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Merged
Rbb666 merged 3 commits into from
May 13, 2026
Merged

update pwm and kconfig #66

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d64c05d
小智工程关闭wifi软件包的依赖
Rbb666 May 13, 2026
de29569
新增多路pwm驱动+配置
Rbb666 May 13, 2026
c0b2566
修正DEEPCRAFT_Deploy_Vision下载路径
Rbb666 May 13, 2026
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185 changes: 147 additions & 38 deletions libraries/HAL_Drivers/drv_pwm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -22,34 +22,66 @@ struct ifx_pwm
{
struct rt_device_pwm pwm_device;
const cy_stc_tcpwm_pwm_config_t *tcpwm_pwm_config;
TCPWM_Type *base;
uint32_t cntNum;
rt_uint8_t channel;
const mtb_hal_pwm_configurator_t *hal_cfg;
const char *name;
uint32_t clk_dst;
cy_en_divider_types_t clk_divType;
uint32_t clk_divNum;
};

static struct ifx_pwm ifx_pwm_obj[] =
{
#ifdef BSP_USING_PWM18
#ifdef TCPWM_0_GRP_1_PWM_9_CONFIG
TCPWM_0_GRP_1_PWM_9_CONFIG,
#endif
#endif
IFX_PWM_DEVICE_LIST
{
.tcpwm_pwm_config = RT_NULL,
.hal_cfg = RT_NULL,
.name = RT_NULL,
}
};


#ifndef IFX_PWM_MAX_TICKS
#define IFX_PWM_MAX_TICKS 65535U
#endif

#ifndef IFX_PWM_DEFAULT_CHANNEL
#define IFX_PWM_DEFAULT_CHANNEL 1U
#endif

static inline TCPWM_Type *ifx_pwm_get_base(struct ifx_pwm *pwm)
{
if ((pwm == RT_NULL) || (pwm->hal_cfg == RT_NULL))
return RT_NULL;

return pwm->hal_cfg->base;
}

static inline uint32_t ifx_pwm_get_cntnum(struct ifx_pwm *pwm)
{
if ((pwm == RT_NULL) || (pwm->hal_cfg == RT_NULL))
return 0U;

return pwm->hal_cfg->cntnum;
}

static inline const mtb_hal_peri_div_t *ifx_pwm_get_clock_ref(struct ifx_pwm *pwm)
{
if ((pwm == RT_NULL) || (pwm->hal_cfg == RT_NULL) ||
(pwm->hal_cfg->clock == RT_NULL) || (pwm->hal_cfg->clock->clock_ref == RT_NULL))
{
return RT_NULL;
}

return (const mtb_hal_peri_div_t *)pwm->hal_cfg->clock->clock_ref;
}

static inline uint32_t ifx_pwm_get_clock(struct ifx_pwm *pwm)
{
return Cy_SysClk_PeriPclkGetFrequency((en_clk_dst_t)pwm->clk_dst,
pwm->clk_divType,
pwm->clk_divNum);
const mtb_hal_peri_div_t *clock_ref = ifx_pwm_get_clock_ref(pwm);

if (clock_ref == RT_NULL)
return 0U;

return Cy_SysClk_PeriPclkGetFrequency((en_clk_dst_t)clock_ref->clk_dst,
clock_ref->div_type,
clock_ref->div_num);
}

static inline int ifx_pwm_check_clk(struct ifx_pwm *pwm, uint32_t *clk)
Expand All @@ -63,6 +95,24 @@ static inline int ifx_pwm_check_clk(struct ifx_pwm *pwm, uint32_t *clk)
return RT_EOK;
}

static inline rt_err_t ifx_pwm_check_cfg(struct ifx_pwm *pwm, const struct rt_pwm_configuration *cfg)
{
if (!pwm || ifx_pwm_get_base(pwm) == RT_NULL)
return -RT_ERROR;

if (cfg == RT_NULL)
return -RT_EINVAL;

/* Single-channel PWM devices keep compatibility with channel 0 and default channel(1). */
if ((cfg->channel != 0U) && (cfg->channel != IFX_PWM_DEFAULT_CHANNEL))
{
LOG_E("%s: unsupported channel %u", pwm->name ? pwm->name : "ifx_pwm", cfg->channel);
return -RT_EINVAL;
}

return RT_EOK;
}

static inline uint64_t ns_to_ticks(uint64_t ns, uint32_t clk)
{
if (clk == 0U)
Expand All @@ -79,20 +129,25 @@ static inline uint64_t ns_to_ticks(uint64_t ns, uint32_t clk)
static rt_err_t drv_pwm_enable(struct rt_device_pwm *device, struct rt_pwm_configuration *configuration, rt_bool_t enable)
{
struct ifx_pwm *pwm = (struct ifx_pwm *)device->parent.user_data;
rt_err_t ret;
TCPWM_Type *base;
uint32_t cntNum;

(void)configuration;
ret = ifx_pwm_check_cfg(pwm, configuration);
if (ret != RT_EOK)
return ret;

if (!pwm || pwm->base == RT_NULL)
return -RT_ERROR;
base = ifx_pwm_get_base(pwm);
cntNum = ifx_pwm_get_cntnum(pwm);

if (!enable)
{
Cy_TCPWM_PWM_Disable(pwm->base, pwm->cntNum);
Cy_TCPWM_PWM_Disable(base, cntNum);
}
else
{
Cy_TCPWM_PWM_Enable(pwm->base, pwm->cntNum);
Cy_TCPWM_TriggerStart_Single(pwm->base, pwm->cntNum);
Cy_TCPWM_PWM_Enable(base, cntNum);
Cy_TCPWM_TriggerStart_Single(base, cntNum);
}

return RT_EOK;
Expand All @@ -101,10 +156,20 @@ static rt_err_t drv_pwm_enable(struct rt_device_pwm *device, struct rt_pwm_confi
static rt_err_t drv_pwm_set_period(struct ifx_pwm *pwm, struct rt_pwm_configuration *configuration)
{
uint32_t clk;
uint32_t cntNum;
TCPWM_Type *base;
rt_err_t ret;

ret = ifx_pwm_check_cfg(pwm, configuration);
if (ret != RT_EOK)
return ret;

if (ifx_pwm_check_clk(pwm, &clk) != RT_EOK)
return -RT_ERROR;

base = ifx_pwm_get_base(pwm);
cntNum = ifx_pwm_get_cntnum(pwm);

uint64_t period_ns = configuration->period;
uint64_t ticks = ns_to_ticks(period_ns, clk);

Expand All @@ -120,22 +185,32 @@ static rt_err_t drv_pwm_set_period(struct ifx_pwm *pwm, struct rt_pwm_configurat
if (ticks > IFX_PWM_MAX_TICKS)
ticks = IFX_PWM_MAX_TICKS;

Cy_TCPWM_PWM_SetPeriod0(pwm->base, pwm->cntNum, (uint32_t)ticks);
Cy_TCPWM_PWM_SetPeriod0(base, cntNum, (uint32_t)ticks);

return RT_EOK;
}

static rt_err_t drv_pwm_set_pulse(struct ifx_pwm *pwm, struct rt_pwm_configuration *configuration)
{
uint32_t clk;
uint32_t cntNum;
TCPWM_Type *base;
rt_err_t ret;

ret = ifx_pwm_check_cfg(pwm, configuration);
if (ret != RT_EOK)
return ret;

if (ifx_pwm_check_clk(pwm, &clk) != RT_EOK)
return -RT_ERROR;

base = ifx_pwm_get_base(pwm);
cntNum = ifx_pwm_get_cntnum(pwm);

uint64_t pulse_ns = configuration->pulse;
uint64_t ticks = ns_to_ticks(pulse_ns, clk);

uint32_t period_ticks = Cy_TCPWM_PWM_GetPeriod0(pwm->base, pwm->cntNum);
uint32_t period_ticks = Cy_TCPWM_PWM_GetPeriod0(base, cntNum);

if (period_ticks == 0)
{
Expand All @@ -148,7 +223,7 @@ static rt_err_t drv_pwm_set_pulse(struct ifx_pwm *pwm, struct rt_pwm_configurati
ticks = period_ticks;
}

Cy_TCPWM_PWM_SetCompare0Val(pwm->base, pwm->cntNum, (uint32_t)ticks);
Cy_TCPWM_PWM_SetCompare0Val(base, cntNum, (uint32_t)ticks);

return RT_EOK;
}
Expand All @@ -157,10 +232,20 @@ static rt_err_t drv_pwm_set(struct rt_device_pwm *device, struct rt_pwm_configur
{
struct ifx_pwm *pwm = (struct ifx_pwm *)device->parent.user_data;
uint32_t clk;
uint32_t cntNum;
TCPWM_Type *base;
rt_err_t ret;

ret = ifx_pwm_check_cfg(pwm, configuration);
if (ret != RT_EOK)
return ret;

if (ifx_pwm_check_clk(pwm, &clk) != RT_EOK)
return -RT_ERROR;

base = ifx_pwm_get_base(pwm);
cntNum = ifx_pwm_get_cntnum(pwm);

uint64_t period_ticks = ns_to_ticks(configuration->period, clk);
uint64_t pulse_ticks = ns_to_ticks(configuration->pulse, clk);

Expand All @@ -179,8 +264,8 @@ static rt_err_t drv_pwm_set(struct rt_device_pwm *device, struct rt_pwm_configur
if (period_ticks > IFX_PWM_MAX_TICKS)
period_ticks = IFX_PWM_MAX_TICKS;

Cy_TCPWM_PWM_SetPeriod0(pwm->base, pwm->cntNum, (uint32_t)period_ticks);
Cy_TCPWM_PWM_SetCompare0Val(pwm->base, pwm->cntNum, (uint32_t)pulse_ticks);
Cy_TCPWM_PWM_SetPeriod0(base, cntNum, (uint32_t)period_ticks);
Cy_TCPWM_PWM_SetCompare0Val(base, cntNum, (uint32_t)pulse_ticks);

return RT_EOK;
}
Expand All @@ -189,12 +274,22 @@ static rt_err_t drv_pwm_get(struct rt_device_pwm *device, struct rt_pwm_configur
{
struct ifx_pwm *pwm = (struct ifx_pwm *)device->parent.user_data;
uint32_t clk;
uint32_t cntNum;
TCPWM_Type *base;
rt_err_t ret;

ret = ifx_pwm_check_cfg(pwm, configuration);
if (ret != RT_EOK)
return ret;

if (ifx_pwm_check_clk(pwm, &clk) != RT_EOK)
return -RT_ERROR;

uint32_t period_ticks = Cy_TCPWM_PWM_GetPeriod0(pwm->base, pwm->cntNum);
uint32_t cmp_ticks = Cy_TCPWM_PWM_GetCompare0Val(pwm->base, pwm->cntNum);
base = ifx_pwm_get_base(pwm);
cntNum = ifx_pwm_get_cntnum(pwm);

uint32_t period_ticks = Cy_TCPWM_PWM_GetPeriod0(base, cntNum);
uint32_t cmp_ticks = Cy_TCPWM_PWM_GetCompare0Val(base, cntNum);

configuration->period = (uint64_t)period_ticks * 1000000000ULL / (uint64_t)clk;
configuration->pulse = (uint64_t)cmp_ticks * 1000000000ULL / (uint64_t)clk;
Expand All @@ -206,6 +301,14 @@ static rt_err_t drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg
{
struct rt_pwm_configuration *configuration = (struct rt_pwm_configuration *)arg;

if ((cmd == PWM_CMD_ENABLE) || (cmd == PWM_CMD_DISABLE) ||
(cmd == PWM_CMD_SET) || (cmd == PWM_CMD_GET) ||
(cmd == PWM_CMD_SET_PERIOD) || (cmd == PWM_CMD_SET_PULSE))
{
if (configuration == RT_NULL)
return -RT_EINVAL;
}

switch (cmd)
{
case PWM_CMD_ENABLE:
Expand Down Expand Up @@ -236,16 +339,22 @@ static struct rt_pwm_ops drv_ops = { drv_pwm_control };
static rt_err_t ifx_hw_pwm_init(struct ifx_pwm *device)
{
cy_en_tcpwm_status_t tcpwm_status;
TCPWM_Type *base;
uint32_t cntNum;

RT_ASSERT(device != RT_NULL);

if (!device->tcpwm_pwm_config || !device->base)
if (!device->tcpwm_pwm_config || !device->hal_cfg)
{
LOG_W("%s: tcpwm config or base missing", device->name ? device->name : "ifx_pwm");
return -RT_ERROR;
}

tcpwm_status = Cy_TCPWM_PWM_Init(device->base, device->cntNum, device->tcpwm_pwm_config);
if (CY_RSLT_SUCCESS != tcpwm_status)
base = ifx_pwm_get_base(device);
cntNum = ifx_pwm_get_cntnum(device);

tcpwm_status = Cy_TCPWM_PWM_Init(base, cntNum, device->tcpwm_pwm_config);
if (CY_TCPWM_SUCCESS != tcpwm_status)
{
LOG_E("%s: Initialize the TCPWM block failed", device->name ? device->name : "ifx_pwm");
return -RT_ERROR;
Expand All @@ -259,20 +368,14 @@ static int rt_hw_pwm_init(void)
int i;
int result = RT_EOK;
int count = sizeof(ifx_pwm_obj) / sizeof(ifx_pwm_obj[0]);

if (count == 0)
{
LOG_W("No PWM instances configured");
return RT_EOK;
}
int registered = 0;

for (i = 0; i < count; i++)
{
struct ifx_pwm *obj = &ifx_pwm_obj[i];

if (obj->tcpwm_pwm_config == RT_NULL || obj->base == RT_NULL)
if (obj->tcpwm_pwm_config == RT_NULL || obj->hal_cfg == RT_NULL)
{
LOG_W("pwm obj %d not configured (skipped)", i);
continue;
}

Expand All @@ -288,6 +391,7 @@ static int rt_hw_pwm_init(void)
if (rt_device_pwm_register(&obj->pwm_device, obj->name, &drv_ops, obj) == RT_EOK)
{
LOG_D("%s register success", obj->name ? obj->name : "ifx_pwm");
registered++;
}
else
{
Expand All @@ -296,6 +400,11 @@ static int rt_hw_pwm_init(void)
}
}

if (registered == 0)
{
LOG_W("No PWM instances configured");
}

__exit:
return result;
}
Expand Down
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