ti-eqep.c

// SPDX-License-Identifier: GPL-2.0-only
/*
 * Copyright (C) 2019 David Lechner <david@lechnology.com>
 *
 * Counter driver for Texas Instruments Enhanced Quadrature Encoder Pulse (eQEP)
 */

#include <linux/bitops.h>
#include <linux/counter.h>
#include <linux/kernel.h>
#include <linux/mod_devicetable.h>
#include <linux/module.h>
#include <linux/platform_device.h>
#include <linux/pm_runtime.h>
#include <linux/regmap.h>

/* 32-bit registers */
#define QPOSCNT		0x0
#define QPOSINIT	0x4
#define QPOSMAX		0x8
#define QPOSCMP		0xc
#define QPOSILAT	0x10
#define QPOSSLAT	0x14
#define QPOSLAT		0x18
#define QUTMR		0x1c
#define QUPRD		0x20

/* 16-bit registers */
#define QWDTMR		0x0	/* 0x24 */
#define QWDPRD		0x2	/* 0x26 */
#define QDECCTL		0x4	/* 0x28 */
#define QEPCTL		0x6	/* 0x2a */
#define QCAPCTL		0x8	/* 0x2c */
#define QPOSCTL		0xa	/* 0x2e */
#define QEINT		0xc	/* 0x30 */
#define QFLG		0xe	/* 0x32 */
#define QCLR		0x10	/* 0x34 */
#define QFRC		0x12	/* 0x36 */
#define QEPSTS		0x14	/* 0x38 */
#define QCTMR		0x16	/* 0x3a */
#define QCPRD		0x18	/* 0x3c */
#define QCTMRLAT	0x1a	/* 0x3e */
#define QCPRDLAT	0x1c	/* 0x40 */

#define QDECCTL_QSRC_SHIFT	14
#define QDECCTL_QSRC		GENMASK(15, 14)
#define QDECCTL_SOEN		BIT(13)
#define QDECCTL_SPSEL		BIT(12)
#define QDECCTL_XCR		BIT(11)
#define QDECCTL_SWAP		BIT(10)
#define QDECCTL_IGATE		BIT(9)
#define QDECCTL_QAP		BIT(8)
#define QDECCTL_QBP		BIT(7)
#define QDECCTL_QIP		BIT(6)
#define QDECCTL_QSP		BIT(5)

#define QEPCTL_FREE_SOFT	GENMASK(15, 14)
#define QEPCTL_PCRM		GENMASK(13, 12)
#define QEPCTL_SEI		GENMASK(11, 10)
#define QEPCTL_IEI		GENMASK(9, 8)
#define QEPCTL_SWI		BIT(7)
#define QEPCTL_SEL		BIT(6)
#define QEPCTL_IEL		GENMASK(5, 4)
#define QEPCTL_PHEN		BIT(3)
#define QEPCTL_QCLM		BIT(2)
#define QEPCTL_UTE		BIT(1)
#define QEPCTL_WDE		BIT(0)

/* EQEP Inputs */
enum {
	TI_EQEP_SIGNAL_QEPA,	/* QEPA/XCLK */
	TI_EQEP_SIGNAL_QEPB,	/* QEPB/XDIR */
};

/* Position Counter Input Modes */
enum {
	TI_EQEP_COUNT_FUNC_QUAD_COUNT,
	TI_EQEP_COUNT_FUNC_DIR_COUNT,
	TI_EQEP_COUNT_FUNC_UP_COUNT,
	TI_EQEP_COUNT_FUNC_DOWN_COUNT,
};

enum {
	TI_EQEP_SYNAPSE_ACTION_BOTH_EDGES,
	TI_EQEP_SYNAPSE_ACTION_RISING_EDGE,
	TI_EQEP_SYNAPSE_ACTION_NONE,
};

struct ti_eqep_cnt {
	struct counter_device counter;
	struct regmap *regmap32;
	struct regmap *regmap16;
};

static int ti_eqep_count_read(struct counter_device *counter,
			      struct counter_count *count, unsigned long *val)
{
	struct ti_eqep_cnt *priv = counter->priv;
	u32 cnt;

	regmap_read(priv->regmap32, QPOSCNT, &cnt);
	*val = cnt;

	return 0;
}

static int ti_eqep_count_write(struct counter_device *counter,
			       struct counter_count *count, unsigned long val)
{
	struct ti_eqep_cnt *priv = counter->priv;
	u32 max;

	regmap_read(priv->regmap32, QPOSMAX, &max);
	if (val > max)
		return -EINVAL;

	return regmap_write(priv->regmap32, QPOSCNT, val);
}

static int ti_eqep_function_get(struct counter_device *counter,
				struct counter_count *count, size_t *function)
{
	struct ti_eqep_cnt *priv = counter->priv;
	u32 qdecctl;

	regmap_read(priv->regmap16, QDECCTL, &qdecctl);
	*function = (qdecctl & QDECCTL_QSRC) >> QDECCTL_QSRC_SHIFT;

	return 0;
}

static int ti_eqep_function_set(struct counter_device *counter,
				struct counter_count *count, size_t function)
{
	struct ti_eqep_cnt *priv = counter->priv;

	return regmap_write_bits(priv->regmap16, QDECCTL, QDECCTL_QSRC,
				 function << QDECCTL_QSRC_SHIFT);
}

static int ti_eqep_action_get(struct counter_device *counter,
			      struct counter_count *count,
			      struct counter_synapse *synapse, size_t *action)
{
	struct ti_eqep_cnt *priv = counter->priv;
	size_t function;
	u32 qdecctl;
	int err;

	err = ti_eqep_function_get(counter, count, &function);
	if (err)
		return err;

	switch (function) {
	case TI_EQEP_COUNT_FUNC_QUAD_COUNT:
		/* In quadrature mode, the rising and falling edge of both
		 * QEPA and QEPB trigger QCLK.
		 */
		*action = TI_EQEP_SYNAPSE_ACTION_BOTH_EDGES;
		break;
	case TI_EQEP_COUNT_FUNC_DIR_COUNT:
		/* In direction-count mode only rising edge of QEPA is counted
		 * and QEPB gives direction.
		 */
		switch (synapse->signal->id) {
		case TI_EQEP_SIGNAL_QEPA:
			*action = TI_EQEP_SYNAPSE_ACTION_RISING_EDGE;
			break;
		default:
			*action = TI_EQEP_SYNAPSE_ACTION_NONE;
			break;
		}
		break;
	case TI_EQEP_COUNT_FUNC_UP_COUNT:
	case TI_EQEP_COUNT_FUNC_DOWN_COUNT:
		/* In up/down-count modes only QEPA is counted and QEPB is not
		 * used.
		 */
		switch (synapse->signal->id) {
		case TI_EQEP_SIGNAL_QEPA:
			err = regmap_read(priv->regmap16, QDECCTL, &qdecctl);
			if (err)
				return err;

			if (qdecctl & QDECCTL_XCR)
				*action = TI_EQEP_SYNAPSE_ACTION_BOTH_EDGES;
			else
				*action = TI_EQEP_SYNAPSE_ACTION_RISING_EDGE;
			break;
		default:
			*action = TI_EQEP_SYNAPSE_ACTION_NONE;
			break;
		}
		break;
	}

	return 0;
}

static const struct counter_ops ti_eqep_counter_ops = {
	.count_read	= ti_eqep_count_read,
	.count_write	= ti_eqep_count_write,
	.function_get	= ti_eqep_function_get,
	.function_set	= ti_eqep_function_set,
	.action_get	= ti_eqep_action_get,
};

static ssize_t ti_eqep_position_ceiling_read(struct counter_device *counter,
					     struct counter_count *count,
					     void *ext_priv, char *buf)
{
	struct ti_eqep_cnt *priv = counter->priv;
	u32 qposmax;

	regmap_read(priv->regmap32, QPOSMAX, &qposmax);

	return sprintf(buf, "%u\n", qposmax);
}

static ssize_t ti_eqep_position_ceiling_write(struct counter_device *counter,
					      struct counter_count *count,
					      void *ext_priv, const char *buf,
					      size_t len)
{
	struct ti_eqep_cnt *priv = counter->priv;
	int err;
	u32 res;

	err = kstrtouint(buf, 0, &res);
	if (err < 0)
		return err;

	regmap_write(priv->regmap32, QPOSMAX, res);

	return len;
}

static ssize_t ti_eqep_position_floor_read(struct counter_device *counter,
					   struct counter_count *count,
					   void *ext_priv, char *buf)
{
	struct ti_eqep_cnt *priv = counter->priv;
	u32 qposinit;

	regmap_read(priv->regmap32, QPOSINIT, &qposinit);

	return sprintf(buf, "%u\n", qposinit);
}

static ssize_t ti_eqep_position_floor_write(struct counter_device *counter,
					    struct counter_count *count,
					    void *ext_priv, const char *buf,
					    size_t len)
{
	struct ti_eqep_cnt *priv = counter->priv;
	int err;
	u32 res;

	err = kstrtouint(buf, 0, &res);
	if (err < 0)
		return err;

	regmap_write(priv->regmap32, QPOSINIT, res);

	return len;
}

static ssize_t ti_eqep_position_enable_read(struct counter_device *counter,
					    struct counter_count *count,
					    void *ext_priv, char *buf)
{
	struct ti_eqep_cnt *priv = counter->priv;
	u32 qepctl;

	regmap_read(priv->regmap16, QEPCTL, &qepctl);

	return sprintf(buf, "%u\n", !!(qepctl & QEPCTL_PHEN));
}

static ssize_t ti_eqep_position_enable_write(struct counter_device *counter,
					     struct counter_count *count,
					     void *ext_priv, const char *buf,
					     size_t len)
{
	struct ti_eqep_cnt *priv = counter->priv;
	int err;
	bool res;

	err = kstrtobool(buf, &res);
	if (err < 0)
		return err;

	regmap_write_bits(priv->regmap16, QEPCTL, QEPCTL_PHEN, res ? -1 : 0);

	return len;
}

static struct counter_count_ext ti_eqep_position_ext[] = {
	{
		.name	= "ceiling",
		.read	= ti_eqep_position_ceiling_read,
		.write	= ti_eqep_position_ceiling_write,
	},
	{
		.name	= "floor",
		.read	= ti_eqep_position_floor_read,
		.write	= ti_eqep_position_floor_write,
	},
	{
		.name	= "enable",
		.read	= ti_eqep_position_enable_read,
		.write	= ti_eqep_position_enable_write,
	},
};

static struct counter_signal ti_eqep_signals[] = {
	[TI_EQEP_SIGNAL_QEPA] = {
		.id = TI_EQEP_SIGNAL_QEPA,
		.name = "QEPA"
	},
	[TI_EQEP_SIGNAL_QEPB] = {
		.id = TI_EQEP_SIGNAL_QEPB,
		.name = "QEPB"
	},
};

static const enum counter_count_function ti_eqep_position_functions[] = {
	[TI_EQEP_COUNT_FUNC_QUAD_COUNT]	= COUNTER_COUNT_FUNCTION_QUADRATURE_X4,
	[TI_EQEP_COUNT_FUNC_DIR_COUNT]	= COUNTER_COUNT_FUNCTION_PULSE_DIRECTION,
	[TI_EQEP_COUNT_FUNC_UP_COUNT]	= COUNTER_COUNT_FUNCTION_INCREASE,
	[TI_EQEP_COUNT_FUNC_DOWN_COUNT]	= COUNTER_COUNT_FUNCTION_DECREASE,
};

static const enum counter_synapse_action ti_eqep_position_synapse_actions[] = {
	[TI_EQEP_SYNAPSE_ACTION_BOTH_EDGES]	= COUNTER_SYNAPSE_ACTION_BOTH_EDGES,
	[TI_EQEP_SYNAPSE_ACTION_RISING_EDGE]	= COUNTER_SYNAPSE_ACTION_RISING_EDGE,
	[TI_EQEP_SYNAPSE_ACTION_NONE]		= COUNTER_SYNAPSE_ACTION_NONE,
};

static struct counter_synapse ti_eqep_position_synapses[] = {
	{
		.actions_list	= ti_eqep_position_synapse_actions,
		.num_actions	= ARRAY_SIZE(ti_eqep_position_synapse_actions),
		.signal		= &ti_eqep_signals[TI_EQEP_SIGNAL_QEPA],
	},
	{
		.actions_list	= ti_eqep_position_synapse_actions,
		.num_actions	= ARRAY_SIZE(ti_eqep_position_synapse_actions),
		.signal		= &ti_eqep_signals[TI_EQEP_SIGNAL_QEPB],
	},
};

static struct counter_count ti_eqep_counts[] = {
	{
		.id		= 0,
		.name		= "QPOSCNT",
		.functions_list	= ti_eqep_position_functions,
		.num_functions	= ARRAY_SIZE(ti_eqep_position_functions),
		.synapses	= ti_eqep_position_synapses,
		.num_synapses	= ARRAY_SIZE(ti_eqep_position_synapses),
		.ext		= ti_eqep_position_ext,
		.num_ext	= ARRAY_SIZE(ti_eqep_position_ext),
	},
};

static const struct regmap_config ti_eqep_regmap32_config = {
	.name = "32-bit",
	.reg_bits = 32,
	.val_bits = 32,
	.reg_stride = 4,
	.max_register = 0x24,
};

static const struct regmap_config ti_eqep_regmap16_config = {
	.name = "16-bit",
	.reg_bits = 16,
	.val_bits = 16,
	.reg_stride = 2,
	.max_register = 0x1e,
};

static int ti_eqep_probe(struct platform_device *pdev)
{
	struct device *dev = &pdev->dev;
	struct ti_eqep_cnt *priv;
	void __iomem *base;
	int err;

	priv = devm_kzalloc(dev, sizeof(*priv), GFP_KERNEL);
	if (!priv)
		return -ENOMEM;

	base = devm_platform_ioremap_resource(pdev, 0);
	if (IS_ERR(base))
		return PTR_ERR(base);

	priv->regmap32 = devm_regmap_init_mmio(dev, base,
					       &ti_eqep_regmap32_config);
	if (IS_ERR(priv->regmap32))
		return PTR_ERR(priv->regmap32);

	priv->regmap16 = devm_regmap_init_mmio(dev, base + 0x24,
					       &ti_eqep_regmap16_config);
	if (IS_ERR(priv->regmap16))
		return PTR_ERR(priv->regmap16);

	priv->counter.name = dev_name(dev);
	priv->counter.parent = dev;
	priv->counter.ops = &ti_eqep_counter_ops;
	priv->counter.counts = ti_eqep_counts;
	priv->counter.num_counts = ARRAY_SIZE(ti_eqep_counts);
	priv->counter.signals = ti_eqep_signals;
	priv->counter.num_signals = ARRAY_SIZE(ti_eqep_signals);
	priv->counter.priv = priv;

	platform_set_drvdata(pdev, priv);

	/*
	 * Need to make sure power is turned on. On AM33xx, this comes from the
	 * parent PWMSS bus driver. On AM17xx, this comes from the PSC power
	 * domain.
	 */
	pm_runtime_enable(dev);
	pm_runtime_get_sync(dev);

	err = counter_register(&priv->counter);
	if (err < 0) {
		pm_runtime_put_sync(dev);
		pm_runtime_disable(dev);
		return err;
	}

	return 0;
}

static int ti_eqep_remove(struct platform_device *pdev)
{
	struct ti_eqep_cnt *priv = platform_get_drvdata(pdev);
	struct device *dev = &pdev->dev;

	counter_unregister(&priv->counter);
	pm_runtime_put_sync(dev),
	pm_runtime_disable(dev);

	return 0;
}

static const struct of_device_id ti_eqep_of_match[] = {
	{ .compatible = "ti,am3352-eqep", },
	{ },
};
MODULE_DEVICE_TABLE(of, ti_eqep_of_match);

static struct platform_driver ti_eqep_driver = {
	.probe = ti_eqep_probe,
	.remove = ti_eqep_remove,
	.driver = {
		.name = "ti-eqep-cnt",
		.of_match_table = ti_eqep_of_match,
	},
};
module_platform_driver(ti_eqep_driver);

MODULE_AUTHOR("David Lechner <david@lechnology.com>");
MODULE_DESCRIPTION("TI eQEP counter driver");
MODULE_LICENSE("GPL v2");