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diff --git a/sys/arm/ti/am335x/am335x_ehrpwm.c b/sys/arm/ti/am335x/am335x_ehrpwm.c
--- a/sys/arm/ti/am335x/am335x_ehrpwm.c
+++ b/sys/arm/ti/am335x/am335x_ehrpwm.c
@@ -44,6 +44,8 @@
#include <dev/ofw/ofw_bus.h>
#include <dev/ofw/ofw_bus_subr.h>
+#include <dev/pwm/pwmc.h>
+
#include "pwmbus_if.h"
#include "am335x_pwm.h"
@@ -72,7 +74,12 @@
bus_write_2((_sc)->sc_mem_res, reg, value)
#define EPWM_TBCTL 0x00
-#define TBCTL_FREERUN (2 << 14)
+/* see 15.2.2.11 for the first two, used in debug situations */
+#define TBCTL_FREERUN_STOP_NEXT_TBC_INCREMENT (0 << 14)
+#define TBCTL_FREERUN_STOP_COMPLETE_CYCLE (1 << 14)
+/* ignore suspend control signal */
+#define TBCTL_FREERUN (2 << 14)
+
#define TBCTL_PHDIR_UP (1 << 13)
#define TBCTL_PHDIR_DOWN (0 << 13)
#define TBCTL_CLKDIV(x) ((x) << 10)
@@ -81,9 +88,9 @@
#define TBCTL_HSPCLKDIV_MASK (3 << 7)
#define TBCTL_SYNCOSEL_DISABLED (3 << 4)
#define TBCTL_PRDLD_SHADOW (0 << 3)
-#define TBCTL_PRDLD_IMMEDIATE (0 << 3)
-#define TBCTL_PHSEN_ENABLED (1 << 2)
+#define TBCTL_PRDLD_IMMEDIATE (1 << 3)
#define TBCTL_PHSEN_DISABLED (0 << 2)
+#define TBCTL_PHSEN_ENABLED (1 << 2)
#define TBCTL_CTRMODE_MASK (3)
#define TBCTL_CTRMODE_UP (0 << 0)
#define TBCTL_CTRMODE_DOWN (1 << 0)
@@ -136,8 +143,24 @@
#define AQCSFRC(chan, hilo) ((hilo) << (2 * chan))
/* Trip-Zone module */
+#define EPWM_TZSEL 0x24
#define EPWM_TZCTL 0x28
#define EPWM_TZFLG 0x2C
+
+/* Dead band */
+#define EPWM_DBCTL 0x1E
+#define DBCTL_MASK (3 << 0)
+#define DBCTL_BYPASS 0
+#define DBCTL_RISING_EDGE 1
+#define DBCTL_FALLING_EDGE 2
+#define DBCTL_BOTH_EDGE 3
+
+/* PWM-chopper */
+#define EPWM_PCCTL 0x3C
+#define PCCTL_CHPEN_MASK (1 << 0)
+#define PCCTL_CHPEN_DISABLE 0
+#define PCCTL_CHPEN_ENABLE 1
+
/* High-Resolution PWM */
#define EPWM_HRCTL 0x40
#define HRCTL_DELMODE_BOTH 3
@@ -329,6 +352,60 @@
return (0);
}
+static int
+am335x_ehrpwm_channel_set_flags(device_t dev, u_int channel,
+ uint32_t flags)
+{
+ struct am335x_ehrpwm_softc *sc;
+
+ if (channel >= NUM_CHANNELS)
+ return (EINVAL);
+
+ sc = device_get_softc(dev);
+
+ PWM_LOCK(sc);
+ if (flags & PWM_POLARITY_INVERTED) {
+ sc->sc_channels[channel].inverted = true;
+ /* Action-Qualifier 15.2.2.5 */
+ if (channel == 0)
+ EPWM_WRITE2(sc, EPWM_AQCTLA,
+ (AQCTL_ZRO_CLEAR | AQCTL_CAU_SET));
+ else
+ EPWM_WRITE2(sc, EPWM_AQCTLB,
+ (AQCTL_ZRO_CLEAR | AQCTL_CBU_SET));
+ } else {
+ sc->sc_channels[channel].inverted = false;
+ if (channel == 0)
+ EPWM_WRITE2(sc, EPWM_AQCTLA,
+ (AQCTL_ZRO_SET | AQCTL_CAU_CLEAR));
+ else
+ EPWM_WRITE2(sc, EPWM_AQCTLB,
+ (AQCTL_ZRO_SET | AQCTL_CBU_CLEAR));
+ }
+ PWM_UNLOCK(sc);
+
+ return (0);
+}
+
+static int
+am335x_ehrpwm_channel_get_flags(device_t dev, u_int channel,
+ uint32_t *flags)
+{
+ struct am335x_ehrpwm_softc *sc;
+ if (channel >= NUM_CHANNELS)
+ return (EINVAL);
+
+ sc = device_get_softc(dev);
+
+ if (sc->sc_channels[channel].inverted == true)
+ *flags = PWM_POLARITY_INVERTED;
+ else
+ *flags = 0;
+
+ return (0);
+}
+
+
static int
am335x_ehrpwm_channel_enable(device_t dev, u_int channel, bool enable)
{
@@ -380,7 +457,7 @@
am335x_ehrpwm_attach(device_t dev)
{
struct am335x_ehrpwm_softc *sc;
- uint32_t reg;
+ uint16_t reg;
sc = device_get_softc(dev);
sc->sc_dev = dev;
@@ -394,7 +471,7 @@
goto fail;
}
- /* CONFIGURE EPWM1 */
+ /* CONFIGURE EPWM */
reg = EPWM_READ2(sc, EPWM_TBCTL);
reg &= ~(TBCTL_CLKDIV_MASK | TBCTL_HSPCLKDIV_MASK);
EPWM_WRITE2(sc, EPWM_TBCTL, reg);
@@ -403,17 +480,40 @@
EPWM_WRITE2(sc, EPWM_CMPA, 0);
EPWM_WRITE2(sc, EPWM_CMPB, 0);
+ /* Action-Qualifier 15.2.2.5 */
EPWM_WRITE2(sc, EPWM_AQCTLA, (AQCTL_ZRO_SET | AQCTL_CAU_CLEAR));
EPWM_WRITE2(sc, EPWM_AQCTLB, (AQCTL_ZRO_SET | AQCTL_CBU_CLEAR));
+ /* Dead band 15.2.2.6 */
+ reg = EPWM_READ2(sc, EPWM_DBCTL);
+ reg &= ~DBCTL_MASK;
+ reg |= DBCTL_BYPASS;
+ EPWM_WRITE2(sc, EPWM_DBCTL, reg);
+
+ /* PWM-chopper described in 15.2.2.7 */
+ /* Acc. TRM used in pulse transformerbased gate drivers
+ * to control the power switching-elements
+ */
+ reg = EPWM_READ2(sc, EPWM_PCCTL);
+ reg &= ~PCCTL_CHPEN_MASK;
+ reg |= PCCTL_CHPEN_DISABLE;
+ EPWM_WRITE2(sc, EPWM_PCCTL, PCCTL_CHPEN_DISABLE);
+
+ /* Trip zone are described in 15.2.2.8.
+ * Essential its used to detect faults and can be configured
+ * to react on such faults..
+ */
+ /* disable TZn as one-shot / CVC trip source 15.2.4.18 */
+ EPWM_WRITE2(sc, EPWM_TZSEL, 0x0);
+ /* reg described in 15.2.4.19 */
+ EPWM_WRITE2(sc, EPWM_TZCTL, 0xf);
+ reg = EPWM_READ2(sc, EPWM_TZFLG);
+
/* START EPWM */
reg &= ~TBCTL_CTRMODE_MASK;
reg |= TBCTL_CTRMODE_UP | TBCTL_FREERUN;
EPWM_WRITE2(sc, EPWM_TBCTL, reg);
- EPWM_WRITE2(sc, EPWM_TZCTL, 0xf);
- reg = EPWM_READ2(sc, EPWM_TZFLG);
-
if ((sc->sc_busdev = device_add_child(dev, "pwmbus", -1)) == NULL) {
device_printf(dev, "Cannot add child pwmbus\n");
// This driver can still do things even without the bus child.
@@ -480,6 +580,8 @@
DEVMETHOD(pwmbus_channel_count, am335x_ehrpwm_channel_count),
DEVMETHOD(pwmbus_channel_config, am335x_ehrpwm_channel_config),
DEVMETHOD(pwmbus_channel_get_config, am335x_ehrpwm_channel_get_config),
+ DEVMETHOD(pwmbus_channel_set_flags, am335x_ehrpwm_channel_set_flags),
+ DEVMETHOD(pwmbus_channel_get_flags, am335x_ehrpwm_channel_get_flags),
DEVMETHOD(pwmbus_channel_enable, am335x_ehrpwm_channel_enable),
DEVMETHOD(pwmbus_channel_is_enabled, am335x_ehrpwm_channel_is_enabled),

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