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SubjectRE: [EXT] Re: [PATCH V10 2/5] pwm: Add i.MX TPM PWM driver support
Date
Hi, Uwe

Best Regards!
Anson Huang

> -----Original Message-----
> From: Uwe Kleine-König [mailto:u.kleine-koenig@pengutronix.de]
> Sent: 2019年4月9日 14:48
> To: Anson Huang <anson.huang@nxp.com>
> Cc: thierry.reding@gmail.com; robh+dt@kernel.org; mark.rutland@arm.com;
> shawnguo@kernel.org; s.hauer@pengutronix.de; kernel@pengutronix.de;
> festevam@gmail.com; linux@armlinux.org.uk; stefan@agner.ch;
> otavio@ossystems.com.br; Leonard Crestez <leonard.crestez@nxp.com>;
> schnitzeltony@gmail.com; Robin Gong <yibin.gong@nxp.com>; linux-
> pwm@vger.kernel.org; devicetree@vger.kernel.org; linux-arm-
> kernel@lists.infradead.org; linux-kernel@vger.kernel.org; dl-linux-imx
> <linux-imx@nxp.com>
> Subject: [EXT] Re: [PATCH V10 2/5] pwm: Add i.MX TPM PWM driver support
>
> WARNING: This email was created outside of NXP. DO NOT CLICK links or
> attachments unless you recognize the sender and know the content is safe.
>
>
>
> On Tue, Mar 26, 2019 at 06:52:33AM +0000, Anson Huang wrote:
> > i.MX7ULP has TPM(Low Power Timer/Pulse Width Modulation Module)
> > inside, it can support multiple PWM channels, all the channels share
> > same counter and period setting, but each channel can configure its
> > duty and polarity independently.
> >
> > There are several TPM modules in i.MX7ULP, the number of channels in
> > TPM modules are different, it can be read from each TPM module's PARAM
> > register.
> >
> > Signed-off-by: Anson Huang <Anson.Huang@nxp.com>
> > ---
> > Changes since V9:
> > - improve some comments;
> > - merge period_duty setting and config_hw to be 1 function, avoid
> duplicated duty settings
> > in some scenario;
> > - use non "devm_" function for channel data allocation and free.
> > ---
> > drivers/pwm/Kconfig | 11 ++
> > drivers/pwm/Makefile | 1 +
> > drivers/pwm/pwm-imx-tpm.c | 463
> > ++++++++++++++++++++++++++++++++++++++++++++++
> > 3 files changed, 475 insertions(+)
> > create mode 100644 drivers/pwm/pwm-imx-tpm.c
> >
> > diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig index
> > 54f8238..3ea0391 100644
> > --- a/drivers/pwm/Kconfig
> > +++ b/drivers/pwm/Kconfig
> > @@ -210,6 +210,17 @@ config PWM_IMX27
> > To compile this driver as a module, choose M here: the module
> > will be called pwm-imx27.
> >
> > +config PWM_IMX_TPM
> > + tristate "i.MX TPM PWM support"
> > + depends on ARCH_MXC || COMPILE_TEST
> > + depends on HAVE_CLK && HAS_IOMEM
> > + help
> > + Generic PWM framework driver for i.MX7ULP TPM module, TPM's full
> > + name is Low Power Timer/Pulse Width Modulation Module.
> > +
> > + To compile this driver as a module, choose M here: the module
> > + will be called pwm-imx-tpm.
> > +
> > config PWM_JZ4740
> > tristate "Ingenic JZ47xx PWM support"
> > depends on MACH_INGENIC
> > diff --git a/drivers/pwm/Makefile b/drivers/pwm/Makefile index
> > 448825e..c368599 100644
> > --- a/drivers/pwm/Makefile
> > +++ b/drivers/pwm/Makefile
> > @@ -19,6 +19,7 @@ obj-$(CONFIG_PWM_HIBVT) += pwm-hibvt.o
> > obj-$(CONFIG_PWM_IMG) += pwm-img.o
> > obj-$(CONFIG_PWM_IMX1) += pwm-imx1.o
> > obj-$(CONFIG_PWM_IMX27) += pwm-imx27.o
> > +obj-$(CONFIG_PWM_IMX_TPM) += pwm-imx-tpm.o
> > obj-$(CONFIG_PWM_JZ4740) += pwm-jz4740.o
> > obj-$(CONFIG_PWM_LP3943) += pwm-lp3943.o
> > obj-$(CONFIG_PWM_LPC18XX_SCT) += pwm-lpc18xx-sct.o
> > diff --git a/drivers/pwm/pwm-imx-tpm.c b/drivers/pwm/pwm-imx-tpm.c
> new
> > file mode 100644 index 0000000..e1e9b68
> > --- /dev/null
> > +++ b/drivers/pwm/pwm-imx-tpm.c
> > @@ -0,0 +1,463 @@
> > +// SPDX-License-Identifier: GPL-2.0
> > +/*
> > + * Copyright 2018-2019 NXP.
> > + *
> > + * Limitations:
> > + * - The TPM counter and period counter are shared between
> > + * multiple channels, so all channels should use same period
> > + * settings.
> > + * - Changes to polarity cannot be latched at the time of the
> > + * next period start.
> > + * - Changing period and duty cycle together isn't atomic,
> > + * with the wrong timing it might happen that a period is
> > + * produced with old duty cycle but new period settings.
> > + */
> > +
> > +#include <linux/bitfield.h>
> > +#include <linux/bitops.h>
> > +#include <linux/clk.h>
> > +#include <linux/err.h>
> > +#include <linux/io.h>
> > +#include <linux/log2.h>
> > +#include <linux/module.h>
> > +#include <linux/of.h>
> > +#include <linux/of_address.h>
> > +#include <linux/platform_device.h>
> > +#include <linux/pwm.h>
> > +#include <linux/slab.h>
> > +
> > +#define PWM_IMX_TPM_PARAM 0x4
> > +#define PWM_IMX_TPM_GLOBAL 0x8
> > +#define PWM_IMX_TPM_SC 0x10
> > +#define PWM_IMX_TPM_CNT 0x14
> > +#define PWM_IMX_TPM_MOD 0x18
> > +#define PWM_IMX_TPM_CnSC(n) (0x20 + (n) * 0x8)
> > +#define PWM_IMX_TPM_CnV(n) (0x24 + (n) * 0x8)
> > +
> > +#define PWM_IMX_TPM_PARAM_CHAN GENMASK(7, 0)
> > +
> > +#define PWM_IMX_TPM_SC_PS GENMASK(2, 0)
> > +#define PWM_IMX_TPM_SC_CMOD GENMASK(4, 3)
> > +#define PWM_IMX_TPM_SC_CMOD_INC_EVERY_CLK
> FIELD_PREP(PWM_IMX_TPM_SC_CMOD, 1)
> > +#define PWM_IMX_TPM_SC_CPWMS BIT(5)
> > +
> > +#define PWM_IMX_TPM_CnSC_CHF BIT(7)
> > +#define PWM_IMX_TPM_CnSC_MSB BIT(5)
> > +#define PWM_IMX_TPM_CnSC_MSA BIT(4)
> > +
> > +/*
> > + * The reference manual describes this field as two separate bits.
> > +The
> > + * semantic of the two bits isn't orthogonal though, so they are
> > +treated
> > + * together as a 2-bit field here.
> > + */
> > +#define PWM_IMX_TPM_CnSC_ELS GENMASK(3, 2)
> > +#define PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED 0x1
> > +#define PWM_IMX_TPM_CnSC_ELS_INVERSED
> FIELD_PREP(PWM_IMX_TPM_CnSC_ELS, 1)
>
> This looks strange. The only usage of
> PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED is:
>
> if (FIELD_GET(PWM_IMX_TPM_CnSC_ELS, val) ==
> PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED)
>
> If you change this to
>
> if ((val & PWM_IMX_TPM_CnSC_ELS) ==
> PWM_IMX_TPM_CnSC_ELS_INVERSED)
>
> you can drop the PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED symbol.

OK.

>
> > +#define PWM_IMX_TPM_CnSC_ELS_NORMAL
> FIELD_PREP(PWM_IMX_TPM_CnSC_ELS,
> > +2)
> > +
> > +
> > +#define PWM_IMX_TPM_MOD_WIDTH 16
> > +#define PWM_IMX_TPM_MOD_MOD
> GENMASK(PWM_IMX_TPM_MOD_WIDTH - 1, 0)
> > +
> > +struct imx_tpm_pwm_chip {
> > + struct pwm_chip chip;
> > + struct clk *clk;
> > + void __iomem *base;
> > + struct mutex lock;
> > + u32 user_count;
> > + u32 enable_count;
> > + u32 real_period;
> > +};
> > +
> > +struct imx_tpm_pwm_param {
> > + u8 prescale;
> > + u32 mod;
> > + u32 val;
> > +};
> > +
> > +struct imx_tpm_pwm_channel {
> > + enum pwm_polarity polarity;
> > +};
> > +
> > +static inline struct imx_tpm_pwm_chip *to_imx_tpm_pwm_chip(struct
> > +pwm_chip *chip) {
> > + return container_of(chip, struct imx_tpm_pwm_chip, chip); }
> > +
> > +static int pwm_imx_tpm_round_state(struct pwm_chip *chip,
> > + struct imx_tpm_pwm_param *p,
> > + struct pwm_state *state,
> > + struct pwm_state *real_state) {
> > + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> > + u32 rate, prescale, period_count, clock_unit;
> > + u64 tmp;
> > +
> > + rate = clk_get_rate(tpm->clk);
> > + tmp = (u64)state->period * rate;
> > + clock_unit = DIV_ROUND_CLOSEST_ULL(tmp, NSEC_PER_SEC);
> > + if (clock_unit <= PWM_IMX_TPM_MOD_MOD)
> > + prescale = 0;
> > + else
> > + prescale = ilog2(clock_unit) + 1 -
> > + PWM_IMX_TPM_MOD_WIDTH;
> > +
> > + if ((!FIELD_FIT(PWM_IMX_TPM_SC_PS, prescale)))
> > + return -ERANGE;
> > + p->prescale = prescale;
> > +
> > + period_count = (clock_unit + ((1 << prescale) >> 1)) >> prescale;
> > + p->mod = period_count;
> > +
> > + /* calculate real period HW can support */
> > + tmp = (u64)period_count << prescale;
> > + tmp *= NSEC_PER_SEC;
> > + real_state->period = DIV_ROUND_CLOSEST_ULL(tmp, rate);
> > +
> > + /*
> > + * if eventually the PWM output is inactive, either
> > + * duty cycle is 0 or status is disabled, need to
> > + * make sure the output pin is inactive.
> > + */
> > + if (!state->enabled)
> > + real_state->duty_cycle = 0;
> > + else
> > + real_state->duty_cycle = state->duty_cycle;
> > +
> > + tmp = (u64)p->mod * real_state->duty_cycle;
> > + p->val = DIV_ROUND_CLOSEST_ULL(tmp, real_state->period);
> > +
> > + real_state->polarity = state->polarity;
> > + real_state->enabled = state->enabled;
> > +
> > + return 0;
> > +}
> > +
> > +static void pwm_imx_tpm_get_state(struct pwm_chip *chip,
> > + struct pwm_device *pwm,
> > + struct pwm_state *state) {
> > + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> > + struct imx_tpm_pwm_channel *chan = pwm_get_chip_data(pwm);
> > + u32 rate, val, prescale;
> > + u64 tmp;
> > +
> > + /* get period */
> > + state->period = tpm->real_period;
> > +
> > + /* get duty cycle */
> > + rate = clk_get_rate(tpm->clk);
> > + val = readl(tpm->base + PWM_IMX_TPM_SC);
> > + prescale = FIELD_GET(PWM_IMX_TPM_SC_PS, val);
> > + tmp = readl(tpm->base + PWM_IMX_TPM_CnV(pwm->hwpwm));
> > + tmp = (tmp << prescale) * NSEC_PER_SEC;
> > + state->duty_cycle = DIV_ROUND_CLOSEST_ULL(tmp, rate);
> > +
> > + /* get polarity */
> > + if (chan) {
> > + state->polarity = chan->polarity;
> > + } else {
> > + /* in case no channel requested yet, return HW status */
> > + val = readl(tpm->base + PWM_IMX_TPM_CnSC(pwm->hwpwm));
> > + if (FIELD_GET(PWM_IMX_TPM_CnSC_ELS, val) ==
> > + PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED)
> > + state->polarity = PWM_POLARITY_INVERSED;
> > + else
> > + /*
> > + * Assume reserved values (2b00 and 2b11) to yield
> > + * normal polarity.
> > + */
> > + state->polarity = PWM_POLARITY_NORMAL;
> > + }
>
> What is the good reason to prefer chan->polarity over reading out the
> hardware state?

Reading it from DDR is faster than accessing HW register as per previous comment?

>
> > + /* get channel status */
> > + state->enabled = FIELD_GET(PWM_IMX_TPM_CnSC_ELS, val) ? true :
> > +false; }
> > +
> > +/* this function is supposed to be called with mutex hold */ static
> > +int pwm_imx_tpm_apply_hw(struct pwm_chip *chip,
> > + struct pwm_device *pwm,
> > + struct pwm_state *state,
> > + struct imx_tpm_pwm_param *p) {
> > + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> > + struct imx_tpm_pwm_channel *chan = pwm_get_chip_data(pwm);
> > + bool period_update = false;
> > + bool duty_update = false;
> > + u32 val, cmod, cur_prescale;
> > + unsigned long timeout;
> > + struct pwm_state c;
> > +
> > + if (state->period != tpm->real_period) {
> > + /*
> > + * TPM counter is shared by multiple channels, so
> > + * prescale and period can NOT be modified when
> > + * there are multiple channels in use with different
> > + * period settings.
> > + */
> > + if (tpm->user_count > 1)
> > + return -EBUSY;
> > +
> > + val = readl(tpm->base + PWM_IMX_TPM_SC);
> > + cmod = FIELD_GET(PWM_IMX_TPM_SC_CMOD, val);
> > + cur_prescale = FIELD_GET(PWM_IMX_TPM_SC_PS, val);
> > + if (cmod && cur_prescale != p->prescale)
> > + return -EBUSY;
> > +
> > + /* set TPM counter prescale */
> > + val &= ~PWM_IMX_TPM_SC_PS;
> > + val |= FIELD_PREP(PWM_IMX_TPM_SC_PS, p->prescale);
> > + writel(val, tpm->base + PWM_IMX_TPM_SC);
> > +
> > + /*
> > + * set period count:
> > + * if the PWM is disabled (CMOD[1:0] = 2b00), then MOD register
> > + * is updated when MOD register is written.
> > + *
> > + * if the PWM is enabled (CMOD[1:0] ≠ 2b00), the period length
> > + * is latched into hardware when the next period starts.
> > + */
> > + writel(p->mod, tpm->base + PWM_IMX_TPM_MOD);
> > + tpm->real_period = state->period;
> > + period_update = true;
> > + }
> > +
> > + pwm_imx_tpm_get_state(chip, pwm, &c);
>
> If you move this call above the previous if block you can use c.period instead
> of tpm->real_period which is easier to follow.

I think the period could be changed by the if block, so duty also be changed, need
to put the .get_state here, am I right?

>
> > + if (state->duty_cycle != c.duty_cycle) {
> > + /*
> > + * set channel value:
> > + * if the PWM is disabled (CMOD[1:0] = 2b00), then CnV register
> > + * is updated when CnV register is written.
> > + *
> > + * if the PWM is enabled (CMOD[1:0] ≠ 2b00), the duty length
> > + * is latched into hardware when the next period starts.
> > + */
> > + writel(p->val, tpm->base + PWM_IMX_TPM_CnV(pwm->hwpwm));
> > + duty_update = true;
> > + }
> > +
> > + /* make sure MOD & CnV registers are updated */
> > + if (period_update || duty_update) {
> > + timeout = jiffies + msecs_to_jiffies(tpm->real_period /
> > + NSEC_PER_MSEC + 1);
> > + while (readl(tpm->base + PWM_IMX_TPM_MOD) != p->mod
> > + || readl(tpm->base + PWM_IMX_TPM_CnV(pwm->hwpwm))
> > + != p->val) {
> > + if (time_after(jiffies, timeout))
> > + return -ETIME;
> > + cpu_relax();
> > + }
> > + }
>
> If the PWM is running you wait in the above loop until the new values are
> active but before you configure the period. I think in the case where the
> PWM is active and a change of polarity is requested it would be more correct
> to refuse the change.

Not very understand, the period is changed at the beginning, and most of the time,
period should be fixed, changing polarity should be allowed even PWM is active?
That does NOT introduce too many trouble, is it a common case that dynamic changing
polarity is NOT good?


>
> > + val = readl(tpm->base + PWM_IMX_TPM_CnSC(pwm->hwpwm));
> > + val &= ~(PWM_IMX_TPM_CnSC_ELS | PWM_IMX_TPM_CnSC_MSA |
> > + PWM_IMX_TPM_CnSC_MSB);
> > + if (state->enabled) {
> > + /*
> > + * set polarity (for edge-aligned PWM modes)
> > + *
> > + * ELS[1:0] = 2b10 yields normal polarity behaviour,
> > + * ELS[1:0] = 2b01 yields inversed polarity.
> > + * The other values are reserved.
> > + *
> > + * polarity settings will enabled/disable output status
> > + * immediately, so if the channel is disabled, need to
> > + * make sure MSA/MSB/ELS are set to 0 which means channel
> > + * disabled.
>
> I don't understand this comment. Either ELS = 0 is reserved or it can be used.
> What is an output status?

The reference manual ONLY states it as reserved, so how to add comments here?

>
> > + val |= PWM_IMX_TPM_CnSC_MSB;
> > + val |= (state->polarity == PWM_POLARITY_NORMAL) ?
> > + PWM_IMX_TPM_CnSC_ELS_NORMAL :
> > + PWM_IMX_TPM_CnSC_ELS_INVERSED;
> > + }
> > + writel(val, tpm->base + PWM_IMX_TPM_CnSC(pwm->hwpwm));
> > +
> > + /* control the counter status */
> > + if (state->enabled != c.enabled) {
> > + val = readl(tpm->base + PWM_IMX_TPM_SC);
> > + if (state->enabled) {
> > + if (++tpm->enable_count == 1)
> > + val |= PWM_IMX_TPM_SC_CMOD_INC_EVERY_CLK;
> > + } else {
> > + if (--tpm->enable_count == 0)
> > + val &= ~PWM_IMX_TPM_SC_CMOD;
> > + }
> > + writel(val, tpm->base + PWM_IMX_TPM_SC);
> > + }
> > +
> > + /* save last polarity setting */
> > + chan->polarity = state->polarity;
> > +
> > + return 0;
> > +}
> > +
> > +static int pwm_imx_tpm_apply(struct pwm_chip *chip,
> > + struct pwm_device *pwm,
> > + struct pwm_state *state) {
> > + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> > + struct imx_tpm_pwm_param param;
> > + struct pwm_state real_state;
> > + int ret;
> > +
> > + ret = pwm_imx_tpm_round_state(chip, &param, state, &real_state);
> > + if (ret)
> > + return -EINVAL;
>
> return ret;

OK.

>
> > +
> > + mutex_lock(&tpm->lock);
> > + ret = pwm_imx_tpm_apply_hw(chip, pwm, &real_state, &param);
>
> IMHO it would be nice if the parameters to pwm_imx_tpm_round_state and
> pwm_imx_tpm_apply_hw would be the same an in the same order. Apart
> from being nicer to read this is also easier for the compiler.

OK.

>
> > + mutex_unlock(&tpm->lock);
> > +
> > + return ret;
> > +}
> > +
> > +static int pwm_imx_tpm_request(struct pwm_chip *chip, struct
> > +pwm_device *pwm) {
> > + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> > + struct imx_tpm_pwm_channel *chan;
> > +
> > + chan = kzalloc(sizeof(*chan), GFP_KERNEL);
> > + if (!chan)
> > + return -ENOMEM;
> > +
> > + pwm_set_chip_data(pwm, chan);
> > +
> > + mutex_lock(&tpm->lock);
> > + tpm->user_count++;
> > + mutex_unlock(&tpm->lock);
> > +
> > + return 0;
> > +}
> > +
> > +static void pwm_imx_tpm_free(struct pwm_chip *chip, struct
> pwm_device
> > +*pwm) {
> > + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> > +
> > + mutex_lock(&tpm->lock);
> > + tpm->user_count--;
> > + mutex_unlock(&tpm->lock);
> > +
> > + kfree(pwm_get_chip_data(pwm));
> > + pwm_set_chip_data(pwm, NULL);
> > +}
> > +
> > +static const struct pwm_ops imx_tpm_pwm_ops = {
> > + .request = pwm_imx_tpm_request,
> > + .free = pwm_imx_tpm_free,
> > + .get_state = pwm_imx_tpm_get_state,
> > + .apply = pwm_imx_tpm_apply,
> > + .owner = THIS_MODULE,
> > +};
> > +
> > +static int pwm_imx_tpm_probe(struct platform_device *pdev) {
> > + struct imx_tpm_pwm_chip *tpm;
> > + int ret;
> > + u32 val;
> > +
> > + tpm = devm_kzalloc(&pdev->dev, sizeof(*tpm), GFP_KERNEL);
> > + if (!tpm)
> > + return -ENOMEM;
> > +
> > + platform_set_drvdata(pdev, tpm);
> > +
> > + tpm->base = devm_platform_ioremap_resource(pdev, 0);
> > + if (IS_ERR(tpm->base))
> > + return PTR_ERR(tpm->base);
> > +
> > + tpm->clk = devm_clk_get(&pdev->dev, NULL);
> > + if (IS_ERR(tpm->clk)) {
> > + ret = PTR_ERR(tpm->clk);
> > + if (ret != -EPROBE_DEFER)
> > + dev_err(&pdev->dev,
> > + "failed to get PWM clock: %d\n", ret);
> > + return ret;
> > + }
> > +
> > + ret = clk_prepare_enable(tpm->clk);
> > + if (ret) {
> > + dev_err(&pdev->dev,
> > + "failed to prepare or enable clock: %d\n", ret);
> > + return ret;
> > + }
> > +
> > + tpm->chip.dev = &pdev->dev;
> > + tpm->chip.ops = &imx_tpm_pwm_ops;
> > + tpm->chip.base = -1;
> > + tpm->chip.of_xlate = of_pwm_xlate_with_flags;
> > + tpm->chip.of_pwm_n_cells = 3;
> > +
> > + /* get number of channels */
> > + val = readl(tpm->base + PWM_IMX_TPM_PARAM);
> > + tpm->chip.npwm = FIELD_GET(PWM_IMX_TPM_PARAM_CHAN, val);
> > +
> > + mutex_init(&tpm->lock);
> > +
> > + ret = pwmchip_add(&tpm->chip);
> > + if (ret) {
> > + dev_err(&pdev->dev, "failed to add PWM chip: %d\n", ret);
> > + clk_disable_unprepare(tpm->clk);
> > + }
> > +
> > + return ret;
> > +}
> > +
> > +static int pwm_imx_tpm_remove(struct platform_device *pdev) {
> > + struct imx_tpm_pwm_chip *tpm = platform_get_drvdata(pdev);
> > + int ret = pwmchip_remove(&tpm->chip);
> > +
> > + clk_disable_unprepare(tpm->clk);
>
> It's unfortunate that pwmchip_remove can fail as the return value of
> pwm_imx_tpm_remove is ignored. Also disabling the clock is bad then.
> Fixing this is out of scope for this patch though. This needs changes in the
> pwm core.

Thanks,
Anson.

>
> > + return ret;
> > +}
>
> Best regards
> Uwe
>
> --
> Pengutronix e.K. | Uwe Kleine-König |
> Industrial Linux Solutions |
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