525 lines
12 KiB
C
525 lines
12 KiB
C
/*
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* Copyright (c) 2017 Vitor Massaru Iha <vitor@massaru.org>
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT espressif_esp32_gpio
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/* Include esp-idf headers first to avoid redefining BIT() macro */
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#include <esp_intr_alloc.h>
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#include <soc/dport_reg.h>
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#include <rom/gpio.h>
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#include <soc/gpio_sig_map.h>
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#include <soc/ledc_reg.h>
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#include <soc.h>
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#include <errno.h>
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#include <drivers/pwm.h>
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#include <kernel.h>
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#include <drivers/gpio.h>
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#include <string.h>
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#define PWM_ESP32_HSCH_HPOINT(i) (LEDC_HSCH0_HPOINT_REG + (0x14 * i))
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#define PWM_ESP32_HSCH_DUTY(i) (LEDC_HSCH0_DUTY_REG + (0x14 * i))
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#define PWM_ESP32_HSCH_CONF0(i) (LEDC_HSCH0_CONF0_REG + (0x14 * i))
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#define PWM_ESP32_HSCH_CONF1(i) (LEDC_HSCH0_CONF1_REG + (0x14 * i))
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#define PWM_ESP32_HSTIMER(i) (LEDC_HSTIMER0_CONF_REG + (0x8 * i))
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#define PWM_ESP32_LSCH_HPOINT(i) (LEDC_LSCH0_HPOINT_REG + (0x14 * i))
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#define PWM_ESP32_LSCH_DUTY(i) (LEDC_LSCH0_DUTY_REG + (0x14 * i))
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#define PWM_ESP32_LSCH_CONF0(i) (LEDC_LSCH0_CONF0_REG + (0x14 * i))
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#define PWM_ESP32_LSCH_CONF1(i) (LEDC_LSCH0_CONF1_REG + (0x14 * i))
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#define PWM_ESP32_LSTIMER(i) (LEDC_LSTIMER0_CONF_REG + (0x8 * i))
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enum {
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PWM_LED_ESP32_REF_TICK_FREQ,
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PWM_LED_ESP32_APB_CLK_FREQ,
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};
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enum {
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PWM_LED_ESP32_HIGH_SPEED,
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PWM_LED_ESP32_LOW_SPEED
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};
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struct pwm_led_esp32_timer {
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int freq;
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u8_t bit_num;
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} __attribute__ ((__packed__));
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struct pwm_led_esp32_channel {
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u8_t timer : 2;
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u8_t gpio : 6;
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};
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union pwm_led_esp32_duty {
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struct {
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u32_t start: 1;
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u32_t direction: 1;
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u32_t num: 3;
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u32_t cycle: 3;
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u32_t scale: 3;
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};
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u32_t val;
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};
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struct pwm_led_esp32_config {
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/* Speed mode
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* 0: High speed mode
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* 1: Low speed mode
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*
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* Timers
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* 0 - 3: 4 timers
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*/
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struct pwm_led_esp32_channel ch_cfg[16];
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struct pwm_led_esp32_timer timer_cfg[2][4];
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};
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/* TODO: Remove these functions after this PR:
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* https://github.com/zephyrproject-rtos/zephyr/pull/5113
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*/
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static inline void set_mask32(u32_t v, u32_t mem_addr)
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{
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sys_write32(sys_read32(mem_addr) | v, mem_addr);
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}
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static inline void clear_mask32(u32_t v, u32_t mem_addr)
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{
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sys_write32(sys_read32(mem_addr) & ~v, mem_addr);
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}
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static const char *esp32_get_gpio_for_pin(int pin)
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{
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if (pin < 32) {
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#if defined(CONFIG_GPIO_ESP32_0)
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return DT_INST_LABEL(0);
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#else
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return NULL;
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#endif /* CONFIG_GPIO_ESP32_0 */
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}
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#if defined(CONFIG_GPIO_ESP32_1)
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return DT_INST_LABEL(1);
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#else
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return NULL;
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#endif /* CONFIG_GPIO_ESP32_1 */
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}
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/* end Remove after PR 5113 */
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static u8_t pwm_led_esp32_get_gpio_config(u8_t pin,
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const struct pwm_led_esp32_channel *ch_cfg)
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{
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u8_t i;
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for (i = 0U; i < 16; i++) {
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if (ch_cfg[i].gpio == pin) {
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return i;
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}
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}
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return -EINVAL;
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}
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static void pwm_led_esp32_low_speed_update(int speed_mode, int channel)
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{
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u32_t reg_addr;
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if (speed_mode == PWM_LED_ESP32_LOW_SPEED) {
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reg_addr = PWM_ESP32_LSCH_CONF0(channel);
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sys_set_bit(reg_addr, LEDC_PARA_UP_LSCH0_S);
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}
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}
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static void pwm_led_esp32_update_duty(int speed_mode, int channel)
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{
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u32_t conf0_addr;
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u32_t conf1_addr;
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if (speed_mode == PWM_LED_ESP32_HIGH_SPEED) {
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conf0_addr = PWM_ESP32_HSCH_CONF0(channel);
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conf1_addr = PWM_ESP32_HSCH_CONF1(channel);
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} else {
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conf0_addr = PWM_ESP32_LSCH_CONF0(channel);
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conf1_addr = PWM_ESP32_LSCH_CONF1(channel);
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}
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sys_set_bit(conf0_addr, LEDC_SIG_OUT_EN_LSCH0_S);
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sys_set_bit(conf1_addr, LEDC_DUTY_START_LSCH0_S);
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pwm_led_esp32_low_speed_update(speed_mode, channel);
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}
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static void pwm_led_esp32_duty_config(int speed_mode,
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int channel,
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int duty_val,
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union pwm_led_esp32_duty duty)
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{
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volatile u32_t hpoint_addr;
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volatile u32_t duty_addr;
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volatile u32_t conf1_addr;
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volatile u32_t conf1_val;
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if (speed_mode == PWM_LED_ESP32_HIGH_SPEED) {
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hpoint_addr = PWM_ESP32_HSCH_HPOINT(channel);
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duty_addr = PWM_ESP32_HSCH_DUTY(channel);
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conf1_addr = PWM_ESP32_HSCH_CONF1(channel);
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} else {
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hpoint_addr = PWM_ESP32_LSCH_HPOINT(channel);
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duty_addr = PWM_ESP32_LSCH_DUTY(channel);
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conf1_addr = PWM_ESP32_LSCH_CONF1(channel);
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}
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sys_write32(0, hpoint_addr);
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sys_write32(duty_val, duty_addr);
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sys_write32(duty.val, conf1_addr);
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pwm_led_esp32_low_speed_update(speed_mode, channel);
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}
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static void pwm_led_esp32_duty_set(int speed_mode, int channel, int duty_val)
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{
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union pwm_led_esp32_duty duty;
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duty.start = 0U;
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duty.direction = 1U;
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duty.cycle = 1U;
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duty.scale = 0U;
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pwm_led_esp32_duty_config(speed_mode, channel, duty_val << 4, duty);
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}
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static void pwm_led_esp32_bind_channel_timer(int speed_mode,
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int channel,
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int timer)
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{
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volatile u32_t timer_addr;
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if (speed_mode == PWM_LED_ESP32_HIGH_SPEED) {
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timer_addr = PWM_ESP32_HSCH_CONF0(channel);
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} else {
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timer_addr = PWM_ESP32_LSCH_CONF0(channel);
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}
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set_mask32(timer, timer_addr);
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pwm_led_esp32_low_speed_update(speed_mode, channel);
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}
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static int pwm_led_esp32_channel_set(int pin, bool speed_mode, int channel,
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int duty, int timer)
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{
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const int pin_mode = GPIO_OUTPUT;
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const char *device_name;
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struct device *gpio;
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int ret;
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u32_t sig_out_idx;
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/* Set duty cycle */
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pwm_led_esp32_duty_set(speed_mode, channel, duty);
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pwm_led_esp32_update_duty(speed_mode, channel);
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pwm_led_esp32_bind_channel_timer(speed_mode, channel, timer);
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/* Set pin */
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device_name = esp32_get_gpio_for_pin(pin);
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if (!device_name) {
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return -EINVAL;
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}
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gpio = device_get_binding(device_name);
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if (!gpio) {
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return -EINVAL;
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}
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ret = gpio_pin_configure(gpio, pin, pin_mode);
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if (ret < 0) {
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return ret;
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}
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if (speed_mode == PWM_LED_ESP32_HIGH_SPEED) {
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sig_out_idx = LEDC_HS_SIG_OUT0_IDX + channel;
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} else {
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sig_out_idx = LEDC_LS_SIG_OUT0_IDX + channel;
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}
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esp32_rom_gpio_matrix_out(pin, sig_out_idx, 0, 0);
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return 0;
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}
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static int pwm_led_esp32_timer_set(int speed_mode, int timer,
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int bit_num, int frequency)
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{
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u32_t timer_addr;
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u64_t div_num;
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int tick_sel = PWM_LED_ESP32_APB_CLK_FREQ;
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u32_t precision = (0x1 << bit_num);
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assert(frequency > 0);
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/* This expression comes from ESP32 Espressif's Technical Reference
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* Manual chapter 13.2.2 Timers.
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* div_num is a fixed point value (Q10.8).
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*/
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div_num = ((u64_t) APB_CLK_FREQ << 8) / frequency / precision;
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if (div_num < 0x100) {
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/* Since Q10.8 is a fixed point value, then div_num < 0x100
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* means divisor is too low.
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*/
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return -EINVAL;
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}
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if (div_num > 0x3FFFF) {
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/* Since Q10.8 is a fixed point value, then div_num > 0x3FFFF
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* means divisor is too high. We can try to use the REF_TICK.
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*/
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div_num = ((u64_t) 1000000 << 8) / frequency / precision;
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if (div_num < 0x100 || div_num > 0x3FFFF) {
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return -EINVAL;
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}
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tick_sel = PWM_LED_ESP32_REF_TICK_FREQ;
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} else {
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if (speed_mode) {
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sys_set_bit(LEDC_CONF_REG, LEDC_APB_CLK_SEL_S);
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}
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}
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if (speed_mode == PWM_LED_ESP32_HIGH_SPEED) {
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timer_addr = PWM_ESP32_HSTIMER(timer);
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} else {
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timer_addr = PWM_ESP32_LSTIMER(timer);
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}
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set_mask32(div_num << LEDC_DIV_NUM_LSTIMER0_S, timer_addr);
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set_mask32(tick_sel << LEDC_TICK_SEL_LSTIMER0_S, timer_addr);
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set_mask32(bit_num & LEDC_LSTIMER0_LIM_M, timer_addr);
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if (speed_mode) {
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/* update div_num and bit_num */
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sys_set_bit(timer_addr, LEDC_LSTIMER0_PARA_UP_S);
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}
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/* reset low speed timer */
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sys_set_bit(timer_addr, LEDC_LSTIMER0_RST_S);
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sys_clear_bit(timer_addr, LEDC_LSTIMER0_RST_S);
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return 0;
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}
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/* period_cycles is not used, set frequency on menuconfig instead. */
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static int pwm_led_esp32_pin_set_cycles(struct device *dev,
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u32_t pwm, u32_t period_cycles,
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u32_t pulse_cycles, pwm_flags_t flags)
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{
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int speed_mode;
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int channel;
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int timer;
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int ret;
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const struct pwm_led_esp32_config * const config =
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(struct pwm_led_esp32_config *) dev->config->config_info;
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ARG_UNUSED(period_cycles);
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if (flags) {
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/* PWM polarity not supported (yet?) */
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return -ENOTSUP;
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}
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channel = pwm_led_esp32_get_gpio_config(pwm, config->ch_cfg);
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if (channel < 0) {
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return -EINVAL;
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}
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speed_mode = channel < 8 ? PWM_LED_ESP32_HIGH_SPEED :
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PWM_LED_ESP32_LOW_SPEED;
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timer = config->ch_cfg[channel].timer;
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/* Now we know which speed_mode and timer is set, then we will convert
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* the channel number from (0 - 15) to (0 - 7).
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*/
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channel %= 8;
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/* Enable peripheral */
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set_mask32(DPORT_LEDC_CLK_EN, DPORT_PERIP_CLK_EN_REG);
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clear_mask32(DPORT_LEDC_RST, DPORT_PERIP_RST_EN_REG);
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/* Set timer */
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ret = pwm_led_esp32_timer_set(speed_mode, timer,
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config->timer_cfg[speed_mode][timer].bit_num,
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config->timer_cfg[speed_mode][timer].freq);
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if (ret < 0) {
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return ret;
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}
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/* Set channel */
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ret = pwm_led_esp32_channel_set(pwm, speed_mode, channel, 0, timer);
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if (ret < 0) {
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return ret;
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}
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pwm_led_esp32_duty_set(speed_mode, channel, pulse_cycles);
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pwm_led_esp32_update_duty(speed_mode, channel);
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return ret;
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}
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static int pwm_led_esp32_get_cycles_per_sec(struct device *dev, u32_t pwm,
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u64_t *cycles)
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{
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const struct pwm_led_esp32_config *config;
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int channel;
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int timer;
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int speed_mode;
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config = (struct pwm_led_esp32_config *) dev->config->config_info;
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channel = pwm_led_esp32_get_gpio_config(pwm, config->ch_cfg);
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if (channel < 0) {
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return -EINVAL;
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}
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speed_mode = channel < 8 ? PWM_LED_ESP32_HIGH_SPEED :
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PWM_LED_ESP32_LOW_SPEED;
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timer = config->ch_cfg[channel].timer;
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*cycles = config->timer_cfg[speed_mode][timer].freq;
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return 0;
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}
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static const struct pwm_driver_api pwm_led_esp32_api = {
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.pin_set = pwm_led_esp32_pin_set_cycles,
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.get_cycles_per_sec = pwm_led_esp32_get_cycles_per_sec,
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};
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int pwm_led_esp32_init(struct device *dev)
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{
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return 0;
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}
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/* Initialization for PWM_LED_ESP32 */
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#include <device.h>
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#include <init.h>
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DEVICE_DECLARE(pwm_led_esp32_0);
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#define CH_HS_TIMER(i) ((CONFIG_PWM_LED_ESP32_HS_CH ## i ## _TIMER) & 0x2)
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#define CH_HS_GPIO(i) ((CONFIG_PWM_LED_ESP32_HS_CH ## i ## _GPIO) & 0xfff)
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#define CH_LS_TIMER(i) ((CONFIG_PWM_LED_ESP32_LS_CH ## i ## _TIMER) & 0x2)
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#define CH_LS_GPIO(i) ((CONFIG_PWM_LED_ESP32_LS_CH ## i ## _GPIO) & 0xfff)
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#define TIMER_HS_FREQ(i) (CONFIG_PWM_LED_ESP32_HS_TIMER ## i ## _FREQ)
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#define TIMER_LS_FREQ(i) (CONFIG_PWM_LED_ESP32_LS_TIMER ## i ## _FREQ)
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#define TIMER_HS_BIT_NUM(i) (CONFIG_PWM_LED_ESP32_HS_TIMER ## i ## _BIT_NUM)
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#define TIMER_LS_BIT_NUM(i) (CONFIG_PWM_LED_ESP32_LS_TIMER ## i ## _BIT_NUM)
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const static struct pwm_led_esp32_config pwm_led_esp32_config = {
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.timer_cfg[PWM_LED_ESP32_HIGH_SPEED][0] = {
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.bit_num = TIMER_HS_BIT_NUM(0),
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.freq = TIMER_HS_FREQ(0),
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},
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.timer_cfg[PWM_LED_ESP32_HIGH_SPEED][1] = {
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.bit_num = TIMER_HS_BIT_NUM(1),
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.freq = TIMER_HS_FREQ(1),
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},
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.timer_cfg[PWM_LED_ESP32_HIGH_SPEED][2] = {
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.bit_num = TIMER_HS_BIT_NUM(2),
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.freq = TIMER_HS_FREQ(2),
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},
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.timer_cfg[PWM_LED_ESP32_HIGH_SPEED][2] = {
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.bit_num = TIMER_HS_BIT_NUM(2),
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.freq = TIMER_HS_FREQ(2),
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},
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.timer_cfg[PWM_LED_ESP32_HIGH_SPEED][3] = {
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.bit_num = TIMER_HS_BIT_NUM(3),
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.freq = TIMER_HS_FREQ(3),
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},
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.timer_cfg[PWM_LED_ESP32_LOW_SPEED][0] = {
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.bit_num = TIMER_LS_BIT_NUM(0),
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.freq = TIMER_LS_FREQ(0),
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},
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.timer_cfg[PWM_LED_ESP32_LOW_SPEED][1] = {
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.bit_num = TIMER_LS_BIT_NUM(1),
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.freq = TIMER_LS_FREQ(1),
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},
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.timer_cfg[PWM_LED_ESP32_LOW_SPEED][2] = {
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.bit_num = TIMER_LS_BIT_NUM(2),
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.freq = TIMER_LS_FREQ(2),
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},
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.timer_cfg[PWM_LED_ESP32_LOW_SPEED][3] = {
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.bit_num = TIMER_LS_BIT_NUM(3),
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.freq = TIMER_LS_FREQ(3),
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},
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.ch_cfg[0] = {
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.timer = CH_HS_TIMER(0),
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.gpio = CH_HS_GPIO(0),
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},
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.ch_cfg[1] = {
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.timer = CH_HS_TIMER(1),
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.gpio = CH_HS_GPIO(1),
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},
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.ch_cfg[2] = {
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.timer = CH_HS_TIMER(2),
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.gpio = CH_HS_GPIO(2),
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},
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.ch_cfg[3] = {
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.timer = CH_HS_TIMER(3),
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.gpio = CH_HS_GPIO(3),
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},
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.ch_cfg[4] = {
|
|
.timer = CH_HS_TIMER(4),
|
|
.gpio = CH_HS_GPIO(4),
|
|
},
|
|
.ch_cfg[5] = {
|
|
.timer = CH_HS_TIMER(5),
|
|
.gpio = CH_HS_GPIO(5),
|
|
},
|
|
.ch_cfg[6] = {
|
|
.timer = CH_HS_TIMER(6),
|
|
.gpio = CH_HS_GPIO(6),
|
|
},
|
|
.ch_cfg[7] = {
|
|
.timer = CH_HS_TIMER(7),
|
|
.gpio = CH_HS_GPIO(7),
|
|
},
|
|
.ch_cfg[8] = {
|
|
.timer = CH_LS_TIMER(0),
|
|
.gpio = CH_LS_GPIO(0),
|
|
},
|
|
.ch_cfg[9] = {
|
|
.timer = CH_LS_TIMER(1),
|
|
.gpio = CH_LS_GPIO(1),
|
|
},
|
|
.ch_cfg[10] = {
|
|
.timer = CH_LS_TIMER(2),
|
|
.gpio = CH_LS_GPIO(2),
|
|
},
|
|
.ch_cfg[11] = {
|
|
.timer = CH_LS_TIMER(3),
|
|
.gpio = CH_LS_GPIO(3),
|
|
},
|
|
.ch_cfg[12] = {
|
|
.timer = CH_LS_TIMER(4),
|
|
.gpio = CH_LS_GPIO(4),
|
|
},
|
|
.ch_cfg[13] = {
|
|
.timer = CH_LS_TIMER(5),
|
|
.gpio = CH_LS_GPIO(5),
|
|
},
|
|
.ch_cfg[14] = {
|
|
.timer = CH_LS_TIMER(6),
|
|
.gpio = CH_LS_GPIO(6),
|
|
},
|
|
.ch_cfg[15] = {
|
|
.timer = CH_LS_TIMER(7),
|
|
.gpio = CH_LS_GPIO(7),
|
|
},
|
|
};
|
|
|
|
DEVICE_AND_API_INIT(pwm_led_esp32_0, CONFIG_PWM_LED_ESP32_DEV_NAME_0,
|
|
pwm_led_esp32_init, NULL, &pwm_led_esp32_config,
|
|
POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEVICE,
|
|
&pwm_led_esp32_api);
|