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freebsd-dev/sys/arm/ti/am335x/am335x_ehrpwm.c
Oleksandr Tymoshenko 5b03aba6c8 Switch TI platform support code from using FreeBSD's custom-baked DTS 
files to vendor-provided ones. It should make easier to adopt platform
code to new revisions of hardware and to use DTS overlays for various
Beaglebone extensions (shields/capes).

Original dts filenames were not changed, they're now wrappers over dts
files provided by TI. So make sure you update .dtb files on your
devices as part of kernel update

GPIO addressing was changed: instead of one global /dev/gpioc0 there
are per-bank instances of /dev/gpiocX. Each bank has 32 pins so for
instance pin 121 on /dev/gpioc0 in old addressing scheme is now pin 25
on /dev/gpioc3

On Pandaboard serial console devices was changed from /dev/ttyu0 to
/dev/ttyu2 so you'll have to update /etc/ttys to get login prompt
on serial port in multiuser mode. Single user mode serial console
should work as-is

Differential Revision:	https://reviews.freebsd.org/D2146
Reviewed by:	rpaulo, ian, Michal Meloun, Svatopluk Kraus
2015-05-22 03:16:18 +00:00

449 lines
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/*-
* Copyright (c) 2013 Oleksandr Tymoshenko <gonzo@freebsd.org>
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*/
#include <sys/cdefs.h>
__FBSDID("$FreeBSD$");
#include <sys/param.h>
#include <sys/systm.h>
#include <sys/bus.h>
#include <sys/kernel.h>
#include <sys/limits.h>
#include <sys/lock.h>
#include <sys/module.h>
#include <sys/mutex.h>
#include <sys/resource.h>
#include <sys/rman.h>
#include <sys/sysctl.h>
#include <machine/bus.h>
#include <dev/fdt/fdt_common.h>
#include <dev/ofw/openfirm.h>
#include <dev/ofw/ofw_bus.h>
#include <dev/ofw/ofw_bus_subr.h>
#include "am335x_pwm.h"
/* In ticks */
#define DEFAULT_PWM_PERIOD 1000
#define PWM_CLOCK 100000000UL
#define PWM_LOCK(_sc) mtx_lock(&(_sc)->sc_mtx)
#define PWM_UNLOCK(_sc) mtx_unlock(&(_sc)->sc_mtx)
#define PWM_LOCK_INIT(_sc) mtx_init(&(_sc)->sc_mtx, \
device_get_nameunit(_sc->sc_dev), "am335x_ehrpwm softc", MTX_DEF)
#define PWM_LOCK_DESTROY(_sc) mtx_destroy(&(_sc)->sc_mtx)
#define EPWM_READ2(_sc, reg) bus_read_2((_sc)->sc_mem_res, reg);
#define EPWM_WRITE2(_sc, reg, value) \
bus_write_2((_sc)->sc_mem_res, reg, value);
#define EPWM_TBCTL 0x00
#define TBCTL_FREERUN (2 << 14)
#define TBCTL_PHDIR_UP (1 << 13)
#define TBCTL_PHDIR_DOWN (0 << 13)
#define TBCTL_CLKDIV(x) ((x) << 10)
#define TBCTL_CLKDIV_MASK (3 << 10)
#define TBCTL_HSPCLKDIV(x) ((x) << 7)
#define TBCTL_HSPCLKDIV_MASK (3 << 7)
#define TBCTL_SYNCOSEL_DISABLED (3 << 4)
#define TBCTL_PRDLD_SHADOW (0 << 3)
#define TBCTL_PRDLD_IMMEDIATE (0 << 3)
#define TBCTL_PHSEN_ENABLED (1 << 2)
#define TBCTL_PHSEN_DISABLED (0 << 2)
#define TBCTL_CTRMODE_MASK (3)
#define TBCTL_CTRMODE_UP (0 << 0)
#define TBCTL_CTRMODE_DOWN (1 << 0)
#define TBCTL_CTRMODE_UPDOWN (2 << 0)
#define TBCTL_CTRMODE_FREEZE (3 << 0)
#define EPWM_TBSTS 0x02
#define EPWM_TBPHSHR 0x04
#define EPWM_TBPHS 0x06
#define EPWM_TBCNT 0x08
#define EPWM_TBPRD 0x0a
/* Counter-compare */
#define EPWM_CMPCTL 0x0e
#define CMPCTL_SHDWBMODE_SHADOW (1 << 6)
#define CMPCTL_SHDWBMODE_IMMEDIATE (0 << 6)
#define CMPCTL_SHDWAMODE_SHADOW (1 << 4)
#define CMPCTL_SHDWAMODE_IMMEDIATE (0 << 4)
#define CMPCTL_LOADBMODE_ZERO (0 << 2)
#define CMPCTL_LOADBMODE_PRD (1 << 2)
#define CMPCTL_LOADBMODE_EITHER (2 << 2)
#define CMPCTL_LOADBMODE_FREEZE (3 << 2)
#define CMPCTL_LOADAMODE_ZERO (0 << 0)
#define CMPCTL_LOADAMODE_PRD (1 << 0)
#define CMPCTL_LOADAMODE_EITHER (2 << 0)
#define CMPCTL_LOADAMODE_FREEZE (3 << 0)
#define EPWM_CMPAHR 0x10
#define EPWM_CMPA 0x12
#define EPWM_CMPB 0x14
/* CMPCTL_LOADAMODE_ZERO */
#define EPWM_AQCTLA 0x16
#define EPWM_AQCTLB 0x18
#define AQCTL_CBU_NONE (0 << 8)
#define AQCTL_CBU_CLEAR (1 << 8)
#define AQCTL_CBU_SET (2 << 8)
#define AQCTL_CBU_TOGGLE (3 << 8)
#define AQCTL_CAU_NONE (0 << 4)
#define AQCTL_CAU_CLEAR (1 << 4)
#define AQCTL_CAU_SET (2 << 4)
#define AQCTL_CAU_TOGGLE (3 << 4)
#define AQCTL_ZRO_NONE (0 << 0)
#define AQCTL_ZRO_CLEAR (1 << 0)
#define AQCTL_ZRO_SET (2 << 0)
#define AQCTL_ZRO_TOGGLE (3 << 0)
#define EPWM_AQSFRC 0x1a
#define EPWM_AQCSFRC 0x1c
/* Trip-Zone module */
#define EPWM_TZCTL 0x28
#define EPWM_TZFLG 0x2C
/* High-Resolution PWM */
#define EPWM_HRCTL 0x40
#define HRCTL_DELMODE_BOTH 3
#define HRCTL_DELMODE_FALL 2
#define HRCTL_DELMODE_RISE 1
static device_probe_t am335x_ehrpwm_probe;
static device_attach_t am335x_ehrpwm_attach;
static device_detach_t am335x_ehrpwm_detach;
static int am335x_ehrpwm_clkdiv[8] = { 1, 2, 4, 8, 16, 32, 64, 128 };
struct am335x_ehrpwm_softc {
device_t sc_dev;
struct mtx sc_mtx;
struct resource *sc_mem_res;
int sc_mem_rid;
/* sysctl for configuration */
int sc_pwm_clkdiv;
int sc_pwm_freq;
struct sysctl_oid *sc_clkdiv_oid;
struct sysctl_oid *sc_freq_oid;
struct sysctl_oid *sc_period_oid;
struct sysctl_oid *sc_chanA_oid;
struct sysctl_oid *sc_chanB_oid;
uint32_t sc_pwm_period;
uint32_t sc_pwm_dutyA;
uint32_t sc_pwm_dutyB;
};
static device_method_t am335x_ehrpwm_methods[] = {
DEVMETHOD(device_probe, am335x_ehrpwm_probe),
DEVMETHOD(device_attach, am335x_ehrpwm_attach),
DEVMETHOD(device_detach, am335x_ehrpwm_detach),
DEVMETHOD_END
};
static driver_t am335x_ehrpwm_driver = {
"am335x_ehrpwm",
am335x_ehrpwm_methods,
sizeof(struct am335x_ehrpwm_softc),
};
static devclass_t am335x_ehrpwm_devclass;
static void
am335x_ehrpwm_freq(struct am335x_ehrpwm_softc *sc)
{
int clkdiv;
clkdiv = am335x_ehrpwm_clkdiv[sc->sc_pwm_clkdiv];
sc->sc_pwm_freq = PWM_CLOCK / (1 * clkdiv) / sc->sc_pwm_period;
}
static int
am335x_ehrpwm_sysctl_freq(SYSCTL_HANDLER_ARGS)
{
int clkdiv, error, freq, i, period;
struct am335x_ehrpwm_softc *sc;
uint32_t reg;
sc = (struct am335x_ehrpwm_softc *)arg1;
PWM_LOCK(sc);
freq = sc->sc_pwm_freq;
PWM_UNLOCK(sc);
error = sysctl_handle_int(oidp, &freq, sizeof(freq), req);
if (error != 0 || req->newptr == NULL)
return (error);
if (freq > PWM_CLOCK)
freq = PWM_CLOCK;
PWM_LOCK(sc);
if (freq != sc->sc_pwm_freq) {
for (i = nitems(am335x_ehrpwm_clkdiv) - 1; i >= 0; i--) {
clkdiv = am335x_ehrpwm_clkdiv[i];
period = PWM_CLOCK / clkdiv / freq;
if (period > USHRT_MAX)
break;
sc->sc_pwm_clkdiv = i;
sc->sc_pwm_period = period;
}
/* Reset the duty cycle settings. */
sc->sc_pwm_dutyA = 0;
sc->sc_pwm_dutyB = 0;
EPWM_WRITE2(sc, EPWM_CMPA, sc->sc_pwm_dutyA);
EPWM_WRITE2(sc, EPWM_CMPB, sc->sc_pwm_dutyB);
/* Update the clkdiv settings. */
reg = EPWM_READ2(sc, EPWM_TBCTL);
reg &= ~TBCTL_CLKDIV_MASK;
reg |= TBCTL_CLKDIV(sc->sc_pwm_clkdiv);
EPWM_WRITE2(sc, EPWM_TBCTL, reg);
/* Update the period settings. */
EPWM_WRITE2(sc, EPWM_TBPRD, sc->sc_pwm_period - 1);
am335x_ehrpwm_freq(sc);
}
PWM_UNLOCK(sc);
return (0);
}
static int
am335x_ehrpwm_sysctl_clkdiv(SYSCTL_HANDLER_ARGS)
{
int error, i, clkdiv;
struct am335x_ehrpwm_softc *sc;
uint32_t reg;
sc = (struct am335x_ehrpwm_softc *)arg1;
PWM_LOCK(sc);
clkdiv = am335x_ehrpwm_clkdiv[sc->sc_pwm_clkdiv];
PWM_UNLOCK(sc);
error = sysctl_handle_int(oidp, &clkdiv, sizeof(clkdiv), req);
if (error != 0 || req->newptr == NULL)
return (error);
PWM_LOCK(sc);
if (clkdiv != am335x_ehrpwm_clkdiv[sc->sc_pwm_clkdiv]) {
for (i = 0; i < nitems(am335x_ehrpwm_clkdiv); i++)
if (clkdiv >= am335x_ehrpwm_clkdiv[i])
sc->sc_pwm_clkdiv = i;
reg = EPWM_READ2(sc, EPWM_TBCTL);
reg &= ~TBCTL_CLKDIV_MASK;
reg |= TBCTL_CLKDIV(sc->sc_pwm_clkdiv);
EPWM_WRITE2(sc, EPWM_TBCTL, reg);
am335x_ehrpwm_freq(sc);
}
PWM_UNLOCK(sc);
return (0);
}
static int
am335x_ehrpwm_sysctl_duty(SYSCTL_HANDLER_ARGS)
{
struct am335x_ehrpwm_softc *sc = (struct am335x_ehrpwm_softc*)arg1;
int error;
uint32_t duty;
if (oidp == sc->sc_chanA_oid)
duty = sc->sc_pwm_dutyA;
else
duty = sc->sc_pwm_dutyB;
error = sysctl_handle_int(oidp, &duty, 0, req);
if (error != 0 || req->newptr == NULL)
return (error);
if (duty > sc->sc_pwm_period) {
device_printf(sc->sc_dev, "Duty cycle can't be greater then period\n");
return (EINVAL);
}
PWM_LOCK(sc);
if (oidp == sc->sc_chanA_oid) {
sc->sc_pwm_dutyA = duty;
EPWM_WRITE2(sc, EPWM_CMPA, sc->sc_pwm_dutyA);
}
else {
sc->sc_pwm_dutyB = duty;
EPWM_WRITE2(sc, EPWM_CMPB, sc->sc_pwm_dutyB);
}
PWM_UNLOCK(sc);
return (error);
}
static int
am335x_ehrpwm_sysctl_period(SYSCTL_HANDLER_ARGS)
{
struct am335x_ehrpwm_softc *sc = (struct am335x_ehrpwm_softc*)arg1;
int error;
uint32_t period;
period = sc->sc_pwm_period;
error = sysctl_handle_int(oidp, &period, 0, req);
if (error != 0 || req->newptr == NULL)
return (error);
if (period < 1)
return (EINVAL);
if (period > USHRT_MAX)
period = USHRT_MAX;
PWM_LOCK(sc);
/* Reset the duty cycle settings. */
sc->sc_pwm_dutyA = 0;
sc->sc_pwm_dutyB = 0;
EPWM_WRITE2(sc, EPWM_CMPA, sc->sc_pwm_dutyA);
EPWM_WRITE2(sc, EPWM_CMPB, sc->sc_pwm_dutyB);
/* Update the period settings. */
sc->sc_pwm_period = period;
EPWM_WRITE2(sc, EPWM_TBPRD, period - 1);
am335x_ehrpwm_freq(sc);
PWM_UNLOCK(sc);
return (error);
}
static int
am335x_ehrpwm_probe(device_t dev)
{
if (!ofw_bus_status_okay(dev))
return (ENXIO);
if (!ofw_bus_is_compatible(dev, "ti,am33xx-ehrpwm"))
return (ENXIO);
device_set_desc(dev, "AM335x EHRPWM");
return (BUS_PROBE_DEFAULT);
}
static int
am335x_ehrpwm_attach(device_t dev)
{
struct am335x_ehrpwm_softc *sc;
uint32_t reg;
struct sysctl_ctx_list *ctx;
struct sysctl_oid *tree;
sc = device_get_softc(dev);
sc->sc_dev = dev;
PWM_LOCK_INIT(sc);
sc->sc_mem_res = bus_alloc_resource_any(dev, SYS_RES_MEMORY,
&sc->sc_mem_rid, RF_ACTIVE);
if (sc->sc_mem_res == NULL) {
device_printf(dev, "cannot allocate memory resources\n");
goto fail;
}
/* Init backlight interface */
ctx = device_get_sysctl_ctx(sc->sc_dev);
tree = device_get_sysctl_tree(sc->sc_dev);
sc->sc_clkdiv_oid = SYSCTL_ADD_PROC(ctx, SYSCTL_CHILDREN(tree), OID_AUTO,
"clkdiv", CTLTYPE_INT | CTLFLAG_RW, sc, 0,
am335x_ehrpwm_sysctl_clkdiv, "I", "PWM clock prescaler");
sc->sc_freq_oid = SYSCTL_ADD_PROC(ctx, SYSCTL_CHILDREN(tree), OID_AUTO,
"freq", CTLTYPE_INT | CTLFLAG_RW, sc, 0,
am335x_ehrpwm_sysctl_freq, "I", "PWM frequency");
sc->sc_period_oid = SYSCTL_ADD_PROC(ctx, SYSCTL_CHILDREN(tree), OID_AUTO,
"period", CTLTYPE_INT | CTLFLAG_RW, sc, 0,
am335x_ehrpwm_sysctl_period, "I", "PWM period");
sc->sc_chanA_oid = SYSCTL_ADD_PROC(ctx, SYSCTL_CHILDREN(tree), OID_AUTO,
"dutyA", CTLTYPE_INT | CTLFLAG_RW, sc, 0,
am335x_ehrpwm_sysctl_duty, "I", "Channel A duty cycles");
sc->sc_chanB_oid = SYSCTL_ADD_PROC(ctx, SYSCTL_CHILDREN(tree), OID_AUTO,
"dutyB", CTLTYPE_INT | CTLFLAG_RW, sc, 0,
am335x_ehrpwm_sysctl_duty, "I", "Channel B duty cycles");
/* CONFIGURE EPWM1 */
reg = EPWM_READ2(sc, EPWM_TBCTL);
reg &= ~(TBCTL_CLKDIV_MASK | TBCTL_HSPCLKDIV_MASK);
EPWM_WRITE2(sc, EPWM_TBCTL, reg);
sc->sc_pwm_period = DEFAULT_PWM_PERIOD;
sc->sc_pwm_dutyA = 0;
sc->sc_pwm_dutyB = 0;
am335x_ehrpwm_freq(sc);
EPWM_WRITE2(sc, EPWM_TBPRD, sc->sc_pwm_period - 1);
EPWM_WRITE2(sc, EPWM_CMPA, sc->sc_pwm_dutyA);
EPWM_WRITE2(sc, EPWM_CMPB, sc->sc_pwm_dutyB);
EPWM_WRITE2(sc, EPWM_AQCTLA, (AQCTL_ZRO_SET | AQCTL_CAU_CLEAR));
EPWM_WRITE2(sc, EPWM_AQCTLB, (AQCTL_ZRO_SET | AQCTL_CBU_CLEAR));
/* START EPWM */
reg &= ~TBCTL_CTRMODE_MASK;
reg |= TBCTL_CTRMODE_UP | TBCTL_FREERUN;
EPWM_WRITE2(sc, EPWM_TBCTL, reg);
EPWM_WRITE2(sc, EPWM_TZCTL, 0xf);
reg = EPWM_READ2(sc, EPWM_TZFLG);
return (0);
fail:
PWM_LOCK_DESTROY(sc);
if (sc->sc_mem_res)
bus_release_resource(dev, SYS_RES_MEMORY,
sc->sc_mem_rid, sc->sc_mem_res);
return(ENXIO);
}
static int
am335x_ehrpwm_detach(device_t dev)
{
struct am335x_ehrpwm_softc *sc;
sc = device_get_softc(dev);
PWM_LOCK(sc);
if (sc->sc_mem_res)
bus_release_resource(dev, SYS_RES_MEMORY,
sc->sc_mem_rid, sc->sc_mem_res);
PWM_UNLOCK(sc);
PWM_LOCK_DESTROY(sc);
return (0);
}
DRIVER_MODULE(am335x_ehrpwm, am335x_pwmss, am335x_ehrpwm_driver, am335x_ehrpwm_devclass, 0, 0);
MODULE_VERSION(am335x_ehrpwm, 1);
MODULE_DEPEND(am335x_ehrpwm, am335x_pwmss, 1, 1, 1);
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