[PATCH v4 3/3] pwm: Add support for Xilinx AXI Timer
Sean Anderson
sean.anderson at seco.com
Fri Jun 25 08:13:33 PDT 2021
On 6/25/21 2:19 AM, Uwe Kleine-König wrote:
> On Fri, May 28, 2021 at 05:45:22PM -0400, 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.
>>
>> 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 at seco.com>
>> ---
>>
>> Changes in v4:
>> - Remove references to properties which are not good enough for Linux.
>> - 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.
>>
>> Changes in v3:
>> - Add clockevent and clocksource support
>> - 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!
>> - Remove old microblaze driver
>>
>> 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/mfd/Makefile | 2 +-
>> drivers/pwm/Kconfig | 12 +++
>> drivers/pwm/Makefile | 1 +
>> drivers/pwm/pwm-xilinx.c | 219 +++++++++++++++++++++++++++++++++++++++
>> 4 files changed, 233 insertions(+), 1 deletion(-)
>> create mode 100644 drivers/pwm/pwm-xilinx.c
>>
>> diff --git a/drivers/mfd/Makefile b/drivers/mfd/Makefile
>> index f0f9fbdde7dc..89769affe251 100644
>> --- a/drivers/mfd/Makefile
>> +++ b/drivers/mfd/Makefile
>> @@ -269,6 +269,6 @@ obj-$(CONFIG_SGI_MFD_IOC3) += ioc3.o
>> obj-$(CONFIG_MFD_SIMPLE_MFD_I2C) += simple-mfd-i2c.o
>> obj-$(CONFIG_MFD_INTEL_M10_BMC) += intel-m10-bmc.o
>>
>> -ifneq ($(CONFIG_XILINX_TIMER),)
>> +ifneq ($(CONFIG_PWM_XILINX)$(CONFIG_XILINX_TIMER),)
>> obj-y += xilinx-timer.o
>> endif
>> diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig
>> index 8ae68d6203fb..ebf8d9014758 100644
>> --- a/drivers/pwm/Kconfig
>> +++ b/drivers/pwm/Kconfig
>> @@ -620,4 +620,16 @@ 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
>> + 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 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..f05321496717
>> --- /dev/null
>> +++ b/drivers/pwm/pwm-xilinx.c
>> @@ -0,0 +1,219 @@
>> +// SPDX-License-Identifier: GPL-2.0+
>> +/*
>> + * Copyright (C) 2021 Sean Anderson <sean.anderson at seco.com>
>> + *
>> + * 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.
>
> That means it doesn't reset the counter when a new period is set, right?
Correct. The only way to write to the counter is to stop the timer and
restart it.
>
>> + * - Cannot produce 100% duty cycle.
>
> Can it produce a 0% duty cycle? Below you're calling
> xilinx_timer_tlr_period(..., ..., ..., 0) then which returns -ERANGE.
Yes. This is what you get when you try to specify 100% duty cycle (e.g.
TLR0 == TLR1).
>
>> + * - Only produces "normal" output.
>
> Does the output emit a low level when it's disabled?
I believe so.
>
>> + */
>> +
>> [...]
>> +static int xilinx_pwm_apply(struct pwm_chip *chip, struct pwm_device *unused,
>> + const struct pwm_state *state)
>> +{
>> + int ret;
>> + struct xilinx_timer_priv *priv = xilinx_pwm_chip_to_priv(chip);
>> + u32 tlr0, tlr1;
>> + u32 tcsr0 = xilinx_timer_read(priv, TCSR0);
>> + u32 tcsr1 = xilinx_timer_read(priv, TCSR1);
>> + bool enabled = xilinx_timer_pwm_enabled(tcsr0, tcsr1);
>> +
>> + if (state->polarity != PWM_POLARITY_NORMAL)
>> + return -EINVAL;
>> +
>> + ret = xilinx_timer_tlr_period(priv, &tlr0, tcsr0, state->period);
>> + if (ret)
>> + return ret;
>
> The implementation of xilinx_timer_tlr_period (in patch 2/3) returns
> -ERANGE for big periods. The good behaviour to implement is to cap to
> the biggest period possible in this case.
Ok. Is this documented anywhere? And wouldn't this result in the wrong
duty cycle? E.g. say the max value is 100 and I try to apply a period of
150 and a duty_cycle of 75 (for a 50% duty cycle). If we cap at 100,
then I will instead have a 75% duty cycle, and there will be no error.
So I will silently get the wrong duty cycle, even when that duty cycle
is probably more important than the period.
>
> Also note that state->period is an u64 but it is casted to unsigned int
> as this is the type of the forth parameter of xilinx_timer_tlr_period.
Hm, it looks like I immediately cast period to a u64. I will change the
signature for this function next revision.
>
>> + ret = xilinx_timer_tlr_period(priv, &tlr1, tcsr1, state->duty_cycle);
>> + if (ret)
>> + return ret;
>> +
>> + xilinx_timer_write(priv, tlr0, TLR0);
>> + xilinx_timer_write(priv, tlr1, TLR1);
>> +
>> + if (state->enabled) {
>> + /* Only touch the TCSRs if we aren't already running */
>> + if (!enabled) {
>> + /* Load TLR into TCR */
>> + xilinx_timer_write(priv, tcsr0 | TCSR_LOAD, TCSR0);
>> + xilinx_timer_write(priv, tcsr1 | TCSR_LOAD, TCSR1);
>> + /* 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);
>> + xilinx_timer_write(priv, tcsr0, TCSR0);
>> + xilinx_timer_write(priv, tcsr1, TCSR1);
>> + }
>> + } else {
>> + xilinx_timer_write(priv, 0, TCSR0);
>> + xilinx_timer_write(priv, 0, TCSR1);
>> + }
>> +
>> + 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 = xilinx_timer_read(priv, TLR0);
>> + u32 tlr1 = xilinx_timer_read(priv, TLR1);
>> + u32 tcsr0 = xilinx_timer_read(priv, TCSR0);
>> + u32 tcsr1 = xilinx_timer_read(priv, 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;
>
> Are the values returned here sensible if the hardware isn't in PWM mode?
Yes. If the hardware isn't in PWM mode, then state->enabled will be
false.
>
>> +}
>> +
>> +static const struct pwm_ops xilinx_pwm_ops = {
>> + .apply = xilinx_pwm_apply,
>> + .get_state = xilinx_pwm_get_state,
>> + .owner = THIS_MODULE,
>> +};
>> +
>> +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;
>> + u32 pwm_cells, one_timer;
>> +
>> + ret = of_property_read_u32(np, "#pwm-cells", &pwm_cells);
>> + if (ret == -EINVAL)
>> + return -ENODEV;
>> + else if (ret)
>> + return dev_err_probe(dev, ret, "#pwm-cells\n");
>
> Very sparse error message.
Ok, will elaborate.
>
>> + else if (pwm_cells)
>> + return dev_err_probe(dev, -EINVAL, "#pwm-cells must be 0\n");
>
> What is the rationale here to not support #pwm-cells = <2>?
Only one PWM is supported. But otherwise there is no particular
reason.
>> + pwm = devm_kzalloc(dev, sizeof(*pwm), GFP_KERNEL);
>> + if (!pwm)
>> + return -ENOMEM;
>> + platform_set_drvdata(pdev, pwm);
>> + priv = &pwm->priv;
>> +
>> + priv->regs = devm_platform_ioremap_resource(pdev, 0);
>> + if (IS_ERR(priv->regs))
>> + return PTR_ERR(priv->regs);
>> +
>> + ret = xilinx_timer_common_init(np, priv, &one_timer);
>> + if (ret)
>> + return ret;
>> +
>> + if (one_timer)
>> + return dev_err_probe(dev, -EINVAL,
>> + "two timers required for PWM mode\n");
>> +
>> + /*
>> + * The polarity of the generate outputs must be active high for PWM
>> + * 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), "clock\n");
>
> again a sparse error message.
>
>> +
>> + 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;
>> +}
Thanks for the review.
--Sean
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