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bsp: k230: add pwm driver
Signed-off-by: Wang Chen <[email protected]>
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‎bsp/k230/drivers/interdrv/pwm/SConscript

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# RT-Thread building script for component
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from building import *
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cwd = GetCurrentDir()
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src = Glob('*.c') + Glob('*.S')
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CPPPATH = [cwd]
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group = DefineGroup('PWM', src, depend = ['RT_USING_PWM'], CPPPATH = CPPPATH)
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objs = [group]
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list = os.listdir(cwd)
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for item in list:
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if os.path.isfile(os.path.join(cwd, item, 'SConscript')):
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objs = objs + SConscript(os.path.join(item, 'SConscript'))
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Return('objs')

‎bsp/k230/drivers/interdrv/pwm/drv_pwm.c

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/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtthread.h>
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#include <rtdevice.h>
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#include "riscv_io.h"
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#include "board.h"
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#include "ioremap.h"
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#include <rtdbg.h>
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#include <stdbool.h>
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#include "sysctl_clk.h"
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#include "drv_pwm.h"
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#include <sys/ioctl.h>
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static struct rt_device_pwm kd_pwm;
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kd_pwm_t *reg_pwm;
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static int check_channel(int channel)
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{
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if (channel < 0 || channel > 5)
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{
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LOG_E("channel %d is not valid\n", channel);
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return -RT_ERROR;
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}
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return channel;
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}
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static int pwm_start(kd_pwm_t *reg, int channel)
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{
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int ret;
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ret = check_channel(channel);
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if (ret < 0)
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return ret;
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if (channel > 2)
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{
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reg = (kd_pwm_t *)((void*)reg + 0x40);
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}
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reg->pwmcfg |= (1 << 12); //default always mode
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return ret;
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}
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static int pwm_stop(kd_pwm_t *reg, int channel)
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{
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int ret;
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ret = check_channel(channel);
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if (ret < 0)
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return ret;
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if (channel > 2)
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{
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reg = (kd_pwm_t *)((void*)reg + 0x40);
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}
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reg->pwmcfg &= ~(1 << 12);
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return ret;
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}
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static rt_err_t kd_pwm_get(kd_pwm_t *reg, rt_uint8_t channel, struct rt_pwm_configuration *configuration)
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{
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int ret;
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uint64_t pulse, period;
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uint32_t pwm_pclock, pwmscale;
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ret = check_channel(channel);
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if (ret < 0)
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return ret;
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pwm_pclock = sysctl_clk_get_leaf_freq(SYSCTL_CLK_PWM_PCLK_GATE);
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if (channel > 2)
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reg = (kd_pwm_t *)((void*)reg + 0x40);
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pwmscale = reg->pwmcfg & 0xf;
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pwm_pclock >>= pwmscale;
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period = reg->pwmcmp0;
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period = period * NSEC_PER_SEC / pwm_pclock;
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pulse = *((&reg->pwmcmp1) + (channel % 3));
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pulse = pulse * NSEC_PER_SEC / pwm_pclock;
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configuration->period = period;
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configuration->pulse = pulse;
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return RT_EOK;
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}
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static int kd_pwm_set(kd_pwm_t *reg, int channel, struct rt_pwm_configuration *configuration)
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{
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int ret;
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uint64_t pulse, period, pwmcmpx_max;
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uint32_t pwm_pclock, pwmscale = 0;
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ret = check_channel(channel);
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if (ret < 0)
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return ret;
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pwm_pclock = sysctl_clk_get_leaf_freq(SYSCTL_CLK_PWM_PCLK_GATE);
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pulse = (uint64_t)configuration->pulse * pwm_pclock / NSEC_PER_SEC;
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period = (uint64_t)configuration->period * pwm_pclock / NSEC_PER_SEC;
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if (pulse > period)
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return -RT_EINVAL;
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if (channel > 2)
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reg = (kd_pwm_t *)((void*)reg + 0x40);
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/* 计算占空比 */
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pwmcmpx_max = (1 << 16) - 1;
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if (period > ((1 << (15 + 16)) - 1LL))
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return -RT_EINVAL;
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while ((period >> pwmscale) > pwmcmpx_max)
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pwmscale++;
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if (pwmscale > 0xf)
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return -RT_EINVAL;
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reg->pwmcfg |= (1 << 9); //default always mode
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reg->pwmcfg &= (~0xf);
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reg->pwmcfg |= pwmscale; //scale
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reg->pwmcmp0 = (period >> pwmscale);
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*((&reg->pwmcmp1) + (channel % 3)) = reg->pwmcmp0 - (pulse >> pwmscale);
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return RT_EOK;
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}
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static rt_err_t kd_pwm_control(struct rt_device_pwm *device, int cmd, void *arg)
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{
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struct rt_pwm_configuration *configuration = (struct rt_pwm_configuration *)arg;
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rt_uint32_t channel = 0;
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int ret;
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kd_pwm_t *reg = (kd_pwm_t *)(device->parent.user_data);
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channel = configuration->channel;
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switch (cmd)
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{
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case PWM_CMD_ENABLE:
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case KD_PWM_CMD_ENABLE:
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ret = pwm_start(reg, channel);
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if (ret < 0)
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return -RT_ERROR;
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else
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return RT_EOK;
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case PWM_CMD_DISABLE:
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case KD_PWM_CMD_DISABLE:
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ret = pwm_stop(reg, channel);
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if (ret < 0)
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return -RT_ERROR;
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else
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return RT_EOK;
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case PWM_CMD_SET:
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case KD_PWM_CMD_SET:
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kd_pwm_set(reg, channel, configuration);
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break;
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case PWM_CMD_GET:
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case KD_PWM_CMD_GET:
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kd_pwm_get(reg, channel, configuration);
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break;
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default:
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return -RT_EINVAL;
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}
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return RT_EOK;
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}
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static struct rt_pwm_ops drv_ops =
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{
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kd_pwm_control
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};
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int rt_hw_pwm_init(void)
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{
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reg_pwm = (kd_pwm_t *)rt_ioremap((void *)PWM_BASE_ADDR, PWM_IO_SIZE);
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kd_pwm.ops = &drv_ops;
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rt_device_pwm_register(&kd_pwm, "pwm", &drv_ops, (void *)reg_pwm);
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#ifndef RT_FASTBOOT
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rt_kprintf("pwm driver register OK\n");
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#endif
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return RT_EOK;
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}
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INIT_DEVICE_EXPORT(rt_hw_pwm_init);

‎bsp/k230/drivers/interdrv/pwm/drv_pwm.h

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/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
9+
* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
14+
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef DRV_PWM_H__
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#define DRV_PWM_H__
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#include <stdint.h>
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#define KD_PWM_CMD_ENABLE _IOW('P', 0, int)
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#define KD_PWM_CMD_DISABLE _IOW('P', 1, int)
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#define KD_PWM_CMD_SET _IOW('P', 2, int)
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#define KD_PWM_CMD_GET _IOW('P', 3, int)
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#define NSEC_PER_SEC 1000000000L
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/**
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* @brief pwm channel
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* channel 0 ----> pwm0
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* channel 1 ----> pwm1
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* channel 2 ----> pwm2
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* channel 3 ----> pwm3
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* channel 4 ----> pwm4
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* channel 5 ----> pwm5
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*/
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typedef struct
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{
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volatile uint32_t pwmcfg; /* 0x00 */
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volatile uint32_t reserved0;
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volatile uint32_t pwmcount; /* 0x08 */
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volatile uint32_t reserved1;
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volatile uint32_t pwms; /* 0x10 */
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volatile uint32_t reserved2;
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volatile uint32_t reserved3;
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volatile uint32_t reserved4;
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volatile uint32_t pwmcmp0; /* 0x20 */
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volatile uint32_t pwmcmp1; /* 0x24 */
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volatile uint32_t pwmcmp2; /* 0x28 */
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volatile uint32_t pwmcmp3; /* 0x2c */
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} kd_pwm_t;
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typedef struct
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{
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uint32_t scale : 4;
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uint32_t reserve: 4;
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uint32_t sticky : 1;
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uint32_t zerocmp : 1;
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uint32_t deglitch : 1;
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uint32_t reserve1 : 1;
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uint32_t enalways : 1;
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uint32_t enoneshot : 1;
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uint32_t reserve2 : 2;
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uint32_t cmp0center : 1;
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uint32_t cmp1center : 1;
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uint32_t cmp2center : 1;
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uint32_t cmp3center : 1;
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uint32_t reserve3 : 4;
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uint32_t cmp0gang : 1;
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uint32_t cmp1gang : 1;
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uint32_t cmp2gang : 1;
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uint32_t cmp3gang : 1;
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uint32_t cmp0ip : 1;
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uint32_t cmp1ip : 1;
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uint32_t cmp2ip : 1;
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uint32_t cmp3ip : 1;
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} pwm_cfg_t;
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typedef struct
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{
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pwm_cfg_t cfg;
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uint32_t freq;
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uint32_t cmp0_val;
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double cmp1_duty;
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double cmp2_duty;
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double cmp3_duty;
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} pwm_param_t;
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#endif

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