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Subject: Re: [PATCH v4 3/3] pwm: Add support for Xilinx AXI Timer
To:     =?UTF-8?Q?Uwe_Kleine-K=c3=b6nig?= <u.kleine-koenig@pengutronix.de>
Cc:     linux-pwm@vger.kernel.org, devicetree@vger.kernel.org,
        michal.simek@xilinx.com, linux-kernel@vger.kernel.org,
        Alvaro Gamez <alvaro.gamez@hazent.com>,
        linux-arm-kernel@lists.infradead.org,
        Thierry Reding <thierry.reding@gmail.com>,
        kernel@pengutronix.de
References: <20210528214522.617435-1-sean.anderson@seco.com>
 <20210528214522.617435-3-sean.anderson@seco.com>
 <20210625061958.yeaxjltuq7q2t7i7@pengutronix.de>
From:   Sean Anderson <sean.anderson@seco.com>
Message-ID: <a748143d-f157-562e-795d-dcd9a0cf9d85@seco.com>
Date:   Fri, 25 Jun 2021 11:13:33 -0400
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On 6/25/21 2:19 AM, Uwe Kleine-K?nig 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@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@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