[bsp][pico]: add pwm driver (#8178)

Co-authored-by: Meco Man <[email protected]>

4 files changed, 410 insertions, 0 deletions

diff --git a/bsp/raspberry-pico/Kconfig b/bsp/raspberry-pico/Kconfig
index 523fa9f2ad..1e61d7ce03 100644
--- a/bsp/raspberry-pico/Kconfig
+++ b/bsp/raspberry-pico/Kconfig
@@ -237,6 +237,166 @@ menu "On-chip Peripheral Drivers"
                 default n
         endif
 
+    menuconfig BSP_USING_PWM
+        bool "Enable PWM(A:CH_0 B:CH_1)"
+        default n
+        select RT_USING_PWM
+        if BSP_USING_PWM
+            config BSP_USING_PWM0
+                bool "Enable PWM0"
+                default n
+                if BSP_USING_PWM0
+                    config BSP_PWM0_A_PIN
+                        int "pwm slice A pin number (GP)"
+                        range 0 29
+                        default 0
+                    config BSP_PWM0_B_PIN
+                        int "pwm slice B pin number (GP)"
+                        range 0 29
+                        default 1
+                    config BSP_PWM0_A_ALL
+                        bool "pwm slice use all A pin"
+                        default n
+                    config BSP_PWM0_B_ALL
+                        bool "pwm slice use all B pin"
+                        default n
+                endif
+
+            config BSP_USING_PWM1
+                bool "Enable PWM1"
+                default n
+                if BSP_USING_PWM1
+                    config BSP_PWM_A_PIN
+                        int "pwm slice A pin number (GP)"
+                        range 0 29
+                        default 2
+                    config BSP_PWM1_B_PIN
+                        int "pwm slice B pin number (GP)"
+                        range 0 29
+                        default 3
+                    config BSP_PWM1_A_ALL
+                        bool "pwm slice use all A pin"
+                        default n
+                    config BSP_PWM1_B_ALL
+                        bool "pwm slice use all B pin"
+                        default n
+                endif
+
+            config BSP_USING_PWM2
+                bool "Enable PWM2"
+                default n
+                if BSP_USING_PWM2
+                    config BSP_PWM2_A_PIN
+                        int "pwm slice A pin number (GP)"
+                        range 0 29
+                        default 4
+                    config BSP_PWM2_B_PIN
+                        int "pwm slice B pin number (GP)"
+                        range 0 29
+                        default 5
+                    config BSP_PWM2_A_ALL
+                        bool "pwm slice use all A pin"
+                        default n
+                    config BSP_PWM2_B_ALL
+                        bool "pwm slice use all B pin"
+                        default n
+                endif
+
+            config BSP_USING_PWM3
+                bool "Enable PWM3"
+                default n
+                if BSP_USING_PWM3
+                    config BSP_PWM3_A_PIN
+                        int "pwm slice A pin number (GP)"
+                        range 0 29
+                        default 6
+                    config BSP_PWM3_B_PIN
+                        int "pwm slice B pin number (GP)"
+                        range 0 29
+                        default 7
+                    config BSP_PWM3_A_ALL
+                        bool "pwm slice use all A pin"
+                        default n
+                    config BSP_PWM3_B_ALL
+                        bool "pwm slice use all B pin"
+                        default n
+                endif
+
+            config BSP_USING_PWM4
+                bool "Enable PWM4"
+                default n
+                if BSP_USING_PWM4
+                    config BSP_PWM4_A_PIN
+                        int "pwm slice A pin number (GP)"
+                        range 0 29
+                        default 8
+                    config BSP_PWM4_B_PIN
+                        int "pwm slice B pin number (GP)"
+                        range 0 29
+                        default 9
+                    config BSP_PWM4_A_ALL
+                        bool "pwm slice use all A pin"
+                        default n
+                    config BSP_PWM4_B_ALL
+                        bool "pwm slice use all B pin"
+                        default n
+                endif
+                
+            config BSP_USING_PWM5
+                bool "Enable PWM5"
+                default n
+                if BSP_USING_PWM5
+                    config BSP_PWM5_A_PIN
+                        int "pwm slice A pin number (GP)"
+                        range 0 29
+                        default 10
+                    config BSP_PWM5_B_PIN
+                        int "pwm slice B pin number (GP)"
+                        range 0 29
+                        default 11
+                    config BSP_PWM5_A_ALL
+                        bool "pwm slice use all A pin"
+                        default n
+                    config BSP_PWM5_B_ALL
+                        bool "pwm slice use all B pin"
+                        default n
+                endif
+
+            config BSP_USING_PWM6
+                bool "Enable PWM6"
+                default n
+                if BSP_USING_PWM6
+                    config BSP_PWM6_A_PIN
+                        int "pwm slice A pin number (GP)"
+                        range 0 29
+                        default 12
+                    config BSP_PWM6_B_PIN
+                        int "pwm slice B pin number (GP)"
+                        range 0 29
+                        default 13
+                    config BSP_PWM6_A_ALL
+                        bool "pwm slice use all A pin"
+                        default n
+                    config BSP_PWM6_B_ALL
+                        bool "pwm slice use all B pin"
+                        default n
+                endif
+
+            config BSP_USING_PWM7
+                bool "Enable PWM7"
+                default n
+                if BSP_USING_PWM7
+                    config BSP_PWM7_A_PIN
+                        int "pwm slice A pin number (GP)"
+                        range 0 29
+                        default 14
+                    config BSP_PWM7_B_PIN
+                        int "pwm slice B pin number (GP)"
+                        range 0 29
+                        default 15
+                endif
+        endif
+
     menuconfig BSP_USING_I2C
         bool "Enable I2C"
         select RT_USING_I2C
diff --git a/bsp/raspberry-pico/drivers/SConscript b/bsp/raspberry-pico/drivers/SConscript
index 63f598cd84..a05cd2aed2 100644
--- a/bsp/raspberry-pico/drivers/SConscript
+++ b/bsp/raspberry-pico/drivers/SConscript
@@ -31,6 +31,9 @@ if GetDepend('BSP_USING_I2C'):
 if GetDepend('BSP_USING_ON_CHIP_FLASH'):
     src += ['drv_flash.c']
 
+if GetDepend('BSP_USING_PWM'):
+    src += ['drv_pwm.c']
+
 group = DefineGroup('Drivers', src, depend = [''], CPPPATH = CPPPATH)
 
 Return('group')
diff --git a/bsp/raspberry-pico/drivers/drv_pwm.c b/bsp/raspberry-pico/drivers/drv_pwm.c
new file mode 100644
index 0000000000..22251aa42a
--- /dev/null
+++ b/bsp/raspberry-pico/drivers/drv_pwm.c
@@ -0,0 +1,229 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date             Author           Notes
+ * 2023-10-20       ChuShicheng      first version
+ */
+#include "drv_pwm.h"
+#include "board.h"
+#include "hardware/pwm.h"
+
+#ifdef BSP_USING_PWM
+
+#define DBG_LEVEL   DBG_LOG
+#include <rtdbg.h>
+#define LOG_TAG "DRV.PWM"
+
+struct pico_pwm
+{
+    struct rt_device_pwm pwm_device;
+    rt_uint8_t slice_num;
+    rt_uint8_t pin_a;
+    rt_uint8_t pin_b;
+    rt_uint8_t a_all_flag;   /* 1: Two pins simultaneously output PWM A channel */
+    rt_uint8_t b_all_flag;   /* 1: Two pins simultaneously output PWM B channel */
+    char *name;
+};
+
+static struct pico_pwm pico_pwm_obj[] =
+{
+#ifdef BSP_USING_PWM0
+    {
+        .name = "pwm0",
+        .slice_num = 0,
+        .pin_a = BSP_PWM0_A_PIN,
+        .pin_b = BSP_PWM0_B_PIN,
+#ifdef BSP_PWM0_A_ALL
+        .a_all_flag = 1,
+#endif /* BSP_PWM0_A_ALL */
+#ifdef BSP_PWM0_B_ALL
+        .b_all_flag = 1,
+#endif /* BSP_PWM0_B_ALL */
+    },
+#endif /* BSP_USING_PWM0 */
+#ifdef BSP_USING_PWM1
+    {
+        .name = "pwm1",
+        .slice_num = 1,
+        .pin_a = BSP_PWM1_A_PIN,
+        .pin_b = BSP_PWM1_B_PIN,
+#ifdef BSP_PWM1_A_ALL
+        .a_all_flag = 1,
+#endif /* BSP_PWM1_A_ALL */
+#ifdef BSP_PWM1_B_ALL
+        .b_all_flag = 1,
+#endif /* BSP_PWM1_B_ALL */
+    },
+#endif /* BSP_USING_PWM1 */
+#ifdef BSP_USING_PWM2
+    {
+        .name = "pwm2",
+        .slice_num = 2,
+        .pin_a = BSP_PWM2_A_PIN,
+        .pin_b = BSP_PWM2_B_PIN,
+#ifdef BSP_PWM2_A_ALL
+        .a_all_flag = 1,
+#endif /* BSP_PWM2_A_ALL */
+#ifdef BSP_PWM2_B_ALL
+        .b_all_flag = 1,
+#endif /* BSP_PWM2_B_ALL */
+    },
+#endif /* BSP_USING_PWM2 */
+#ifdef BSP_USING_PWM3
+    {
+        .name = "pwm3",
+        .slice_num = 3,
+        .pin_a = BSP_PWM3_A_PIN,
+        .pin_b = BSP_PWM3_B_PIN,
+#ifdef BSP_PWM3_A_ALL
+        .a_all_flag = 1,
+#endif /* BSP_PWM3_A_ALL */
+#ifdef BSP_PWM3_B_ALL
+        .b_all_flag = 1,
+#endif /* BSP_PWM3_B_ALL */
+    },
+#endif /* BSP_USING_PWM3 */
+#ifdef BSP_USING_PWM4
+    {
+        .name = "pwm4",
+        .slice_num = 4,
+        .pin_a = BSP_PWM4_A_PIN,
+        .pin_b = BSP_PWM4_B_PIN,
+#ifdef BSP_PWM4_A_ALL
+        .a_all_flag = 1,
+#endif /* BSP_PWM4_A_ALL */
+#ifdef BSP_PWM4_B_ALL
+        .b_all_flag = 1,
+#endif /* BSP_PWM4_B_ALL */
+    },
+#endif /* BSP_USING_PWM4 */
+#ifdef BSP_USING_PWM5
+    {
+        .name = "pwm5",
+        .slice_num = 5,
+        .pin_a = BSP_PWM5_A_PIN,
+        .pin_b = BSP_PWM5_B_PIN,
+#ifdef BSP_PWM5_A_ALL
+        .a_all_flag = 1,
+#endif /* BSP_PWM5_A_ALL */
+#ifdef BSP_PWM5_B_ALL
+        .b_all_flag = 1,
+#endif /* BSP_PWM5_B_ALL */
+    },
+#endif /* BSP_USING_PWM5 */
+#ifdef BSP_USING_PWM6
+    {
+        .name = "pwm6",
+        .slice_num = 6,
+        .pin_a = BSP_PWM6_A_PIN,
+        .pin_b = BSP_PWM6_B_PIN,
+#ifdef BSP_PWM6_A_ALL
+        .a_all_flag = 1,
+#endif /* BSP_PWM6_A_ALL */
+#ifdef BSP_PWM6_B_ALL
+        .b_all_flag = 1,
+#endif /* BSP_PWM6_B_ALL */
+    },
+#endif /* BSP_USING_PWM6 */
+#ifdef BSP_USING_PWM7
+    {
+        .name = "pwm7",
+        .slice_num = 7,
+        .pin_a = BSP_PWM7_A_PIN,
+        .pin_b = BSP_PWM7_B_PIN,
+    },
+#endif /* BSP_USING_PWM7 */
+};
+
+
+static rt_err_t _pwm_set(rt_uint8_t slice_num, struct rt_pwm_configuration *configuration)
+{
+    uint32_t period_hz = 1000000000 / configuration->period;
+    uint32_t pulse = 1000000000 / configuration->pulse;
+
+    pwm_config config = pwm_get_default_config();
+    pwm_config_set_clkdiv(&config, 1.33f);
+    pwm_init(slice_num, &config, true);
+    pwm_set_wrap(slice_num, 100000000 / period_hz);
+    pwm_set_chan_level(slice_num, configuration->channel, 100000000 / pulse);
+
+    return RT_EOK;
+}
+
+static rt_err_t _pwm_get(rt_uint8_t slice_num, struct rt_pwm_configuration *configuration)
+{
+    uint32_t period_hz = pwm_hw->slice[slice_num].top;
+
+    configuration->period = period_hz * 10;
+
+    configuration->pulse = pwm_hw->slice[slice_num].cc * 10;
+
+    return RT_EOK;
+}
+
+static rt_err_t _pwm_control(struct rt_device_pwm *device, int cmd, void *arg)
+{
+    struct pico_pwm *_pwm = rt_container_of(device, struct pico_pwm, pwm_device);
+    struct rt_pwm_configuration *configuration = (struct rt_pwm_configuration *)arg;
+
+    switch (cmd)
+    {
+    case PWM_CMD_ENABLE:
+        pwm_set_enabled (_pwm->slice_num, RT_TRUE);
+        return RT_EOK;
+    case PWM_CMD_DISABLE:
+        pwm_set_enabled (_pwm->slice_num, RT_FALSE);
+        return RT_EOK;
+    case PWM_CMD_SET:
+        return _pwm_set(_pwm->slice_num, configuration);
+    case PWM_CMD_GET:
+        return _pwm_get(_pwm->slice_num, configuration);
+    default:
+        return -RT_EINVAL;
+    }
+}
+
+static struct rt_pwm_ops _pwm_ops =
+{
+    _pwm_control
+};
+
+int rt_hw_pwm_init(void)
+{
+    int result = RT_EOK;
+
+    for (int i = 0; i < sizeof(pico_pwm_obj) / sizeof(pico_pwm_obj[0]); i++)
+    {
+        if(pico_pwm_obj[i].a_all_flag)
+        {
+            gpio_set_function(pico_pwm_obj[i].slice_num * 2, GPIO_FUNC_PWM);
+            gpio_set_function(pico_pwm_obj[i].slice_num * 2 + 16, GPIO_FUNC_PWM);
+        }
+        else
+        {
+            gpio_set_function(pico_pwm_obj[i].pin_a, GPIO_FUNC_PWM);
+        }
+        if(pico_pwm_obj[i].b_all_flag)
+        {
+            gpio_set_function(pico_pwm_obj[i].slice_num * 2 + 1, GPIO_FUNC_PWM);
+            gpio_set_function(pico_pwm_obj[i].slice_num * 2 + 17, GPIO_FUNC_PWM);
+        }
+        else
+        {
+            gpio_set_function(pico_pwm_obj[i].pin_b, GPIO_FUNC_PWM);
+        }
+        result = rt_device_pwm_register(&pico_pwm_obj[i].pwm_device, pico_pwm_obj[i].name, &_pwm_ops, 0);
+        if(result != RT_EOK)
+        {
+            LOG_E("%s register fail.", pico_pwm_obj[i].name);
+        }
+    }
+
+    return result;
+}
+INIT_DEVICE_EXPORT(rt_hw_pwm_init);
+
+#endif /* BSP_USING_PWM */
diff --git a/bsp/raspberry-pico/drivers/drv_pwm.h b/bsp/raspberry-pico/drivers/drv_pwm.h
new file mode 100644
index 0000000000..b624008b7c
--- /dev/null
+++ b/bsp/raspberry-pico/drivers/drv_pwm.h
@@ -0,0 +1,18 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date             Author          Notes
+ * 2023-10-20       ChuShicheng     first version
+ */
+
+#ifndef __DRV_PWM_H__
+#define __DRV_PWM_H__
+
+#include <rtdevice.h>
+
+int rt_hw_pwm_init(void);
+
+#endif /* __DRV_PWM_H__ */