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fix(legacy_touch): fixed the concurrent issue in esp32 touch driver

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This commit is contained in:
laokaiyao
2025-04-11 20:55:42 +08:00
parent 584092aec1
commit be96ad682b
1 changed files with 83 additions and 52 deletions
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135
components/driver/touch_sensor/esp32/touch_sensor.c
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@ -55,9 +55,10 @@ static __attribute__((unused)) const char *TOUCH_TAG = "TOUCH_SENSOR";
#define TOUCH_NULL_POINTER_CHECK(p, name) ESP_RETURN_ON_FALSE((p), ESP_ERR_INVALID_ARG, TOUCH_TAG, "input param '"name"' is NULL") #define TOUCH_NULL_POINTER_CHECK(p, name) ESP_RETURN_ON_FALSE((p), ESP_ERR_INVALID_ARG, TOUCH_TAG, "input param '"name"' is NULL")
#define TOUCH_PARAM_CHECK_STR(s) ""s" parameter error" #define TOUCH_PARAM_CHECK_STR(s) ""s" parameter error"
static portMUX_TYPE s_filter_spinlock = portMUX_INITIALIZER_UNLOCKED;
extern portMUX_TYPE rtc_spinlock; //TODO: Will be placed in the appropriate position after the rtc module is finished. extern portMUX_TYPE rtc_spinlock; //TODO: Will be placed in the appropriate position after the rtc module is finished.
#define TOUCH_ENTER_CRITICAL() portENTER_CRITICAL(&rtc_spinlock) #define TOUCH_ENTER_CRITICAL(spinlock) portENTER_CRITICAL(spinlock)
#define TOUCH_EXIT_CRITICAL() portEXIT_CRITICAL(&rtc_spinlock) #define TOUCH_EXIT_CRITICAL(spinlock) portEXIT_CRITICAL(spinlock)
/*--------------------------------------------------------------- /*---------------------------------------------------------------
Touch Pad Touch Pad
@ -97,52 +98,64 @@ esp_err_t touch_pad_set_filter_read_cb(filter_cb_t read_cb)
static void touch_pad_filter_cb(void *arg) static void touch_pad_filter_cb(void *arg)
{ {
if (s_touch_pad_filter == NULL) { uint16_t val[TOUCH_PAD_MAX] = {0};
return; uint16_t filtered_val[TOUCH_PAD_MAX] = {0};
} bool filter_exist = true;
uint16_t val = 0;
touch_fsm_mode_t mode; touch_fsm_mode_t mode;
touch_pad_get_fsm_mode(&mode); touch_pad_get_fsm_mode(&mode);
for (int i = 0; i < TOUCH_PAD_MAX; i++) { for (int i = 0; i < TOUCH_PAD_MAX; i++) {
if ((s_touch_pad_init_bit >> i) & 0x1) { if ((s_touch_pad_init_bit >> i) & 0x1) {
_touch_pad_read(i, &val, mode); _touch_pad_read(i, &val[i], mode);
s_touch_pad_filter->raw_val[i] = val;
s_touch_pad_filter->filter_last_val[i] = s_touch_pad_filter->filter_last_val[i] == 0 ?
((uint32_t)val << TOUCH_PAD_SHIFT_DEFAULT) : s_touch_pad_filter->filter_last_val[i];
s_touch_pad_filter->filter_last_val[i] = _touch_filter_iir((val << TOUCH_PAD_SHIFT_DEFAULT),
s_touch_pad_filter->filter_last_val[i], TOUCH_PAD_FILTER_FACTOR_DEFAULT);
s_touch_pad_filter->filtered_val[i] =
(s_touch_pad_filter->filter_last_val[i] + TOUCH_PAD_SHIFT_ROUND_DEFAULT) >> TOUCH_PAD_SHIFT_DEFAULT;
} }
} }
if (s_filter_cb) {
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
if (s_touch_pad_filter) {
for (int i = 0; i < TOUCH_PAD_MAX; i++) {
if ((s_touch_pad_init_bit >> i) & 0x1) {
s_touch_pad_filter->raw_val[i] = val[i];
s_touch_pad_filter->filter_last_val[i] = s_touch_pad_filter->filter_last_val[i] == 0 ?
((uint32_t)val[i] << TOUCH_PAD_SHIFT_DEFAULT) : s_touch_pad_filter->filter_last_val[i];
s_touch_pad_filter->filter_last_val[i] = _touch_filter_iir((val[i] << TOUCH_PAD_SHIFT_DEFAULT),
s_touch_pad_filter->filter_last_val[i], TOUCH_PAD_FILTER_FACTOR_DEFAULT);
s_touch_pad_filter->filtered_val[i] =
(s_touch_pad_filter->filter_last_val[i] + TOUCH_PAD_SHIFT_ROUND_DEFAULT) >> TOUCH_PAD_SHIFT_DEFAULT;
}
val[i] = s_touch_pad_filter->raw_val[i];
filtered_val[i] = s_touch_pad_filter->filtered_val[i];
}
} else {
filter_exist = false;
}
TOUCH_EXIT_CRITICAL(&s_filter_spinlock);
if (s_filter_cb && filter_exist) {
//return the raw data and filtered data. //return the raw data and filtered data.
s_filter_cb(s_touch_pad_filter->raw_val, s_touch_pad_filter->filtered_val); s_filter_cb(val, filtered_val);
} }
} }
esp_err_t touch_pad_set_measurement_interval(uint16_t interval_cycle) esp_err_t touch_pad_set_measurement_interval(uint16_t interval_cycle)
{ {
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_set_sleep_time(interval_cycle); touch_hal_set_sleep_time(interval_cycle);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
esp_err_t touch_pad_get_measurement_interval(uint16_t *interval_cycle) esp_err_t touch_pad_get_measurement_interval(uint16_t *interval_cycle)
{ {
TOUCH_NULL_POINTER_CHECK(interval_cycle, "interval_cycle"); TOUCH_NULL_POINTER_CHECK(interval_cycle, "interval_cycle");
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_get_sleep_time(interval_cycle); touch_hal_get_sleep_time(interval_cycle);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
esp_err_t touch_pad_set_measurement_clock_cycles(uint16_t clock_cycle) esp_err_t touch_pad_set_measurement_clock_cycles(uint16_t clock_cycle)
{ {
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_set_meas_time(clock_cycle); touch_hal_set_meas_time(clock_cycle);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
@ -150,9 +163,9 @@ esp_err_t touch_pad_set_measurement_clock_cycles(uint16_t clock_cycle)
esp_err_t touch_pad_get_measurement_clock_cycles(uint16_t *clock_cycle) esp_err_t touch_pad_get_measurement_clock_cycles(uint16_t *clock_cycle)
{ {
TOUCH_NULL_POINTER_CHECK(clock_cycle, "clock_cycle"); TOUCH_NULL_POINTER_CHECK(clock_cycle, "clock_cycle");
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_get_meas_time(clock_cycle); touch_hal_get_meas_time(clock_cycle);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
@ -176,9 +189,9 @@ esp_err_t touch_pad_get_meas_time(uint16_t *sleep_cycle, uint16_t *meas_cycle)
esp_err_t touch_pad_set_trigger_mode(touch_trigger_mode_t mode) esp_err_t touch_pad_set_trigger_mode(touch_trigger_mode_t mode)
{ {
ESP_RETURN_ON_FALSE((mode < TOUCH_TRIGGER_MAX), ESP_ERR_INVALID_ARG, TOUCH_TAG, TOUCH_PARAM_CHECK_STR("mode")); ESP_RETURN_ON_FALSE((mode < TOUCH_TRIGGER_MAX), ESP_ERR_INVALID_ARG, TOUCH_TAG, TOUCH_PARAM_CHECK_STR("mode"));
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_set_trigger_mode(mode); touch_hal_set_trigger_mode(mode);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
@ -192,9 +205,9 @@ esp_err_t touch_pad_get_trigger_mode(touch_trigger_mode_t *mode)
esp_err_t touch_pad_set_trigger_source(touch_trigger_src_t src) esp_err_t touch_pad_set_trigger_source(touch_trigger_src_t src)
{ {
ESP_RETURN_ON_FALSE((src < TOUCH_TRIGGER_SOURCE_MAX), ESP_ERR_INVALID_ARG, TOUCH_TAG, TOUCH_PARAM_CHECK_STR("src")); ESP_RETURN_ON_FALSE((src < TOUCH_TRIGGER_SOURCE_MAX), ESP_ERR_INVALID_ARG, TOUCH_TAG, TOUCH_PARAM_CHECK_STR("src"));
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_set_trigger_source(src); touch_hal_set_trigger_source(src);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
@ -211,10 +224,10 @@ esp_err_t touch_pad_set_group_mask(uint16_t set1_mask, uint16_t set2_mask, uint1
ESP_RETURN_ON_FALSE((set2_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch set2 bitmask error"); ESP_RETURN_ON_FALSE((set2_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch set2 bitmask error");
ESP_RETURN_ON_FALSE((en_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch work_en bitmask error"); ESP_RETURN_ON_FALSE((en_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch work_en bitmask error");
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_set_group_mask(set1_mask, set2_mask); touch_hal_set_group_mask(set1_mask, set2_mask);
touch_hal_set_channel_mask(en_mask); touch_hal_set_channel_mask(en_mask);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
@ -224,10 +237,10 @@ esp_err_t touch_pad_get_group_mask(uint16_t *set1_mask, uint16_t *set2_mask, uin
TOUCH_NULL_POINTER_CHECK(set1_mask, "set1_mask"); TOUCH_NULL_POINTER_CHECK(set1_mask, "set1_mask");
TOUCH_NULL_POINTER_CHECK(set2_mask, "set2_mask"); TOUCH_NULL_POINTER_CHECK(set2_mask, "set2_mask");
TOUCH_NULL_POINTER_CHECK(en_mask, "en_mask"); TOUCH_NULL_POINTER_CHECK(en_mask, "en_mask");
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_get_channel_mask(en_mask); touch_hal_get_channel_mask(en_mask);
touch_hal_get_group_mask(set1_mask, set2_mask); touch_hal_get_group_mask(set1_mask, set2_mask);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
@ -238,34 +251,34 @@ esp_err_t touch_pad_clear_group_mask(uint16_t set1_mask, uint16_t set2_mask, uin
ESP_RETURN_ON_FALSE((set2_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch set2 bitmask error"); ESP_RETURN_ON_FALSE((set2_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch set2 bitmask error");
ESP_RETURN_ON_FALSE((en_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch work_en bitmask error"); ESP_RETURN_ON_FALSE((en_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch work_en bitmask error");
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_clear_channel_mask(en_mask); touch_hal_clear_channel_mask(en_mask);
touch_hal_clear_group_mask(set1_mask, set2_mask); touch_hal_clear_group_mask(set1_mask, set2_mask);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
esp_err_t touch_pad_intr_enable(void) esp_err_t touch_pad_intr_enable(void)
{ {
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_intr_enable(); touch_hal_intr_enable();
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
esp_err_t touch_pad_intr_disable(void) esp_err_t touch_pad_intr_disable(void)
{ {
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_intr_disable(); touch_hal_intr_disable();
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
esp_err_t touch_pad_intr_clear(void) esp_err_t touch_pad_intr_clear(void)
{ {
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_intr_clear(); touch_hal_intr_clear();
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
@ -280,10 +293,10 @@ esp_err_t touch_pad_config(touch_pad_t touch_num, uint16_t threshold)
TOUCH_CHANNEL_CHECK(touch_num); TOUCH_CHANNEL_CHECK(touch_num);
touch_fsm_mode_t mode; touch_fsm_mode_t mode;
touch_pad_io_init(touch_num); touch_pad_io_init(touch_num);
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_config(touch_num); touch_hal_config(touch_num);
touch_hal_set_threshold(touch_num, threshold); touch_hal_set_threshold(touch_num, threshold);
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
touch_pad_get_fsm_mode(&mode); touch_pad_get_fsm_mode(&mode);
if (TOUCH_FSM_MODE_SW == mode) { if (TOUCH_FSM_MODE_SW == mode) {
touch_pad_clear_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num)); touch_pad_clear_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
@ -323,9 +336,9 @@ esp_err_t touch_pad_init(void)
if (rtc_touch_mux == NULL) { if (rtc_touch_mux == NULL) {
return ESP_FAIL; return ESP_FAIL;
} }
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_init(); touch_hal_init();
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
return ESP_OK; return ESP_OK;
} }
@ -341,12 +354,14 @@ esp_err_t touch_pad_deinit(void)
s_touch_pad_filter->timer = NULL; s_touch_pad_filter->timer = NULL;
} }
free(s_touch_pad_filter); free(s_touch_pad_filter);
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
s_touch_pad_filter = NULL; s_touch_pad_filter = NULL;
TOUCH_EXIT_CRITICAL(&s_filter_spinlock);
} }
s_touch_pad_init_bit = 0x0000; s_touch_pad_init_bit = 0x0000;
TOUCH_ENTER_CRITICAL(); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_deinit(); touch_hal_deinit();
TOUCH_EXIT_CRITICAL(); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
xSemaphoreGive(rtc_touch_mux); xSemaphoreGive(rtc_touch_mux);
vSemaphoreDelete(rtc_touch_mux); vSemaphoreDelete(rtc_touch_mux);
rtc_touch_mux = NULL; rtc_touch_mux = NULL;
@ -398,28 +413,40 @@ esp_err_t touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value)
IRAM_ATTR esp_err_t touch_pad_read_raw_data(touch_pad_t touch_num, uint16_t *touch_value) IRAM_ATTR esp_err_t touch_pad_read_raw_data(touch_pad_t touch_num, uint16_t *touch_value)
{ {
esp_err_t ret = ESP_OK;
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized"); ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
TOUCH_CHANNEL_CHECK(touch_num); TOUCH_CHANNEL_CHECK(touch_num);
TOUCH_NULL_POINTER_CHECK(touch_value, "touch_value"); TOUCH_NULL_POINTER_CHECK(touch_value, "touch_value");
ESP_RETURN_ON_FALSE(s_touch_pad_filter, ESP_FAIL, TOUCH_TAG, "Touch pad filter not initialized"); xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
ESP_GOTO_ON_FALSE(s_touch_pad_filter, ESP_FAIL, err, TOUCH_TAG, "Touch pad filter not initialized");
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
*touch_value = s_touch_pad_filter->raw_val[touch_num]; *touch_value = s_touch_pad_filter->raw_val[touch_num];
TOUCH_EXIT_CRITICAL(&s_filter_spinlock);
if (*touch_value == 0) { if (*touch_value == 0) {
return ESP_ERR_INVALID_STATE; ret = ESP_ERR_INVALID_STATE;
} }
return ESP_OK; err:
xSemaphoreGive(rtc_touch_mux);
return ret;
} }
IRAM_ATTR esp_err_t touch_pad_read_filtered(touch_pad_t touch_num, uint16_t *touch_value) IRAM_ATTR esp_err_t touch_pad_read_filtered(touch_pad_t touch_num, uint16_t *touch_value)
{ {
esp_err_t ret = ESP_OK;
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized"); ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
TOUCH_CHANNEL_CHECK(touch_num); TOUCH_CHANNEL_CHECK(touch_num);
TOUCH_NULL_POINTER_CHECK(touch_value, "touch_value"); TOUCH_NULL_POINTER_CHECK(touch_value, "touch_value");
ESP_RETURN_ON_FALSE(s_touch_pad_filter, ESP_FAIL, TOUCH_TAG, "Touch pad filter not initialized"); xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
ESP_GOTO_ON_FALSE(s_touch_pad_filter, ESP_FAIL, err, TOUCH_TAG, "Touch pad filter not initialized");
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
*touch_value = (s_touch_pad_filter->filtered_val[touch_num]); *touch_value = (s_touch_pad_filter->filtered_val[touch_num]);
TOUCH_EXIT_CRITICAL(&s_filter_spinlock);
if (*touch_value == 0) { if (*touch_value == 0) {
return ESP_ERR_INVALID_STATE; ret = ESP_ERR_INVALID_STATE;
} }
return ESP_OK; err:
xSemaphoreGive(rtc_touch_mux);
return ret;
} }
esp_err_t touch_pad_set_filter_period(uint32_t new_period_ms) esp_err_t touch_pad_set_filter_period(uint32_t new_period_ms)
@ -490,7 +517,9 @@ err_timer_start:
esp_timer_delete(s_touch_pad_filter->timer); esp_timer_delete(s_touch_pad_filter->timer);
err_timer_create: err_timer_create:
free(s_touch_pad_filter); free(s_touch_pad_filter);
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
s_touch_pad_filter = NULL; s_touch_pad_filter = NULL;
TOUCH_EXIT_CRITICAL(&s_filter_spinlock);
err_no_mem: err_no_mem:
xSemaphoreGive(rtc_touch_mux); xSemaphoreGive(rtc_touch_mux);
return ret; return ret;
@ -521,7 +550,9 @@ esp_err_t touch_pad_filter_delete(void)
s_touch_pad_filter->timer = NULL; s_touch_pad_filter->timer = NULL;
} }
free(s_touch_pad_filter); free(s_touch_pad_filter);
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
s_touch_pad_filter = NULL; s_touch_pad_filter = NULL;
TOUCH_EXIT_CRITICAL(&s_filter_spinlock);
err: err:
xSemaphoreGive(rtc_touch_mux); xSemaphoreGive(rtc_touch_mux);
return ret; return ret;