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esp-idf/components/driver/esp32/touch_sensor.c
laokaiyao a1cadba191 touch_sensor: apply general check
2021-10-08 11:32:12 +08:00

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/*
* SPDX-FileCopyrightText: 2016-2021 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdlib.h>
#include <ctype.h>
#include "sdkconfig.h"
#include "esp_types.h"
#include "esp_log.h"
#include "sys/lock.h"
#include "soc/rtc.h"
#include "soc/periph_defs.h"
#include "freertos/FreeRTOS.h"
#include "freertos/xtensa_api.h"
#include "freertos/semphr.h"
#include "freertos/timers.h"
#include "esp_intr_alloc.h"
#include "driver/rtc_io.h"
#include "driver/touch_pad.h"
#include "driver/rtc_cntl.h"
#include "driver/gpio.h"
#include "esp_check.h"
#ifndef NDEBUG
// Enable built-in checks in queue.h in debug builds
#define INVARIANTS
#endif
#include "sys/queue.h"
#include "hal/touch_sensor_types.h"
#include "hal/touch_sensor_hal.h"
typedef struct {
TimerHandle_t timer;
uint16_t filtered_val[TOUCH_PAD_MAX];
uint16_t raw_val[TOUCH_PAD_MAX];
uint32_t filter_period;
uint32_t period;
bool enable;
} touch_pad_filter_t;
static touch_pad_filter_t *s_touch_pad_filter = NULL;
// check if touch pad be initialized.
static uint16_t s_touch_pad_init_bit = 0x0000;
static filter_cb_t s_filter_cb = NULL;
static SemaphoreHandle_t rtc_touch_mux = NULL;
#define TOUCH_PAD_FILTER_FACTOR_DEFAULT (4) // IIR filter coefficient.
#define TOUCH_PAD_SHIFT_DEFAULT (4) // Increase computing accuracy.
#define TOUCH_PAD_SHIFT_ROUND_DEFAULT (8) // ROUND = 2^(n-1); rounding off for fractional.
static const char *TOUCH_TAG = "TOUCH_SENSOR";
#define TOUCH_CHANNEL_CHECK(channel) ESP_RETURN_ON_FALSE(channel < SOC_TOUCH_SENSOR_NUM, ESP_ERR_INVALID_ARG, TOUCH_TAG, "Touch channel error");
#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"
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_EXIT_CRITICAL() portEXIT_CRITICAL(&rtc_spinlock)
/*---------------------------------------------------------------
Touch Pad
---------------------------------------------------------------*/
//Some register bits of touch sensor 8 and 9 are mismatched, we need to swap the bits.
#define BITSWAP(data, n, m) (((data >> n) & 0x1) == ((data >> m) & 0x1) ? (data) : ((data) ^ ((0x1 <<n) | (0x1 << m))))
#define TOUCH_BITS_SWAP(v) BITSWAP(v, TOUCH_PAD_NUM8, TOUCH_PAD_NUM9)
static esp_err_t _touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value, touch_fsm_mode_t mode);
esp_err_t touch_pad_isr_handler_register(void (*fn)(void *), void *arg, int no_use, intr_handle_t *handle_no_use)
{
ESP_RETURN_ON_FALSE(fn, ESP_ERR_INVALID_ARG, TOUCH_TAG, "Touch_Pad ISR null");
return rtc_isr_register(fn, arg, RTC_CNTL_TOUCH_INT_ST_M);
}
esp_err_t touch_pad_isr_register(intr_handler_t fn, void *arg)
{
ESP_RETURN_ON_FALSE(fn, ESP_ERR_INVALID_ARG, TOUCH_TAG, "Touch_Pad ISR null");
return rtc_isr_register(fn, arg, RTC_CNTL_TOUCH_INT_ST_M);
}
static uint32_t _touch_filter_iir(uint32_t in_now, uint32_t out_last, uint32_t k)
{
if (k == 0) {
return in_now;
} else {
uint32_t out_now = (in_now + (k - 1) * out_last) / k;
return out_now;
}
}
esp_err_t touch_pad_set_filter_read_cb(filter_cb_t read_cb)
{
s_filter_cb = read_cb;
return ESP_OK;
}
static void touch_pad_filter_cb(void *arg)
{
static uint32_t s_filtered_temp[TOUCH_PAD_MAX] = {0};
if (s_touch_pad_filter == NULL || rtc_touch_mux == NULL) {
return;
}
uint16_t val = 0;
touch_fsm_mode_t mode;
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
touch_pad_get_fsm_mode(&mode);
for (int i = 0; i < TOUCH_PAD_MAX; i++) {
if ((s_touch_pad_init_bit >> i) & 0x1) {
_touch_pad_read(i, &val, mode);
s_touch_pad_filter->raw_val[i] = val;
s_filtered_temp[i] = s_filtered_temp[i] == 0 ? ((uint32_t)val << TOUCH_PAD_SHIFT_DEFAULT) : s_filtered_temp[i];
s_filtered_temp[i] = _touch_filter_iir((val << TOUCH_PAD_SHIFT_DEFAULT),
s_filtered_temp[i], TOUCH_PAD_FILTER_FACTOR_DEFAULT);
s_touch_pad_filter->filtered_val[i] = (s_filtered_temp[i] + TOUCH_PAD_SHIFT_ROUND_DEFAULT) >> TOUCH_PAD_SHIFT_DEFAULT;
}
}
xTimerReset(s_touch_pad_filter->timer, portMAX_DELAY);
xSemaphoreGive(rtc_touch_mux);
if (s_filter_cb) {
//return the raw data and filtered data.
s_filter_cb(s_touch_pad_filter->raw_val, s_touch_pad_filter->filtered_val);
}
}
esp_err_t touch_pad_set_meas_time(uint16_t sleep_cycle, uint16_t meas_cycle)
{
TOUCH_ENTER_CRITICAL();
touch_hal_set_meas_time(meas_cycle);
touch_hal_set_sleep_time(sleep_cycle);
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_get_meas_time(uint16_t *sleep_cycle, uint16_t *meas_cycle)
{
TOUCH_NULL_POINTER_CHECK(sleep_cycle, "sleep_cycle");
TOUCH_NULL_POINTER_CHECK(meas_cycle, "meas_cycle");
TOUCH_ENTER_CRITICAL();
touch_hal_get_meas_time(meas_cycle);
touch_hal_get_sleep_time(sleep_cycle);
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
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"));
TOUCH_ENTER_CRITICAL();
touch_hal_set_trigger_mode(mode);
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_get_trigger_mode(touch_trigger_mode_t *mode)
{
TOUCH_NULL_POINTER_CHECK(mode, "mode");
touch_hal_get_trigger_mode(mode);
return ESP_OK;
}
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"));
TOUCH_ENTER_CRITICAL();
touch_hal_set_trigger_source(src);
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_get_trigger_source(touch_trigger_src_t *src)
{
TOUCH_NULL_POINTER_CHECK(src, "src");
touch_hal_get_trigger_source(src);
return ESP_OK;
}
esp_err_t touch_pad_set_group_mask(uint16_t set1_mask, uint16_t set2_mask, uint16_t en_mask)
{
ESP_RETURN_ON_FALSE((set1_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch set1 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");
TOUCH_ENTER_CRITICAL();
touch_hal_set_group_mask(set1_mask, set2_mask);
touch_hal_set_channel_mask(en_mask);
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_get_group_mask(uint16_t *set1_mask, uint16_t *set2_mask, uint16_t *en_mask)
{
TOUCH_NULL_POINTER_CHECK(set1_mask, "set1_mask");
TOUCH_NULL_POINTER_CHECK(set2_mask, "set2_mask");
TOUCH_NULL_POINTER_CHECK(en_mask, "en_mask");
TOUCH_ENTER_CRITICAL();
touch_hal_get_channel_mask(en_mask);
touch_hal_get_group_mask(set1_mask, set2_mask);
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_clear_group_mask(uint16_t set1_mask, uint16_t set2_mask, uint16_t en_mask)
{
ESP_RETURN_ON_FALSE((set1_mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG, "touch set1 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");
TOUCH_ENTER_CRITICAL();
touch_hal_clear_channel_mask(en_mask);
touch_hal_clear_group_mask(set1_mask, set2_mask);
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_intr_enable(void)
{
TOUCH_ENTER_CRITICAL();
touch_hal_intr_enable();
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_intr_disable(void)
{
TOUCH_ENTER_CRITICAL();
touch_hal_intr_disable();
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_intr_clear(void)
{
TOUCH_ENTER_CRITICAL();
touch_hal_intr_clear();
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
bool touch_pad_meas_is_done(void)
{
return touch_hal_meas_is_done();
}
esp_err_t touch_pad_config(touch_pad_t touch_num, uint16_t threshold)
{
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
TOUCH_CHANNEL_CHECK(touch_num);
touch_fsm_mode_t mode;
touch_pad_io_init(touch_num);
TOUCH_ENTER_CRITICAL();
touch_hal_config(touch_num);
touch_hal_set_threshold(touch_num, threshold);
TOUCH_EXIT_CRITICAL();
touch_pad_get_fsm_mode(&mode);
if (TOUCH_FSM_MODE_SW == mode) {
touch_pad_clear_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
s_touch_pad_init_bit |= (1 << touch_num);
} else if (TOUCH_FSM_MODE_TIMER == mode) {
uint16_t sleep_time = 0;
uint16_t meas_cycle = 0;
uint32_t wait_time_ms = 0;
uint32_t wait_tick = 0;
uint32_t rtc_clk = rtc_clk_slow_freq_get_hz();
touch_pad_set_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
touch_pad_get_meas_time(&sleep_time, &meas_cycle);
//If the FSM mode is 'TOUCH_FSM_MODE_TIMER', The data will be ready after one measurement cycle
//after this function is executed, otherwise, the "touch_value" by "touch_pad_read" is 0.
wait_time_ms = sleep_time / (rtc_clk / 1000) + meas_cycle / (RTC_FAST_CLK_FREQ_APPROX / 1000);
wait_tick = wait_time_ms / portTICK_RATE_MS;
vTaskDelay(wait_tick ? wait_tick : 1);
s_touch_pad_init_bit |= (1 << touch_num);
} else {
return ESP_FAIL;
}
return ESP_OK;
}
esp_err_t touch_pad_init(void)
{
#ifdef CONFIG_ESP32_RTC_EXT_CRYST_ADDIT_CURRENT_V2
ESP_LOGE(TOUCH_TAG, "Touch Pad can't work because it provides current to external XTAL");
return ESP_ERR_NOT_SUPPORTED;
#endif // CONFIG_ESP32_RTC_EXT_CRYST_ADDIT_CURRENT_V2
if (rtc_touch_mux == NULL) {
rtc_touch_mux = xSemaphoreCreateMutex();
}
if (rtc_touch_mux == NULL) {
return ESP_FAIL;
}
TOUCH_ENTER_CRITICAL();
touch_hal_init();
TOUCH_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t touch_pad_deinit(void)
{
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
if (s_touch_pad_filter) {
touch_pad_filter_stop();
touch_pad_filter_delete();
}
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
s_touch_pad_init_bit = 0x0000;
TOUCH_ENTER_CRITICAL();
touch_hal_deinit();
TOUCH_EXIT_CRITICAL();
xSemaphoreGive(rtc_touch_mux);
vSemaphoreDelete(rtc_touch_mux);
rtc_touch_mux = NULL;
return ESP_OK;
}
static esp_err_t _touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value, touch_fsm_mode_t mode)
{
esp_err_t res = ESP_OK;
if (TOUCH_FSM_MODE_SW == mode) {
touch_pad_set_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
touch_pad_sw_start();
while (!touch_hal_meas_is_done()) {};
*touch_value = touch_hal_read_raw_data(touch_num);
touch_pad_clear_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
} else if (TOUCH_FSM_MODE_TIMER == mode) {
while (!touch_hal_meas_is_done()) {};
*touch_value = touch_hal_read_raw_data(touch_num);
} else {
res = ESP_FAIL;
}
if (*touch_value == 0) {
res = ESP_ERR_INVALID_STATE;
}
return res;
}
esp_err_t touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value)
{
TOUCH_CHANNEL_CHECK(touch_num);
TOUCH_NULL_POINTER_CHECK(touch_value, "touch_value");
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
esp_err_t res = ESP_OK;
touch_fsm_mode_t mode;
touch_pad_get_fsm_mode(&mode);
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
res = _touch_pad_read(touch_num, touch_value, mode);
xSemaphoreGive(rtc_touch_mux);
return res;
}
IRAM_ATTR esp_err_t touch_pad_read_raw_data(touch_pad_t touch_num, uint16_t *touch_value)
{
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
TOUCH_CHANNEL_CHECK(touch_num);
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");
*touch_value = s_touch_pad_filter->raw_val[touch_num];
if (*touch_value == 0) {
return ESP_ERR_INVALID_STATE;
}
return ESP_OK;
}
IRAM_ATTR esp_err_t touch_pad_read_filtered(touch_pad_t touch_num, uint16_t *touch_value)
{
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
TOUCH_CHANNEL_CHECK(touch_num);
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");
*touch_value = (s_touch_pad_filter->filtered_val[touch_num]);
if (*touch_value == 0) {
return ESP_ERR_INVALID_STATE;
}
return ESP_OK;
}
esp_err_t touch_pad_set_filter_period(uint32_t new_period_ms)
{
ESP_RETURN_ON_FALSE(s_touch_pad_filter, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad filter not initialized");
ESP_RETURN_ON_FALSE(new_period_ms > 0, ESP_ERR_INVALID_ARG, TOUCH_TAG, "Touch pad filter period error");
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad not initialized");
esp_err_t ret = ESP_OK;
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
if (s_touch_pad_filter) {
xTimerChangePeriod(s_touch_pad_filter->timer, new_period_ms / portTICK_PERIOD_MS, portMAX_DELAY);
s_touch_pad_filter->period = new_period_ms;
} else {
ESP_LOGE(TOUCH_TAG, "Touch pad filter deleted");
ret = ESP_ERR_INVALID_STATE;
}
xSemaphoreGive(rtc_touch_mux);
return ret;
}
esp_err_t touch_pad_get_filter_period(uint32_t *p_period_ms)
{
ESP_RETURN_ON_FALSE(s_touch_pad_filter, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad filter not initialized");
TOUCH_NULL_POINTER_CHECK(p_period_ms, "p_period_ms");
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad not initialized");
esp_err_t ret = ESP_OK;
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
if (s_touch_pad_filter) {
*p_period_ms = s_touch_pad_filter->period;
} else {
ESP_LOGE(TOUCH_TAG, "Touch pad filter deleted");
ret = ESP_ERR_INVALID_STATE;
}
xSemaphoreGive(rtc_touch_mux);
return ret;
}
esp_err_t touch_pad_filter_start(uint32_t filter_period_ms)
{
ESP_RETURN_ON_FALSE(filter_period_ms >= portTICK_PERIOD_MS, ESP_ERR_INVALID_ARG, TOUCH_TAG, "Touch pad filter period error");
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad not initialized");
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
if (s_touch_pad_filter == NULL) {
s_touch_pad_filter = (touch_pad_filter_t *) calloc(1, sizeof(touch_pad_filter_t));
if (s_touch_pad_filter == NULL) {
goto err_no_mem;
}
}
if (s_touch_pad_filter->timer == NULL) {
s_touch_pad_filter->timer = xTimerCreate("filter_tmr", filter_period_ms / portTICK_PERIOD_MS, pdFALSE,
NULL, (TimerCallbackFunction_t) touch_pad_filter_cb);
if (s_touch_pad_filter->timer == NULL) {
free(s_touch_pad_filter);
s_touch_pad_filter = NULL;
goto err_no_mem;
}
s_touch_pad_filter->period = filter_period_ms;
}
xSemaphoreGive(rtc_touch_mux);
touch_pad_filter_cb(NULL);
return ESP_OK;
err_no_mem:
xSemaphoreGive(rtc_touch_mux);
return ESP_ERR_NO_MEM;
}
esp_err_t touch_pad_filter_stop(void)
{
ESP_RETURN_ON_FALSE(s_touch_pad_filter, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad filter not initialized");
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad not initialized");
esp_err_t ret = ESP_OK;
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
if (s_touch_pad_filter) {
xTimerStop(s_touch_pad_filter->timer, portMAX_DELAY);
} else {
ESP_LOGE(TOUCH_TAG, "Touch pad filter deleted");
ret = ESP_ERR_INVALID_STATE;
}
xSemaphoreGive(rtc_touch_mux);
return ret;
}
esp_err_t touch_pad_filter_delete(void)
{
ESP_RETURN_ON_FALSE(s_touch_pad_filter, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad filter not initialized");
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad not initialized");
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
if (s_touch_pad_filter) {
if (s_touch_pad_filter->timer) {
xTimerStop(s_touch_pad_filter->timer, portMAX_DELAY);
xTimerDelete(s_touch_pad_filter->timer, portMAX_DELAY);
s_touch_pad_filter->timer = NULL;
}
free(s_touch_pad_filter);
s_touch_pad_filter = NULL;
}
xSemaphoreGive(rtc_touch_mux);
return ESP_OK;
}
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