esp-idf/components/driver/mcpwm/mcpwm_cmpr.c
2023-03-01 00:43:14 +00:00

212 lines
7.4 KiB
C

/*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdlib.h>
#include <stdarg.h>
#include <sys/cdefs.h>
#include "sdkconfig.h"
#if CONFIG_MCPWM_ENABLE_DEBUG_LOG
// The local log level must be defined before including esp_log.h
// Set the maximum log level for this source file
#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
#endif
#include "freertos/FreeRTOS.h"
#include "esp_attr.h"
#include "esp_check.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_memory_utils.h"
#include "soc/soc_caps.h"
#include "soc/mcpwm_periph.h"
#include "hal/mcpwm_ll.h"
#include "driver/mcpwm_cmpr.h"
#include "mcpwm_private.h"
static const char *TAG = "mcpwm";
static void mcpwm_comparator_default_isr(void *args);
static esp_err_t mcpwm_comparator_register_to_operator(mcpwm_cmpr_t *cmpr, mcpwm_oper_t *oper)
{
int cmpr_id = -1;
portENTER_CRITICAL(&oper->spinlock);
for (int i = 0; i < SOC_MCPWM_COMPARATORS_PER_OPERATOR; i++) {
if (!oper->comparators[i]) {
oper->comparators[i] = cmpr;
cmpr_id = i;
break;
}
}
portEXIT_CRITICAL(&oper->spinlock);
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);
cmpr->cmpr_id = cmpr_id;
cmpr->oper = oper;
return ESP_OK;
}
static void mcpwm_comparator_unregister_from_operator(mcpwm_cmpr_t *cmpr)
{
mcpwm_oper_t *oper = cmpr->oper;
int cmpr_id = cmpr->cmpr_id;
portENTER_CRITICAL(&oper->spinlock);
oper->comparators[cmpr_id] = NULL;
portEXIT_CRITICAL(&oper->spinlock);
}
static esp_err_t mcpwm_comparator_destroy(mcpwm_cmpr_t *cmpr)
{
if (cmpr->intr) {
ESP_RETURN_ON_ERROR(esp_intr_free(cmpr->intr), TAG, "uninstall interrupt service failed");
}
if (cmpr->oper) {
mcpwm_comparator_unregister_from_operator(cmpr);
}
free(cmpr);
return ESP_OK;
}
esp_err_t mcpwm_new_comparator(mcpwm_oper_handle_t oper, const mcpwm_comparator_config_t *config, mcpwm_cmpr_handle_t *ret_cmpr)
{
esp_err_t ret = ESP_OK;
mcpwm_cmpr_t *cmpr = NULL;
ESP_GOTO_ON_FALSE(oper && config && ret_cmpr, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
cmpr = heap_caps_calloc(1, sizeof(mcpwm_cmpr_t), MCPWM_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(cmpr, ESP_ERR_NO_MEM, err, TAG, "no mem for comparator");
ESP_GOTO_ON_ERROR(mcpwm_comparator_register_to_operator(cmpr, oper), err, TAG, "register comparator failed");
mcpwm_group_t *group = oper->group;
mcpwm_hal_context_t *hal = &group->hal;
int oper_id = oper->oper_id;
int cmpr_id = cmpr->cmpr_id;
mcpwm_ll_operator_enable_update_compare_on_tez(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_tez);
mcpwm_ll_operator_enable_update_compare_on_tep(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_tep);
mcpwm_ll_operator_enable_update_compare_on_sync(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_sync);
// fill in other comparator members
cmpr->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
*ret_cmpr = cmpr;
ESP_LOGD(TAG, "new comparator (%d,%d,%d) at %p", group->group_id, oper_id, cmpr_id, cmpr);
return ESP_OK;
err:
if (cmpr) {
mcpwm_comparator_destroy(cmpr);
}
return ret;
}
esp_err_t mcpwm_del_comparator(mcpwm_cmpr_handle_t cmpr)
{
ESP_RETURN_ON_FALSE(cmpr, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = cmpr->oper;
mcpwm_group_t *group = oper->group;
mcpwm_hal_context_t *hal = &group->hal;
int oper_id = oper->oper_id;
int cmpr_id = cmpr->cmpr_id;
portENTER_CRITICAL(&group->spinlock);
mcpwm_ll_intr_enable(hal->dev, MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id), false);
mcpwm_ll_intr_clear_status(hal->dev, MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id));
portEXIT_CRITICAL(&group->spinlock);
ESP_LOGD(TAG, "del comparator (%d,%d,%d)", group->group_id, oper_id, cmpr_id);
// recycle memory resource
ESP_RETURN_ON_ERROR(mcpwm_comparator_destroy(cmpr), TAG, "destroy comparator failed");
return ESP_OK;
}
esp_err_t mcpwm_comparator_set_compare_value(mcpwm_cmpr_handle_t cmpr, uint32_t cmp_ticks)
{
ESP_RETURN_ON_FALSE_ISR(cmpr, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = cmpr->oper;
mcpwm_group_t *group = oper->group;
mcpwm_timer_t *timer = oper->timer;
ESP_RETURN_ON_FALSE_ISR(timer, ESP_ERR_INVALID_STATE, TAG, "timer and operator are not connected");
ESP_RETURN_ON_FALSE_ISR(cmp_ticks <= timer->peak_ticks, ESP_ERR_INVALID_ARG, TAG, "compare value out of range");
portENTER_CRITICAL_SAFE(&cmpr->spinlock);
mcpwm_ll_operator_set_compare_value(group->hal.dev, oper->oper_id, cmpr->cmpr_id, cmp_ticks);
portEXIT_CRITICAL_SAFE(&cmpr->spinlock);
cmpr->compare_ticks = cmp_ticks;
return ESP_OK;
}
esp_err_t mcpwm_comparator_register_event_callbacks(mcpwm_cmpr_handle_t cmpr, const mcpwm_comparator_event_callbacks_t *cbs, void *user_data)
{
ESP_RETURN_ON_FALSE(cmpr && cbs, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = cmpr->oper;
mcpwm_group_t *group = oper->group;
mcpwm_hal_context_t *hal = &group->hal;
int group_id = group->group_id;
int oper_id = oper->oper_id;
int cmpr_id = cmpr->cmpr_id;
#if CONFIG_MCPWM_ISR_IRAM_SAFE
if (cbs->on_reach) {
ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_reach), ESP_ERR_INVALID_ARG, TAG, "on_reach callback not in IRAM");
}
if (user_data) {
ESP_RETURN_ON_FALSE(esp_ptr_internal(user_data), ESP_ERR_INVALID_ARG, TAG, "user context not in internal RAM");
}
#endif
// lazy install interrupt service
if (!cmpr->intr) {
// we want the interrupt service to be enabled after allocation successfully
int isr_flags = MCPWM_INTR_ALLOC_FLAG & ~ ESP_INTR_FLAG_INTRDISABLED;
ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
(uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id),
mcpwm_comparator_default_isr, cmpr, &cmpr->intr), TAG, "install interrupt service for comparator failed");
}
portENTER_CRITICAL(&group->spinlock);
mcpwm_ll_intr_enable(hal->dev, MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id), cbs->on_reach != NULL);
portEXIT_CRITICAL(&group->spinlock);
cmpr->on_reach = cbs->on_reach;
cmpr->user_data = user_data;
return ESP_OK;
}
static void IRAM_ATTR mcpwm_comparator_default_isr(void *args)
{
mcpwm_cmpr_t *cmpr = (mcpwm_cmpr_t *)args;
mcpwm_oper_t *oper = cmpr->oper;
mcpwm_timer_t *timer = oper->timer;
mcpwm_group_t *group = oper->group;
mcpwm_hal_context_t *hal = &group->hal;
int oper_id = oper->oper_id;
int cmpr_id = cmpr->cmpr_id;
bool need_yield = false;
uint32_t status = mcpwm_ll_intr_get_status(hal->dev);
mcpwm_ll_intr_clear_status(hal->dev, status & MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id));
mcpwm_compare_event_data_t edata = {
.compare_ticks = cmpr->compare_ticks,
.direction = mcpwm_ll_timer_get_count_direction(hal->dev, timer->timer_id),
};
if (status & MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id)) {
mcpwm_compare_event_cb_t cb = cmpr->on_reach;
if (cb) {
if (cb(cmpr, &edata, cmpr->user_data)) {
need_yield = true;
}
}
}
if (need_yield) {
portYIELD_FROM_ISR();
}
}