/* * Copyright (c) 2016 Intel Corporation. * Copyright (c) 2020-2021 Vestas Wind Systems A/S * * SPDX-License-Identifier: Apache-2.0 */ /** * @file * @brief Public PWM Driver APIs */ #ifndef ZEPHYR_INCLUDE_DRIVERS_PWM_H_ #define ZEPHYR_INCLUDE_DRIVERS_PWM_H_ /** * @brief PWM Interface * @defgroup pwm_interface PWM Interface * @ingroup io_interfaces * @{ */ #include #include #include #include #include #include #ifdef __cplusplus extern "C" { #endif /** * @name PWM capture configuration flags * @{ */ /** @cond INTERNAL_HIDDEN */ /* Bit 0 is used for PWM_POLARITY_NORMAL/PWM_POLARITY_INVERTED */ #define PWM_CAPTURE_TYPE_SHIFT 1U #define PWM_CAPTURE_TYPE_MASK (3U << PWM_CAPTURE_TYPE_SHIFT) #define PWM_CAPTURE_MODE_SHIFT 3U #define PWM_CAPTURE_MODE_MASK (1U << PWM_CAPTURE_MODE_SHIFT) /** @endcond */ /** PWM pin capture captures period. */ #define PWM_CAPTURE_TYPE_PERIOD (1U << PWM_CAPTURE_TYPE_SHIFT) /** PWM pin capture captures pulse width. */ #define PWM_CAPTURE_TYPE_PULSE (2U << PWM_CAPTURE_TYPE_SHIFT) /** PWM pin capture captures both period and pulse width. */ #define PWM_CAPTURE_TYPE_BOTH (PWM_CAPTURE_TYPE_PERIOD | \ PWM_CAPTURE_TYPE_PULSE) /** PWM pin capture captures a single period/pulse width. */ #define PWM_CAPTURE_MODE_SINGLE (0U << PWM_CAPTURE_MODE_SHIFT) /** PWM pin capture captures period/pulse width continuously. */ #define PWM_CAPTURE_MODE_CONTINUOUS (1U << PWM_CAPTURE_MODE_SHIFT) /** @} */ /** * @brief Provides a type to hold PWM configuration flags. */ typedef uint8_t pwm_flags_t; /** * @typedef pwm_pin_set_t * @brief Callback API upon setting the pin * See @a pwm_pin_set_cycles() for argument description */ typedef int (*pwm_pin_set_t)(const struct device *dev, uint32_t pwm, uint32_t period_cycles, uint32_t pulse_cycles, pwm_flags_t flags); /** * @typedef pwm_capture_callback_handler_t * @brief PWM capture callback handler function signature * * @note The callback handler will be called in interrupt context. * * @note @option{CONFIG_PWM_CAPTURE} must be selected to enable PWM capture * support. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param period_cycles Captured PWM period width (in clock cycles). HW * specific. * @param pulse_cycles Captured PWM pulse width (in clock cycles). HW specific. * @param status Status for the PWM capture (0 if no error, negative errno * otherwise. See @a pwm_pin_capture_cycles() return value * descriptions for details). * @param user_data User data passed to @a pwm_pin_configure_capture() */ typedef void (*pwm_capture_callback_handler_t)(const struct device *dev, uint32_t pwm, uint32_t period_cycles, uint32_t pulse_cycles, int status, void *user_data); /** * @typedef pwm_pin_configure_capture_t * @brief Callback API upon configuring PWM pin capture * See @a pwm_pin_configure_capture() for argument description */ typedef int (*pwm_pin_configure_capture_t)(const struct device *dev, uint32_t pwm, pwm_flags_t flags, pwm_capture_callback_handler_t cb, void *user_data); /** * @typedef pwm_pin_enable_capture_t * @brief Callback API upon enabling PWM pin capture * See @a pwm_pin_enable_capture() for argument description */ typedef int (*pwm_pin_enable_capture_t)(const struct device *dev, uint32_t pwm); /** * @typedef pwm_pin_disable_capture_t * @brief Callback API upon disabling PWM pin capture * See @a pwm_pin_disable_capture() for argument description */ typedef int (*pwm_pin_disable_capture_t)(const struct device *dev, uint32_t pwm); /** * @typedef pwm_get_cycles_per_sec_t * @brief Callback API upon getting cycles per second * See @a pwm_get_cycles_per_sec() for argument description */ typedef int (*pwm_get_cycles_per_sec_t)(const struct device *dev, uint32_t pwm, uint64_t *cycles); /** @brief PWM driver API definition. */ __subsystem struct pwm_driver_api { pwm_pin_set_t pin_set; #ifdef CONFIG_PWM_CAPTURE pwm_pin_configure_capture_t pin_configure_capture; pwm_pin_enable_capture_t pin_enable_capture; pwm_pin_disable_capture_t pin_disable_capture; #endif /* CONFIG_PWM_CAPTURE */ pwm_get_cycles_per_sec_t get_cycles_per_sec; }; /** * @brief Set the period and pulse width for a single PWM output. * * Passing 0 as @p pulse will cause the pin to be driven to a constant * inactive level. * Passing a non-zero @p pulse equal to @p period will cause the pin * to be driven to a constant active level. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param period Period (in clock cycle) set to the PWM. HW specific. * @param pulse Pulse width (in clock cycle) set to the PWM. HW specific. * @param flags Flags for pin configuration (polarity). * * @retval 0 If successful. * @retval Negative errno code if failure. */ __syscall int pwm_pin_set_cycles(const struct device *dev, uint32_t pwm, uint32_t period, uint32_t pulse, pwm_flags_t flags); static inline int z_impl_pwm_pin_set_cycles(const struct device *dev, uint32_t pwm, uint32_t period, uint32_t pulse, pwm_flags_t flags) { struct pwm_driver_api *api; api = (struct pwm_driver_api *)dev->api; return api->pin_set(dev, pwm, period, pulse, flags); } /** * @brief Configure PWM period/pulse width capture for a single PWM input. * * After configuring PWM capture using this function, the capture can be * enabled/disabled using @a pwm_pin_enable_capture() and @a * pwm_pin_disable_capture(). * * @note This API function cannot be invoked from user space due to the use of a * function callback. In user space, one of the simpler API functions (@a * pwm_pin_capture_cycles(), @a pwm_pin_capture_usec(), or @a * pwm_pin_capture_nsec()) can be used instead. * * @note @option{CONFIG_PWM_CAPTURE} must be selected for this function to be * available. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param flags PWM capture flags * @param cb Application callback handler function to be called upon capture * @param user_data User data to pass to the application callback handler * function * * @retval -EINVAL if invalid function parameters were given * @retval -ENOSYS if PWM capture is not supported or the given flags are not * supported * @retval -EIO if IO error occurred while configuring * @retval -EBUSY if PWM capture is already in progress */ #ifdef CONFIG_PWM_CAPTURE static inline int pwm_pin_configure_capture(const struct device *dev, uint32_t pwm, pwm_flags_t flags, pwm_capture_callback_handler_t cb, void *user_data) { const struct pwm_driver_api *api = (struct pwm_driver_api *)dev->api; if (api->pin_configure_capture == NULL) { return -ENOSYS; } return api->pin_configure_capture(dev, pwm, flags, cb, user_data); } #endif /* CONFIG_PWM_CAPTURE */ /** * @brief Enable PWM period/pulse width capture for a single PWM input. * * The PWM pin must be configured using @a pwm_pin_configure_capture() prior to * calling this function. * * @note @option{CONFIG_PWM_CAPTURE} must be selected for this function to be * available. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * * @retval 0 If successful. * @retval -EINVAL if invalid function parameters were given * @retval -ENOSYS if PWM capture is not supported * @retval -EIO if IO error occurred while enabling PWM capture * @retval -EBUSY if PWM capture is already in progress */ __syscall int pwm_pin_enable_capture(const struct device *dev, uint32_t pwm); #ifdef CONFIG_PWM_CAPTURE static inline int z_impl_pwm_pin_enable_capture(const struct device *dev, uint32_t pwm) { const struct pwm_driver_api *api = (struct pwm_driver_api *)dev->api; if (api->pin_enable_capture == NULL) { return -ENOSYS; } return api->pin_enable_capture(dev, pwm); } #endif /* CONFIG_PWM_CAPTURE */ /** * @brief Disable PWM period/pulse width capture for a single PWM input. * * * @note @option{CONFIG_PWM_CAPTURE} must be selected for this function to be * available. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * * @retval 0 If successful. * @retval -EINVAL if invalid function parameters were given * @retval -ENOSYS if PWM capture is not supported * @retval -EIO if IO error occurred while disabling PWM capture */ __syscall int pwm_pin_disable_capture(const struct device *dev, uint32_t pwm); #ifdef CONFIG_PWM_CAPTURE static inline int z_impl_pwm_pin_disable_capture(const struct device *dev, uint32_t pwm) { const struct pwm_driver_api *api = (struct pwm_driver_api *)dev->api; if (api->pin_disable_capture == NULL) { return -ENOSYS; } return api->pin_disable_capture(dev, pwm); } #endif /* CONFIG_PWM_CAPTURE */ /** * @brief Capture a single PWM period/pulse width in clock cycles for a single * PWM input. * * This API function wraps calls to @a pwm_pin_configure_capture(), @a * pwm_pin_enable_capture(), and @a pwm_pin_disable_capture() and passes the * capture result to the caller. The function is blocking until either the PWM * capture is completed or a timeout occurs. * * @note @option{CONFIG_PWM_CAPTURE} must be selected for this function to be * available. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param flags PWM capture flags. * @param period Pointer to the memory to store the captured PWM period width * (in clock cycles). HW specific. * @param pulse Pointer to the memory to store the captured PWM pulse width (in * clock cycles). HW specific. * @param timeout Waiting period for the capture to complete. * * @retval 0 If successful. * @retval -EBUSY PWM capture already in progress. * @retval -EAGAIN Waiting period timed out. * @retval -EIO IO error while capturing. * @retval -ERANGE If result is too large. */ __syscall int pwm_pin_capture_cycles(const struct device *dev, uint32_t pwm, pwm_flags_t flags, uint32_t *period, uint32_t *pulse, k_timeout_t timeout); /** * @brief Get the clock rate (cycles per second) for a single PWM output. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param cycles Pointer to the memory to store clock rate (cycles per sec). * HW specific. * * @retval 0 If successful. * @retval Negative errno code if failure. */ __syscall int pwm_get_cycles_per_sec(const struct device *dev, uint32_t pwm, uint64_t *cycles); static inline int z_impl_pwm_get_cycles_per_sec(const struct device *dev, uint32_t pwm, uint64_t *cycles) { struct pwm_driver_api *api; api = (struct pwm_driver_api *)dev->api; return api->get_cycles_per_sec(dev, pwm, cycles); } /** * @brief Set the period and pulse width for a single PWM output. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param period Period (in microseconds) set to the PWM. * @param pulse Pulse width (in microseconds) set to the PWM. * @param flags Flags for pin configuration (polarity). * * @retval 0 If successful. * @retval Negative errno code if failure. */ static inline int pwm_pin_set_usec(const struct device *dev, uint32_t pwm, uint32_t period, uint32_t pulse, pwm_flags_t flags) { uint64_t period_cycles, pulse_cycles, cycles_per_sec; if (pwm_get_cycles_per_sec(dev, pwm, &cycles_per_sec) != 0) { return -EIO; } period_cycles = (period * cycles_per_sec) / USEC_PER_SEC; if (period_cycles >= ((uint64_t)1 << 32)) { return -ENOTSUP; } pulse_cycles = (pulse * cycles_per_sec) / USEC_PER_SEC; if (pulse_cycles >= ((uint64_t)1 << 32)) { return -ENOTSUP; } return pwm_pin_set_cycles(dev, pwm, (uint32_t)period_cycles, (uint32_t)pulse_cycles, flags); } /** * @brief Set the period and pulse width for a single PWM output. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param period Period (in nanoseconds) set to the PWM. * @param pulse Pulse width (in nanoseconds) set to the PWM. * @param flags Flags for pin configuration (polarity). * * @retval 0 If successful. * @retval Negative errno code if failure. */ static inline int pwm_pin_set_nsec(const struct device *dev, uint32_t pwm, uint32_t period, uint32_t pulse, pwm_flags_t flags) { uint64_t period_cycles, pulse_cycles, cycles_per_sec; if (pwm_get_cycles_per_sec(dev, pwm, &cycles_per_sec) != 0) { return -EIO; } period_cycles = (period * cycles_per_sec) / NSEC_PER_SEC; if (period_cycles >= ((uint64_t)1 << 32)) { return -ENOTSUP; } pulse_cycles = (pulse * cycles_per_sec) / NSEC_PER_SEC; if (pulse_cycles >= ((uint64_t)1 << 32)) { return -ENOTSUP; } return pwm_pin_set_cycles(dev, pwm, (uint32_t)period_cycles, (uint32_t)pulse_cycles, flags); } /** * @brief Convert from PWM cycles to microseconds. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param cycles Cycles to be converted. * @param usec Pointer to the memory to store calculated usec. * * @retval 0 If successful. * @retval -EIO If cycles per second cannot be determined. * @retval -ERANGE If result is too large. */ static inline int pwm_pin_cycles_to_usec(const struct device *dev, uint32_t pwm, uint32_t cycles, uint64_t *usec) { uint64_t cycles_per_sec; uint64_t temp; if (pwm_get_cycles_per_sec(dev, pwm, &cycles_per_sec) != 0) { return -EIO; } if (u64_mul_overflow(cycles, (uint64_t)USEC_PER_SEC, &temp)) { return -ERANGE; } *usec = temp / cycles_per_sec; return 0; } /** * @brief Convert from PWM cycles to nanoseconds. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param cycles Cycles to be converted. * @param nsec Pointer to the memory to store the calculated nsec. * * @retval 0 If successful. * @retval -EIO If cycles per second cannot be determined. * @retval -ERANGE If result is too large. */ static inline int pwm_pin_cycles_to_nsec(const struct device *dev, uint32_t pwm, uint32_t cycles, uint64_t *nsec) { uint64_t cycles_per_sec; uint64_t temp; if (pwm_get_cycles_per_sec(dev, pwm, &cycles_per_sec) != 0) { return -EIO; } if (u64_mul_overflow(cycles, (uint64_t)NSEC_PER_SEC, &temp)) { return -ERANGE; } *nsec = temp / cycles_per_sec; return 0; } /** * @brief Capture a single PWM period/pulse width in microseconds for a single * PWM input. * * This API function wraps calls to @a pwm_pin_capture_cycles() and @a * pwm_pin_cycles_to_usec() and passes the capture result to the caller. The * function is blocking until either the PWM capture is completed or a timeout * occurs. * * @note @option{CONFIG_PWM_CAPTURE} must be selected for this function to be * available. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param flags PWM capture flags. * @param period Pointer to the memory to store the captured PWM period width * (in usec). * @param pulse Pointer to the memory to store the captured PWM pulse width (in * usec). * @param timeout Waiting period for the capture to complete. * * @retval 0 If successful. * @retval -EBUSY PWM capture already in progress. * @retval -EAGAIN Waiting period timed out. * @retval -EIO IO error while capturing. * @retval -ERANGE If result is too large. */ static inline int pwm_pin_capture_usec(const struct device *dev, uint32_t pwm, pwm_flags_t flags, uint64_t *period, uint64_t *pulse, k_timeout_t timeout) { uint32_t period_cycles; uint32_t pulse_cycles; int err; err = pwm_pin_capture_cycles(dev, pwm, flags, &period_cycles, &pulse_cycles, timeout); if (err) { return err; } err = pwm_pin_cycles_to_usec(dev, pwm, period_cycles, period); if (err) { return err; } err = pwm_pin_cycles_to_usec(dev, pwm, pulse_cycles, pulse); if (err) { return err; } return 0; } /** * @brief Capture a single PWM period/pulse width in nanoseconds for a single * PWM input. * * This API function wraps calls to @a pwm_pin_capture_cycles() and @a * pwm_pin_cycles_to_nsec() and passes the capture result to the caller. The * function is blocking until either the PWM capture is completed or a timeout * occurs. * * @note @option{CONFIG_PWM_CAPTURE} must be selected for this function to be * available. * * @param dev Pointer to the device structure for the driver instance. * @param pwm PWM pin. * @param flags PWM capture flags. * @param period Pointer to the memory to store the captured PWM period width * (in nsec). * @param pulse Pointer to the memory to store the captured PWM pulse width (in * nsec). * @param timeout Waiting period for the capture to complete. * * @retval 0 If successful. * @retval -EBUSY PWM capture already in progress. * @retval -EAGAIN Waiting period timed out. * @retval -EIO IO error while capturing. * @retval -ERANGE If result is too large. */ static inline int pwm_pin_capture_nsec(const struct device *dev, uint32_t pwm, pwm_flags_t flags, uint64_t *period, uint64_t *pulse, k_timeout_t timeout) { uint32_t period_cycles; uint32_t pulse_cycles; int err; err = pwm_pin_capture_cycles(dev, pwm, flags, &period_cycles, &pulse_cycles, timeout); if (err) { return err; } err = pwm_pin_cycles_to_nsec(dev, pwm, period_cycles, period); if (err) { return err; } err = pwm_pin_cycles_to_nsec(dev, pwm, pulse_cycles, pulse); if (err) { return err; } return 0; } #ifdef __cplusplus } #endif /** * @} */ #include #endif /* ZEPHYR_INCLUDE_DRIVERS_PWM_H_ */