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Message-ID: <75b4d946-1cf3-499e-b527-fafa1918704c@baylibre.com>
Date: Thu, 11 Apr 2024 10:29:49 -0400
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Subject: Re: [PATCH 2/2 v4] pwm: Add driver for AXI PWM generator
From: Trevor Gamblin <tgamblin@baylibre.com>
To: =?UTF-8?Q?Uwe_Kleine-K=C3=B6nig?= <u.kleine-koenig@pengutronix.de>
Cc: linux-pwm@vger.kernel.org, linux-kernel@vger.kernel.org,
 michael.hennerich@analog.com, nuno.sa@analog.com,
 devicetree@vger.kernel.org, robh+dt@kernel.org,
 krzysztof.kozlowski+dt@linaro.org, conor+dt@kernel.org,
 dlechner@baylibre.com, Drew Fustini <dfustini@baylibre.com>,
 Sergiu Cuciurean <sergiu.cuciurean@analog.com>
References: <20240301173343.1086332-1-tgamblin@baylibre.com>
 <20240301173343.1086332-3-tgamblin@baylibre.com>
 <zwer5e7jmrqfi3yeooandpfyhs663i3adcaxjeizmwgmfxltp3@gnpimhyoaqjf>
 <f2579349-2cb0-434a-bae1-493218a62d53@baylibre.com>
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In-Reply-To: <f2579349-2cb0-434a-bae1-493218a62d53@baylibre.com>
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On 2024-04-11 16:07, Trevor Gamblin wrote:
>
> On 2024-04-11 12:59, Uwe Kleine-König wrote:
>> Hello,
> Hi,
>>
>> On Fri, Mar 01, 2024 at 12:33:42PM -0500, Trevor Gamblin wrote:
>>> From: Drew Fustini <dfustini@baylibre.com>
>>>
>>> Add support for the Analog Devices AXI PWM Generator. This device is an
>>> FPGA-implemented peripheral used as PWM signal generator and can be
>>> interfaced with AXI4. The register map of this peripheral makes it
>>> possible to configure the period and duty cycle of the output signal.
>>>
>>> Link: https://wiki.analog.com/resources/fpga/docs/axi_pwm_gen
>>> Co-developed-by: Sergiu Cuciurean <sergiu.cuciurean@analog.com>
>>> Signed-off-by: Sergiu Cuciurean <sergiu.cuciurean@analog.com>
>>> Co-developed-by: David Lechner <dlechner@baylibre.com>
>>> Signed-off-by: David Lechner <dlechner@baylibre.com>
>>> Signed-off-by: Drew Fustini <dfustini@baylibre.com>
>>> Acked-by: Nuno Sa <nuno.sa@analog.com>
>>> Co-developed-by: Trevor Gamblin <tgamblin@baylibre.com>
>>> Signed-off-by: Trevor Gamblin <tgamblin@baylibre.com>
>>> ---
>>> v4 changes:
>>> * Address feedback for driver in v3:
>>>    * Update to use devm_pwmchip_alloc() function
>>>    * Simplify use of dev symbol in axi_pwmgen_probe
>>>    * Remove unnecessary axi_pwmgen_from_chip function and use
>>>      pwmchip_get_drvdata directly
>>>
>>> v3 changes:
>>> * Address feedback for driver in v2:
>>>    * Remove unnecessary blank line in axi_pwmgen_apply
>>>    * Use macros already defined in <linux/fpga/adi-axi-common.h> for
>>>      version checking
>>>
>>> v2 changes:
>>> * Address feedback for driver and device tree in v1:
>>>    * Use more reasonable Kconfig approach
>>>    * Use common prefixes for all functions
>>>    * Rename axi_pwmgen struct to axi_pwmgen_ddata
>>>    * Change use of "pwm" to "ddata"
>>>    * Set and check state->polarity
>>>    * Multiply safely with mul_u64_u64_div_u64()
>>>    * Improve handling of max and zero periods
>>>    * Error if clk_rate_hz > NSEC_PER_SEC
>>>    * Add "Limitations" section at top of pwm-axi-pwmgen.c
>>>    * Don't disable outputs by default
>>>    * Remove unnecessary macros for period, duty, offset
>>>    * Fix axi_pwmgen_ddata alignment
>>>    * Don't artificially limit npwm to four
>>>    * Use clk_rate_exclusive_get(), balance with 
>>> clk_rate_exclusive_put()
>>>    * Cache clk rate in axi_pwmgen_ddata
>>>    * Don't assign pwm->chip.base, do assign pwm->chip.atomic
>>> * Remove redundant calls to clk_get_rate
>>> * Test contents of AXI_PWMGEN_REG_CORE_MAGIC instead of
>>>    arbitrary AXI_PWMGEN_TEST_DATA in AXI_PWMGEN_REG_SCRATCHPAD
>>> * Remove redundant clk struct from axi_pwmgen_ddata
>>> * Add self as module author
>>> * Add major version check for IP core
>>> ---
>>>   MAINTAINERS                  |   1 +
>>>   drivers/pwm/Kconfig          |  13 ++
>>>   drivers/pwm/Makefile         |   1 +
>>>   drivers/pwm/pwm-axi-pwmgen.c | 244 
>>> +++++++++++++++++++++++++++++++++++
>>>   4 files changed, 259 insertions(+)
>>>   create mode 100644 drivers/pwm/pwm-axi-pwmgen.c
>>>
>>> diff --git a/MAINTAINERS b/MAINTAINERS
>>> index 8a4ed5545680..2baa7a0a1c8c 100644
>>> --- a/MAINTAINERS
>>> +++ b/MAINTAINERS
>>> @@ -3438,6 +3438,7 @@ L:    linux-pwm@vger.kernel.org
>>>   S:    Supported
>>>   W:    https://ez.analog.com/linux-software-drivers
>>>   F: Documentation/devicetree/bindings/pwm/adi,axi-pwmgen.yaml
>>> +F:    drivers/pwm/pwm-axi-pwmgen.c
>>>     AXXIA I2C CONTROLLER
>>>   M:    Krzysztof Adamski <krzysztof.adamski@nokia.com>
>>> diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig
>>> index 4b956d661755..d44b0e86adee 100644
>>> --- a/drivers/pwm/Kconfig
>>> +++ b/drivers/pwm/Kconfig
>>> @@ -98,6 +98,19 @@ config PWM_ATMEL_TCB
>>>         To compile this driver as a module, choose M here: the module
>>>         will be called pwm-atmel-tcb.
>>>   +config PWM_AXI_PWMGEN
>>> +    tristate "Analog Devices AXI PWM generator"
>>> +    depends on MICROBLAZE || NIOS2 || ARCH_ZYNQ || ARCH_ZYNQMP || 
>>> ARCH_INTEL_SOCFPGA || COMPILE_TEST
>>> +    select REGMAP_MMIO
>>> +    help
>>> +      This enables support for the Analog Devices AXI PWM generator.
>>> +
>>> +      This is a configurable PWM generator with variable pulse 
>>> width and
>>> +      period.
>>> +
>>> +      To compile this driver as a module, choose M here: the module 
>>> will be
>>> +      called pwm-axi-pwmgen.
>>> +
>>>   config PWM_BCM_IPROC
>>>       tristate "iProc PWM support"
>>>       depends on ARCH_BCM_IPROC || COMPILE_TEST
>>> diff --git a/drivers/pwm/Makefile b/drivers/pwm/Makefile
>>> index c5ec9e168ee7..8322089954e9 100644
>>> --- a/drivers/pwm/Makefile
>>> +++ b/drivers/pwm/Makefile
>>> @@ -6,6 +6,7 @@ obj-$(CONFIG_PWM_APPLE)        += pwm-apple.o
>>>   obj-$(CONFIG_PWM_ATMEL)        += pwm-atmel.o
>>>   obj-$(CONFIG_PWM_ATMEL_HLCDC_PWM)    += pwm-atmel-hlcdc.o
>>>   obj-$(CONFIG_PWM_ATMEL_TCB)    += pwm-atmel-tcb.o
>>> +obj-$(CONFIG_PWM_AXI_PWMGEN)    += pwm-axi-pwmgen.o
>>>   obj-$(CONFIG_PWM_BCM_IPROC)    += pwm-bcm-iproc.o
>>>   obj-$(CONFIG_PWM_BCM_KONA)    += pwm-bcm-kona.o
>>>   obj-$(CONFIG_PWM_BCM2835)    += pwm-bcm2835.o
>>> diff --git a/drivers/pwm/pwm-axi-pwmgen.c 
>>> b/drivers/pwm/pwm-axi-pwmgen.c
>>> new file mode 100644
>>> index 000000000000..0c8f7f893a21
>>> --- /dev/null
>>> +++ b/drivers/pwm/pwm-axi-pwmgen.c
>>> @@ -0,0 +1,244 @@
>>> +// SPDX-License-Identifier: GPL-2.0
>>> +/*
>>> + * Analog Devices AXI PWM generator
>>> + *
>>> + * Copyright 2024 Analog Devices Inc.
>>> + * Copyright 2024 Baylibre SAS
>>> + *
>>> + * Limitations:
>>> + * - The writes to registers for period and duty are shadowed until
>>> + *   LOAD_CONFIG is written to AXI_PWMGEN_REG_CONFIG at the end of the
>>> + *   current period.
>> This implies that a currently running period is completed before the new
>> settings get active, right?
> Right.
Sorry, my other reply is wrong here. It restarts the period right away, 
so the end of the comment is wrong. I'll fix that for the next rev as well.
>>
>>> + * - Writing LOAD_CONFIG also has the effect of re-synchronizing all
>>> + *   enabled channels, which could cause glitching on other 
>>> channels. It
>>> + *   is therefore expected that channels are assigned harmonic periods
>>> + *   and all have a single user coordinating this.
>> What does "re-synchronize" mean here? Are all counters reset to zero?
>> "harmonic" means that all channels should use the same period length?
> Yes, it means that all counters are reset to zero. Harmonic in this 
> case means that channels can have different periods, but they should 
> be integer multiples of each other. Should I rewrite the comment to be 
> more explicit?
>>
>>> + * - Supports normal polarity. Does not support changing polarity.
>> Please add an item documenting how the HW behaves on disable. (Typical
>> behaviours are "freeze" or "inactive".)
> Will do.
>>
>>> + */
>>> +#include <linux/bits.h>
>>> +#include <linux/clk.h>
>>> +#include <linux/err.h>
>>> +#include <linux/fpga/adi-axi-common.h>
>>> +#include <linux/io.h>
>>> +#include <linux/module.h>
>>> +#include <linux/platform_device.h>
>>> +#include <linux/pwm.h>
>>> +#include <linux/regmap.h>
>>> +#include <linux/slab.h>
>>> +
>>> +#define AXI_PWMGEN_REG_CORE_VERSION    0x00
>>> +#define AXI_PWMGEN_REG_ID        0x04
>>> +#define AXI_PWMGEN_REG_SCRATCHPAD    0x08
>>> +#define AXI_PWMGEN_REG_CORE_MAGIC    0x0C
>>> +#define AXI_PWMGEN_REG_CONFIG        0x10
>>> +#define AXI_PWMGEN_REG_NPWM        0x14
>>> +#define AXI_PWMGEN_CHX_PERIOD(ch)    (0x40 + (12 * (ch)))
>>> +#define AXI_PWMGEN_CHX_DUTY(ch)        (0x44 + (12 * (ch)))
>>> +#define AXI_PWMGEN_CHX_OFFSET(ch)    (0x48 + (12 * (ch)))
>> Reading https://wiki.analog.com/resources/fpga/docs/axi_pwm_gen I would
>> have expected:
>>
>>     /* ch in { 0, ... 15 } */
>>     #define AXI_PWMGEN_REG_PULSE_X_PERIOD(ch)    (0x40 + 4 * (ch))
>>     #define AXI_PWMGEN_REG_PULSE_X_WIDTH(ch)    (0x80 + 4 * (ch))
>>     #define AXI_PWMGEN_REG_PULSE_X_OFFSET        (0xc0 + 4 * (ch))
>
> The regmap you find there now reflects v2 of the pwmgen IP; v1 used a 
> step of 12 instead of 4. The v2 series sent a little bit later on adds 
> this extra support: 
> https://lore.kernel.org/linux-pwm/20240314204722.1291993-1-tgamblin@baylibre.com/
>
> I've added support for both versions since v1 of the IP could still be 
> in use on some devices. Would it be better to have the two patch 
> series squashed together into a v5 of the axi-pwmgen driver?
>
>>
>>> +#define AXI_PWMGEN_REG_CORE_MAGIC_VAL    0x601A3471 /* 
>>> Identification number to test during setup */
>>> +#define AXI_PWMGEN_LOAD_CONFIG        BIT(1)
>>> +#define AXI_PWMGEN_RESET        BIT(0)
>> I'm a fan of including the register name in bitfield definitions. So
>> maybe:
>>
>>     #define AXI_PWMGEN_REG_CONFIG_RESET    BIT(0)
> Will do.
>>
>>> +struct axi_pwmgen_ddata {
>>> +    struct regmap *regmap;
>>> +    unsigned long clk_rate_hz;
>>> +};
>>> +
>>> +static const struct regmap_config axi_pwmgen_regmap_config = {
>>> +    .reg_bits = 32,
>>> +    .reg_stride = 4,
>>> +    .val_bits = 32,
>>> +};
>>> +
>>> +static int axi_pwmgen_apply(struct pwm_chip *chip, struct 
>>> pwm_device *pwm,
>>> +                const struct pwm_state *state)
>>> +{
>>> +    struct axi_pwmgen_ddata *ddata = pwmchip_get_drvdata(chip);
>>> +    unsigned int ch = pwm->hwpwm;
>>> +    struct regmap *regmap = ddata->regmap;
>>> +    u64 period_cnt, duty_cnt;
>>> +    int ret;
>>> +
>>> +    if (state->polarity != PWM_POLARITY_NORMAL)
>>> +        return -EINVAL;
>>> +
>>> +    if (state->enabled) {
>>> +        period_cnt = mul_u64_u64_div_u64(state->period, 
>>> ddata->clk_rate_hz, NSEC_PER_SEC);
>>> +        if (period_cnt > UINT_MAX)
>>> +            period_cnt = UINT_MAX;
>>> +
>>> +        if (period_cnt == 0)
>>> +            return -EINVAL;
>>> +
>>> +        ret = regmap_write(regmap, AXI_PWMGEN_CHX_PERIOD(ch), 
>>> period_cnt);
>>> +        if (ret)
>>> +            return ret;
>>> +
>>> +        duty_cnt = mul_u64_u64_div_u64(state->duty_cycle, 
>>> ddata->clk_rate_hz, NSEC_PER_SEC);
>>> +        if (duty_cnt > UINT_MAX)
>>> +            duty_cnt = UINT_MAX;
>>> +
>>> +        ret = regmap_write(regmap, AXI_PWMGEN_CHX_DUTY(ch), duty_cnt);
>>> +        if (ret)
>>> +            return ret;
>>> +    } else {
>>> +        ret = regmap_write(regmap, AXI_PWMGEN_CHX_PERIOD(ch), 0);
>>> +        if (ret)
>>> +            return ret;
>>> +
>>> +        ret = regmap_write(regmap, AXI_PWMGEN_CHX_DUTY(ch), 0);
>>> +        if (ret)
>>> +            return ret;
>>> +    }
>>> +
>>> +    return regmap_write(regmap, AXI_PWMGEN_REG_CONFIG, 
>>> AXI_PWMGEN_LOAD_CONFIG);
>>> +}
>>> +
>>> +static int axi_pwmgen_get_state(struct pwm_chip *chip, struct 
>>> pwm_device *pwm,
>>> +                struct pwm_state *state)
>>> +{
>>> +    struct axi_pwmgen_ddata *ddata = pwmchip_get_drvdata(chip);
>>> +    struct regmap *regmap = ddata->regmap;
>>> +    unsigned int ch = pwm->hwpwm;
>>> +    u32 cnt;
>>> +    int ret;
>>> +
>>> +    ret = regmap_read(regmap, AXI_PWMGEN_CHX_PERIOD(ch), &cnt);
>>> +    if (ret)
>>> +        return ret;
>>> +
>>> +    state->enabled = cnt != 0;
>>> +
>>> +    state->period = DIV_ROUND_UP_ULL((u64)cnt * NSEC_PER_SEC, 
>>> ddata->clk_rate_hz);
>>> +
>>> +    ret = regmap_read(regmap, AXI_PWMGEN_CHX_DUTY(ch), &cnt);
>>> +    if (ret)
>>> +        return ret;
>>> +
>>> +    state->duty_cycle = DIV_ROUND_UP_ULL((u64)cnt * NSEC_PER_SEC, 
>>> ddata->clk_rate_hz);
>>> +
>>> +    state->polarity = PWM_POLARITY_NORMAL;
>>> +
>>> +    return 0;
>>> +}
>>> +
>>> +static const struct pwm_ops axi_pwmgen_pwm_ops = {
>>> +    .apply = axi_pwmgen_apply,
>>> +    .get_state = axi_pwmgen_get_state,
>>> +};
>>> +
>>> +static int axi_pwmgen_setup(struct regmap *regmap, struct device *dev)
>>> +{
>>> +    int ret;
>>> +    u32 val;
>>> +
>>> +    ret = regmap_read(regmap, AXI_PWMGEN_REG_CORE_MAGIC, &val);
>>> +    if (ret)
>>> +        return ret;
>>> +
>>> +    if (val != AXI_PWMGEN_REG_CORE_MAGIC_VAL)
>>> +        return dev_err_probe(dev, -ENODEV,
>>> +            "failed to read expected value from register: got %08x, 
>>> expected %08x\n",
>>> +            val,
>>> +            AXI_PWMGEN_REG_CORE_MAGIC_VAL);
>>> +
>>> +    ret = regmap_read(regmap, AXI_PWMGEN_REG_CORE_VERSION, &val);
>>> +    if (ret)
>>> +        return ret;
>>> +
>>> +    if (ADI_AXI_PCORE_VER_MAJOR(val) != 1) {
>>> +        return dev_err_probe(dev, -ENODEV, "Unsupported peripheral 
>>> version %u.%u.%u\n",
>>> +            ADI_AXI_PCORE_VER_MAJOR(val),
>>> +            ADI_AXI_PCORE_VER_MINOR(val),
>>> +            ADI_AXI_PCORE_VER_PATCH(val));
>>> +    }
>>> +
>>> +    /* Enable the core */
>>> +    ret = regmap_update_bits(regmap, AXI_PWMGEN_REG_CONFIG, 
>>> AXI_PWMGEN_RESET, 0);
>>> +    if (ret)
>>> +        return ret;
>>> +
>>> +    ret = regmap_read(regmap, AXI_PWMGEN_REG_NPWM, &val);
>>> +    if (ret)
>>> +        return ret;
>>> +
>>> +    /* Return the number of PWMs */
>>> +    return val;
>>> +}
>>> +
>>> +static void axi_pwmgen_clk_rate_exclusive_put(void *data)
>>> +{
>>> +    clk_rate_exclusive_put(data);
>>> +}
>>> +
>>> +static int axi_pwmgen_probe(struct platform_device *pdev)
>>> +{
>>> +    struct device *dev = &pdev->dev;
>>> +    struct regmap *regmap;
>>> +    struct pwm_chip *chip;
>>> +    struct axi_pwmgen_ddata *ddata;
>>> +    struct clk *clk;
>>> +    void __iomem *io_base;
>>> +    int ret;
>>> +
>>> +    io_base = devm_platform_ioremap_resource(pdev, 0);
>>> +    if (IS_ERR(io_base))
>>> +        return PTR_ERR(io_base);
>>> +
>>> +    regmap = devm_regmap_init_mmio(dev, io_base, 
>>> &axi_pwmgen_regmap_config);
>>> +    if (IS_ERR(regmap))
>>> +        return dev_err_probe(dev, PTR_ERR(regmap),
>>> +                     "failed to init register map\n");
>>> +
>>> +    ret = axi_pwmgen_setup(regmap, dev);
>>> +    if (ret < 0)
>>> +        return ret;
>>> +
>>> +    chip = devm_pwmchip_alloc(dev, ret, sizeof(*ddata));
>>> +    if (IS_ERR(chip))
>>> +        return PTR_ERR(chip);
>>> +    ddata = pwmchip_get_drvdata(chip);
>>> +    ddata->regmap = regmap;
>>> +
>>> +    clk = devm_clk_get_enabled(dev, NULL);
>>> +    if (IS_ERR(clk))
>>> +        return dev_err_probe(dev, PTR_ERR(clk), "failed to get 
>>> clock\n");
>>> +
>>> +    ret = clk_rate_exclusive_get(clk);
>>> +    if (ret)
>>> +        return dev_err_probe(dev, ret, "failed to get exclusive 
>>> rate\n");
>>> +
>>> +    ret = devm_add_action_or_reset(dev, 
>>> axi_pwmgen_clk_rate_exclusive_put, clk);
>>> +    if (ret)
>>> +        return ret;
>> There is a devm variant of clk_rate_exclusive_get() in the meantime.
> Okay, I'll try using that.
>>
>>> +    ddata->clk_rate_hz = clk_get_rate(clk);
>>> +    if (!ddata->clk_rate_hz || ddata->clk_rate_hz > NSEC_PER_SEC)
>>> +        return dev_err_probe(dev, -EINVAL,
>>> +                     "Invalid clock rate: %lu\n", ddata->clk_rate_hz);
>>> +
>>> +    chip->ops = &axi_pwmgen_pwm_ops;
>>> +    chip->atomic = true;
>>> +
>>> +    return devm_pwmchip_add(dev, chip);
>> Error message in case devm_pwmchip_add fails, please.
>
> Will do.
>
> Thanks!
>
>>
>>> +}
>