| /* |
| * Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd. |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #define DT_DRV_COMPAT espressif_esp32_touch |
| |
| #include <zephyr/device.h> |
| #include <zephyr/input/input.h> |
| #include <zephyr/kernel.h> |
| #include <zephyr/logging/log.h> |
| |
| #include <esp_err.h> |
| #include <soc/soc_pins.h> |
| #include <soc/periph_defs.h> |
| #include <hal/touch_sensor_types.h> |
| #include <hal/touch_sensor_hal.h> |
| #include <driver/rtc_io.h> |
| #include <esp_intr_alloc.h> |
| |
| LOG_MODULE_REGISTER(espressif_esp32_touch, CONFIG_INPUT_LOG_LEVEL); |
| |
| BUILD_ASSERT(!IS_ENABLED(CONFIG_COUNTER_RTC_ESP32), |
| "Conflict detected: COUNTER_RTC_ESP32 enabled"); |
| |
| #define ESP32_SCAN_DONE_MAX_COUNT 5 |
| |
| #if defined(CONFIG_SOC_SERIES_ESP32) |
| #define ESP32_RTC_INTR_MSK RTC_CNTL_TOUCH_INT_ST_M |
| #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| |
| #define ESP32_RTC_INTR_MSK (RTC_CNTL_TOUCH_DONE_INT_ST_M | \ |
| RTC_CNTL_TOUCH_ACTIVE_INT_ST_M | \ |
| RTC_CNTL_TOUCH_INACTIVE_INT_ST_M | \ |
| RTC_CNTL_TOUCH_SCAN_DONE_INT_ST_M | \ |
| RTC_CNTL_TOUCH_TIMEOUT_INT_ST_M) |
| |
| #define ESP32_TOUCH_PAD_INTR_MASK (TOUCH_PAD_INTR_MASK_ACTIVE | \ |
| TOUCH_PAD_INTR_MASK_INACTIVE | \ |
| TOUCH_PAD_INTR_MASK_TIMEOUT | \ |
| TOUCH_PAD_INTR_MASK_SCAN_DONE) |
| |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32) */ |
| |
| struct esp32_touch_sensor_channel_config { |
| int32_t channel_num; |
| int32_t channel_sens; |
| uint32_t zephyr_code; |
| }; |
| |
| struct esp32_touch_sensor_config { |
| uint32_t debounce_interval_ms; |
| int num_channels; |
| int href_microvolt_enum_idx; |
| int lref_microvolt_enum_idx; |
| int href_atten_microvolt_enum_idx; |
| int filter_mode; |
| int filter_debounce_cnt; |
| int filter_noise_thr; |
| int filter_jitter_step; |
| int filter_smooth_level; |
| const struct esp32_touch_sensor_channel_config *channel_cfg; |
| struct esp32_touch_sensor_channel_data *channel_data; |
| }; |
| |
| struct esp32_touch_sensor_channel_data { |
| const struct device *dev; |
| struct k_work_delayable work; |
| uint32_t status; |
| #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| uint32_t last_status; |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */ |
| }; |
| |
| struct esp32_touch_sensor_data { |
| uint32_t rtc_intr_msk; |
| }; |
| |
| static void esp32_touch_sensor_interrupt_cb(void *arg) |
| { |
| const struct device *dev = arg; |
| struct esp32_touch_sensor_data *dev_data = dev->data; |
| const struct esp32_touch_sensor_config *dev_cfg = dev->config; |
| const struct esp32_touch_sensor_channel_config *channel_cfg; |
| const int num_channels = dev_cfg->num_channels; |
| uint32_t pad_status; |
| |
| #if defined(CONFIG_SOC_SERIES_ESP32) |
| touch_hal_intr_clear(); |
| |
| #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| static uint8_t scan_done_counter; |
| |
| touch_pad_intr_mask_t intr_mask = touch_hal_read_intr_status_mask(); |
| |
| if (intr_mask & TOUCH_PAD_INTR_MASK_SCAN_DONE) { |
| if (++scan_done_counter == ESP32_SCAN_DONE_MAX_COUNT) { |
| touch_hal_intr_disable(TOUCH_PAD_INTR_MASK_SCAN_DONE); |
| for (int i = 0; i < num_channels; i++) { |
| channel_cfg = &dev_cfg->channel_cfg[i]; |
| |
| /* Set interrupt threshold */ |
| uint32_t benchmark_value; |
| |
| touch_hal_read_benchmark(channel_cfg->channel_num, |
| &benchmark_value); |
| touch_hal_set_threshold(channel_cfg->channel_num, |
| channel_cfg->channel_sens * benchmark_value / 100); |
| } |
| } |
| return; |
| } |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32) */ |
| |
| touch_hal_read_trigger_status_mask(&pad_status); |
| #if defined(CONFIG_SOC_SERIES_ESP32) |
| touch_hal_clear_trigger_status_mask(); |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32) */ |
| for (int i = 0; i < num_channels; i++) { |
| uint32_t channel_status; |
| |
| channel_cfg = &dev_cfg->channel_cfg[i]; |
| channel_status = (pad_status >> channel_cfg->channel_num) & 0x01; |
| |
| #if defined(CONFIG_SOC_SERIES_ESP32) |
| if (channel_status != 0) { |
| #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| uint32_t channel_num = (uint32_t)touch_hal_get_current_meas_channel(); |
| |
| if (channel_cfg->channel_num == channel_num) { |
| #endif /* CONFIG_SOC_SERIES_ESP32 */ |
| struct esp32_touch_sensor_channel_data |
| *channel_data = &dev_cfg->channel_data[i]; |
| |
| channel_data->status = channel_status; |
| (void)k_work_reschedule(&channel_data->work, |
| K_MSEC(dev_cfg->debounce_interval_ms)); |
| } |
| } |
| } |
| |
| static void esp32_rtc_isr(void *arg) |
| { |
| uint32_t status = REG_READ(RTC_CNTL_INT_ST_REG); |
| |
| if (arg != NULL) { |
| const struct device *dev = arg; |
| struct esp32_touch_sensor_data *dev_data = dev->data; |
| |
| if (dev_data->rtc_intr_msk & status) { |
| esp32_touch_sensor_interrupt_cb(arg); |
| } |
| } |
| |
| REG_WRITE(RTC_CNTL_INT_CLR_REG, status); |
| } |
| |
| static esp_err_t esp32_rtc_isr_install(intr_handler_t intr_handler, const void *handler_arg) |
| { |
| esp_err_t err; |
| |
| REG_WRITE(RTC_CNTL_INT_ENA_REG, 0); |
| REG_WRITE(RTC_CNTL_INT_CLR_REG, UINT32_MAX); |
| err = esp_intr_alloc(ETS_RTC_CORE_INTR_SOURCE, 0, intr_handler, (void *)handler_arg, NULL); |
| |
| return err; |
| } |
| |
| /** |
| * Handle debounced touch sensor touch state. |
| */ |
| static void esp32_touch_sensor_change_deferred(struct k_work *work) |
| { |
| struct k_work_delayable *dwork = k_work_delayable_from_work(work); |
| struct esp32_touch_sensor_channel_data *channel_data = |
| CONTAINER_OF(dwork, struct esp32_touch_sensor_channel_data, work); |
| const struct device *dev = channel_data->dev; |
| const struct esp32_touch_sensor_config *dev_cfg = dev->config; |
| int key_index = channel_data - &dev_cfg->channel_data[0]; |
| const struct esp32_touch_sensor_channel_config |
| *channel_cfg = &dev_cfg->channel_cfg[key_index]; |
| |
| #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| if (channel_data->last_status != channel_data->status) { |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */ |
| input_report_key(dev, channel_cfg->zephyr_code, |
| channel_data->status, true, K_FOREVER); |
| #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| channel_data->last_status = channel_data->status; |
| } |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */ |
| } |
| |
| static int esp32_touch_sensor_init(const struct device *dev) |
| { |
| struct esp32_touch_sensor_data *dev_data = dev->data; |
| const struct esp32_touch_sensor_config *dev_cfg = dev->config; |
| const int num_channels = dev_cfg->num_channels; |
| |
| touch_hal_init(); |
| |
| #if defined(CONFIG_SOC_SERIES_ESP32) |
| touch_hal_volt_t volt = { |
| .refh = dev_cfg->href_microvolt_enum_idx, |
| .refh = dev_cfg->href_microvolt_enum_idx, |
| .atten = dev_cfg->href_atten_microvolt_enum_idx |
| }; |
| |
| touch_hal_set_voltage(&volt); |
| touch_hal_set_fsm_mode(TOUCH_FSM_MODE_TIMER); |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32) */ |
| |
| for (int i = 0; i < num_channels; i++) { |
| struct esp32_touch_sensor_channel_data *channel_data = &dev_cfg->channel_data[i]; |
| const struct esp32_touch_sensor_channel_config *channel_cfg = |
| &dev_cfg->channel_cfg[i]; |
| |
| if (!(channel_cfg->channel_num > 0 && |
| channel_cfg->channel_num < SOC_TOUCH_SENSOR_NUM)) { |
| LOG_ERR("Touch %d configuration failed: " |
| "Touch channel error", i); |
| return -EINVAL; |
| } |
| |
| #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| if (channel_cfg->channel_num == SOC_TOUCH_DENOISE_CHANNEL) { |
| LOG_ERR("Touch %d configuration failed: " |
| "TOUCH0 is internal denoise channel", i); |
| return -EINVAL; |
| } |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */ |
| |
| gpio_num_t gpio_num = touch_sensor_channel_io_map[channel_cfg->channel_num]; |
| |
| rtc_gpio_init(gpio_num); |
| rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED); |
| rtc_gpio_pulldown_dis(gpio_num); |
| rtc_gpio_pullup_dis(gpio_num); |
| |
| touch_hal_config(channel_cfg->channel_num); |
| #if defined(CONFIG_SOC_SERIES_ESP32) |
| touch_hal_set_threshold(channel_cfg->channel_num, 0); |
| touch_hal_set_group_mask(BIT(channel_cfg->channel_num), |
| BIT(channel_cfg->channel_num)); |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32) */ |
| touch_hal_set_channel_mask(BIT(channel_cfg->channel_num)); |
| |
| channel_data->status = 0; |
| #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| channel_data->last_status = 0; |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */ |
| channel_data->dev = dev; |
| |
| k_work_init_delayable(&channel_data->work, esp32_touch_sensor_change_deferred); |
| } |
| |
| #if defined(CONFIG_SOC_SERIES_ESP32) |
| for (int i = 0; i < num_channels; i++) { |
| const struct esp32_touch_sensor_channel_config *channel_cfg = |
| &dev_cfg->channel_cfg[i]; |
| uint32_t ref_time; |
| |
| ref_time = k_uptime_get_32(); |
| while (!touch_hal_meas_is_done()) { |
| if (k_uptime_get_32() - ref_time > 500) { |
| return -ETIMEDOUT; |
| } |
| k_busy_wait(1000); |
| } |
| uint16_t touch_value = touch_hal_read_raw_data(channel_cfg->channel_num); |
| |
| touch_hal_set_threshold(channel_cfg->channel_num, |
| touch_value * (100 - channel_cfg->channel_num) / 100); |
| } |
| |
| #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| touch_filter_config_t filter_info = { |
| .mode = dev_cfg->filter_mode, |
| .debounce_cnt = dev_cfg->filter_debounce_cnt, |
| .noise_thr = dev_cfg->filter_noise_thr, |
| .jitter_step = dev_cfg->filter_jitter_step, |
| .smh_lvl = dev_cfg->filter_smooth_level, |
| }; |
| touch_hal_filter_set_config(&filter_info); |
| touch_hal_filter_enable(); |
| |
| touch_hal_timeout_enable(); |
| touch_hal_timeout_set_threshold(SOC_TOUCH_PAD_THRESHOLD_MAX); |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32) */ |
| |
| dev_data->rtc_intr_msk = ESP32_RTC_INTR_MSK; |
| esp32_rtc_isr_install(&esp32_rtc_isr, dev); |
| #if defined(CONFIG_SOC_SERIES_ESP32) |
| touch_hal_intr_enable(); |
| #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) |
| touch_hal_intr_enable(ESP32_TOUCH_PAD_INTR_MASK); |
| touch_hal_set_fsm_mode(TOUCH_FSM_MODE_TIMER); |
| #endif /* defined(CONFIG_SOC_SERIES_ESP32) */ |
| |
| touch_hal_start_fsm(); |
| |
| return 0; |
| } |
| |
| #define ESP32_TOUCH_SENSOR_CHANNEL_CFG_INIT(node_id) \ |
| { \ |
| .channel_num = DT_PROP(node_id, channel_num), \ |
| .channel_sens = DT_PROP(node_id, channel_sens), \ |
| .zephyr_code = DT_PROP(node_id, zephyr_code), \ |
| } |
| |
| #define ESP32_TOUCH_SENSOR_INIT(inst) \ |
| static const struct esp32_touch_sensor_channel_config \ |
| esp32_touch_sensor_channel_config_##inst[] = { \ |
| DT_INST_FOREACH_CHILD_STATUS_OKAY_SEP(inst, \ |
| ESP32_TOUCH_SENSOR_CHANNEL_CFG_INIT, (,)) \ |
| }; \ |
| \ |
| static struct esp32_touch_sensor_channel_data esp32_touch_sensor_channel_data_##inst \ |
| [ARRAY_SIZE(esp32_touch_sensor_channel_config_##inst)]; \ |
| \ |
| static const struct esp32_touch_sensor_config esp32_touch_sensor_config_##inst = { \ |
| .debounce_interval_ms = DT_INST_PROP(inst, debounce_interval_ms), \ |
| .num_channels = ARRAY_SIZE(esp32_touch_sensor_channel_config_##inst), \ |
| .href_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, href_microvolt), \ |
| .lref_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, lref_microvolt), \ |
| .href_atten_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, href_atten_microvolt), \ |
| .filter_mode = DT_INST_PROP(inst, filter_mode), \ |
| .filter_debounce_cnt = DT_INST_PROP(inst, filter_debounce_cnt), \ |
| .filter_noise_thr = DT_INST_PROP(inst, filter_noise_thr), \ |
| .filter_jitter_step = DT_INST_PROP(inst, filter_jitter_step), \ |
| .filter_smooth_level = DT_INST_PROP(inst, filter_smooth_level), \ |
| .channel_cfg = esp32_touch_sensor_channel_config_##inst, \ |
| .channel_data = esp32_touch_sensor_channel_data_##inst, \ |
| }; \ |
| \ |
| static struct esp32_touch_sensor_data esp32_touch_sensor_data_##inst; \ |
| \ |
| DEVICE_DT_INST_DEFINE(inst, \ |
| &esp32_touch_sensor_init, \ |
| NULL, \ |
| &esp32_touch_sensor_data_##inst, \ |
| &esp32_touch_sensor_config_##inst, \ |
| POST_KERNEL, CONFIG_INPUT_INIT_PRIORITY, \ |
| NULL); |
| |
| DT_INST_FOREACH_STATUS_OKAY(ESP32_TOUCH_SENSOR_INIT) |