mr-library/device/pwm.c

/*
 * @copyright (c) 2023-2024, MR Development Team
 *
 * @license SPDX-License-Identifier: Apache-2.0
 *
 * @date 2023-12-10    MacRsh       First version
 */

#include "include/device/mr_pwm.h"

#ifdef MR_USING_PWM

MR_INLINE int pwm_channel_set_configure(struct mr_pwm *pwm, int channel, struct mr_pwm_config config)
{
    struct mr_pwm_ops *ops = (struct mr_pwm_ops *)pwm->dev.drv->ops;

    if (channel < 0 || channel >= 32)
    {
        return MR_EINVAL;
    }

    int ret = ops->channel_configure(pwm, channel, config.state, config.polarity);
    if (ret < 0)
    {
        return ret;
    }

    /* Enable or disable the channel */
    if (config.state == MR_ENABLE)
    {
        MR_BIT_SET(pwm->channel, (1 << channel));
        if (config.polarity == MR_PWM_POLARITY_NORMAL)
        {
            MR_BIT_CLR(pwm->channel_polarity, (1 << channel));
        } else
        {
            MR_BIT_SET(pwm->channel_polarity, (1 << channel));
        }
    } else
    {
        MR_BIT_CLR(pwm->channel, (1 << channel));
        MR_BIT_CLR(pwm->channel_polarity, (1 << channel));
    }
    return MR_EOK;
}

MR_INLINE int pwm_channel_get_configure(struct mr_pwm *pwm, int channel, struct mr_pwm_config *config)
{
    if (channel < 0 || channel >= 32)
    {
        return MR_EINVAL;
    }

    /* Get configure */
    config->state = MR_BIT_IS_SET(pwm->channel, (1 << channel));
    config->polarity = MR_BIT_IS_SET(pwm->channel_polarity, (1 << channel));
    return MR_EOK;
}

MR_INLINE int pwm_calculate(struct mr_pwm *pwm, uint32_t freq)
{
    uint32_t clk = pwm->info->clk, psc_max = pwm->info->prescaler_max, per_max = pwm->info->period_max;
    uint32_t psc_best = 1, per_best = 1;

    if ((clk == 0) || (freq == 0))
    {
        return MR_EINVAL;
    }

    /* Calculate the prescaler and period product */
    uint32_t product = clk / freq;

    /* If the product is within the maximum period, set it as the period */
    if (product <= per_max)
    {
        psc_best = 1;
        per_best = MR_BOUND(product, 1, per_max);
    } else
    {
        int error_min = INT32_MAX;

        /* Calculate the least error prescaler and period */
        for (uint32_t psc = MR_BOUND(product / per_max, 1, psc_max); psc < psc_max; psc++)
        {
            uint32_t per = MR_BOUND(product / psc, 1, per_max);
            int error = (int)((clk / psc / per) - freq);

            /* Found a valid and optimal solution */
            if (error == 0)
            {
                psc_best = psc;
                per_best = per;
                break;

                /* Error could only be >= 0 because:
                 * <product> is floored during calculation, making it smaller,
                 * smaller <product> leads to smaller <per>,
                 * smaller <per> means <clk / psc / per> is lower than <freq>
                 */
            } else if (error < error_min)
            {
                error_min = error;
                psc_best = psc;
                per_best = per;
            }
        }
    }

    pwm->prescaler = psc_best;
    pwm->period = per_best;
    pwm->freq = clk / psc_best / per_best;
    return MR_EOK;
}

static int mr_pwm_open(struct mr_dev *dev)
{
    struct mr_pwm *pwm = (struct mr_pwm *)dev;
    struct mr_pwm_ops *ops = (struct mr_pwm_ops *)dev->drv->ops;

    return ops->configure(pwm, MR_ENABLE);
}

static int mr_pwm_close(struct mr_dev *dev)
{
    struct mr_pwm *pwm = (struct mr_pwm *)dev;
    struct mr_pwm_ops *ops = (struct mr_pwm_ops *)dev->drv->ops;

#ifdef MR_USING_PWM_AUTO_DISABLE
    /* Disable all channels */
    for (size_t i = 0; i < 32; i++)
    {
        if (MR_BIT_IS_SET(pwm->channel, (1 << i)) == MR_ENABLE)
        {
            ops->channel_configure(pwm, (int)i, MR_DISABLE, MR_PWM_POLARITY_NORMAL);
            MR_BIT_CLR(pwm->channel, (1 << i));
        }
    }
#endif /* MR_USING_PWM_AUTO_DISABLE */

    return ops->configure(pwm, MR_DISABLE);
}

static ssize_t mr_pwm_read(struct mr_dev *dev, void *buf, size_t count)
{
    struct mr_pwm *pwm = (struct mr_pwm *)dev;
    struct mr_pwm_ops *ops = (struct mr_pwm_ops *)dev->drv->ops;
    uint32_t *rd_buf = (uint32_t *)buf;
    ssize_t rd_size;

#ifdef MR_USING_PWM_CHANNEL_CHECK
    /* Check if the channel is enabled */
    if (MR_BIT_IS_SET(pwm->channel, (1 << dev->position)) == MR_DISABLE)
    {
        return MR_EINVAL;
    }
#endif /* MR_USING_PWM_CHANNEL_CHECK */

    for (rd_size = 0; rd_size < MR_ALIGN_DOWN(count, sizeof(*rd_buf)); rd_size += sizeof(*rd_buf))
    {
        uint32_t compare_value;

        /* Calculate the duty */
        int ret = ops->read(pwm, dev->position, &compare_value);
        if (ret < 0)
        {
            return (rd_size == 0) ? ret : rd_size;
        }
        *rd_buf = (uint32_t)(((float)compare_value / (float)pwm->period) * 1000000.0f);
        rd_buf++;
    }
    return rd_size;
}

static ssize_t mr_pwm_write(struct mr_dev *dev, const void *buf, size_t count)
{
    struct mr_pwm *pwm = (struct mr_pwm *)dev;
    struct mr_pwm_ops *ops = (struct mr_pwm_ops *)dev->drv->ops;
    uint32_t *wr_buf = (uint32_t *)buf;
    ssize_t wr_size;

#ifdef MR_USING_PWM_CHANNEL_CHECK
    /* Check if the channel is enabled */
    if (MR_BIT_IS_SET(pwm->channel, (1 << dev->position)) == MR_DISABLE)
    {
        return MR_EINVAL;
    }
#endif /* MR_USING_PWM_CHANNEL_CHECK */

    for (wr_size = 0; wr_size < MR_ALIGN_DOWN(count, sizeof(*wr_buf)); wr_size += sizeof(*wr_buf))
    {
        /* Calculate the compare value */
        uint32_t compare_value = MR_BOUND((uint32_t)(((float)*wr_buf / 1000000.0f) * (float)(pwm->period)),
                                          0,
                                          pwm->period);
        int ret = ops->write(pwm, dev->position, compare_value);
        if (ret < 0)
        {
            return (wr_size == 0) ? ret : wr_size;
        }
        wr_buf++;
    }
    return wr_size;
}

static int mr_pwm_ioctl(struct mr_dev *dev, int cmd, void *args)
{
    struct mr_pwm *pwm = (struct mr_pwm *)dev;
    struct mr_pwm_ops *ops = (struct mr_pwm_ops *)dev->drv->ops;

    switch (cmd)
    {
        case MR_IOC_PWM_SET_CHANNEL_CONFIG:
        {
            if (args != MR_NULL)
            {
                struct mr_pwm_config config = *((struct mr_pwm_config *)args);

                int ret = pwm_channel_set_configure(pwm, dev->position, config);
                if (ret < 0)
                {
                    return ret;
                }
                return sizeof(config);
            }
            return MR_EINVAL;
        }
        case MR_IOC_PWM_SET_FREQ:
        {
            if (args != MR_NULL)
            {
                uint32_t freq = *((uint32_t *)args);
                uint32_t old_period = pwm->period;

                /* Calculate prescaler and period */
                int ret = pwm_calculate(pwm, freq);
                if (ret < 0)
                {
                    return ret;
                }

                /* Start pwm */
                ops->start(pwm, pwm->prescaler, pwm->period);

                /* Refresh all channels compare value */
                for (size_t i = 0; i < 32; i++)
                {
                    if (MR_BIT_IS_SET(pwm->channel, (1 << i)) == MR_ENABLE)
                    {
                        uint32_t compare_value;

                        /* Get old duty */
                        ret = ops->read(pwm, (int)i, &compare_value);
                        if (ret < 0)
                        {
                            continue;
                        }

                        /* Calculate new compare value */
                        compare_value = (uint32_t)(((float)compare_value / (float)old_period) * (float)(pwm->period));
                        ops->write(pwm, (int)i, compare_value);
                    }
                }
                return sizeof(freq);
            }
            return MR_EINVAL;
        }
        case MR_IOC_PWM_GET_CHANNEL_CONFIG:
        {
            if (args != MR_NULL)
            {
                struct mr_pwm_config *config = ((struct mr_pwm_config *)args);

                int ret = pwm_channel_get_configure(pwm, dev->position, config);
                if (ret < 0)
                {
                    return ret;
                }
                return sizeof(*config);
            }
            return MR_EINVAL;
        }
        case MR_IOC_PWM_GET_FREQ:
        {
            if (args != MR_NULL)
            {
                uint32_t *freq = (uint32_t *)args;

                *freq = pwm->freq;
                return sizeof(*freq);
            }
            return MR_EINVAL;
        }
        default:
        {
            return MR_ENOTSUP;
        }
    }
}

/**
 * @brief This function registers a pwm.
 *
 * @param pwm The pwm.
 * @param path The path of the pwm.
 * @param drv The driver of the pwm.
 * @param info The information of the pwm.
 *
 * @return 0 on success, otherwise an error code.
 */
int mr_pwm_register(struct mr_pwm *pwm, const char *path, struct mr_drv *drv, struct mr_pwm_info *info)
{
    static struct mr_dev_ops ops =
        {
            mr_pwm_open,
            mr_pwm_close,
            mr_pwm_read,
            mr_pwm_write,
            mr_pwm_ioctl,
            MR_NULL
        };

    MR_ASSERT(pwm != MR_NULL);
    MR_ASSERT(path != MR_NULL);
    MR_ASSERT(drv != MR_NULL);
    MR_ASSERT(drv->ops != MR_NULL);
    MR_ASSERT(info != MR_NULL);

    /* Initialize the fields */
    pwm->freq = 0;
    pwm->prescaler = 0;
    pwm->period = 1;
    pwm->channel = 0;
    pwm->channel_polarity = 0;
    pwm->info = info;

    /* Register the pwm */
    return mr_dev_register(&pwm->dev, path, MR_DEV_TYPE_PWM, MR_O_RDWR, &ops, drv);
}

#endif /* MR_USING_PWM */