Add initial GPIO PWM support.

(cherry picked from commit a70ecde4228d0d6f81b0eb8117e102d01a9a36eb)

6 files changed, 245 insertions, 15 deletions

diff --git a/lib/libgpio/gpio.c b/lib/libgpio/gpio.c
index 8170822..48642f5 100644
--- a/lib/libgpio/gpio.c
+++ b/lib/libgpio/gpio.c
@@ -276,3 +276,44 @@ gpio_pin_pulsate(gpio_handle_t handle, gpio_pin_t pin)
 {
 	return (gpio_pin_set_flag(handle, pin, GPIO_PIN_PULSATE));
 }
+
+int
+gpio_pin_pwm(gpio_handle_t handle, gpio_pin_t pin)
+{
+	return (gpio_pin_set_flag(handle, pin, GPIO_PIN_PWM));
+}
+
+int
+gpio_pwm_get(gpio_handle_t handle, gpio_pwm_t pwm, gpio_pin_t pin,
+    uint32_t reg, uint32_t *value)
+{
+	struct gpio_pwm_req pwmreq;
+
+	bzero(&pwmreq, sizeof(pwmreq));
+	pwmreq.gp_pwm = pwm;
+	pwmreq.gp_pwm_pin = pin;
+	pwmreq.gp_pwm_reg = reg;
+	if (ioctl(handle, GPIOPWMGET, &pwmreq) < 0)
+		return (-1);
+	*value = pwmreq.gp_pwm_value;
+
+	return (0);
+
+}
+
+int
+gpio_pwm_set(gpio_handle_t handle, gpio_pwm_t pwm, gpio_pin_t pin,
+    uint32_t reg, uint32_t value)
+{
+	struct gpio_pwm_req pwmreq;
+
+	bzero(&pwmreq, sizeof(pwmreq));
+	pwmreq.gp_pwm = pwm;
+	pwmreq.gp_pwm_pin = pin;
+	pwmreq.gp_pwm_reg = reg;
+	pwmreq.gp_pwm_value = value;
+	if (ioctl(handle, GPIOPWMSET, &pwmreq) < 0)
+		return (-1);
+
+	return (0);
+}
diff --git a/lib/libgpio/libgpio.h b/lib/libgpio/libgpio.h
index a832234..6cc258e 100644
--- a/lib/libgpio/libgpio.h
+++ b/lib/libgpio/libgpio.h
@@ -35,6 +35,7 @@ __BEGIN_DECLS
 
 #define	GPIO_INVALID_HANDLE -1
 typedef int gpio_handle_t;
+typedef int32_t gpio_pwm_t;
 typedef uint32_t gpio_pin_t;
 
 /*
@@ -104,6 +105,13 @@ int		gpio_pin_pulldown(gpio_handle_t, gpio_pin_t);
 int		gpio_pin_invin(gpio_handle_t, gpio_pin_t);
 int		gpio_pin_invout(gpio_handle_t, gpio_pin_t);
 int		gpio_pin_pulsate(gpio_handle_t, gpio_pin_t);
+int		gpio_pin_pwm(gpio_handle_t, gpio_pin_t);
+
+/* PWM Settings. */
+int		gpio_pwm_get(gpio_handle_t, gpio_pwm_t pwm, gpio_pin_t,
+    uint32_t, uint32_t *);
+int		gpio_pwm_set(gpio_handle_t, gpio_pwm_t pwm, gpio_pin_t,
+    uint32_t, uint32_t);
 
 __END_DECLS
 
diff --git a/sys/dev/gpio/gpio_if.m b/sys/dev/gpio/gpio_if.m
index 6306f33..d25a0c7 100644
--- a/sys/dev/gpio/gpio_if.m
+++ b/sys/dev/gpio/gpio_if.m
@@ -56,6 +56,43 @@ CODE {
 
 		return (0);
 	}
+
+	static int
+	gpio_default_pwm_getcaps(device_t dev __unused, int32_t pwm __unused,
+	    uint32_t pini __unused, uint32_t *caps)
+	{
+
+		*caps = 0;
+
+		return (0);
+	}
+
+	static int
+	gpio_default_pwm_max(device_t dev __unused, uint32_t *pwmmax)
+	{
+
+		*pwmmax = 0;
+
+		return (0);
+	}
+
+	static int
+	gpio_default_pwm_get(device_t dev __unused, uint32_t pwm __unused,
+	    uint32_t pin __unused, uint32_t reg __unused,
+	    uint32_t *value __unused)
+	{
+
+		return (EINVAL);
+	}
+
+	static int
+	gpio_default_pwm_set(device_t dev __unused, uint32_t pwm __unused,
+	    uint32_t pin __unused, uint32_t reg __unused,
+	    uint32_t value __unused)
+	{
+
+		return (EINVAL);
+	}
 };
 
 HEADER {
@@ -140,6 +177,46 @@ METHOD int pin_setflags {
 };
 
 #
+# Get maximum pwm number
+#
+METHOD int pwm_max {
+	device_t dev;
+	int *maxpwm;
+} DEFAULT gpio_default_pwm_max;
+
+#
+# Get pwm capabilities
+#
+METHOD int pwm_getcaps {
+	device_t dev;
+	int32_t pwm_num;
+	uint32_t pin_num;
+	uint32_t *caps;
+} DEFAULT gpio_default_pwm_getcaps;
+
+#
+# Get pwm settings of pin specifed by pin_num 
+#
+METHOD int pwm_get {
+	device_t dev;
+	int32_t pwm_num;
+	uint32_t pin_num;
+	uint32_t pwm_reg;
+	uint32_t *pwm_value;
+} DEFAULT gpio_default_pwm_get;
+
+#
+# Set pwm settings of pin specifed by pin_num 
+#
+METHOD int pwm_set {
+	device_t dev;
+	int32_t pwm_num;
+	uint32_t pin_num;
+	uint32_t pwm_reg;
+	uint32_t pwm_value;
+} DEFAULT gpio_default_pwm_set;
+
+#
 # Allow the GPIO controller to map the gpio-specifier on its own.
 #
 METHOD int map_gpios {
diff --git a/sys/dev/gpio/gpioc.c b/sys/dev/gpio/gpioc.c
index a5a9d81..2a6895a 100644
--- a/sys/dev/gpio/gpioc.c
+++ b/sys/dev/gpio/gpioc.c
@@ -121,9 +121,10 @@ gpioc_ioctl(struct cdev *cdev, u_long cmd, caddr_t arg, int fflag,
     struct thread *td)
 {
 	device_t bus;
-	int max_pin, res;
+	int max_pin, max_pwm, res;
 	struct gpioc_softc *sc = cdev->si_drv1;
 	struct gpio_pin pin;
+	struct gpio_pwm_req pwmreq;
 	struct gpio_req req;
 	uint32_t caps;
 
@@ -142,9 +143,16 @@ gpioc_ioctl(struct cdev *cdev, u_long cmd, caddr_t arg, int fflag,
 			res = GPIO_PIN_GETFLAGS(sc->sc_pdev, pin.gp_pin,
 			    &pin.gp_flags);
 			/* Fail early */
-			if (res)
+			if (res != 0)
+				break;
+			res = GPIO_PIN_GETCAPS(sc->sc_pdev, pin.gp_pin,
+			    &pin.gp_caps);
+			if (res != 0)
+				break;
+			res = GPIO_PWM_GETCAPS(sc->sc_pdev, -1, pin.gp_pin,
+			    &pin.gp_pwm_caps);
+			if (res != 0)
 				break;
-			GPIO_PIN_GETCAPS(sc->sc_pdev, pin.gp_pin, &pin.gp_caps);
 			GPIOBUS_PIN_GETNAME(bus, pin.gp_pin, pin.gp_name);
 			bcopy(&pin, arg, sizeof(pin));
 			break;
@@ -185,6 +193,39 @@ gpioc_ioctl(struct cdev *cdev, u_long cmd, caddr_t arg, int fflag,
 			res = GPIOBUS_PIN_SETNAME(bus, pin.gp_pin,
 			    pin.gp_name);
 			break;
+		case GPIOMAXPWM:
+			max_pwm = -1;
+			res = GPIO_PWM_MAX(sc->sc_pdev, &max_pwm);
+			bcopy(&max_pwm, arg, sizeof(max_pwm));
+			break;
+		case GPIOPWMGETCONFIG:
+			bcopy(arg, &pwmreq, sizeof(pwmreq));
+			res = GPIO_PWM_GETCAPS(sc->sc_pdev, pwmreq.gp_pwm,
+			    pwmreq.gp_pwm_pin, &pwmreq.gp_pwm_caps);
+			dprintf("pwm getcaps pwm %d pin %d -> caps %#x\n",
+			    pwmreq.gp_pwm, pwmreq.gp_pwm_pin,
+			    pwmreq.gp_pwm_caps);
+			bcopy(&pwmreq, arg, sizeof(pwmreq));
+			break;
+		case GPIOPWMGET:
+			bcopy(arg, &pwmreq, sizeof(pwmreq));
+			res = GPIO_PWM_GET(sc->sc_pdev, pwmreq.gp_pwm,
+			    pwmreq.gp_pwm_pin, pwmreq.gp_pwm_reg,
+			    &pwmreq.gp_pwm_value);
+			dprintf("pwm get pwm %d pin %d -> reg %#x %d\n",
+			    pwmreq.gp_pwm, pwmreq.gp_pwm_pin, pwmreq.gp_pwm_reg,
+			    pwmreq.gp_pwm_value);
+			bcopy(&pwmreq, arg, sizeof(pwmreq));
+			break;
+		case GPIOPWMSET:
+			bcopy(arg, &pwmreq, sizeof(pwmreq));
+			res = GPIO_PWM_SET(sc->sc_pdev, pwmreq.gp_pwm,
+			    pwmreq.gp_pwm_pin, pwmreq.gp_pwm_reg,
+			    pwmreq.gp_pwm_value);
+			dprintf("pwm set pwm %d pin %d -> reg %#x %d\n",
+			    pwmreq.gp_pwm, pwmreq.gp_pwm_pin, pwmreq.gp_pwm_reg,
+			    pwmreq.gp_pwm_value);
+			break;
 		default:
 			return (ENOTTY);
 			break;
diff --git a/sys/sys/gpio.h b/sys/sys/gpio.h
index 9b0a1b5..4b63baa 100644
--- a/sys/sys/gpio.h
+++ b/sys/sys/gpio.h
@@ -56,6 +56,11 @@
 #define GPIO_PIN_LOW		0x00	/* low level (logical 0) */
 #define GPIO_PIN_HIGH		0x01	/* high level (logical 1) */
 
+/* GPIO PWM settings */
+#define	GPIO_PWM_DUTY		0x01	/* PWM duty cycle */
+#define	GPIO_PWM_FREQ		0x02	/* PWM frequency */
+#define	GPIO_PWM_PERIOD		0x04	/* PWM period */
+
 /* Max name length of a pin */
 #define GPIOMAXNAME		64
 
@@ -70,6 +75,8 @@
 #define GPIO_PIN_INVIN		0x00000080	/* invert input */
 #define GPIO_PIN_INVOUT		0x00000100	/* invert output */
 #define GPIO_PIN_PULSATE	0x00000200	/* pulsate in hardware */
+#define GPIO_PIN_PWM		0x00000400	/* pwm output */
+#define GPIO_PIN_MUX		0x00000800	/* pin mux */
 /* GPIO interrupt capabilities */
 #define GPIO_INTR_NONE		0x00000000	/* no interrupt support */
 #define GPIO_INTR_LEVEL_LOW	0x00010000	/* level trigger, low */
@@ -86,6 +93,7 @@ struct gpio_pin {
 	char gp_name[GPIOMAXNAME];		/* human-readable name */
 	uint32_t gp_caps;			/* capabilities */
 	uint32_t gp_flags;			/* current flags */
+	uint32_t gp_pwm_caps;			/* pwm capabilities */
 };
 
 /* GPIO pin request (read/write/toggle) */
@@ -94,6 +102,15 @@ struct gpio_req {
 	uint32_t gp_value;			/* value */
 };
 
+/* GPIO pwm request (read/write) */
+struct gpio_pwm_req {
+	int32_t gp_pwm;				/* pwm number */
+	uint32_t gp_pwm_pin;			/* pin number */
+	uint32_t gp_pwm_reg;			/* register */
+	uint32_t gp_pwm_value;			/* value */
+	uint32_t gp_pwm_caps;			/* pwm capabilities */
+};
+
 /*
  * ioctls
  */
@@ -104,5 +121,9 @@ struct gpio_req {
 #define	GPIOSET			_IOW('G', 4, struct gpio_req)
 #define	GPIOTOGGLE		_IOWR('G', 5, struct gpio_req)
 #define	GPIOSETNAME		_IOW('G', 6, struct gpio_pin)
+#define	GPIOMAXPWM		_IOR('G', 7, int)
+#define	GPIOPWMGETCONFIG	_IOWR('G', 8, struct gpio_pwm_req)
+#define	GPIOPWMGET		_IOWR('G', 9, struct gpio_pwm_req)
+#define	GPIOPWMSET		_IOW('G', 10, struct gpio_pwm_req)
 
 #endif /* __GPIO_H__ */
diff --git a/usr.sbin/gpioctl/gpioctl.c b/usr.sbin/gpioctl/gpioctl.c
index f786ef6..21b2688 100644
--- a/usr.sbin/gpioctl/gpioctl.c
+++ b/usr.sbin/gpioctl/gpioctl.c
@@ -43,6 +43,7 @@ __FBSDID("$FreeBSD$");
 
 #define PIN_TYPE_NUMBER		1
 #define PIN_TYPE_NAME		2
+#define PIN_TYPE_PWM		3
 
 struct flag_desc {
 	const char *name;
@@ -60,10 +61,15 @@ static struct flag_desc gpio_flags[] = {
 	{ "II", GPIO_PIN_INVIN },
 	{ "IO", GPIO_PIN_INVOUT },
 	{ "PULSE", GPIO_PIN_PULSATE },
+	{ "PWM", GPIO_PIN_PWM },
 	{ NULL, 0 },
 };
 
-int str2cap(const char *str);
+static struct flag_desc pwm_flags[] = {
+	{ "DUTY", GPIO_PWM_DUTY },
+	{ "FREQ", GPIO_PWM_FREQ },
+	{ "PERIOD", GPIO_PWM_PERIOD },
+};
 
 static void
 usage(void)
@@ -73,7 +79,9 @@ usage(void)
 	fprintf(stderr, "\tgpioctl [-f ctldev] [-pN] -t pin\n");
 	fprintf(stderr, "\tgpioctl [-f ctldev] [-pN] -c pin flag ...\n");
 	fprintf(stderr, "\tgpioctl [-f ctldev] [-pN] -n pin pin-name\n");
+	fprintf(stderr, "\tgpioctl [-f ctldev] [-pN] pin pwmflag [value]\n");
 	fprintf(stderr, "\tgpioctl [-f ctldev] [-pN] pin [0|1]\n");
+	fprintf(stderr, "\tgpioctl [-f ctldev] -P pwm pwmflag [value]\n");
 	exit(1);
 }
 
@@ -90,10 +98,9 @@ cap2str(uint32_t cap)
 	return "UNKNOWN";
 }
 
-int
-str2cap(const char *str)
+static int
+str2cap(const char *str, struct flag_desc *pdesc)
 {
-	struct flag_desc * pdesc = gpio_flags;
 	while (pdesc->name) {
 		if (strcasecmp(str, pdesc->name) == 0)
 			return pdesc->flag;
@@ -111,7 +118,7 @@ str2int(const char *s, int *ok)
 {
 	char *endptr;
 	int res = strtod(s, &endptr);
-	if (endptr != s + strlen(s) )
+	if (endptr != s + strlen(s))
 		*ok = 0;
 	else
 		*ok = 1;
@@ -211,13 +218,13 @@ main(int argc, char **argv)
 	gpio_config_t pin;
 	gpio_handle_t handle;
 	char *ctlfile = NULL;
-	int pinn, pinv, pin_type, ch;
+	int pinn, pinv, pin_type, pwmn, ch;
 	int flags, flag, ok;
-	int config, list, name, toggle, verbose;
+	int config, list, name, pwm, toggle, verbose;
 
-	config = toggle = verbose = list = name = pin_type = 0;
+	config = toggle = verbose = list = name = pin_type = pwm = 0;
 
-	while ((ch = getopt(argc, argv, "cf:lntvNp")) != -1) {
+	while ((ch = getopt(argc, argv, "cf:lntvNpP")) != -1) {
 		switch (ch) {
 		case 'c':
 			config = 1;
@@ -234,9 +241,12 @@ main(int argc, char **argv)
 		case 'N':
 			pin_type = PIN_TYPE_NAME;
 			break;
-		case'p':
+		case 'p':
 			pin_type = PIN_TYPE_NUMBER;
 			break;
+		case 'P':
+			pin_type = PIN_TYPE_PWM;
+			break;
 		case 't':
 			toggle = 1;
 			break;
@@ -283,10 +293,13 @@ main(int argc, char **argv)
 				fail("Can't find pin named \"%s\"\n", argv[0]);
 		}
 		break;
+	case PIN_TYPE_PWM:
 	case PIN_TYPE_NUMBER:
 		pinn = str2int(argv[0], &ok);
 		if (!ok)
-			fail("Invalid pin number: %s\n", argv[0]);
+			fail("Invalid %s number: %s\n",
+			    (pin_type == PIN_TYPE_NUMBER) ? "pin" : "pwm",
+			    argv[0]);
 		break;
 	case PIN_TYPE_NAME:
 		if ((pinn = get_pinnum_by_name(handle, argv[0])) == -1)
@@ -322,7 +335,7 @@ main(int argc, char **argv)
 	if (config) {
 		flags = 0;
 		for (i = 1; i < argc; i++) {
-			flag = 	str2cap(argv[i]);
+			flag = str2cap(argv[i], gpio_flags);
 			if (flag < 0)
 				fail("Invalid flag: %s\n", argv[i]);
 			flags |= flag;
@@ -336,6 +349,35 @@ main(int argc, char **argv)
 		exit(0);
 	}
 
+	/* PWM Settings */
+	flags = -1;
+	if (argc > 0)
+		flags = str2cap(argv[1], pwm_flags);
+	if (flags != -1) {
+		if (pin_type == PIN_TYPE_PWM) {
+			pwmn = pinn;
+			pinn = -1;
+		} else
+			pwmn = -1;
+		if (argc > 2) {
+			/* Is it valid number ? */
+			pinv = str2int(argv[2], &ok);
+			if (ok == 0)
+				fail("Invalid pin value: %s\n", argv[1]);
+			if (gpio_pwm_set(handle, pwmn, pinn, flags, pinv) < 0) {
+				perror("gpio_pwm_set");
+				exit(1);
+			}
+		} else {
+			if (gpio_pwm_get(handle, pwmn, pinn, flags, &pinv) < 0) {
+				perror("gpio_pwm_get");
+				exit(1);
+			}
+			printf("%d\n", pinv);
+		}
+		exit(0);
+	}
+
 	/*
 	 * Last two cases - set value or print value
 	 */