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mcpwm: rename MCPWM_ISR_IN_IRAM to MCPWM_ISR_IRAM_SAFE

pull/9141/head
morris 2022-05-28 17:27:02 +08:00
rodzic f7ff7ac4d0
commit a12936dca9
4 zmienionych plików z 66 dodań i 55 usunięć
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37
components/driver/Kconfig
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@ -1,6 +1,6 @@
menu "Driver configurations"
menu "Driver Configurations"
menu "ADC configuration"
menu "ADC Configuration"
config ADC_FORCE_XPD_FSM
bool "Use the FSM to control ADC power"
@ -21,20 +21,7 @@ menu "Driver configurations"
endmenu # ADC Configuration
menu "MCPWM configuration"
depends on SOC_MCPWM_SUPPORTED
config MCPWM_ISR_IN_IRAM
bool "Place MCPWM ISR function into IRAM"
default n
help
If this option is not selected, the MCPWM interrupt will be deferred when the Cache
is in a disabled state (e.g. Flash write/erase operation).
Note that if this option is selected, all user registered ISR callbacks should never
try to use cache as well. (with IRAM_ATTR)
endmenu # MCPWM Configuration
menu "SPI configuration"
menu "SPI Configuration"
config SPI_MASTER_IN_IRAM
bool "Place transmitting functions of SPI master into IRAM"
@ -84,7 +71,7 @@ menu "Driver configurations"
endmenu # SPI Configuration
menu "TWAI configuration"
menu "TWAI Configuration"
depends on SOC_TWAI_SUPPORTED
config TWAI_ISR_IN_IRAM
@ -166,7 +153,7 @@ menu "Driver configurations"
endmenu # TEMP_SENSOR Configuration
menu "UART configuration"
menu "UART Configuration"
config UART_ISR_IN_IRAM
bool "Place UART ISR function into IRAM"
@ -306,4 +293,16 @@ menu "Driver configurations"
Note that, this option only controls the RMT driver log, won't affect other drivers.
endmenu # RMT Configuration
endmenu # Driver configurations
menu "MCPWM Configuration"
depends on SOC_MCPWM_SUPPORTED
config MCPWM_ISR_IRAM_SAFE
bool "Place MCPWM ISR function into IRAM"
default n
help
This will ensure the MCPWM interrupt handle is IRAM-Safe, allow to avoid flash
cache misses, and also be able to run whilst the cache is disabled.
(e.g. SPI Flash write)
endmenu # MCPWM Configuration
endmenu # Driver Configurations

79
components/driver/mcpwm.c
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@ -19,6 +19,7 @@
#include "hal/mcpwm_hal.h"
#include "hal/gpio_hal.h"
#include "hal/mcpwm_ll.h"
#include "driver/gpio.h"
#include "driver/mcpwm.h"
#include "esp_private/periph_ctrl.h"
@ -36,16 +37,17 @@ static const char *TAG = "mcpwm";
#define MCPWM_DT_ERROR "MCPWM DEADTIME TYPE ERROR"
#define MCPWM_CAP_EXIST_ERROR "MCPWM USER CAP INT SERVICE ALREADY EXISTS"
#ifdef CONFIG_MCPWM_ISR_IN_IRAM
#ifdef CONFIG_MCPWM_ISR_IRAM_SAFE
#define MCPWM_ISR_ATTR IRAM_ATTR
#define MCPWM_INTR_FLAG (ESP_INTR_FLAG_IRAM)
#define MCPWM_INTR_FLAG ESP_INTR_FLAG_IRAM
#else
#define MCPWM_ISR_ATTR
#define MCPWM_INTR_FLAG 0
#endif
#define MCPWM_GROUP_CLK_SRC_HZ 160000000
#define MCPWM_GROUP_CLK_PRESCALE (16)
#define MCPWM_GROUP_CLK_HZ (SOC_MCPWM_BASE_CLK_HZ / MCPWM_GROUP_CLK_PRESCALE)
#define MCPWM_GROUP_CLK_HZ (MCPWM_GROUP_CLK_SRC_HZ / MCPWM_GROUP_CLK_PRESCALE)
#define MCPWM_TIMER_CLK_HZ (MCPWM_GROUP_CLK_HZ / 10)
_Static_assert(SOC_MCPWM_OPERATORS_PER_GROUP >= SOC_MCPWM_TIMERS_PER_GROUP, "This driver assumes the timer num equals to the operator num.");
@ -87,26 +89,30 @@ typedef struct {
} mcpwm_context_t;
static mcpwm_context_t context[SOC_MCPWM_GROUPS] = {
[0] = {
.hal = {MCPWM_LL_GET_HW(0)},
.spinlock = portMUX_INITIALIZER_UNLOCKED,
.group_id = 0,
.group_pre_scale = SOC_MCPWM_BASE_CLK_HZ / MCPWM_GROUP_CLK_HZ,
.timer_pre_scale = {[0 ... SOC_MCPWM_TIMERS_PER_GROUP - 1] =
MCPWM_GROUP_CLK_HZ / MCPWM_TIMER_CLK_HZ},
.mcpwm_intr_handle = NULL,
.cap_isr_func = {[0 ... SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER - 1] = {NULL, NULL}},
[0] = {
.hal = {MCPWM_LL_GET_HW(0)},
.spinlock = portMUX_INITIALIZER_UNLOCKED,
.group_id = 0,
.group_pre_scale = MCPWM_GROUP_CLK_SRC_HZ / MCPWM_GROUP_CLK_HZ,
.timer_pre_scale = {
[0 ... SOC_MCPWM_TIMERS_PER_GROUP - 1] =
MCPWM_GROUP_CLK_HZ / MCPWM_TIMER_CLK_HZ
},
[1] = {
.hal = {MCPWM_LL_GET_HW(1)},
.spinlock = portMUX_INITIALIZER_UNLOCKED,
.group_id = 1,
.group_pre_scale = SOC_MCPWM_BASE_CLK_HZ / MCPWM_GROUP_CLK_HZ,
.timer_pre_scale = {[0 ... SOC_MCPWM_TIMERS_PER_GROUP - 1] =
MCPWM_GROUP_CLK_HZ / MCPWM_TIMER_CLK_HZ},
.mcpwm_intr_handle = NULL,
.cap_isr_func = {[0 ... SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER - 1] = {NULL, NULL}},
}
.mcpwm_intr_handle = NULL,
.cap_isr_func = {[0 ... SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER - 1] = {NULL, NULL}},
},
[1] = {
.hal = {MCPWM_LL_GET_HW(1)},
.spinlock = portMUX_INITIALIZER_UNLOCKED,
.group_id = 1,
.group_pre_scale = MCPWM_GROUP_CLK_SRC_HZ / MCPWM_GROUP_CLK_HZ,
.timer_pre_scale = {
[0 ... SOC_MCPWM_TIMERS_PER_GROUP - 1] =
MCPWM_GROUP_CLK_HZ / MCPWM_TIMER_CLK_HZ
},
.mcpwm_intr_handle = NULL,
.cap_isr_func = {[0 ... SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER - 1] = {NULL, NULL}},
}
};
typedef void (*mcpwm_ll_gen_set_event_action_t)(mcpwm_dev_t *mcpwm, int op, int gen, int action);
@ -121,11 +127,13 @@ static inline void mcpwm_critical_exit(mcpwm_unit_t mcpwm_num)
portEXIT_CRITICAL(&context[mcpwm_num].spinlock);
}
static inline void mcpwm_mutex_lock(mcpwm_unit_t mcpwm_num){
static inline void mcpwm_mutex_lock(mcpwm_unit_t mcpwm_num)
{
_lock_acquire(&context[mcpwm_num].mutex_lock);
}
static inline void mcpwm_mutex_unlock(mcpwm_unit_t mcpwm_num){
static inline void mcpwm_mutex_unlock(mcpwm_unit_t mcpwm_num)
{
_lock_release(&context[mcpwm_num].mutex_lock);
}
@ -202,9 +210,10 @@ esp_err_t mcpwm_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
return ESP_OK;
}
esp_err_t mcpwm_group_set_resolution(mcpwm_unit_t mcpwm_num, unsigned long int resolution) {
esp_err_t mcpwm_group_set_resolution(mcpwm_unit_t mcpwm_num, unsigned long int resolution)
{
mcpwm_hal_context_t *hal = &context[mcpwm_num].hal;
int pre_scale_temp = SOC_MCPWM_BASE_CLK_HZ / resolution;
int pre_scale_temp = MCPWM_GROUP_CLK_SRC_HZ / resolution;
ESP_RETURN_ON_FALSE(pre_scale_temp >= 1, ESP_ERR_INVALID_ARG, TAG, "invalid resolution");
context[mcpwm_num].group_pre_scale = pre_scale_temp;
mcpwm_critical_enter(mcpwm_num);
@ -213,11 +222,12 @@ esp_err_t mcpwm_group_set_resolution(mcpwm_unit_t mcpwm_num, unsigned long int r
return ESP_OK;
}
esp_err_t mcpwm_timer_set_resolution(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, unsigned long int resolution) {
esp_err_t mcpwm_timer_set_resolution(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, unsigned long int resolution)
{
MCPWM_TIMER_CHECK(mcpwm_num, timer_num);
mcpwm_hal_context_t *hal = &context[mcpwm_num].hal;
int pre_scale_temp = SOC_MCPWM_BASE_CLK_HZ / context[mcpwm_num].group_pre_scale / resolution;
int pre_scale_temp = MCPWM_GROUP_CLK_SRC_HZ / context[mcpwm_num].group_pre_scale / resolution;
ESP_RETURN_ON_FALSE(pre_scale_temp >= 1, ESP_ERR_INVALID_ARG, TAG, "invalid resolution");
context[mcpwm_num].timer_pre_scale[timer_num] = pre_scale_temp;
mcpwm_critical_enter(mcpwm_num);
@ -239,7 +249,7 @@ esp_err_t mcpwm_set_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, u
uint32_t previous_peak = mcpwm_ll_timer_get_peak(hal->dev, timer_num, false);
int real_group_prescale = mcpwm_ll_group_get_clock_prescale(hal->dev);
unsigned long int real_timer_clk_hz =
SOC_MCPWM_BASE_CLK_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
MCPWM_GROUP_CLK_SRC_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
uint32_t new_peak = real_timer_clk_hz / frequency;
mcpwm_ll_timer_set_peak(hal->dev, timer_num, new_peak, false);
// keep the duty cycle unchanged
@ -286,7 +296,7 @@ esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num,
mcpwm_critical_enter(mcpwm_num);
int real_group_prescale = mcpwm_ll_group_get_clock_prescale(hal->dev);
unsigned long int real_timer_clk_hz =
SOC_MCPWM_BASE_CLK_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
MCPWM_GROUP_CLK_SRC_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
mcpwm_ll_operator_set_compare_value(hal->dev, op, cmp, duty_in_us * real_timer_clk_hz / 1000000);
mcpwm_ll_operator_enable_update_compare_on_tez(hal->dev, op, cmp, true);
mcpwm_critical_exit(mcpwm_num);
@ -393,7 +403,7 @@ esp_err_t mcpwm_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpw
mcpwm_ll_timer_update_period_at_once(hal->dev, timer_num);
int real_group_prescale = mcpwm_ll_group_get_clock_prescale(hal->dev);
unsigned long int real_timer_clk_hz =
SOC_MCPWM_BASE_CLK_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
MCPWM_GROUP_CLK_SRC_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
mcpwm_ll_timer_set_peak(hal->dev, timer_num, real_timer_clk_hz / mcpwm_conf->frequency, false);
mcpwm_ll_operator_connect_timer(hal->dev, timer_num, timer_num); //the driver currently always use the timer x for operator x
mcpwm_critical_exit(mcpwm_num);
@ -414,7 +424,7 @@ uint32_t mcpwm_get_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
mcpwm_critical_enter(mcpwm_num);
int real_group_prescale = mcpwm_ll_group_get_clock_prescale(hal->dev);
unsigned long int real_timer_clk_hz =
SOC_MCPWM_BASE_CLK_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
MCPWM_GROUP_CLK_SRC_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
uint32_t peak = mcpwm_ll_timer_get_peak(hal->dev, timer_num, false);
uint32_t freq = real_timer_clk_hz / peak;
mcpwm_critical_exit(mcpwm_num);
@ -433,7 +443,8 @@ float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_gene
return duty;
}
uint32_t mcpwm_get_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t gen){
uint32_t mcpwm_get_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t gen)
{
//the driver currently always use the timer x for operator x
const int op = timer_num;
MCPWM_GEN_CHECK(mcpwm_num, timer_num, gen);
@ -441,7 +452,7 @@ uint32_t mcpwm_get_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, m
mcpwm_critical_enter(mcpwm_num);
int real_group_prescale = mcpwm_ll_group_get_clock_prescale(hal->dev);
unsigned long int real_timer_clk_hz =
SOC_MCPWM_BASE_CLK_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
MCPWM_GROUP_CLK_SRC_HZ / real_group_prescale / mcpwm_ll_timer_get_clock_prescale(hal->dev, timer_num);
uint32_t duty = mcpwm_ll_operator_get_compare_value(hal->dev, op, gen) * (1000000.0 / real_timer_clk_hz);
mcpwm_critical_exit(mcpwm_num);
return duty;

1
components/driver/sdkconfig.rename
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@ -2,3 +2,4 @@
# CONFIG_DEPRECATED_OPTION CONFIG_NEW_OPTION
CONFIG_ADC2_DISABLE_DAC CONFIG_ADC_DISABLE_DAC
CONFIG_MCPWM_ISR_IN_IRAM CONFIG_MCPWM_ISR_IRAM_SAFE

4
components/driver/test/test_pwm.c
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@ -6,7 +6,6 @@
#include <stdio.h>
#include <unistd.h>
#include "unity.h"
#include "test_utils.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "soc/soc_caps.h"
@ -27,7 +26,8 @@
#define TEST_SYNC_GPIO_2 (19)
#define TEST_CAP_GPIO (21)
#define MCPWM_TEST_GROUP_CLK_HZ (SOC_MCPWM_BASE_CLK_HZ / 16)
#define MCPWM_GROUP_CLK_SRC_HZ 160000000
#define MCPWM_TEST_GROUP_CLK_HZ (MCPWM_GROUP_CLK_SRC_HZ / 16)
#define MCPWM_TEST_TIMER_CLK_HZ (MCPWM_TEST_GROUP_CLK_HZ / 10)
const static mcpwm_io_signals_t pwma[] = {MCPWM0A, MCPWM1A, MCPWM2A};