2022-05-28 05:03:05 -04:00
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/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdlib.h>
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#include <stdarg.h>
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#include <sys/cdefs.h>
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#include "sdkconfig.h"
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#if CONFIG_MCPWM_ENABLE_DEBUG_LOG
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// The local log level must be defined before including esp_log.h
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// Set the maximum log level for this source file
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#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
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#endif
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#include "freertos/FreeRTOS.h"
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#include "esp_attr.h"
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#include "esp_check.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "esp_memory_utils.h"
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#include "soc/soc_caps.h"
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#include "soc/mcpwm_periph.h"
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#include "hal/mcpwm_ll.h"
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#include "driver/mcpwm_cmpr.h"
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#include "mcpwm_private.h"
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static const char *TAG = "mcpwm";
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static void mcpwm_comparator_default_isr(void *args);
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static esp_err_t mcpwm_comparator_register_to_operator(mcpwm_cmpr_t *cmpr, mcpwm_oper_t *oper)
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{
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int cmpr_id = -1;
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portENTER_CRITICAL(&oper->spinlock);
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for (int i = 0; i < SOC_MCPWM_COMPARATORS_PER_OPERATOR; i++) {
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if (!oper->comparators[i]) {
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oper->comparators[i] = cmpr;
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cmpr_id = i;
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break;
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}
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}
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portEXIT_CRITICAL(&oper->spinlock);
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ESP_RETURN_ON_FALSE(cmpr_id >= 0, ESP_ERR_NOT_FOUND, TAG, "no free comparator in operator (%d,%d)", oper->group->group_id, oper->oper_id);
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cmpr->cmpr_id = cmpr_id;
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cmpr->operator = oper;
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return ESP_OK;
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}
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static void mcpwm_comparator_unregister_from_operator(mcpwm_cmpr_t *cmpr)
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{
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mcpwm_oper_t *oper = cmpr->operator;
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int cmpr_id = cmpr->cmpr_id;
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portENTER_CRITICAL(&oper->spinlock);
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oper->comparators[cmpr_id] = NULL;
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portEXIT_CRITICAL(&oper->spinlock);
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}
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static esp_err_t mcpwm_comparator_destory(mcpwm_cmpr_t *cmpr)
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{
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if (cmpr->intr) {
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ESP_RETURN_ON_ERROR(esp_intr_free(cmpr->intr), TAG, "uninstall interrupt service failed");
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}
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if (cmpr->operator) {
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mcpwm_comparator_unregister_from_operator(cmpr);
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}
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free(cmpr);
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return ESP_OK;
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}
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esp_err_t mcpwm_new_comparator(mcpwm_oper_handle_t oper, const mcpwm_comparator_config_t *config, mcpwm_cmpr_handle_t *ret_cmpr)
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{
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esp_err_t ret = ESP_OK;
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mcpwm_cmpr_t *cmpr = NULL;
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ESP_GOTO_ON_FALSE(oper && config && ret_cmpr, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
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cmpr = heap_caps_calloc(1, sizeof(mcpwm_cmpr_t), MCPWM_MEM_ALLOC_CAPS);
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ESP_GOTO_ON_FALSE(cmpr, ESP_ERR_NO_MEM, err, TAG, "no mem for comparator");
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ESP_GOTO_ON_ERROR(mcpwm_comparator_register_to_operator(cmpr, oper), err, TAG, "register comparator failed");
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mcpwm_group_t *group = oper->group;
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mcpwm_hal_context_t *hal = &group->hal;
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int oper_id = oper->oper_id;
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int cmpr_id = cmpr->cmpr_id;
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mcpwm_ll_operator_enable_update_compare_on_tez(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_tez);
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mcpwm_ll_operator_enable_update_compare_on_tep(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_tep);
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mcpwm_ll_operator_enable_update_compare_on_sync(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_sync);
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// fill in other comparator members
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cmpr->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
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*ret_cmpr = cmpr;
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ESP_LOGD(TAG, "new comparator (%d,%d,%d) at %p", group->group_id, oper_id, cmpr_id, cmpr);
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return ESP_OK;
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err:
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if (cmpr) {
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mcpwm_comparator_destory(cmpr);
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}
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return ret;
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}
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esp_err_t mcpwm_del_comparator(mcpwm_cmpr_handle_t cmpr)
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{
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ESP_RETURN_ON_FALSE(cmpr, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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mcpwm_oper_t *operator= cmpr->operator;
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mcpwm_group_t *group = operator->group;
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mcpwm_hal_context_t *hal = &group->hal;
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int oper_id = operator->oper_id;
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int cmpr_id = cmpr->cmpr_id;
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portENTER_CRITICAL(&group->spinlock);
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mcpwm_ll_intr_enable(hal->dev, MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id), false);
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mcpwm_ll_intr_clear_status(hal->dev, MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id));
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portEXIT_CRITICAL(&group->spinlock);
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ESP_LOGD(TAG, "del comparator (%d,%d,%d)", group->group_id, oper_id, cmpr_id);
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// recycle memory resource
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ESP_RETURN_ON_ERROR(mcpwm_comparator_destory(cmpr), TAG, "destory comparator failed");
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return ESP_OK;
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}
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esp_err_t mcpwm_comparator_set_compare_value(mcpwm_cmpr_handle_t cmpr, uint32_t cmp_ticks)
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{
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ESP_RETURN_ON_FALSE(cmpr, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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mcpwm_oper_t *oper = cmpr->operator;
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mcpwm_group_t *group = oper->group;
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mcpwm_timer_t *timer = oper->timer;
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ESP_RETURN_ON_FALSE(timer, ESP_ERR_INVALID_STATE, TAG, "timer and operator are not connected");
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ESP_RETURN_ON_FALSE(cmp_ticks < timer->peak_ticks, ESP_ERR_INVALID_ARG, TAG, "compare value out of range");
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portENTER_CRITICAL_SAFE(&cmpr->spinlock);
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mcpwm_ll_operator_set_compare_value(group->hal.dev, oper->oper_id, cmpr->cmpr_id, cmp_ticks);
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portEXIT_CRITICAL_SAFE(&cmpr->spinlock);
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cmpr->compare_ticks = cmp_ticks;
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return ESP_OK;
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}
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esp_err_t mcpwm_comparator_register_event_callbacks(mcpwm_cmpr_handle_t cmpr, const mcpwm_comparator_event_callbacks_t *cbs, void *user_data)
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{
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ESP_RETURN_ON_FALSE(cmpr && cbs, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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mcpwm_oper_t *oper = cmpr->operator;
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mcpwm_group_t *group = oper->group;
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mcpwm_hal_context_t *hal = &group->hal;
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int group_id = group->group_id;
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int oper_id = oper->oper_id;
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int cmpr_id = cmpr->cmpr_id;
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#if CONFIG_MCWPM_ISR_IRAM_SAFE
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if (cbs->on_reach) {
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ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_reach), ESP_ERR_INVALID_ARG, TAG, "on_reach callback not in IRAM");
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}
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if (user_data) {
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ESP_RETURN_ON_FALSE(esp_ptr_internal(user_data), ESP_ERR_INVALID_ARG, TAG, "user context not in internal RAM");
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}
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#endif
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// lazy install interrupt service
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if (!cmpr->intr) {
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2022-08-06 02:52:22 -04:00
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// we want the interrupt service to be enabled after allocation successfully
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2022-05-28 05:03:05 -04:00
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int isr_flags = MCPWM_INTR_ALLOC_FLAG & ~ ESP_INTR_FLAG_INTRDISABLED;
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ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
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(uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id),
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mcpwm_comparator_default_isr, cmpr, &cmpr->intr), TAG, "install interrupt service for comparator failed");
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}
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portENTER_CRITICAL(&group->spinlock);
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mcpwm_ll_intr_enable(hal->dev, MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id), cbs->on_reach != NULL);
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portEXIT_CRITICAL(&group->spinlock);
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cmpr->on_reach = cbs->on_reach;
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cmpr->user_data = user_data;
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return ESP_OK;
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}
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static void IRAM_ATTR mcpwm_comparator_default_isr(void *args)
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{
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mcpwm_cmpr_t *cmpr = (mcpwm_cmpr_t *)args;
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mcpwm_oper_t *oper = cmpr->operator;
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mcpwm_group_t *group = oper->group;
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mcpwm_hal_context_t *hal = &group->hal;
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int oper_id = oper->oper_id;
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int cmpr_id = cmpr->cmpr_id;
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bool need_yield = false;
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uint32_t status = mcpwm_ll_intr_get_status(hal->dev);
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mcpwm_ll_intr_clear_status(hal->dev, status & MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id));
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mcpwm_compare_event_data_t edata = {
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.compare_ticks = cmpr->compare_ticks,
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// .direction = TODO
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};
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if (status & MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id)) {
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mcpwm_compare_event_cb_t cb = cmpr->on_reach;
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if (cb) {
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if (cb(cmpr, &edata, cmpr->user_data)) {
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need_yield = true;
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}
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}
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}
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if (need_yield) {
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portYIELD_FROM_ISR();
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}
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}
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