs must be initialized > + * before calling this function. This function initializes @priv->read, > + * @priv->write, and @priv->width. > + * > + * Return: 0, or negative errno > + */ > +int xilinx_timer_common_init(struct device_node *np, > + struct xilinx_timer_priv *priv, > + u32 *one_timer); > + > +#endif /* XILINX_TIMER_H */ > -- > 2.25.1 > > -- Pengutronix e.K. | Uwe Kleine-König | Industrial Linux Solutions | https://www.pengutronix.de/ |
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