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[bsp/renesas][drivers] Read PWM settings from GPT registers #11753

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[bsp/renesas][drivers] Read PWM settings from GPT registers #11753

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116 changes: 94 additions & 22 deletions bsp/renesas/libraries/HAL_Drivers/drivers/drv_pwm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -65,28 +65,75 @@ static struct ra_pwm ra6m4_pwm_obj[BSP_PWMS_NUM] =
#endif
};

#ifdef SOC_SERIES_R9A07G0
#define FSP_PRIV_CLOCK FSP_PRIV_CLOCK_PCLKGPTL
#else
#define FSP_PRIV_CLOCK FSP_PRIV_CLOCK_PCLKD
#endif
#define RA_PWM_GTCCRC_INDEX 2U
#define RA_PWM_GTCCRE_INDEX 3U
#define RA_PWM_DUTY_MODE_REGISTER 0U
#define RA_PWM_DUTY_MODE_0_PERCENT 2U
#define RA_PWM_DUTY_MODE_100_PERCENT 3U

/* Convert the raw PWM period counts into ns */
static rt_uint32_t _convert_counts_ns(uint32_t source_div, uint32_t raw)
static rt_uint32_t _convert_counts_ns(uint32_t clock_frequency, uint32_t raw)
{
uint32_t pclkd_freq_hz = R_FSP_SystemClockHzGet(FSP_PRIV_CLOCK) >> source_div;
uint32_t ns = (uint32_t)(((uint64_t)raw * 1000000000ULL) / pclkd_freq_hz);
uint32_t ns = (uint32_t)(((uint64_t)raw * 1000000000ULL) / clock_frequency);
return ns;
}

/* Convert ns into raw PWM period counts */
static rt_uint32_t _convert_ns_counts(uint32_t source_div, uint32_t raw)
static rt_uint32_t _convert_ns_counts(uint32_t clock_frequency, uint32_t raw)
{
uint32_t pclkd_freq_hz = R_FSP_SystemClockHzGet(FSP_PRIV_CLOCK) >> source_div;
uint32_t counts = (uint32_t)(((uint64_t)raw * (uint64_t)pclkd_freq_hz) / 1000000000ULL);
uint32_t counts = (uint32_t)(((uint64_t)raw * (uint64_t)clock_frequency) / 1000000000ULL);
return counts;
}

static rt_err_t drv_pwm_pin_pulse_counts_get(struct ra_pwm *device,
uint32_t period_counts,
gpt_io_pin_t pin,
uint32_t *pulse_counts)
{
uint32_t duty_mode;
uint32_t gtior;
uint32_t compare_index;
rt_bool_t first_level_low;

if (pin == GPT_IO_PIN_GTIOCA)
{
duty_mode = device->g_ctrl->p_reg->GTUDDTYC_b.OADTY;
gtior = device->g_ctrl->p_reg->GTIOR_b.GTIOA;
compare_index = RA_PWM_GTCCRC_INDEX;
}
else
{
duty_mode = device->g_ctrl->p_reg->GTUDDTYC_b.OBDTY;
gtior = device->g_ctrl->p_reg->GTIOR_b.GTIOB;
compare_index = RA_PWM_GTCCRE_INDEX;
}

if (duty_mode == RA_PWM_DUTY_MODE_REGISTER)
{
*pulse_counts = device->g_ctrl->p_reg->GTCCR[compare_index] + 1U;
return RT_EOK;
}
if (duty_mode != RA_PWM_DUTY_MODE_0_PERCENT &&
duty_mode != RA_PWM_DUTY_MODE_100_PERCENT)
{
return -RT_ERROR;
}

/* FSP represents 0% and 100% with a forced output level. */
first_level_low = (gtior & 0xCU) == 0x4U;
if ((first_level_low && duty_mode == RA_PWM_DUTY_MODE_0_PERCENT) ||
(!first_level_low && duty_mode == RA_PWM_DUTY_MODE_100_PERCENT))
{
*pulse_counts = period_counts;
}
else
{
*pulse_counts = 0U;
}

return RT_EOK;
}


/* PWM_CMD_ENABLE or PWM_CMD_DISABLE */
static rt_err_t drv_pwm_enable(struct ra_pwm *device,
Expand All @@ -112,13 +159,34 @@ static rt_err_t drv_pwm_get(struct ra_pwm *device,
struct rt_pwm_configuration *configuration)
{
timer_info_t info;
if (R_GPT_InfoGet(device->g_ctrl, &info) != FSP_SUCCESS)
uint32_t period_counts;
uint32_t pulse_counts_a;
uint32_t pulse_counts_b;

if (device->g_cfg->mode != TIMER_MODE_PWM)
{
return -RT_ENOSYS;
}
if (R_GPT_InfoGet(device->g_ctrl, &info) != FSP_SUCCESS ||
info.clock_frequency == 0U)
{
return -RT_ERROR;
}

period_counts = device->g_ctrl->p_reg->GTPBR + 1U;
if (drv_pwm_pin_pulse_counts_get(device, period_counts,
GPT_IO_PIN_GTIOCA, &pulse_counts_a) != RT_EOK ||
drv_pwm_pin_pulse_counts_get(device, period_counts,
GPT_IO_PIN_GTIOCB, &pulse_counts_b) != RT_EOK ||
pulse_counts_a != pulse_counts_b)
{
return -RT_ERROR;
}

configuration->pulse =
_convert_counts_ns(device->g_cfg->source_div, device->g_cfg->duty_cycle_counts);
_convert_counts_ns(info.clock_frequency, pulse_counts_a);
configuration->period =
_convert_counts_ns(device->g_cfg->source_div, info.period_counts);
_convert_counts_ns(info.clock_frequency, period_counts);
configuration->channel = device->g_cfg->channel;

return RT_EOK;
Expand All @@ -128,28 +196,32 @@ static rt_err_t drv_pwm_get(struct ra_pwm *device,
static rt_err_t drv_pwm_set(struct ra_pwm *device,
struct rt_pwm_configuration *conf)
{
timer_info_t info;
uint32_t counts;
fsp_err_t fsp_erra;
fsp_err_t fsp_errb;
rt_err_t rt_err;
uint32_t pulse;
uint32_t period;
struct rt_pwm_configuration orig_conf;

rt_err = drv_pwm_get(device, &orig_conf);
if (rt_err != RT_EOK)
if (device->g_cfg->mode != TIMER_MODE_PWM)
{
return -RT_ENOSYS;
}
if (R_GPT_InfoGet(device->g_ctrl, &info) != FSP_SUCCESS ||
info.clock_frequency == 0U)
{
return rt_err;
return -RT_ERROR;
}

/* Pulse cannot last longer than period. */
period = conf->period;
pulse = (period >= conf->pulse) ? conf->pulse : period;

/* Not to set period again if it's not changed. */
if (period != orig_conf.period)
if (period != _convert_counts_ns(info.clock_frequency,
device->g_ctrl->p_reg->GTPBR + 1U))
{
counts = _convert_ns_counts(device->g_cfg->source_div, period);
counts = _convert_ns_counts(info.clock_frequency, period);
fsp_erra = R_GPT_PeriodSet(device->g_ctrl, counts);
if (fsp_erra != FSP_SUCCESS)
{
Expand All @@ -158,7 +230,7 @@ static rt_err_t drv_pwm_set(struct ra_pwm *device,
}

/* Two pins of a channel will not be separated. */
counts = _convert_ns_counts(device->g_cfg->source_div, pulse);
counts = _convert_ns_counts(info.clock_frequency, pulse);
fsp_erra = R_GPT_DutyCycleSet(device->g_ctrl, counts, GPT_IO_PIN_GTIOCA);
fsp_errb = R_GPT_DutyCycleSet(device->g_ctrl, counts, GPT_IO_PIN_GTIOCB);
if (fsp_erra != FSP_SUCCESS || fsp_errb != FSP_SUCCESS)
Expand Down
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