kopia lustrzana https://github.com/espressif/esp-idf
302 wiersze
11 KiB
C
302 wiersze
11 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2022 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_fault.h"
|
|
#include "driver/gpio.h"
|
|
#include "mcpwm_private.h"
|
|
|
|
static const char *TAG = "mcpwm";
|
|
|
|
static void mcpwm_gpio_fault_default_isr(void *args);
|
|
static esp_err_t mcpwm_del_gpio_fault(mcpwm_fault_handle_t fault);
|
|
static esp_err_t mcpwm_del_soft_fault(mcpwm_fault_handle_t fault);
|
|
|
|
static esp_err_t mcpwm_gpio_fault_register_to_group(mcpwm_gpio_fault_t *fault, int group_id)
|
|
{
|
|
mcpwm_group_t *group = mcpwm_acquire_group_handle(group_id);
|
|
ESP_RETURN_ON_FALSE(group, ESP_ERR_NO_MEM, TAG, "no mem for group (%d)", group_id);
|
|
|
|
int fault_id = -1;
|
|
portENTER_CRITICAL(&group->spinlock);
|
|
for (int i = 0; i < SOC_MCPWM_GPIO_FAULTS_PER_GROUP; i++) {
|
|
if (!group->gpio_faults[i]) {
|
|
fault_id = i;
|
|
group->gpio_faults[i] = fault;
|
|
break;
|
|
}
|
|
}
|
|
portEXIT_CRITICAL(&group->spinlock);
|
|
if (fault_id < 0) {
|
|
mcpwm_release_group_handle(group);
|
|
group = NULL;
|
|
} else {
|
|
fault->base.group = group;
|
|
fault->fault_id = fault_id;
|
|
}
|
|
ESP_RETURN_ON_FALSE(fault_id >= 0, ESP_ERR_NOT_FOUND, TAG, "no free gpio fault in group (%d)", group_id);
|
|
return ESP_OK;
|
|
}
|
|
|
|
static void mcpwm_gpio_fault_unregister_from_group(mcpwm_gpio_fault_t *fault)
|
|
{
|
|
mcpwm_group_t *group = fault->base.group;
|
|
int fault_id = fault->fault_id;
|
|
|
|
portENTER_CRITICAL(&group->spinlock);
|
|
group->gpio_faults[fault_id] = NULL;
|
|
portEXIT_CRITICAL(&group->spinlock);
|
|
|
|
// fault has a reference on group, release it now
|
|
mcpwm_release_group_handle(group);
|
|
}
|
|
|
|
static esp_err_t mcpwm_gpio_fault_destory(mcpwm_gpio_fault_t *fault)
|
|
{
|
|
if (fault->intr) {
|
|
ESP_RETURN_ON_ERROR(esp_intr_free(fault->intr), TAG, "uninstall interrupt service failed");
|
|
}
|
|
if (fault->base.group) {
|
|
mcpwm_gpio_fault_unregister_from_group(fault);
|
|
}
|
|
free(fault);
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t mcpwm_new_gpio_fault(const mcpwm_gpio_fault_config_t *config, mcpwm_fault_handle_t *ret_fault)
|
|
{
|
|
#if CONFIG_MCPWM_ENABLE_DEBUG_LOG
|
|
esp_log_level_set(TAG, ESP_LOG_DEBUG);
|
|
#endif
|
|
esp_err_t ret = ESP_OK;
|
|
mcpwm_gpio_fault_t *fault = NULL;
|
|
ESP_GOTO_ON_FALSE(config && ret_fault, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
|
|
ESP_GOTO_ON_FALSE(config->group_id < SOC_MCPWM_GROUPS && config->group_id >= 0, ESP_ERR_INVALID_ARG,
|
|
err, TAG, "invalid group ID:%d", config->group_id);
|
|
|
|
fault = heap_caps_calloc(1, sizeof(mcpwm_gpio_fault_t), MCPWM_MEM_ALLOC_CAPS);
|
|
ESP_GOTO_ON_FALSE(fault, ESP_ERR_NO_MEM, err, TAG, "no mem for gpio fault");
|
|
|
|
ESP_GOTO_ON_ERROR(mcpwm_gpio_fault_register_to_group(fault, config->group_id), err, TAG, "register gpio fault failed");
|
|
mcpwm_group_t *group = fault->base.group;
|
|
int group_id = group->group_id;
|
|
mcpwm_hal_context_t *hal = &group->hal;
|
|
int fault_id = fault->fault_id;
|
|
|
|
// GPIO configuration
|
|
gpio_config_t gpio_conf = {
|
|
.intr_type = GPIO_INTR_DISABLE,
|
|
.mode = GPIO_MODE_INPUT | (config->flags.io_loop_back ? GPIO_MODE_OUTPUT : 0), // also enable the output path if `io_loop_back` is enabled
|
|
.pin_bit_mask = (1ULL << config->gpio_num),
|
|
.pull_down_en = config->flags.pull_down,
|
|
.pull_up_en = config->flags.pull_up,
|
|
};
|
|
ESP_GOTO_ON_ERROR(gpio_config(&gpio_conf), err, TAG, "config fault GPIO failed");
|
|
esp_rom_gpio_connect_in_signal(config->gpio_num, mcpwm_periph_signals.groups[group_id].gpio_faults[fault_id].fault_sig, 0);
|
|
|
|
// set fault detection polarity
|
|
// different gpio faults share the same config register, using a group level spin lock
|
|
portENTER_CRITICAL(&group->spinlock);
|
|
mcpwm_ll_fault_set_active_level(hal->dev, fault_id, config->flags.active_level);
|
|
portEXIT_CRITICAL(&group->spinlock);
|
|
|
|
// enable fault detection
|
|
mcpwm_ll_fault_enable_detection(hal->dev, fault_id, true);
|
|
|
|
// fill in other operator members
|
|
fault->base.type = MCPWM_FAULT_TYPE_GPIO;
|
|
fault->gpio_num = config->gpio_num;
|
|
fault->base.del = mcpwm_del_gpio_fault;
|
|
*ret_fault = &fault->base;
|
|
ESP_LOGD(TAG, "new gpio fault (%d,%d) at %p, GPIO: %d", group_id, fault_id, fault, config->gpio_num);
|
|
return ESP_OK;
|
|
|
|
err:
|
|
if (fault) {
|
|
mcpwm_gpio_fault_destory(fault);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
static esp_err_t mcpwm_del_gpio_fault(mcpwm_fault_handle_t fault)
|
|
{
|
|
mcpwm_gpio_fault_t *gpio_fault = __containerof(fault, mcpwm_gpio_fault_t, base);
|
|
mcpwm_group_t *group = fault->group;
|
|
mcpwm_hal_context_t *hal = &group->hal;
|
|
int fault_id = gpio_fault->fault_id;
|
|
|
|
ESP_LOGD(TAG, "del GPIO fault (%d,%d)", group->group_id, fault_id);
|
|
gpio_reset_pin(gpio_fault->gpio_num);
|
|
|
|
portENTER_CRITICAL(&group->spinlock);
|
|
mcpwm_ll_intr_enable(hal->dev, MCPWM_LL_EVENT_FAULT_MASK(fault_id), false);
|
|
mcpwm_ll_intr_clear_status(hal->dev, MCPWM_LL_EVENT_FAULT_MASK(fault_id));
|
|
portEXIT_CRITICAL(&group->spinlock);
|
|
|
|
// disable fault detection
|
|
mcpwm_ll_fault_enable_detection(hal->dev, fault_id, false);
|
|
|
|
// recycle memory resource
|
|
ESP_RETURN_ON_ERROR(mcpwm_gpio_fault_destory(gpio_fault), TAG, "destory GPIO fault failed");
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t mcpwm_new_soft_fault(const mcpwm_soft_fault_config_t *config, mcpwm_fault_handle_t *ret_fault)
|
|
{
|
|
esp_err_t ret = ESP_OK;
|
|
mcpwm_soft_fault_t *soft_fault = NULL;
|
|
ESP_GOTO_ON_FALSE(config && ret_fault, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
|
|
soft_fault = heap_caps_calloc(1, sizeof(mcpwm_soft_fault_t), MCPWM_MEM_ALLOC_CAPS);
|
|
ESP_GOTO_ON_FALSE(soft_fault, ESP_ERR_NO_MEM, err, TAG, "no mem for soft fault");
|
|
|
|
// fill in other fault members
|
|
soft_fault->base.type = MCPWM_FAULT_TYPE_SOFT;
|
|
soft_fault->base.del = mcpwm_del_soft_fault;
|
|
*ret_fault = &soft_fault->base;
|
|
ESP_LOGD(TAG, "new soft fault at %p", soft_fault);
|
|
return ESP_OK;
|
|
|
|
err:
|
|
// soft_fault must be NULL in the error handling path, and it's a determined behaviour to free a NULL pointer in esp-idf
|
|
free(soft_fault);
|
|
return ret;
|
|
}
|
|
|
|
static esp_err_t mcpwm_del_soft_fault(mcpwm_fault_handle_t fault)
|
|
{
|
|
mcpwm_soft_fault_t *soft_fault = __containerof(fault, mcpwm_soft_fault_t, base);
|
|
ESP_LOGD(TAG, "del soft fault %p", soft_fault);
|
|
free(soft_fault);
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t mcpwm_soft_fault_activate(mcpwm_fault_handle_t fault)
|
|
{
|
|
ESP_RETURN_ON_FALSE(fault, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
|
ESP_RETURN_ON_FALSE(fault->type == MCPWM_FAULT_TYPE_SOFT, ESP_ERR_INVALID_ARG, TAG, "not a valid soft fault");
|
|
mcpwm_group_t *group = fault->group;
|
|
mcpwm_soft_fault_t *soft_fault = __containerof(fault, mcpwm_soft_fault_t, base);
|
|
mcpwm_oper_t *oper = soft_fault->oper;
|
|
ESP_RETURN_ON_FALSE(oper, ESP_ERR_INVALID_STATE, TAG, "no operator is assigned to the fault");
|
|
|
|
switch (oper->brake_mode_on_soft_fault) {
|
|
case MCPWM_OPER_BRAKE_MODE_CBC:
|
|
mcpwm_ll_brake_trigger_soft_cbc(group->hal.dev, oper->oper_id);
|
|
break;
|
|
case MCPWM_OPER_BRAKE_MODE_OST:
|
|
mcpwm_ll_brake_trigger_soft_ost(group->hal.dev, oper->oper_id);
|
|
break;
|
|
default:
|
|
ESP_RETURN_ON_FALSE(false, ESP_ERR_INVALID_STATE, TAG, "unknown brake mode:%d", oper->brake_mode_on_soft_fault);
|
|
break;
|
|
}
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t mcpwm_del_fault(mcpwm_fault_handle_t fault)
|
|
{
|
|
ESP_RETURN_ON_FALSE(fault, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
|
return fault->del(fault);
|
|
}
|
|
|
|
esp_err_t mcpwm_fault_register_event_callbacks(mcpwm_fault_handle_t fault, const mcpwm_fault_event_callbacks_t *cbs, void *user_data)
|
|
{
|
|
ESP_RETURN_ON_FALSE(fault && cbs, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
|
ESP_RETURN_ON_FALSE(fault->type == MCPWM_FAULT_TYPE_GPIO, ESP_ERR_INVALID_ARG, TAG, "only gpio fault can register event callback");
|
|
mcpwm_gpio_fault_t *gpio_fault = __containerof(fault, mcpwm_gpio_fault_t, base);
|
|
mcpwm_group_t *group = fault->group;
|
|
int group_id = group->group_id;
|
|
mcpwm_hal_context_t *hal = &group->hal;
|
|
int fault_id = gpio_fault->fault_id;
|
|
|
|
#if CONFIG_MCWPM_ISR_IRAM_SAFE
|
|
if (cbs->on_fault_enter) {
|
|
ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_fault_enter), ESP_ERR_INVALID_ARG, TAG, "on_fault_enter callback not in IRAM");
|
|
}
|
|
if (cbs->on_fault_exit) {
|
|
ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_fault_exit), ESP_ERR_INVALID_ARG, TAG, "on_fault_exit 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 (!gpio_fault->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_FAULT_MASK(fault_id),
|
|
mcpwm_gpio_fault_default_isr, gpio_fault, &gpio_fault->intr), TAG, "install interrupt service for gpio fault failed");
|
|
}
|
|
|
|
// different mcpwm events share the same interrupt control register
|
|
portENTER_CRITICAL(&group->spinlock);
|
|
mcpwm_ll_intr_enable(hal->dev, MCPWM_LL_EVENT_FAULT_ENTER(fault_id), cbs->on_fault_enter != NULL);
|
|
mcpwm_ll_intr_enable(hal->dev, MCPWM_LL_EVENT_FAULT_EXIT(fault_id), cbs->on_fault_exit != NULL);
|
|
portEXIT_CRITICAL(&group->spinlock);
|
|
|
|
gpio_fault->on_fault_enter = cbs->on_fault_enter;
|
|
gpio_fault->on_fault_exit = cbs->on_fault_exit;
|
|
gpio_fault->user_data = user_data;
|
|
return ESP_OK;
|
|
}
|
|
|
|
static void IRAM_ATTR mcpwm_gpio_fault_default_isr(void *args)
|
|
{
|
|
mcpwm_gpio_fault_t *fault = (mcpwm_gpio_fault_t *)args;
|
|
mcpwm_group_t *group = fault->base.group;
|
|
mcpwm_hal_context_t *hal = &group->hal;
|
|
int fault_id = fault->fault_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_FAULT_MASK(fault_id));
|
|
|
|
mcpwm_fault_event_data_t edata = {
|
|
// TODO
|
|
};
|
|
|
|
if (status & MCPWM_LL_EVENT_FAULT_ENTER(fault_id)) {
|
|
mcpwm_fault_event_cb_t cb = fault->on_fault_enter;
|
|
if (cb) {
|
|
if (cb(&fault->base, &edata, fault->user_data)) {
|
|
need_yield = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (status & MCPWM_LL_EVENT_FAULT_EXIT(fault_id)) {
|
|
mcpwm_fault_event_cb_t cb = fault->on_fault_exit;
|
|
if (cb) {
|
|
if (cb(&fault->base, &edata, fault->user_data)) {
|
|
need_yield = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (need_yield) {
|
|
portYIELD_FROM_ISR();
|
|
}
|
|
}
|