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drivers: pwm: nrfx: add global hsfll request for fast PWM #82133

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Jan 17, 2025
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drivers: pwm: nrfx: add global hsfll request for fast PWM #82133

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123 changes: 110 additions & 13 deletions drivers/pwm/pwm_nrfx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
#include <zephyr/linker/devicetree_regions.h>
#include <zephyr/cache.h>
#include <zephyr/mem_mgmt/mem_attr.h>
#include <zephyr/drivers/clock_control/nrf_clock_control.h>
#ifdef CONFIG_SOC_NRF54H20_GPD
#include <nrf/gpd.h>
#endif
Expand All @@ -35,6 +36,21 @@ LOG_MODULE_REGISTER(pwm_nrfx, CONFIG_PWM_LOG_LEVEL);
#define ANOMALY_109_EGU_IRQ_CONNECT(idx)
#endif

#define PWM(dev_idx) DT_NODELABEL(pwm##dev_idx)
#define PWM_PROP(dev_idx, prop) DT_PROP(PWM(dev_idx), prop)
#define PWM_HAS_PROP(idx, prop) DT_NODE_HAS_PROP(PWM(idx), prop)

#define PWM_NRFX_IS_FAST(unused, prefix, idx, _) \
COND_CODE_1(DT_NODE_HAS_STATUS_OKAY(PWM(idx)), \
(COND_CODE_1(PWM_HAS_PROP(idx, power_domains), \
(IS_EQ(DT_PHA(PWM(idx), power_domains, id), NRF_GPD_FAST_ACTIVE1)), \
(0))), (0))

#if (NRFX_FOREACH_PRESENT(PWM, PWM_NRFX_IS_FAST, (||), (0))) && \
CONFIG_CLOCK_CONTROL_NRF2_GLOBAL_HSFLL
#define PWM_NRFX_USE_CLOCK_CONTROL 1
#endif

#define PWM_NRFX_CH_POLARITY_MASK BIT(15)
#define PWM_NRFX_CH_COMPARE_MASK BIT_MASK(15)
#define PWM_NRFX_CH_VALUE(compare_value, inverted) \
Expand All @@ -49,6 +65,10 @@ struct pwm_nrfx_config {
#ifdef CONFIG_DCACHE
uint32_t mem_attr;
#endif
#ifdef PWM_NRFX_USE_CLOCK_CONTROL
const struct device *clk_dev;
struct nrf_clock_spec clk_spec;
#endif
};

struct pwm_nrfx_data {
Expand All @@ -57,6 +77,9 @@ struct pwm_nrfx_data {
uint8_t pwm_needed;
uint8_t prescaler;
bool stop_requested;
#ifdef PWM_NRFX_USE_CLOCK_CONTROL
bool clock_requested;
#endif
};
/* Ensure the pwm_needed bit mask can accommodate all available channels. */
#if (NRF_PWM_CHANNEL_COUNT > 8)
Expand Down Expand Up @@ -134,6 +157,33 @@ static bool channel_psel_get(uint32_t channel, uint32_t *psel,
== PWM_PSEL_OUT_CONNECT_Connected);
}

static int stop_pwm(const struct device *dev)
{
const struct pwm_nrfx_config *config = dev->config;

/* Don't wait here for the peripheral to actually stop. Instead,
* ensure it is stopped before starting the next playback.
*/
nrfx_pwm_stop(&config->pwm, false);

#if PWM_NRFX_USE_CLOCK_CONTROL
struct pwm_nrfx_data *data = dev->data;

if (data->clock_requested) {
int ret = nrf_clock_control_release(config->clk_dev, &config->clk_spec);

if (ret < 0) {
LOG_ERR("Global HSFLL release failed: %d", ret);
return ret;
}

data->clock_requested = false;
}
#endif

return 0;
}

static int pwm_nrfx_set_cycles(const struct device *dev, uint32_t channel,
uint32_t period_cycles, uint32_t pulse_cycles,
pwm_flags_t flags)
Expand Down Expand Up @@ -225,10 +275,13 @@ static int pwm_nrfx_set_cycles(const struct device *dev, uint32_t channel,
* registers and drives its outputs accordingly.
*/
if (data->pwm_needed == 0) {
/* Don't wait here for the peripheral to actually stop. Instead,
* ensure it is stopped before starting the next playback.
*/
nrfx_pwm_stop(&config->pwm, false);
int ret = stop_pwm(dev);

if (ret < 0) {
LOG_ERR("PWM stop failed: %d", ret);
return ret;
}

data->stop_requested = true;
} else {
if (data->stop_requested) {
Expand All @@ -248,6 +301,20 @@ static int pwm_nrfx_set_cycles(const struct device *dev, uint32_t channel,
* until another playback is requested (new values will be
* loaded then) or the PWM peripheral is stopped.
*/
#if PWM_NRFX_USE_CLOCK_CONTROL
if (config->clk_dev && !data->clock_requested) {
int ret = nrf_clock_control_request_sync(config->clk_dev,
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This is only needed for the fast instances. You could have clk_dev set to NULL for others and avoid this call.

&config->clk_spec,
K_FOREVER);

if (ret < 0) {
LOG_ERR("Global HSFLL request failed: %d", ret);
return ret;
}

data->clock_requested = true;
}
#endif
nrfx_pwm_simple_playback(&config->pwm, &config->seq, 1,
NRFX_PWM_FLAG_NO_EVT_FINISHED);
}
Expand All @@ -270,7 +337,7 @@ static DEVICE_API(pwm, pwm_nrfx_drv_api_funcs) = {
.get_cycles_per_sec = pwm_nrfx_get_cycles_per_sec,
};

static void pwm_resume(const struct device *dev)
static int pwm_resume(const struct device *dev)
{
const struct pwm_nrfx_config *config = dev->config;
uint8_t initially_inverted = 0;
Expand Down Expand Up @@ -299,13 +366,21 @@ static void pwm_resume(const struct device *dev)

seq_values_ptr_get(dev)[i] = PWM_NRFX_CH_VALUE(0, inverted);
}

return 0;
}

static void pwm_suspend(const struct device *dev)
static int pwm_suspend(const struct device *dev)
{
const struct pwm_nrfx_config *config = dev->config;

nrfx_pwm_stop(&config->pwm, false);
int ret = stop_pwm(dev);

if (ret < 0) {
LOG_ERR("PWM stop failed: %d", ret);
return ret;
}

while (!nrfx_pwm_stopped_check(&config->pwm)) {
}

Expand All @@ -315,15 +390,17 @@ static void pwm_suspend(const struct device *dev)

memset(dev->data, 0, sizeof(struct pwm_nrfx_data));
(void)pinctrl_apply_state(config->pcfg, PINCTRL_STATE_SLEEP);

return 0;
}

static int pwm_nrfx_pm_action(const struct device *dev,
enum pm_device_action action)
{
if (action == PM_DEVICE_ACTION_RESUME) {
pwm_resume(dev);
return pwm_resume(dev);
} else if (IS_ENABLED(CONFIG_PM_DEVICE) && (action == PM_DEVICE_ACTION_SUSPEND)) {
pwm_suspend(dev);
return pwm_suspend(dev);
} else {
return -ENOTSUP;
}
Expand Down Expand Up @@ -351,9 +428,6 @@ static int pwm_nrfx_init(const struct device *dev)
return pm_device_driver_init(dev, pwm_nrfx_pm_action);
}

#define PWM(dev_idx) DT_NODELABEL(pwm##dev_idx)
#define PWM_PROP(dev_idx, prop) DT_PROP(PWM(dev_idx), prop)
#define PWM_HAS_PROP(idx, prop) DT_NODE_HAS_PROP(PWM(idx), prop)
#define PWM_MEM_REGION(idx) DT_PHANDLE(PWM(idx), memory_regions)

#define PWM_MEMORY_SECTION(idx) \
Expand All @@ -366,6 +440,21 @@ static int pwm_nrfx_init(const struct device *dev)
COND_CODE_1(PWM_HAS_PROP(idx, memory_regions), \
(DT_PROP_OR(PWM_MEM_REGION(idx), zephyr_memory_attr, 0)), (0))

/* Fast instances depend on the global HSFLL clock controller (as they need
* to request the highest frequency from it to operate correctly), so they
* must be initialized after that controller driver, hence the default PWM
* initialization priority may be too early for them.
*/
#if defined(CONFIG_CLOCK_CONTROL_NRF2_GLOBAL_HSFLL_INIT_PRIORITY) && \
CONFIG_PWM_INIT_PRIORITY < CONFIG_CLOCK_CONTROL_NRF2_GLOBAL_HSFLL_INIT_PRIORITY
#define PWM_INIT_PRIORITY(idx) \
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COND_CODE_1(PWM_NRFX_IS_FAST(_, /*empty*/, idx, _), \
(UTIL_INC(CONFIG_CLOCK_CONTROL_NRF2_GLOBAL_HSFLL_INIT_PRIORITY)), \
(CONFIG_PWM_INIT_PRIORITY))
#else
#define PWM_INIT_PRIORITY(idx) CONFIG_PWM_INIT_PRIORITY
#endif

#define PWM_NRFX_DEVICE(idx) \
NRF_DT_CHECK_NODE_HAS_PINCTRL_SLEEP(PWM(idx)); \
static struct pwm_nrfx_data pwm_nrfx_##idx##_data; \
Expand Down Expand Up @@ -393,6 +482,14 @@ static int pwm_nrfx_init(const struct device *dev)
(16ul * 1000ul * 1000ul)), \
IF_ENABLED(CONFIG_DCACHE, \
(.mem_attr = PWM_GET_MEM_ATTR(idx),)) \
IF_ENABLED(PWM_NRFX_USE_CLOCK_CONTROL, \
(.clk_dev = PWM_NRFX_IS_FAST(_, /*empty*/, idx, _) \
? DEVICE_DT_GET(DT_CLOCKS_CTLR(PWM(idx))) \
: NULL, \
.clk_spec = { \
.frequency = \
NRF_PERIPH_GET_FREQUENCY(PWM(idx)), \
},)) \
}; \
static int pwm_nrfx_init##idx(const struct device *dev) \
{ \
Expand All @@ -405,7 +502,7 @@ static int pwm_nrfx_init(const struct device *dev)
pwm_nrfx_init##idx, PM_DEVICE_DT_GET(PWM(idx)), \
&pwm_nrfx_##idx##_data, \
&pwm_nrfx_##idx##_config, \
POST_KERNEL, CONFIG_PWM_INIT_PRIORITY, \
POST_KERNEL, PWM_INIT_PRIORITY(idx), \
&pwm_nrfx_drv_api_funcs)

#define COND_PWM_NRFX_DEVICE(unused, prefix, i, _) \
Expand Down
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