1 /*
2 * Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd.
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #define DT_DRV_COMPAT espressif_esp32_touch
8
9 #include <zephyr/device.h>
10 #include <zephyr/input/input.h>
11 #include <zephyr/kernel.h>
12 #include <zephyr/logging/log.h>
13
14 #include <esp_err.h>
15 #include <soc/soc_pins.h>
16 #include <soc/periph_defs.h>
17 #include <hal/touch_sensor_types.h>
18 #include <hal/touch_sensor_hal.h>
19 #include <driver/rtc_io.h>
20 #include <esp_intr_alloc.h>
21
22 LOG_MODULE_REGISTER(espressif_esp32_touch, CONFIG_INPUT_LOG_LEVEL);
23
24 BUILD_ASSERT(!IS_ENABLED(CONFIG_COUNTER_RTC_ESP32),
25 "Conflict detected: COUNTER_RTC_ESP32 enabled");
26
27 #define ESP32_SCAN_DONE_MAX_COUNT 5
28
29 #if defined(CONFIG_SOC_SERIES_ESP32)
30 #define ESP32_RTC_INTR_MSK RTC_CNTL_TOUCH_INT_ST_M
31 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
32
33 #define ESP32_RTC_INTR_MSK (RTC_CNTL_TOUCH_DONE_INT_ST_M | \
34 RTC_CNTL_TOUCH_ACTIVE_INT_ST_M | \
35 RTC_CNTL_TOUCH_INACTIVE_INT_ST_M | \
36 RTC_CNTL_TOUCH_SCAN_DONE_INT_ST_M | \
37 RTC_CNTL_TOUCH_TIMEOUT_INT_ST_M)
38
39 #define ESP32_TOUCH_PAD_INTR_MASK (TOUCH_PAD_INTR_MASK_ACTIVE | \
40 TOUCH_PAD_INTR_MASK_INACTIVE | \
41 TOUCH_PAD_INTR_MASK_TIMEOUT | \
42 TOUCH_PAD_INTR_MASK_SCAN_DONE)
43
44 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
45
46 struct esp32_touch_sensor_channel_config {
47 int32_t channel_num;
48 int32_t channel_sens;
49 uint32_t zephyr_code;
50 };
51
52 struct esp32_touch_sensor_config {
53 uint32_t debounce_interval_ms;
54 int num_channels;
55 int href_microvolt_enum_idx;
56 int lref_microvolt_enum_idx;
57 int href_atten_microvolt_enum_idx;
58 int filter_mode;
59 int filter_debounce_cnt;
60 int filter_noise_thr;
61 int filter_jitter_step;
62 int filter_smooth_level;
63 const struct esp32_touch_sensor_channel_config *channel_cfg;
64 struct esp32_touch_sensor_channel_data *channel_data;
65 };
66
67 struct esp32_touch_sensor_channel_data {
68 const struct device *dev;
69 struct k_work_delayable work;
70 uint32_t status;
71 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
72 uint32_t last_status;
73 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
74 };
75
76 struct esp32_touch_sensor_data {
77 uint32_t rtc_intr_msk;
78 };
79
esp32_touch_sensor_interrupt_cb(void * arg)80 static void esp32_touch_sensor_interrupt_cb(void *arg)
81 {
82 const struct device *dev = arg;
83 struct esp32_touch_sensor_data *dev_data = dev->data;
84 const struct esp32_touch_sensor_config *dev_cfg = dev->config;
85 const struct esp32_touch_sensor_channel_config *channel_cfg;
86 const int num_channels = dev_cfg->num_channels;
87 uint32_t pad_status;
88
89 #if defined(CONFIG_SOC_SERIES_ESP32)
90 touch_hal_intr_clear();
91
92 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
93 static uint8_t scan_done_counter;
94
95 touch_pad_intr_mask_t intr_mask = touch_hal_read_intr_status_mask();
96
97 if (intr_mask & TOUCH_PAD_INTR_MASK_SCAN_DONE) {
98 if (++scan_done_counter == ESP32_SCAN_DONE_MAX_COUNT) {
99 touch_hal_intr_disable(TOUCH_PAD_INTR_MASK_SCAN_DONE);
100 for (int i = 0; i < num_channels; i++) {
101 channel_cfg = &dev_cfg->channel_cfg[i];
102
103 /* Set interrupt threshold */
104 uint32_t benchmark_value;
105
106 touch_hal_read_benchmark(channel_cfg->channel_num,
107 &benchmark_value);
108 touch_hal_set_threshold(channel_cfg->channel_num,
109 channel_cfg->channel_sens * benchmark_value / 100);
110 }
111 }
112 return;
113 }
114 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
115
116 touch_hal_read_trigger_status_mask(&pad_status);
117 #if defined(CONFIG_SOC_SERIES_ESP32)
118 touch_hal_clear_trigger_status_mask();
119 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
120 for (int i = 0; i < num_channels; i++) {
121 uint32_t channel_status;
122
123 channel_cfg = &dev_cfg->channel_cfg[i];
124 channel_status = (pad_status >> channel_cfg->channel_num) & 0x01;
125
126 #if defined(CONFIG_SOC_SERIES_ESP32)
127 if (channel_status != 0) {
128 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
129 uint32_t channel_num = (uint32_t)touch_hal_get_current_meas_channel();
130
131 if (channel_cfg->channel_num == channel_num) {
132 #endif /* CONFIG_SOC_SERIES_ESP32 */
133 struct esp32_touch_sensor_channel_data
134 *channel_data = &dev_cfg->channel_data[i];
135
136 channel_data->status = channel_status;
137 (void)k_work_reschedule(&channel_data->work,
138 K_MSEC(dev_cfg->debounce_interval_ms));
139 }
140 }
141 }
142
143 static void esp32_rtc_isr(void *arg)
144 {
145 uint32_t status = REG_READ(RTC_CNTL_INT_ST_REG);
146
147 if (arg != NULL) {
148 const struct device *dev = arg;
149 struct esp32_touch_sensor_data *dev_data = dev->data;
150
151 if (dev_data->rtc_intr_msk & status) {
152 esp32_touch_sensor_interrupt_cb(arg);
153 }
154 }
155
156 REG_WRITE(RTC_CNTL_INT_CLR_REG, status);
157 }
158
159 static esp_err_t esp32_rtc_isr_install(intr_handler_t intr_handler, const void *handler_arg)
160 {
161 esp_err_t err;
162
163 REG_WRITE(RTC_CNTL_INT_ENA_REG, 0);
164 REG_WRITE(RTC_CNTL_INT_CLR_REG, UINT32_MAX);
165 err = esp_intr_alloc(ETS_RTC_CORE_INTR_SOURCE, 0, intr_handler, (void *)handler_arg, NULL);
166
167 return err;
168 }
169
170 /**
171 * Handle debounced touch sensor touch state.
172 */
173 static void esp32_touch_sensor_change_deferred(struct k_work *work)
174 {
175 struct k_work_delayable *dwork = k_work_delayable_from_work(work);
176 struct esp32_touch_sensor_channel_data *channel_data =
177 CONTAINER_OF(dwork, struct esp32_touch_sensor_channel_data, work);
178 const struct device *dev = channel_data->dev;
179 const struct esp32_touch_sensor_config *dev_cfg = dev->config;
180 int key_index = channel_data - &dev_cfg->channel_data[0];
181 const struct esp32_touch_sensor_channel_config
182 *channel_cfg = &dev_cfg->channel_cfg[key_index];
183
184 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
185 if (channel_data->last_status != channel_data->status) {
186 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
187 input_report_key(dev, channel_cfg->zephyr_code,
188 channel_data->status, true, K_FOREVER);
189 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
190 channel_data->last_status = channel_data->status;
191 }
192 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
193 }
194
195 static int esp32_touch_sensor_init(const struct device *dev)
196 {
197 struct esp32_touch_sensor_data *dev_data = dev->data;
198 const struct esp32_touch_sensor_config *dev_cfg = dev->config;
199 const int num_channels = dev_cfg->num_channels;
200
201 touch_hal_init();
202
203 #if defined(CONFIG_SOC_SERIES_ESP32)
204 touch_hal_volt_t volt = {
205 .refh = dev_cfg->href_microvolt_enum_idx,
206 .refh = dev_cfg->href_microvolt_enum_idx,
207 .atten = dev_cfg->href_atten_microvolt_enum_idx
208 };
209
210 touch_hal_set_voltage(&volt);
211 touch_hal_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
212 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
213
214 for (int i = 0; i < num_channels; i++) {
215 struct esp32_touch_sensor_channel_data *channel_data = &dev_cfg->channel_data[i];
216 const struct esp32_touch_sensor_channel_config *channel_cfg =
217 &dev_cfg->channel_cfg[i];
218
219 if (!(channel_cfg->channel_num > 0 &&
220 channel_cfg->channel_num < SOC_TOUCH_SENSOR_NUM)) {
221 LOG_ERR("Touch %d configuration failed: "
222 "Touch channel error", i);
223 return -EINVAL;
224 }
225
226 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
227 if (channel_cfg->channel_num == SOC_TOUCH_DENOISE_CHANNEL) {
228 LOG_ERR("Touch %d configuration failed: "
229 "TOUCH0 is internal denoise channel", i);
230 return -EINVAL;
231 }
232 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
233
234 gpio_num_t gpio_num = touch_sensor_channel_io_map[channel_cfg->channel_num];
235
236 rtc_gpio_init(gpio_num);
237 rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED);
238 rtc_gpio_pulldown_dis(gpio_num);
239 rtc_gpio_pullup_dis(gpio_num);
240
241 touch_hal_config(channel_cfg->channel_num);
242 #if defined(CONFIG_SOC_SERIES_ESP32)
243 touch_hal_set_threshold(channel_cfg->channel_num, 0);
244 touch_hal_set_group_mask(BIT(channel_cfg->channel_num),
245 BIT(channel_cfg->channel_num));
246 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
247 touch_hal_set_channel_mask(BIT(channel_cfg->channel_num));
248
249 channel_data->status = 0;
250 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
251 channel_data->last_status = 0;
252 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
253 channel_data->dev = dev;
254
255 k_work_init_delayable(&channel_data->work, esp32_touch_sensor_change_deferred);
256 }
257
258 #if defined(CONFIG_SOC_SERIES_ESP32)
259 for (int i = 0; i < num_channels; i++) {
260 const struct esp32_touch_sensor_channel_config *channel_cfg =
261 &dev_cfg->channel_cfg[i];
262 uint32_t ref_time;
263
264 ref_time = k_uptime_get_32();
265 while (!touch_hal_meas_is_done()) {
266 if (k_uptime_get_32() - ref_time > 500) {
267 return -ETIMEDOUT;
268 }
269 k_busy_wait(1000);
270 }
271 uint16_t touch_value = touch_hal_read_raw_data(channel_cfg->channel_num);
272
273 touch_hal_set_threshold(channel_cfg->channel_num,
274 touch_value * (100 - channel_cfg->channel_num) / 100);
275 }
276
277 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
278 touch_filter_config_t filter_info = {
279 .mode = dev_cfg->filter_mode,
280 .debounce_cnt = dev_cfg->filter_debounce_cnt,
281 .noise_thr = dev_cfg->filter_noise_thr,
282 .jitter_step = dev_cfg->filter_jitter_step,
283 .smh_lvl = dev_cfg->filter_smooth_level,
284 };
285 touch_hal_filter_set_config(&filter_info);
286 touch_hal_filter_enable();
287
288 touch_hal_timeout_enable();
289 touch_hal_timeout_set_threshold(SOC_TOUCH_PAD_THRESHOLD_MAX);
290 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
291
292 dev_data->rtc_intr_msk = ESP32_RTC_INTR_MSK;
293 esp32_rtc_isr_install(&esp32_rtc_isr, dev);
294 #if defined(CONFIG_SOC_SERIES_ESP32)
295 touch_hal_intr_enable();
296 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
297 touch_hal_intr_enable(ESP32_TOUCH_PAD_INTR_MASK);
298 touch_hal_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
299 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
300
301 touch_hal_start_fsm();
302
303 return 0;
304 }
305
306 #define ESP32_TOUCH_SENSOR_CHANNEL_CFG_INIT(node_id) \
307 { \
308 .channel_num = DT_PROP(node_id, channel_num), \
309 .channel_sens = DT_PROP(node_id, channel_sens), \
310 .zephyr_code = DT_PROP(node_id, zephyr_code), \
311 }
312
313 #define ESP32_TOUCH_SENSOR_INIT(inst) \
314 static const struct esp32_touch_sensor_channel_config \
315 esp32_touch_sensor_channel_config_##inst[] = { \
316 DT_INST_FOREACH_CHILD_STATUS_OKAY_SEP(inst, \
317 ESP32_TOUCH_SENSOR_CHANNEL_CFG_INIT, (,)) \
318 }; \
319 \
320 static struct esp32_touch_sensor_channel_data esp32_touch_sensor_channel_data_##inst \
321 [ARRAY_SIZE(esp32_touch_sensor_channel_config_##inst)]; \
322 \
323 static const struct esp32_touch_sensor_config esp32_touch_sensor_config_##inst = { \
324 .debounce_interval_ms = DT_INST_PROP(inst, debounce_interval_ms), \
325 .num_channels = ARRAY_SIZE(esp32_touch_sensor_channel_config_##inst), \
326 .href_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, href_microvolt), \
327 .lref_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, lref_microvolt), \
328 .href_atten_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, href_atten_microvolt), \
329 .filter_mode = DT_INST_PROP(inst, filter_mode), \
330 .filter_debounce_cnt = DT_INST_PROP(inst, filter_debounce_cnt), \
331 .filter_noise_thr = DT_INST_PROP(inst, filter_noise_thr), \
332 .filter_jitter_step = DT_INST_PROP(inst, filter_jitter_step), \
333 .filter_smooth_level = DT_INST_PROP(inst, filter_smooth_level), \
334 .channel_cfg = esp32_touch_sensor_channel_config_##inst, \
335 .channel_data = esp32_touch_sensor_channel_data_##inst, \
336 }; \
337 \
338 static struct esp32_touch_sensor_data esp32_touch_sensor_data_##inst; \
339 \
340 DEVICE_DT_INST_DEFINE(inst, \
341 &esp32_touch_sensor_init, \
342 NULL, \
343 &esp32_touch_sensor_data_##inst, \
344 &esp32_touch_sensor_config_##inst, \
345 POST_KERNEL, CONFIG_INPUT_INIT_PRIORITY, \
346 NULL);
347
348 DT_INST_FOREACH_STATUS_OKAY(ESP32_TOUCH_SENSOR_INIT)
349
