mtb-hal-cat1/source/cyhal_pwm.c

/***************************************************************************//**
* \file cyhal_pwm.c
*
* \brief
* Provides a high level interface for interacting with the Infineon PWM. This is
* a wrapper around the lower level PDL API.
*
********************************************************************************
* \copyright
* Copyright 2018-2022 Cypress Semiconductor Corporation (an Infineon company) or
* an affiliate of Cypress Semiconductor Corporation
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/

/**
 * \addtogroup group_hal_impl_pwm PWM (Pulse Width Modulator)
 * \ingroup group_hal_impl
 * \{
 * \section section_hal_impl_pwm_compl_pins Complementary PWM output
 * The PWM HAL driver allows generation of a normal and an inverted output. PSoC™ devices support
 * complementary pin pairs to which the normal and inverted signals can be routed. To identify
 * the complementary pin for a given pin, open the PSoC™ device datasheet and navigate to the
 * 'Multiple Alternate Functions' table. Each column represents an alternate function of the pin
 * in the corresponding row. Find your pin and make a note of the tcpwm[X].line[Y]:Z. The
 * complementary pin is found by looking up the pin against tcpwm[X].line_<b>compl</b>[Y]:Z from
 * the same column. For example, the image below shows a pair of complementary pins (P0.0 and P0.1)
 * identified by the tcpwm[0].line[0]:0 and tcpwm[0].line_compl[0]:0 mapping. These complementary
 * pins can be supplied to \ref cyhal_pwm_init_adv using <b>pin</b> and <b>compl_pin</b> parameters
 * in any order. \image html pwm_compl_pins.png "Complementary PWM pins"
 *
 * \section section_psoc6_pwm_resolution PWM Resolution
 * On CAT1 (PSoC™ 6) devices, not all PWMs hardware blocks are of the same resolution. The
 * resolution of the PWM associated with a given pin is specified by the `TCPWM<idx>_CNT_CNT_WIDTH`
 * macro (provided by cy_device_headers.h in mtb-pdl-cat1), where `<idx>` is the index associated
 * with the `tcpwm` portion of the entry in the pin function table. For example, if the pin
 * function is `tcpwm[1].line[3]:Z`, `<idx>` would be 1.
 *
 * By default, the PWM HAL driver will configure the input clock frequency such that all PWM
 * instances are able to provide the same maximum period regardless of the underlying resolution,
 * but period and duty cycle can be specified with reduced granularity on lower-resolution PWM
 * instances. If an application is more sensitive to PWM precision than maximum period, or if a
 * longer maximum period is required (with correspondingly reduced precision), it is possible to
 * override the default clock by passing a \ref cyhal_clock_t instance to the
 * \ref cyhal_pwm_init function with a custom frequency specified. See the \ref group_hal_clock
 * HAL documentation for more details.
 *
 * \} group_hal_impl_pwm
 */

#include <string.h>

#include "cyhal_clock.h"
#include "cyhal_gpio.h"
#include "cyhal_pwm.h"
#include "cyhal_interconnect.h"
#include "cyhal_syspm.h"
#include "cyhal_utils.h"

#if (CYHAL_DRIVER_AVAILABLE_PWM)

#if defined(__cplusplus)
extern "C" {
#endif

#if defined(CY_IP_MXTCPWM_INSTANCES)
#define _CYHAL_PWM_MAX_WIDTH         32
#else
#define _CYHAL_PWM_MAX_WIDTH         16
#endif
#define _CYHAL_PWM_MAX_DEAD_TIME_CYCLES    255
static const uint32_t _CYHAL_PWM_US_PER_SEC = 1000000u;

#if defined(CY_IP_MXTCPWM) && (CY_IP_MXTCPWM_VERSION >= 2)
/** The configuration of PWM output signal for Center and Asymmetric alignment with overflow and underflow swapped */
#define _CYHAL_PWM_MODE_CNTR_OR_ASYMM_UO_SWAPPED (_VAL2FLD(TCPWM_GRP_CNT_V2_TR_PWM_CTRL_CC0_MATCH_MODE, CY_TCPWM_PWM_TR_CTRL2_INVERT) | \
                                         _VAL2FLD(TCPWM_GRP_CNT_V2_TR_PWM_CTRL_OVERFLOW_MODE, CY_TCPWM_PWM_TR_CTRL2_CLEAR) | \
                                         _VAL2FLD(TCPWM_GRP_CNT_V2_TR_PWM_CTRL_UNDERFLOW_MODE, CY_TCPWM_PWM_TR_CTRL2_SET))
#else
/** The configuration of PWM output signal for Center and Asymmetric alignment with overflow and underflow swapped */
#define _CYHAL_PWM_MODE_CNTR_OR_ASYMM_UO_SWAPPED (_VAL2FLD(TCPWM_CNT_TR_CTRL2_CC_MATCH_MODE, CY_TCPWM_PWM_TR_CTRL2_INVERT) | \
                                         _VAL2FLD(TCPWM_CNT_TR_CTRL2_OVERFLOW_MODE, CY_TCPWM_PWM_TR_CTRL2_CLEAR) | \
                                         _VAL2FLD(TCPWM_CNT_TR_CTRL2_UNDERFLOW_MODE, CY_TCPWM_PWM_TR_CTRL2_SET))
#endif


static cy_rslt_t _cyhal_pwm_convert_alignment(cyhal_pwm_alignment_t hal_alignment, uint32_t *pdl_alignment, bool swapped)
{
    switch (hal_alignment)
    {
        case CYHAL_PWM_LEFT_ALIGN:
            *pdl_alignment = (swapped) ? CY_TCPWM_PWM_RIGHT_ALIGN : CY_TCPWM_PWM_LEFT_ALIGN;
            return CY_RSLT_SUCCESS;
        case CYHAL_PWM_RIGHT_ALIGN:
            *pdl_alignment = (swapped) ? CY_TCPWM_PWM_LEFT_ALIGN : CY_TCPWM_PWM_RIGHT_ALIGN;
            return CY_RSLT_SUCCESS;
        case CYHAL_PWM_CENTER_ALIGN:
            *pdl_alignment = CY_TCPWM_PWM_CENTER_ALIGN;
            return CY_RSLT_SUCCESS;
        default:
            return CYHAL_PWM_RSLT_BAD_ARGUMENT;
    }
}

static cy_rslt_t cyhal_pwm_set_period_and_compare(cyhal_pwm_t *obj, uint32_t period, uint32_t compare)
{
    if (period < 1 || period > (uint32_t)((1 << _CYHAL_TCPWM_DATA[_CYHAL_TCPWM_ADJUST_BLOCK_INDEX(obj->tcpwm.resource.block_num)].max_count)) - 1)
        return CYHAL_PWM_RSLT_BAD_ARGUMENT;

    cyhal_gpio_t pin = obj->pin;
    cyhal_gpio_t pin_compl = obj->pin_compl;

    Cy_TCPWM_PWM_SetCompare0(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource), 0u);
    Cy_TCPWM_PWM_SetPeriod0(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource), period - 1u);

    #if defined(CYHAL_PIN_MAP_DRIVE_MODE_TCPWM_LINE_COMPL)
    bool swapped_pins =
        (NC == pin || (_CYHAL_UTILS_GET_RESOURCE_INST(pin, cyhal_pin_map_tcpwm_line_compl, &obj->tcpwm.resource) != NULL)) &&
        (NC == pin_compl || (_CYHAL_UTILS_GET_RESOURCE_INST(pin_compl, cyhal_pin_map_tcpwm_line, &obj->tcpwm.resource) != NULL));
    #else
    CY_UNUSED_PARAMETER(pin);
    CY_UNUSED_PARAMETER(pin_compl);
    bool swapped_pins = false;
    #endif /* defined(CYHAL_PIN_MAP_DRIVE_MODE_TCPWM_LINE_COMPL) */

    #if defined(CY_IP_MXTCPWM) && (CY_IP_MXTCPWM_VERSION >= 2)
    uint32_t pwm_ctrl_reg = TCPWM_GRP_CNT_TR_PWM_CTRL(obj->tcpwm.base, _CYHAL_TCPWM_GET_GRP(obj->tcpwm.resource.block_num),
                                _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource));
    uint32_t cc1_ignore_mask = (0 == _CYHAL_TCPWM_GET_GRP(obj->tcpwm.resource.block_num)) ?
                                0 : CY_TCPWM_PWM_MODE_CC1_IGNORE;
    bool is_center_aligned = (pwm_ctrl_reg == (CY_TCPWM_PWM_MODE_CNTR_OR_ASYMM | cc1_ignore_mask)) ||
                                (pwm_ctrl_reg == (_CYHAL_PWM_MODE_CNTR_OR_ASYMM_UO_SWAPPED | cc1_ignore_mask));
    #else
    bool is_center_aligned = (TCPWM_CNT_TR_CTRL2(obj->tcpwm.base, obj->tcpwm.resource.channel_num) == CY_TCPWM_PWM_MODE_CNTR_OR_ASYMM) ||
                                (TCPWM_CNT_TR_CTRL2(obj->tcpwm.base, obj->tcpwm.resource.channel_num) == _CYHAL_PWM_MODE_CNTR_OR_ASYMM_UO_SWAPPED);
    #endif /* CY_IP_MXTCPWM_VERSION >= 2 or other */

    uint32_t new_compare_value = (swapped_pins && !is_center_aligned)
        ? period - compare
        : compare;

    if (new_compare_value >= period)
        new_compare_value = period - 1;

    Cy_TCPWM_PWM_SetCompare0(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource), new_compare_value);
    if (Cy_TCPWM_PWM_GetCounter(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource)) >= new_compare_value)
    {
        Cy_TCPWM_PWM_SetCounter(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource), 0);
    }

    return CY_RSLT_SUCCESS;
}

static cy_rslt_t _cyhal_pwm_update_clock_freq(cyhal_pwm_t *obj, uint32_t period_us)
{
    cy_rslt_t result = CY_RSLT_SUCCESS;
    /* If we don't own the clock, it is up to the application to pick a suitable divider.
     * If a non-zero dead time was set, the required clock is calculated to facilitate the requested
     * dead time, which does not change when we change the requested period */
    if(obj->tcpwm.dedicated_clock && false == obj->dead_time_set)
    {
        uint32_t source_hz = _cyhal_utils_get_peripheral_clock_frequency(&(obj->tcpwm.resource));
        // Pick the highest frequency that will let us achieve the requested period, for maximum granularity
        uint64_t max_period_counts = (uint64_t)((uint64_t)1u << _CYHAL_TCPWM_DATA[_CYHAL_TCPWM_ADJUST_BLOCK_INDEX(obj->tcpwm.resource.block_num)].max_count);
        /* Round down to make sure we err on the side of handling longer than the requested period */
        /* Conceptually this is:
         * counts_per_us = max_period_counts / period_us
         * desired_freq_hz = counts_per_us * 1e6
         * But if we break those out separately, we lose too much precision to rounding in counts_per_us
         */
        uint64_t desired_freq_hz = (uint64_t)((max_period_counts * 1000000) / period_us);

        if(desired_freq_hz > source_hz)
        {
            /* The source clock is well below that max frequency that would permit the requested period, so just
             * use the source clock as-is */
            desired_freq_hz = source_hz;
        }
        /* Always round the divider up because it's better to err on the side of a slower clock, ensuring that we can always
         * meet the requested period at the possible expense of granularity */
        uint32_t div = (uint32_t)((source_hz + (desired_freq_hz - 1))/ desired_freq_hz);
        /* When we allocate a dedicated clock divider we ask for 16-bit (or greater). For consistent behavior, always limit the frequency
         * to what a 16-bit divider can handle */
        if(div > (((uint32_t)1u) << 16)) /* Don't use UINT16_MAX. A 16-bit divider can truly support up to a 2^16 divide ratio */
        {
            div = ((uint32_t)1u) << 16;
        }
        en_clk_dst_t pclk = (en_clk_dst_t)(_CYHAL_TCPWM_DATA[_CYHAL_TCPWM_ADJUST_BLOCK_INDEX(obj->tcpwm.resource.block_num)].clock_dst + obj->tcpwm.resource.channel_num);
        result = _cyhal_utils_peri_pclk_set_divider(pclk, &(obj->tcpwm.clock), div - 1);
        if(CY_RSLT_SUCCESS == result)
        {
            obj->tcpwm.clock_hz = cyhal_clock_get_frequency(&obj->tcpwm.clock);
        }
    }
    return result;
}

static cy_rslt_t _cyhal_pwm_init_clock(cyhal_pwm_t *obj, uint32_t dead_time_us, const cyhal_clock_t* clk)
{
    cy_rslt_t result = CY_RSLT_SUCCESS;
    en_clk_dst_t pclk = (en_clk_dst_t)(_CYHAL_TCPWM_DATA[_CYHAL_TCPWM_ADJUST_BLOCK_INDEX(obj->tcpwm.resource.block_num)].clock_dst + obj->tcpwm.resource.channel_num);
    if (NULL != clk)
    {
        obj->tcpwm.clock = *clk;
        if (CY_SYSCLK_SUCCESS != _cyhal_utils_peri_pclk_assign_divider(pclk, &(obj->tcpwm.clock)))
        {
            result = CYHAL_PWM_RSLT_FAILED_CLOCK_INIT;
        }
    }
    else if (CY_RSLT_SUCCESS == (result = _cyhal_utils_allocate_clock(&obj->tcpwm.clock, &obj->tcpwm.resource, CYHAL_CLOCK_BLOCK_PERIPHERAL_16BIT, true)))
    {
        obj->tcpwm.dedicated_clock = true;
        uint32_t source_hz = _cyhal_utils_get_peripheral_clock_frequency(&(obj->tcpwm.resource));
        uint32_t div = 0;
        if (dead_time_us > 0)
        {
            div = (((uint64_t)source_hz * dead_time_us) / (_CYHAL_PWM_US_PER_SEC * _CYHAL_PWM_MAX_DEAD_TIME_CYCLES)) + 1;
            #if defined (COMPONENT_CAT5)
                /* TODO: dividers are limited on this device. Need to investigate a better solution.
                 * Refer to TCPWM_TPORT_CLK_DIV_SEL_t. Below is an approximation that will hopefully
                   give good enough scale when configuring the PWM in the configure() function.
                 */
                if(( div % 2 != 0) && ( div != 1 ) && ( div < 12 ))
                {
                    div++;
                }
                else if ((div > 12) && (div < 16))
                {
                    div = 16;
                }
                else if (div > 16)
                {
                    div = 32; // Max allowed
                }
            #endif
        }
        else
        {
            div = 1; /* Will be adjusted as necessary when the period is set */
        }

        if (0 == div ||
            CY_SYSCLK_SUCCESS != _cyhal_utils_peri_pclk_set_divider(pclk, &(obj->tcpwm.clock), div - 1) ||
            CY_SYSCLK_SUCCESS != _cyhal_utils_peri_pclk_enable_divider(pclk, &(obj->tcpwm.clock)) ||
            CY_SYSCLK_SUCCESS != _cyhal_utils_peri_pclk_assign_divider(pclk, &(obj->tcpwm.clock)))
        {
            result = CYHAL_PWM_RSLT_FAILED_CLOCK_INIT;
        }
    }
    if (CY_RSLT_SUCCESS == result)
    {
        obj->tcpwm.clock_hz = cyhal_clock_get_frequency(&obj->tcpwm.clock);
    }

    return result;
}

static cy_rslt_t _cyhal_pwm_init_hw(cyhal_pwm_t *obj, const cy_stc_tcpwm_pwm_config_t* config, bool swapped)
{
    cy_rslt_t result = Cy_TCPWM_PWM_Init(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource), config);

    if ((swapped) && (config->pwmAlignment == CY_TCPWM_PWM_CENTER_ALIGN))
    {
        #if defined(CY_IP_MXTCPWM) && (CY_IP_MXTCPWM_VERSION >= 2)
        uint32_t cntr_asym_swapped_reg_val = (0 == TCPWM_GRP_CNT_GET_GRP(_CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource))) ?
            /* Group 0 counters does not have CC1 */
            _CYHAL_PWM_MODE_CNTR_OR_ASYMM_UO_SWAPPED :
            _CYHAL_PWM_MODE_CNTR_OR_ASYMM_UO_SWAPPED | CY_TCPWM_PWM_MODE_CC1_IGNORE;
        TCPWM_GRP_CNT_TR_PWM_CTRL(obj->tcpwm.base, TCPWM_GRP_CNT_GET_GRP(_CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource)),
                _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource)) = cntr_asym_swapped_reg_val;
        #else
        TCPWM_CNT_TR_CTRL2(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource)) = _CYHAL_PWM_MODE_CNTR_OR_ASYMM_UO_SWAPPED;
        #endif /* CY_IP_MXTCPWM_VERSION >= 2 or other */
    }

    if (CY_RSLT_SUCCESS == result)
    {
        _cyhal_tcpwm_init_data(&obj->tcpwm);
        obj->dead_time_set = (0u != config->deadTimeClocks);
        Cy_TCPWM_PWM_Enable(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource));
    }

    return result;
}

cy_rslt_t cyhal_pwm_init_cfg(cyhal_pwm_t *obj, const cyhal_pwm_configurator_t *cfg)
{
    obj->tcpwm.resource = *cfg->resource;
    obj->tcpwm.base     = _CYHAL_TCPWM_DATA[_CYHAL_TCPWM_ADJUST_BLOCK_INDEX(obj->tcpwm.resource.block_num)].base;
    /* Pass 0 for dead time us because we can't easily calculate that, but that's okay because the
     * configurator will already have calculated assigned a clock and calculated dead time cycles for us */
    cy_rslt_t result = _cyhal_pwm_init_clock(obj, 0u, cfg->clock);

    if(CY_RSLT_SUCCESS == result)
    {
        /* Hard-code swapped to false becuase the configurator doesn't support swapping today, and if it adds support
         * for it in the future it will handle the relevant register manipulations itself */
        result = _cyhal_pwm_init_hw(obj, cfg->config, false);
    }

    if(CY_RSLT_SUCCESS != result)
    {
        cyhal_pwm_free(obj);
    }

    return result;
}


cy_rslt_t cyhal_pwm_init_adv(cyhal_pwm_t *obj, cyhal_gpio_t pin, cyhal_gpio_t compl_pin, cyhal_pwm_alignment_t pwm_alignment, bool continuous, uint32_t dead_time_us, bool invert, const cyhal_clock_t *clk)
{
    CY_ASSERT(NULL != obj);

    cy_rslt_t result = CY_RSLT_SUCCESS;
    memset(obj, 0, sizeof(cyhal_pwm_t));
    /* Explicitly marked not allocated resources as invalid to prevent freeing them. */
    obj->tcpwm.resource.type = CYHAL_RSC_INVALID;
    obj->pin                 = CYHAL_NC_PIN_VALUE;
    obj->pin_compl           = CYHAL_NC_PIN_VALUE;

    const cyhal_resource_pin_mapping_t* map = _CYHAL_UTILS_TRY_ALLOC(pin, CYHAL_RSC_TCPWM, cyhal_pin_map_tcpwm_line);

    bool swapped = false;
    #if defined(CYHAL_PIN_MAP_DRIVE_MODE_TCPWM_LINE_COMPL)
    if (map == NULL)
    {
        swapped = true;
        map = _CYHAL_UTILS_TRY_ALLOC(pin, CYHAL_RSC_TCPWM, cyhal_pin_map_tcpwm_line_compl);
    }
    #endif

    if (map == NULL)
    {
        result = CYHAL_PWM_RSLT_BAD_ARGUMENT;
    }
    else
    {
        _CYHAL_UTILS_ASSIGN_RESOURCE(obj->tcpwm.resource, CYHAL_RSC_TCPWM, map);
        obj->tcpwm.base     = _CYHAL_TCPWM_DATA[_CYHAL_TCPWM_ADJUST_BLOCK_INDEX(obj->tcpwm.resource.block_num)].base;
    }

    if(CY_RSLT_SUCCESS == result)
    {
        result = _cyhal_utils_reserve_and_connect(map, (uint8_t)CYHAL_PIN_MAP_DRIVE_MODE_TCPWM_LINE);
    }
    if (CY_RSLT_SUCCESS == result)
    {
        obj->pin = pin;
        #if defined (COMPONENT_CAT5)
            Cy_TCPWM_SelectTrigmuxOutput(TCPWM_TRIGMUX_OUTPUT_LINE_OUT);
            Cy_TCPWM_SelectInputSignalForWGPOMux(map->channel_num, (TCPWM_LOGIC_TRIGMUX_INPUT_t)(TCPWM_LOGIC_TRIGMUX_WGPO_INPUT_LINE_OUT_0 + map->channel_num));
        #endif
    }

    if (CY_RSLT_SUCCESS == result && NC != compl_pin)
    {
    #if defined(CYHAL_PIN_MAP_DRIVE_MODE_TCPWM_LINE_COMPL)
        const cyhal_resource_pin_mapping_t *map_compl = swapped
            ? _cyhal_utils_get_resource(compl_pin, cyhal_pin_map_tcpwm_line,
                sizeof(cyhal_pin_map_tcpwm_line) / sizeof(cyhal_resource_pin_mapping_t), &(obj->tcpwm.resource), false)
            :
              _cyhal_utils_get_resource(compl_pin, cyhal_pin_map_tcpwm_line_compl,
                sizeof(cyhal_pin_map_tcpwm_line_compl) / sizeof(cyhal_resource_pin_mapping_t), &(obj->tcpwm.resource), false);

        if (NULL == map_compl)
        {
            result = CYHAL_PWM_RSLT_BAD_ARGUMENT;
        }
        else
        {
            result = _cyhal_utils_reserve_and_connect(map_compl, (uint8_t)CYHAL_PIN_MAP_DRIVE_MODE_TCPWM_LINE_COMPL);
            if (CY_RSLT_SUCCESS == result)
            {
                obj->pin_compl = compl_pin;
                #if defined (COMPONENT_CAT5)
                    Cy_TCPWM_SelectTrigmuxOutput(TCPWM_TRIGMUX_OUTPUT_LINE_OUT);
                    Cy_TCPWM_SelectInputSignalForWGPOMux(map_compl->channel_num, (TCPWM_LOGIC_TRIGMUX_INPUT_t)(TCPWM_LOGIC_TRIGMUX_WGPO_INPUT_LINE_OUT_0 + map_compl->channel_num));
                #endif
            }
        }
    #else
        result = CYHAL_PWM_RSLT_BAD_ARGUMENT;
    #endif /* defined(CYHAL_PIN_MAP_DRIVE_MODE_TCPWM_LINE_COMPL) */
    }

    if (CY_RSLT_SUCCESS == result)
    {
        result = _cyhal_pwm_init_clock(obj, dead_time_us, clk);
    }

    uint32_t pdl_alignment = CY_TCPWM_PWM_LEFT_ALIGN;
    if (CY_RSLT_SUCCESS == result)
    {
        result = _cyhal_pwm_convert_alignment(pwm_alignment, &pdl_alignment, swapped);
    }

    if (CY_RSLT_SUCCESS == result)
    {
        uint8_t dead_time = (uint8_t)(dead_time_us * obj->tcpwm.clock_hz / _CYHAL_PWM_US_PER_SEC);

        cy_stc_tcpwm_pwm_config_t pdl_config =
        {
            .pwmMode           = (dead_time == 0) ? CY_TCPWM_PWM_MODE_PWM : CY_TCPWM_PWM_MODE_DEADTIME,
            .clockPrescaler    = CY_TCPWM_PWM_PRESCALER_DIVBY_1,
            .pwmAlignment      = pdl_alignment,
            .deadTimeClocks    = dead_time,
            .runMode           = (continuous) ? CY_TCPWM_PWM_CONTINUOUS : CY_TCPWM_PWM_ONESHOT,
            .period0           = 0UL,
            .period1           = 0UL,
            .enablePeriodSwap  = false,
            .compare0          = 0UL,
            .compare1          = 0UL,
            .enableCompareSwap = false,
            .interruptSources  = CY_TCPWM_INT_NONE,
            .invertPWMOut      = (invert) ? CY_TCPWM_PWM_INVERT_ENABLE : CY_TCPWM_PWM_INVERT_DISABLE,
            .invertPWMOutN     = (invert) ? CY_TCPWM_PWM_INVERT_ENABLE : CY_TCPWM_PWM_INVERT_DISABLE,
            .killMode          = CY_TCPWM_PWM_STOP_ON_KILL,
            .swapInputMode     = CY_TCPWM_INPUT_RISINGEDGE,
            .swapInput         = CY_TCPWM_INPUT_0,
            .reloadInputMode   = CY_TCPWM_INPUT_RISINGEDGE,
            .reloadInput       = CY_TCPWM_INPUT_0,
            .startInputMode    = CY_TCPWM_INPUT_RISINGEDGE,
            .startInput        = CY_TCPWM_INPUT_0,
            .killInputMode     = CY_TCPWM_INPUT_RISINGEDGE,
            .killInput         = CY_TCPWM_INPUT_0,
            .countInputMode    = CY_TCPWM_INPUT_LEVEL,
            .countInput        = CY_TCPWM_INPUT_1
        };

        result = _cyhal_pwm_init_hw(obj, &pdl_config, swapped);
    }

    if (CY_RSLT_SUCCESS != result)
    {
        cyhal_pwm_free(obj);
    }

    return result;
}

void cyhal_pwm_free(cyhal_pwm_t *obj)
{
    CY_ASSERT(NULL != obj);
    if(false == obj->tcpwm.owned_by_configurator)
    {
        _cyhal_utils_release_if_used(&obj->pin);
        _cyhal_utils_release_if_used(&obj->pin_compl);
    }

    _cyhal_tcpwm_free(&obj->tcpwm);
}

cy_rslt_t cyhal_pwm_set_period(cyhal_pwm_t *obj, uint32_t period_us, uint32_t pulse_width_us)
{
    CY_ASSERT(NULL != obj);
    cy_rslt_t result = _cyhal_pwm_update_clock_freq(obj, period_us);
    if(CY_RSLT_SUCCESS == result)
    {
        uint32_t period = (uint32_t)((uint64_t)period_us * obj->tcpwm.clock_hz / _CYHAL_PWM_US_PER_SEC);
        uint32_t width = (uint32_t)((uint64_t)pulse_width_us * obj->tcpwm.clock_hz / _CYHAL_PWM_US_PER_SEC);
        result = cyhal_pwm_set_period_and_compare(obj, period, width);
    }
    return result;
}

cy_rslt_t cyhal_pwm_set_duty_cycle(cyhal_pwm_t *obj, float duty_cycle, uint32_t frequencyhal_hz)
{
    CY_ASSERT(NULL != obj);
    if (duty_cycle < 0.0f || duty_cycle > 100.0f || frequencyhal_hz < 1)
        return CYHAL_PWM_RSLT_BAD_ARGUMENT;
    /* Always round up to make sure we wind up able to meet the requested period */
    uint32_t period_us = (_CYHAL_PWM_US_PER_SEC + (frequencyhal_hz - 1))/ frequencyhal_hz;
    cy_rslt_t result = _cyhal_pwm_update_clock_freq(obj, period_us);
    if(CY_RSLT_SUCCESS == result)
    {
        uint32_t period = (obj->tcpwm.clock_hz + (frequencyhal_hz >> 1)) / frequencyhal_hz;
        uint32_t width = (uint32_t)(duty_cycle * 0.01f * period);
        result = cyhal_pwm_set_period_and_compare(obj, period, width);
    }
    return result;
}

cy_rslt_t cyhal_pwm_start(cyhal_pwm_t *obj)
{
    CY_ASSERT(NULL != obj);
    if (_cyhal_tcpwm_pm_transition_pending())
    {
        return CYHAL_SYSPM_RSLT_ERR_PM_PENDING;
    }
    Cy_TCPWM_PWM_Enable(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource));
    #if defined(CY_IP_MXTCPWM) && (CY_IP_MXTCPWM_VERSION >= 2)
    Cy_TCPWM_TriggerReloadOrIndex_Single(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource));
    #else
    Cy_TCPWM_TriggerReloadOrIndex(obj->tcpwm.base, 1 << _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource));
    #endif
    return CY_RSLT_SUCCESS;
}

cy_rslt_t cyhal_pwm_stop(cyhal_pwm_t *obj)
{
    CY_ASSERT(NULL != obj);
    Cy_TCPWM_PWM_Disable(obj->tcpwm.base, _CYHAL_TCPWM_CNT_NUMBER(obj->tcpwm.resource));
    return CY_RSLT_SUCCESS;
}

static cyhal_tcpwm_input_t _cyhal_pwm_translate_input_signal(cyhal_pwm_input_t signal)
{
    switch(signal)
    {
        case CYHAL_PWM_INPUT_START:
            return CYHAL_TCPWM_INPUT_START;
        case CYHAL_PWM_INPUT_STOP:
            return CYHAL_TCPWM_INPUT_STOP;
        case CYHAL_PWM_INPUT_RELOAD:
            return CYHAL_TCPWM_INPUT_RELOAD;
        case CYHAL_PWM_INPUT_COUNT:
            return CYHAL_TCPWM_INPUT_COUNT;
        case CYHAL_PWM_INPUT_CAPTURE:
            return CYHAL_TCPWM_INPUT_CAPTURE;
        default:
            CY_ASSERT(false);
            return (cyhal_tcpwm_input_t)0;
    }
}

static cyhal_tcpwm_output_t _cyhal_pwm_translate_output_signal(cyhal_pwm_output_t signal)
{
    switch(signal)
    {
        case CYHAL_PWM_OUTPUT_OVERFLOW:
            return CYHAL_TCPWM_OUTPUT_OVERFLOW;
        case CYHAL_PWM_OUTPUT_UNDERFLOW:
            return CYHAL_TCPWM_OUTPUT_UNDERFLOW;
        case CYHAL_PWM_OUTPUT_COMPARE_MATCH:
            return CYHAL_TCPWM_OUTPUT_COMPARE_MATCH;
        case CYHAL_PWM_OUTPUT_LINE_OUT:
            return CYHAL_TCPWM_OUTPUT_LINE_OUT;
        default:
            CY_ASSERT(false);
            return (cyhal_tcpwm_output_t)0;
    }
}

cy_rslt_t cyhal_pwm_connect_digital2(cyhal_pwm_t *obj, cyhal_source_t source, cyhal_pwm_input_t signal, cyhal_edge_type_t edge_type)
{
    cyhal_tcpwm_input_t tcpwm_signal = _cyhal_pwm_translate_input_signal(signal);
    return _cyhal_tcpwm_connect_digital(&(obj->tcpwm), source, tcpwm_signal, edge_type);
}

cy_rslt_t cyhal_pwm_connect_digital(cyhal_pwm_t *obj, cyhal_source_t source, cyhal_pwm_input_t signal)
{
    /* Signal type just tells us edge vs. level, but TCPWM lets you customize which edge you want. So default
     * to rising edge. If the application cares about the edge type, it can use connect_digital2 */
#if defined(CY_IP_M0S8PERI_TR) || defined(CY_IP_MXPERI_TR) || defined(CY_IP_MXSPERI)
    cyhal_signal_type_t signal_type = _CYHAL_TRIGGER_GET_SOURCE_TYPE(source);
    cyhal_edge_type_t edge_type = (signal_type == CYHAL_SIGNAL_TYPE_LEVEL) ? CYHAL_EDGE_TYPE_LEVEL : CYHAL_EDGE_TYPE_RISING_EDGE;
    return cyhal_pwm_connect_digital2(obj, source, signal, edge_type);
#else
    CY_UNUSED_PARAMETER(obj);
    CY_UNUSED_PARAMETER(source);
    CY_UNUSED_PARAMETER(signal);
    return CYHAL_PWM_RSLT_BAD_ARGUMENT;
#endif
}

cy_rslt_t cyhal_pwm_enable_output(cyhal_pwm_t *obj, cyhal_pwm_output_t signal, cyhal_source_t *source)
{
    cyhal_tcpwm_output_t tcpwm_signal = _cyhal_pwm_translate_output_signal(signal);
    return _cyhal_tcpwm_enable_output(&(obj->tcpwm), tcpwm_signal, source);
}

cy_rslt_t cyhal_pwm_disconnect_digital(cyhal_pwm_t *obj, cyhal_source_t source, cyhal_pwm_input_t signal)
{
    return _cyhal_tcpwm_disconnect_digital(&(obj->tcpwm), source, _cyhal_pwm_translate_input_signal(signal));
}

cy_rslt_t cyhal_pwm_disable_output(cyhal_pwm_t *obj, cyhal_pwm_output_t signal)
{
    return _cyhal_tcpwm_disable_output(&(obj->tcpwm), _cyhal_pwm_translate_output_signal(signal));
}

#if defined(__cplusplus)
}
#endif

#endif /* CYHAL_DRIVER_AVAILABLE_PWM */