pwm: Add Renesas TPU PWM driver

The Timer Pulse Unit (TPU) is a 4-channels 16-bit timer used to generate
waveforms. This driver exposes PWM functions through the PWM API for
other drivers to use.

The code is loosely based on the leds-renesas-tpu driver by Magnus Damm
and the TPU PWM driver shipped in the Armadillo EVA 800 kernel sources.
Signed-off-by: Laurent Pinchart <laurent.pinchart+renesas@ideasonboard.com>
Signed-off-by: Axel Lin <axel.lin@ingics.com>
Tested-by: Simon Horman <horms@verge.net.au>
Signed-off-by: Thierry Reding <thierry.reding@gmail.com>

drivers/pwm/Kconfig

@@ -128,6 +128,16 @@ config PWM_PXA
 	  To compile this driver as a module, choose M here: the module
 	  will be called pwm-pxa.
 
+config PWM_RENESAS_TPU
+	tristate "Renesas TPU PWM support"
+	depends on ARCH_SHMOBILE
+	help
+	  This driver exposes the Timer Pulse Unit (TPU) PWM controller found
+	  in Renesas chips through the PWM API.
+
+	  To compile this driver as a module, choose M here: the module
+	  will be called pwm-renesas-tpu.
+
 config PWM_SAMSUNG
 	tristate "Samsung PWM support"
 	depends on PLAT_SAMSUNG

drivers/pwm/Makefile

@@ -10,6 +10,7 @@ obj-$(CONFIG_PWM_MXS)		+= pwm-mxs.o
 obj-$(CONFIG_PWM_PCA9685)	+= pwm-pca9685.o
 obj-$(CONFIG_PWM_PUV3)		+= pwm-puv3.o
 obj-$(CONFIG_PWM_PXA)		+= pwm-pxa.o
+obj-$(CONFIG_PWM_RENESAS_TPU)	+= pwm-renesas-tpu.o
 obj-$(CONFIG_PWM_SAMSUNG)	+= pwm-samsung.o
 obj-$(CONFIG_PWM_SPEAR)		+= pwm-spear.o
 obj-$(CONFIG_PWM_TEGRA)		+= pwm-tegra.o

drivers/pwm/pwm-renesas-tpu.c

+/*
+ * R-Mobile TPU PWM driver
+ *
+ * Copyright (C) 2012 Renesas Solutions Corp.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#include <linux/clk.h>
+#include <linux/err.h>
+#include <linux/io.h>
+#include <linux/init.h>
+#include <linux/ioport.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/platform_data/pwm-renesas-tpu.h>
+#include <linux/platform_device.h>
+#include <linux/pm_runtime.h>
+#include <linux/pwm.h>
+#include <linux/slab.h>
+#include <linux/spinlock.h>
+
+#define TPU_TSTR		0x00	/* Timer start register (shared) */
+
+#define TPU_TCRn		0x00	/* Timer control register */
+#define TPU_TCR_CCLR_NONE	(0 << 5)
+#define TPU_TCR_CCLR_TGRA	(1 << 5)
+#define TPU_TCR_CCLR_TGRB	(2 << 5)
+#define TPU_TCR_CCLR_TGRC	(5 << 5)
+#define TPU_TCR_CCLR_TGRD	(6 << 5)
+#define TPU_TCR_CKEG_RISING	(0 << 3)
+#define TPU_TCR_CKEG_FALLING	(1 << 3)
+#define TPU_TCR_CKEG_BOTH	(2 << 3)
+#define TPU_TMDRn		0x04	/* Timer mode register */
+#define TPU_TMDR_BFWT		(1 << 6)
+#define TPU_TMDR_BFB		(1 << 5)
+#define TPU_TMDR_BFA		(1 << 4)
+#define TPU_TMDR_MD_NORMAL	(0 << 0)
+#define TPU_TMDR_MD_PWM		(2 << 0)
+#define TPU_TIORn		0x08	/* Timer I/O control register */
+#define TPU_TIOR_IOA_0		(0 << 0)
+#define TPU_TIOR_IOA_0_CLR	(1 << 0)
+#define TPU_TIOR_IOA_0_SET	(2 << 0)
+#define TPU_TIOR_IOA_0_TOGGLE	(3 << 0)
+#define TPU_TIOR_IOA_1		(4 << 0)
+#define TPU_TIOR_IOA_1_CLR	(5 << 0)
+#define TPU_TIOR_IOA_1_SET	(6 << 0)
+#define TPU_TIOR_IOA_1_TOGGLE	(7 << 0)
+#define TPU_TIERn		0x0c	/* Timer interrupt enable register */
+#define TPU_TSRn		0x10	/* Timer status register */
+#define TPU_TCNTn		0x14	/* Timer counter */
+#define TPU_TGRAn		0x18	/* Timer general register A */
+#define TPU_TGRBn		0x1c	/* Timer general register B */
+#define TPU_TGRCn		0x20	/* Timer general register C */
+#define TPU_TGRDn		0x24	/* Timer general register D */
+
+#define TPU_CHANNEL_OFFSET	0x10
+#define TPU_CHANNEL_SIZE	0x40
+
+enum tpu_pin_state {
+	TPU_PIN_INACTIVE,		/* Pin is driven inactive */
+	TPU_PIN_PWM,			/* Pin is driven by PWM */
+	TPU_PIN_ACTIVE,			/* Pin is driven active */
+};
+
+struct tpu_device;
+
+struct tpu_pwm_device {
+	bool timer_on;			/* Whether the timer is running */
+
+	struct tpu_device *tpu;
+	unsigned int channel;		/* Channel number in the TPU */
+
+	enum pwm_polarity polarity;
+	unsigned int prescaler;
+	u16 period;
+	u16 duty;
+};
+
+struct tpu_device {
+	struct platform_device *pdev;
+	struct tpu_pwm_platform_data *pdata;
+	struct pwm_chip chip;
+	spinlock_t lock;
+
+	void __iomem *base;
+	struct clk *clk;
+};
+
+#define to_tpu_device(c)	container_of(c, struct tpu_device, chip)
+
+static void tpu_pwm_write(struct tpu_pwm_device *pwm, int reg_nr, u16 value)
+{
+	void __iomem *base = pwm->tpu->base + TPU_CHANNEL_OFFSET
+			   + pwm->channel * TPU_CHANNEL_SIZE;
+
+	iowrite16(value, base + reg_nr);
+}
+
+static void tpu_pwm_set_pin(struct tpu_pwm_device *pwm,
+			    enum tpu_pin_state state)
+{
+	static const char * const states[] = { "inactive", "PWM", "active" };
+
+	dev_dbg(&pwm->tpu->pdev->dev, "%u: configuring pin as %s\n",
+		pwm->channel, states[state]);
+
+	switch (state) {
+	case TPU_PIN_INACTIVE:
+		tpu_pwm_write(pwm, TPU_TIORn,
+			      pwm->polarity == PWM_POLARITY_INVERSED ?
+			      TPU_TIOR_IOA_1 : TPU_TIOR_IOA_0);
+		break;
+	case TPU_PIN_PWM:
+		tpu_pwm_write(pwm, TPU_TIORn,
+			      pwm->polarity == PWM_POLARITY_INVERSED ?
+			      TPU_TIOR_IOA_0_SET : TPU_TIOR_IOA_1_CLR);
+		break;
+	case TPU_PIN_ACTIVE:
+		tpu_pwm_write(pwm, TPU_TIORn,
+			      pwm->polarity == PWM_POLARITY_INVERSED ?
+			      TPU_TIOR_IOA_0 : TPU_TIOR_IOA_1);
+		break;
+	}
+}
+
+static void tpu_pwm_start_stop(struct tpu_pwm_device *pwm, int start)
+{
+	unsigned long flags;
+	u16 value;
+
+	spin_lock_irqsave(&pwm->tpu->lock, flags);
+	value = ioread16(pwm->tpu->base + TPU_TSTR);
+
+	if (start)
+		value |= 1 << pwm->channel;
+	else
+		value &= ~(1 << pwm->channel);
+
+	iowrite16(value, pwm->tpu->base + TPU_TSTR);
+	spin_unlock_irqrestore(&pwm->tpu->lock, flags);
+}
+
+static int tpu_pwm_timer_start(struct tpu_pwm_device *pwm)
+{
+	int ret;
+
+	if (!pwm->timer_on) {
+		/* Wake up device and enable clock. */
+		pm_runtime_get_sync(&pwm->tpu->pdev->dev);
+		ret = clk_prepare_enable(pwm->tpu->clk);
+		if (ret) {
+			dev_err(&pwm->tpu->pdev->dev, "cannot enable clock\n");
+			return ret;
+		}
+		pwm->timer_on = true;
+	}
+
+	/*
+	 * Make sure the channel is stopped, as we need to reconfigure it
+	 * completely. First drive the pin to the inactive state to avoid
+	 * glitches.
+	 */
+	tpu_pwm_set_pin(pwm, TPU_PIN_INACTIVE);
+	tpu_pwm_start_stop(pwm, false);
+
+	/*
+	 * - Clear TCNT on TGRB match
+	 * - Count on rising edge
+	 * - Set prescaler
+	 * - Output 0 until TGRA, output 1 until TGRB (active low polarity)
+	 * - Output 1 until TGRA, output 0 until TGRB (active high polarity
+	 * - PWM mode
+	 */
+	tpu_pwm_write(pwm, TPU_TCRn, TPU_TCR_CCLR_TGRB | TPU_TCR_CKEG_RISING |
+		      pwm->prescaler);
+	tpu_pwm_write(pwm, TPU_TMDRn, TPU_TMDR_MD_PWM);
+	tpu_pwm_set_pin(pwm, TPU_PIN_PWM);
+	tpu_pwm_write(pwm, TPU_TGRAn, pwm->duty);
+	tpu_pwm_write(pwm, TPU_TGRBn, pwm->period);
+
+	dev_dbg(&pwm->tpu->pdev->dev, "%u: TGRA 0x%04x TGRB 0x%04x\n",
+		pwm->channel, pwm->duty, pwm->period);
+
+	/* Start the channel. */
+	tpu_pwm_start_stop(pwm, true);
+
+	return 0;
+}
+
+static void tpu_pwm_timer_stop(struct tpu_pwm_device *pwm)
+{
+	if (!pwm->timer_on)
+		return;
+
+	/* Disable channel. */
+	tpu_pwm_start_stop(pwm, false);
+
+	/* Stop clock and mark device as idle. */
+	clk_disable_unprepare(pwm->tpu->clk);
+	pm_runtime_put(&pwm->tpu->pdev->dev);
+
+	pwm->timer_on = false;
+}
+
+/* -----------------------------------------------------------------------------
+ * PWM API
+ */
+
+static int tpu_pwm_request(struct pwm_chip *chip, struct pwm_device *_pwm)
+{
+	struct tpu_device *tpu = to_tpu_device(chip);
+	struct tpu_pwm_device *pwm;
+
+	if (_pwm->hwpwm >= TPU_CHANNEL_MAX)
+		return -EINVAL;
+
+	pwm = kzalloc(sizeof(*pwm), GFP_KERNEL);
+	if (pwm == NULL)
+		return -ENOMEM;
+
+	pwm->tpu = tpu;
+	pwm->channel = _pwm->hwpwm;
+	pwm->polarity = tpu->pdata ? tpu->pdata->channels[pwm->channel].polarity
+		      : PWM_POLARITY_NORMAL;
+	pwm->prescaler = 0;
+	pwm->period = 0;
+	pwm->duty = 0;
+
+	pwm->timer_on = false;
+
+	pwm_set_chip_data(_pwm, pwm);
+
+	return 0;
+}
+
+static void tpu_pwm_free(struct pwm_chip *chip, struct pwm_device *_pwm)
+{
+	struct tpu_pwm_device *pwm = pwm_get_chip_data(_pwm);
+
+	tpu_pwm_timer_stop(pwm);
+	kfree(pwm);
+}
+
+static int tpu_pwm_config(struct pwm_chip *chip, struct pwm_device *_pwm,
+			  int duty_ns, int period_ns)
+{
+	static const unsigned int prescalers[] = { 1, 4, 16, 64 };
+	struct tpu_pwm_device *pwm = pwm_get_chip_data(_pwm);
+	struct tpu_device *tpu = to_tpu_device(chip);
+	unsigned int prescaler;
+	bool duty_only = false;
+	u32 clk_rate;
+	u32 period;
+	u32 duty;
+	int ret;
+
+	/*
+	 * Pick a prescaler to avoid overflowing the counter.
+	 * TODO: Pick the highest acceptable prescaler.
+	 */
+	clk_rate = clk_get_rate(tpu->clk);
+
+	for (prescaler = 0; prescaler < ARRAY_SIZE(prescalers); ++prescaler) {
+		period = clk_rate / prescalers[prescaler]
+		       / (NSEC_PER_SEC / period_ns);
+		if (period <= 0xffff)
+			break;
+	}
+
+	if (prescaler == ARRAY_SIZE(prescalers) || period == 0) {
+		dev_err(&tpu->pdev->dev, "clock rate mismatch\n");
+		return -ENOTSUPP;
+	}
+
+	if (duty_ns) {
+		duty = clk_rate / prescalers[prescaler]
+		     / (NSEC_PER_SEC / duty_ns);
+		if (duty > period)
+			return -EINVAL;
+	} else {
+		duty = 0;
+	}
+
+	dev_dbg(&tpu->pdev->dev,
+		"rate %u, prescaler %u, period %u, duty %u\n",
+		clk_rate, prescalers[prescaler], period, duty);
+
+	if (pwm->prescaler == prescaler && pwm->period == period)
+		duty_only = true;
+
+	pwm->prescaler = prescaler;
+	pwm->period = period;
+	pwm->duty = duty;
+
+	/* If the channel is disabled we're done. */
+	if (!test_bit(PWMF_ENABLED, &_pwm->flags))
+		return 0;
+
+	if (duty_only && pwm->timer_on) {
+		/*
+		 * If only the duty cycle changed and the timer is already
+		 * running, there's no need to reconfigure it completely, Just
+		 * modify the duty cycle.
+		 */
+		tpu_pwm_write(pwm, TPU_TGRAn, pwm->duty);
+		dev_dbg(&tpu->pdev->dev, "%u: TGRA 0x%04x\n", pwm->channel,
+			pwm->duty);
+	} else {
+		/* Otherwise perform a full reconfiguration. */
+		ret = tpu_pwm_timer_start(pwm);
+		if (ret < 0)
+			return ret;
+	}
+
+	if (duty == 0 || duty == period) {
+		/*
+		 * To avoid running the timer when not strictly required, handle
+		 * 0% and 100% duty cycles as fixed levels and stop the timer.
+		 */
+		tpu_pwm_set_pin(pwm, duty ? TPU_PIN_ACTIVE : TPU_PIN_INACTIVE);
+		tpu_pwm_timer_stop(pwm);
+	}
+
+	return 0;
+}
+
+static int tpu_pwm_set_polarity(struct pwm_chip *chip, struct pwm_device *_pwm,
+				enum pwm_polarity polarity)
+{
+	struct tpu_pwm_device *pwm = pwm_get_chip_data(_pwm);
+
+	pwm->polarity = polarity;
+
+	return 0;
+}
+
+static int tpu_pwm_enable(struct pwm_chip *chip, struct pwm_device *_pwm)
+{
+	struct tpu_pwm_device *pwm = pwm_get_chip_data(_pwm);
+	int ret;
+
+	ret = tpu_pwm_timer_start(pwm);
+	if (ret < 0)
+		return ret;
+
+	/*
+	 * To avoid running the timer when not strictly required, handle 0% and
+	 * 100% duty cycles as fixed levels and stop the timer.
+	 */
+	if (pwm->duty == 0 || pwm->duty == pwm->period) {
+		tpu_pwm_set_pin(pwm, pwm->duty ?
+				TPU_PIN_ACTIVE : TPU_PIN_INACTIVE);
+		tpu_pwm_timer_stop(pwm);
+	}
+
+	return 0;
+}
+
+static void tpu_pwm_disable(struct pwm_chip *chip, struct pwm_device *_pwm)
+{
+	struct tpu_pwm_device *pwm = pwm_get_chip_data(_pwm);
+
+	/* The timer must be running to modify the pin output configuration. */
+	tpu_pwm_timer_start(pwm);
+	tpu_pwm_set_pin(pwm, TPU_PIN_INACTIVE);
+	tpu_pwm_timer_stop(pwm);
+}
+
+static const struct pwm_ops tpu_pwm_ops = {
+	.request = tpu_pwm_request,
+	.free = tpu_pwm_free,
+	.config = tpu_pwm_config,
+	.set_polarity = tpu_pwm_set_polarity,
+	.enable = tpu_pwm_enable,
+	.disable = tpu_pwm_disable,
+	.owner = THIS_MODULE,
+};
+
+/* -----------------------------------------------------------------------------
+ * Probe and remove
+ */
+
+static int tpu_probe(struct platform_device *pdev)
+{
+	struct tpu_device *tpu;
+	struct resource *res;
+	int ret;
+
+	tpu = devm_kzalloc(&pdev->dev, sizeof(*tpu), GFP_KERNEL);
+	if (tpu == NULL) {
+		dev_err(&pdev->dev, "failed to allocate driver data\n");
+		return -ENOMEM;
+	}
+
+	tpu->pdata = pdev->dev.platform_data;
+
+	/* Map memory, get clock and pin control. */
+	res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+	if (!res) {
+		dev_err(&pdev->dev, "failed to get I/O memory\n");
+		return -ENXIO;
+	}
+
+	tpu->base = devm_ioremap_resource(&pdev->dev, res);
+	if (tpu->base == NULL) {
+		dev_err(&pdev->dev, "failed to remap I/O memory\n");
+		return -ENXIO;
+	}
+
+	tpu->clk = devm_clk_get(&pdev->dev, NULL);
+	if (IS_ERR(tpu->clk)) {
+		dev_err(&pdev->dev, "cannot get clock\n");
+		return PTR_ERR(tpu->clk);
+	}
+
+	/* Initialize and register the device. */
+	platform_set_drvdata(pdev, tpu);
+
+	spin_lock_init(&tpu->lock);
+	tpu->pdev = pdev;
+
+	tpu->chip.dev = &pdev->dev;
+	tpu->chip.ops = &tpu_pwm_ops;
+	tpu->chip.base = -1;
+	tpu->chip.npwm = TPU_CHANNEL_MAX;
+
+	ret = pwmchip_add(&tpu->chip);
+	if (ret < 0) {
+		dev_err(&pdev->dev, "failed to register PWM chip\n");
+		return ret;
+	}
+
+	dev_info(&pdev->dev, "TPU PWM %d registered\n", tpu->pdev->id);
+
+	pm_runtime_enable(&pdev->dev);
+
+	return 0;
+}
+
+static int tpu_remove(struct platform_device *pdev)
+{
+	struct tpu_device *tpu = platform_get_drvdata(pdev);
+	int ret;
+
+	ret = pwmchip_remove(&tpu->chip);
+	if (ret)
+		return ret;
+
+	pm_runtime_disable(&pdev->dev);
+
+	return 0;
+}
+
+static struct platform_driver tpu_driver = {
+	.probe		= tpu_probe,
+	.remove		= tpu_remove,
+	.driver		= {
+		.name	= "renesas-tpu-pwm",
+		.owner	= THIS_MODULE,
+	}
+};
+
+module_platform_driver(tpu_driver);
+
+MODULE_AUTHOR("Laurent Pinchart <laurent.pinchart@ideasonboard.com>");
+MODULE_DESCRIPTION("Renesas TPU PWM Driver");
+MODULE_LICENSE("GPL v2");

include/linux/platform_data/pwm-renesas-tpu.h

+#ifndef __PWM_RENESAS_TPU_H__
+#define __PWM_RENESAS_TPU_H__
+
+#include <linux/pwm.h>
+
+#define TPU_CHANNEL_MAX		4
+
+struct tpu_pwm_channel_data {
+	enum pwm_polarity polarity;
+};
+
+struct tpu_pwm_platform_data {
+	struct tpu_pwm_channel_data channels[TPU_CHANNEL_MAX];
+};
+
+#endif /* __PWM_RENESAS_TPU_H__ */