472 lines
17 KiB
C
472 lines
17 KiB
C
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// Copyright 2016-2019 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <esp_types.h>
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#include <stdlib.h>
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#include <ctype.h>
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#include "esp_log.h"
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#include "sys/lock.h"
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#include "soc/rtc.h"
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#include "soc/periph_defs.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/xtensa_api.h"
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#include "freertos/semphr.h"
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#include "freertos/timers.h"
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#include "esp_intr_alloc.h"
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#include "driver/rtc_io.h"
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#include "driver/touch_pad.h"
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#include "driver/rtc_cntl.h"
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#include "driver/gpio.h"
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#include "sdkconfig.h"
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#include "esp32/rom/ets_sys.h"
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#ifndef NDEBUG
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// Enable built-in checks in queue.h in debug builds
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#define INVARIANTS
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#endif
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#include "sys/queue.h"
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#include "hal/touch_sensor_types.h"
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#include "hal/touch_sensor_hal.h"
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typedef struct {
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TimerHandle_t timer;
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uint16_t filtered_val[TOUCH_PAD_MAX];
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uint16_t raw_val[TOUCH_PAD_MAX];
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uint32_t filter_period;
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uint32_t period;
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bool enable;
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} touch_pad_filter_t;
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static touch_pad_filter_t *s_touch_pad_filter = NULL;
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// check if touch pad be inited.
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static uint16_t s_touch_pad_init_bit = 0x0000;
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static filter_cb_t s_filter_cb = NULL;
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static SemaphoreHandle_t rtc_touch_mux = NULL;
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#define TOUCH_PAD_FILTER_FACTOR_DEFAULT (4) // IIR filter coefficient.
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#define TOUCH_PAD_SHIFT_DEFAULT (4) // Increase computing accuracy.
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#define TOUCH_PAD_SHIFT_ROUND_DEFAULT (8) // ROUND = 2^(n-1); rounding off for fractional.
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static const char *TOUCH_TAG = "TOUCH_SENSOR";
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#define TOUCH_CHECK(a, str, ret_val) ({ \
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if (!(a)) { \
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ESP_LOGE(TOUCH_TAG,"%s:%d (%s):%s", __FILE__, __LINE__, __FUNCTION__, str); \
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return (ret_val); \
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} \
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})
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#define TOUCH_CHANNEL_CHECK(channel) TOUCH_CHECK(channel < SOC_TOUCH_SENSOR_NUM, "Touch channel error", ESP_ERR_INVALID_ARG)
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#define TOUCH_PARAM_CHECK_STR(s) ""s" parameter error"
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extern portMUX_TYPE rtc_spinlock; //TODO: Will be placed in the appropriate position after the rtc module is finished.
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#define TOUCH_ENTER_CRITICAL() portENTER_CRITICAL(&rtc_spinlock)
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#define TOUCH_EXIT_CRITICAL() portEXIT_CRITICAL(&rtc_spinlock)
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/*---------------------------------------------------------------
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Touch Pad
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---------------------------------------------------------------*/
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//Some register bits of touch sensor 8 and 9 are mismatched, we need to swap the bits.
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#define BITSWAP(data, n, m) (((data >> n) & 0x1) == ((data >> m) & 0x1) ? (data) : ((data) ^ ((0x1 <<n) | (0x1 << m))))
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#define TOUCH_BITS_SWAP(v) BITSWAP(v, TOUCH_PAD_NUM8, TOUCH_PAD_NUM9)
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static esp_err_t _touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value, touch_fsm_mode_t mode);
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esp_err_t touch_pad_isr_handler_register(void (*fn)(void *), void *arg, int no_use, intr_handle_t *handle_no_use)
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{
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TOUCH_CHECK(fn, "Touch_Pad ISR null", ESP_ERR_INVALID_ARG);
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return rtc_isr_register(fn, arg, RTC_CNTL_TOUCH_INT_ST_M);
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}
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esp_err_t touch_pad_isr_register(intr_handler_t fn, void *arg)
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{
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TOUCH_CHECK(fn, "Touch_Pad ISR null", ESP_ERR_INVALID_ARG);
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return rtc_isr_register(fn, arg, RTC_CNTL_TOUCH_INT_ST_M);
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}
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static uint32_t _touch_filter_iir(uint32_t in_now, uint32_t out_last, uint32_t k)
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{
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if (k == 0) {
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return in_now;
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} else {
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uint32_t out_now = (in_now + (k - 1) * out_last) / k;
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return out_now;
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}
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}
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esp_err_t touch_pad_set_filter_read_cb(filter_cb_t read_cb)
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{
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s_filter_cb = read_cb;
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return ESP_OK;
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}
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static void touch_pad_filter_cb(void *arg)
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{
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static uint32_t s_filtered_temp[TOUCH_PAD_MAX] = {0};
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if (s_touch_pad_filter == NULL || rtc_touch_mux == NULL) {
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return;
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}
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uint16_t val = 0;
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touch_fsm_mode_t mode;
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xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
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touch_pad_get_fsm_mode(&mode);
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for (int i = 0; i < TOUCH_PAD_MAX; i++) {
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if ((s_touch_pad_init_bit >> i) & 0x1) {
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_touch_pad_read(i, &val, mode);
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s_touch_pad_filter->raw_val[i] = val;
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s_filtered_temp[i] = s_filtered_temp[i] == 0 ? ((uint32_t)val << TOUCH_PAD_SHIFT_DEFAULT) : s_filtered_temp[i];
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s_filtered_temp[i] = _touch_filter_iir((val << TOUCH_PAD_SHIFT_DEFAULT),
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s_filtered_temp[i], TOUCH_PAD_FILTER_FACTOR_DEFAULT);
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s_touch_pad_filter->filtered_val[i] = (s_filtered_temp[i] + TOUCH_PAD_SHIFT_ROUND_DEFAULT) >> TOUCH_PAD_SHIFT_DEFAULT;
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}
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}
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xTimerReset(s_touch_pad_filter->timer, portMAX_DELAY);
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xSemaphoreGive(rtc_touch_mux);
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if (s_filter_cb != NULL) {
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//return the raw data and filtered data.
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s_filter_cb(s_touch_pad_filter->raw_val, s_touch_pad_filter->filtered_val);
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}
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}
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esp_err_t touch_pad_set_meas_time(uint16_t sleep_cycle, uint16_t meas_cycle)
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{
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TOUCH_ENTER_CRITICAL();
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touch_hal_set_meas_time(meas_cycle);
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touch_hal_set_sleep_time(sleep_cycle);
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_get_meas_time(uint16_t *sleep_cycle, uint16_t *meas_cycle)
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{
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TOUCH_ENTER_CRITICAL();
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touch_hal_get_meas_time(meas_cycle);
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touch_hal_get_sleep_time(sleep_cycle);
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_set_trigger_mode(touch_trigger_mode_t mode)
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{
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TOUCH_CHECK((mode < TOUCH_TRIGGER_MAX), TOUCH_PARAM_CHECK_STR("mode"), ESP_ERR_INVALID_ARG);
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TOUCH_ENTER_CRITICAL();
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touch_hal_set_trigger_mode(mode);
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_get_trigger_mode(touch_trigger_mode_t *mode)
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{
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touch_hal_get_trigger_mode(mode);
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return ESP_OK;
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}
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esp_err_t touch_pad_set_trigger_source(touch_trigger_src_t src)
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{
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TOUCH_CHECK((src < TOUCH_TRIGGER_SOURCE_MAX), TOUCH_PARAM_CHECK_STR("src"), ESP_ERR_INVALID_ARG);
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TOUCH_ENTER_CRITICAL();
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touch_hal_set_trigger_source(src);
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_get_trigger_source(touch_trigger_src_t *src)
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{
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touch_hal_get_trigger_source(src);
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return ESP_OK;
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}
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esp_err_t touch_pad_set_group_mask(uint16_t set1_mask, uint16_t set2_mask, uint16_t en_mask)
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{
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TOUCH_CHECK((set1_mask <= SOC_TOUCH_SENSOR_BIT_MASK_MAX), "touch set1 bitmask error", ESP_ERR_INVALID_ARG);
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TOUCH_CHECK((set2_mask <= SOC_TOUCH_SENSOR_BIT_MASK_MAX), "touch set2 bitmask error", ESP_ERR_INVALID_ARG);
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TOUCH_CHECK((en_mask <= SOC_TOUCH_SENSOR_BIT_MASK_MAX), "touch work_en bitmask error", ESP_ERR_INVALID_ARG);
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TOUCH_ENTER_CRITICAL();
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touch_hal_set_group_mask(set1_mask, set2_mask);
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touch_hal_set_channel_mask(en_mask);
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_get_group_mask(uint16_t *set1_mask, uint16_t *set2_mask, uint16_t *en_mask)
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{
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TOUCH_ENTER_CRITICAL();
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touch_hal_get_channel_mask(en_mask);
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touch_hal_get_group_mask(set1_mask, set2_mask);
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_clear_group_mask(uint16_t set1_mask, uint16_t set2_mask, uint16_t en_mask)
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{
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TOUCH_CHECK((set1_mask <= SOC_TOUCH_SENSOR_BIT_MASK_MAX), "touch set1 bitmask error", ESP_ERR_INVALID_ARG);
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TOUCH_CHECK((set2_mask <= SOC_TOUCH_SENSOR_BIT_MASK_MAX), "touch set2 bitmask error", ESP_ERR_INVALID_ARG);
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TOUCH_CHECK((en_mask <= SOC_TOUCH_SENSOR_BIT_MASK_MAX), "touch work_en bitmask error", ESP_ERR_INVALID_ARG);
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TOUCH_ENTER_CRITICAL();
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touch_hal_clear_channel_mask(en_mask);
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touch_hal_clear_group_mask(set1_mask, set2_mask);
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_intr_enable(void)
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{
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TOUCH_ENTER_CRITICAL();
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touch_hal_enable_interrupt();
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_intr_disable(void)
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{
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TOUCH_ENTER_CRITICAL();
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touch_hal_disable_interrupt();
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_config(touch_pad_t touch_num, uint16_t threshold)
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{
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TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_FAIL);
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TOUCH_CHANNEL_CHECK(touch_num);
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touch_fsm_mode_t mode;
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touch_pad_io_init(touch_num);
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TOUCH_ENTER_CRITICAL();
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touch_hal_config(touch_num);
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touch_hal_set_threshold(touch_num, threshold);
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TOUCH_EXIT_CRITICAL();
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touch_pad_get_fsm_mode(&mode);
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if (TOUCH_FSM_MODE_SW == mode) {
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touch_pad_clear_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
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s_touch_pad_init_bit |= (1 << touch_num);
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} else if (TOUCH_FSM_MODE_TIMER == mode) {
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uint16_t sleep_time = 0;
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uint16_t meas_cycle = 0;
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uint32_t wait_time_ms = 0;
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uint32_t wait_tick = 0;
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uint32_t rtc_clk = rtc_clk_slow_freq_get_hz();
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touch_pad_set_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
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touch_pad_get_meas_time(&sleep_time, &meas_cycle);
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//If the FSM mode is 'TOUCH_FSM_MODE_TIMER', The data will be ready after one measurement cycle
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//after this function is executed, otherwise, the "touch_value" by "touch_pad_read" is 0.
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wait_time_ms = sleep_time / (rtc_clk / 1000) + meas_cycle / (RTC_FAST_CLK_FREQ_APPROX / 1000);
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wait_tick = wait_time_ms / portTICK_RATE_MS;
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vTaskDelay(wait_tick ? wait_tick : 1);
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s_touch_pad_init_bit |= (1 << touch_num);
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} else {
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return ESP_FAIL;
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}
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return ESP_OK;
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}
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esp_err_t touch_pad_init(void)
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{
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if (rtc_touch_mux == NULL) {
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rtc_touch_mux = xSemaphoreCreateMutex();
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}
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if (rtc_touch_mux == NULL) {
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return ESP_FAIL;
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}
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TOUCH_ENTER_CRITICAL();
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touch_hal_init();
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TOUCH_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t touch_pad_deinit(void)
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{
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TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_FAIL);
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if (s_touch_pad_filter != NULL) {
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touch_pad_filter_stop();
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touch_pad_filter_delete();
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}
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xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
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s_touch_pad_init_bit = 0x0000;
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TOUCH_ENTER_CRITICAL();
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touch_hal_deinit();
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TOUCH_EXIT_CRITICAL();
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xSemaphoreGive(rtc_touch_mux);
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vSemaphoreDelete(rtc_touch_mux);
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rtc_touch_mux = NULL;
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return ESP_OK;
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}
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static esp_err_t _touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value, touch_fsm_mode_t mode)
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{
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esp_err_t res = ESP_OK;
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if (TOUCH_FSM_MODE_SW == mode) {
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touch_pad_set_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
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touch_pad_sw_start();
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while (!touch_hal_meas_is_done()) {};
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*touch_value = touch_hal_read_raw_data(touch_num);
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touch_pad_clear_group_mask((1 << touch_num), (1 << touch_num), (1 << touch_num));
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} else if (TOUCH_FSM_MODE_TIMER == mode) {
|
||
|
|
while (!touch_hal_meas_is_done()) {};
|
||
|
|
*touch_value = touch_hal_read_raw_data(touch_num);
|
||
|
|
} else {
|
||
|
|
res = ESP_FAIL;
|
||
|
|
}
|
||
|
|
if (*touch_value == 0) {
|
||
|
|
res = ESP_ERR_INVALID_STATE;
|
||
|
|
}
|
||
|
|
return res;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value)
|
||
|
|
{
|
||
|
|
TOUCH_CHANNEL_CHECK(touch_num);
|
||
|
|
TOUCH_CHECK(touch_value != NULL, "touch_value", ESP_ERR_INVALID_ARG);
|
||
|
|
TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_FAIL);
|
||
|
|
|
||
|
|
esp_err_t res = ESP_OK;
|
||
|
|
touch_fsm_mode_t mode;
|
||
|
|
touch_pad_get_fsm_mode(&mode);
|
||
|
|
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
|
||
|
|
res = _touch_pad_read(touch_num, touch_value, mode);
|
||
|
|
xSemaphoreGive(rtc_touch_mux);
|
||
|
|
return res;
|
||
|
|
}
|
||
|
|
|
||
|
|
IRAM_ATTR esp_err_t touch_pad_read_raw_data(touch_pad_t touch_num, uint16_t *touch_value)
|
||
|
|
{
|
||
|
|
TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_FAIL);
|
||
|
|
TOUCH_CHANNEL_CHECK(touch_num);
|
||
|
|
TOUCH_CHECK(touch_value != NULL, "touch_value", ESP_ERR_INVALID_ARG);
|
||
|
|
TOUCH_CHECK(s_touch_pad_filter != NULL, "Touch pad filter not initialized", ESP_FAIL);
|
||
|
|
*touch_value = s_touch_pad_filter->raw_val[touch_num];
|
||
|
|
if (*touch_value == 0) {
|
||
|
|
return ESP_ERR_INVALID_STATE;
|
||
|
|
}
|
||
|
|
return ESP_OK;
|
||
|
|
}
|
||
|
|
|
||
|
|
IRAM_ATTR esp_err_t touch_pad_read_filtered(touch_pad_t touch_num, uint16_t *touch_value)
|
||
|
|
{
|
||
|
|
TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_FAIL);
|
||
|
|
TOUCH_CHANNEL_CHECK(touch_num);
|
||
|
|
TOUCH_CHECK(touch_value != NULL, "touch_value", ESP_ERR_INVALID_ARG);
|
||
|
|
TOUCH_CHECK(s_touch_pad_filter != NULL, "Touch pad filter not initialized", ESP_FAIL);
|
||
|
|
*touch_value = (s_touch_pad_filter->filtered_val[touch_num]);
|
||
|
|
if (*touch_value == 0) {
|
||
|
|
return ESP_ERR_INVALID_STATE;
|
||
|
|
}
|
||
|
|
return ESP_OK;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t touch_pad_set_filter_period(uint32_t new_period_ms)
|
||
|
|
{
|
||
|
|
TOUCH_CHECK(s_touch_pad_filter != NULL, "Touch pad filter not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
TOUCH_CHECK(new_period_ms > 0, "Touch pad filter period error", ESP_ERR_INVALID_ARG);
|
||
|
|
TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
|
||
|
|
esp_err_t ret = ESP_OK;
|
||
|
|
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
|
||
|
|
if (s_touch_pad_filter != NULL) {
|
||
|
|
xTimerChangePeriod(s_touch_pad_filter->timer, new_period_ms / portTICK_PERIOD_MS, portMAX_DELAY);
|
||
|
|
s_touch_pad_filter->period = new_period_ms;
|
||
|
|
} else {
|
||
|
|
ESP_LOGE(TOUCH_TAG, "Touch pad filter deleted");
|
||
|
|
ret = ESP_ERR_INVALID_STATE;
|
||
|
|
}
|
||
|
|
xSemaphoreGive(rtc_touch_mux);
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t touch_pad_get_filter_period(uint32_t *p_period_ms)
|
||
|
|
{
|
||
|
|
TOUCH_CHECK(s_touch_pad_filter != NULL, "Touch pad filter not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
TOUCH_CHECK(p_period_ms != NULL, "Touch pad period pointer error", ESP_ERR_INVALID_ARG);
|
||
|
|
TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
|
||
|
|
esp_err_t ret = ESP_OK;
|
||
|
|
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
|
||
|
|
if (s_touch_pad_filter != NULL) {
|
||
|
|
*p_period_ms = s_touch_pad_filter->period;
|
||
|
|
} else {
|
||
|
|
ESP_LOGE(TOUCH_TAG, "Touch pad filter deleted");
|
||
|
|
ret = ESP_ERR_INVALID_STATE;
|
||
|
|
}
|
||
|
|
xSemaphoreGive(rtc_touch_mux);
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t touch_pad_filter_start(uint32_t filter_period_ms)
|
||
|
|
{
|
||
|
|
TOUCH_CHECK(filter_period_ms >= portTICK_PERIOD_MS, "Touch pad filter period error", ESP_ERR_INVALID_ARG);
|
||
|
|
TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
|
||
|
|
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
|
||
|
|
if (s_touch_pad_filter == NULL) {
|
||
|
|
s_touch_pad_filter = (touch_pad_filter_t *) calloc(1, sizeof(touch_pad_filter_t));
|
||
|
|
if (s_touch_pad_filter == NULL) {
|
||
|
|
goto err_no_mem;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (s_touch_pad_filter->timer == NULL) {
|
||
|
|
s_touch_pad_filter->timer = xTimerCreate("filter_tmr", filter_period_ms / portTICK_PERIOD_MS, pdFALSE,
|
||
|
|
NULL, touch_pad_filter_cb);
|
||
|
|
if (s_touch_pad_filter->timer == NULL) {
|
||
|
|
free(s_touch_pad_filter);
|
||
|
|
s_touch_pad_filter = NULL;
|
||
|
|
goto err_no_mem;
|
||
|
|
}
|
||
|
|
s_touch_pad_filter->period = filter_period_ms;
|
||
|
|
}
|
||
|
|
xSemaphoreGive(rtc_touch_mux);
|
||
|
|
touch_pad_filter_cb(NULL);
|
||
|
|
return ESP_OK;
|
||
|
|
|
||
|
|
err_no_mem:
|
||
|
|
xSemaphoreGive(rtc_touch_mux);
|
||
|
|
return ESP_ERR_NO_MEM;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t touch_pad_filter_stop(void)
|
||
|
|
{
|
||
|
|
TOUCH_CHECK(s_touch_pad_filter != NULL, "Touch pad filter not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
esp_err_t ret = ESP_OK;
|
||
|
|
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
|
||
|
|
if (s_touch_pad_filter != NULL) {
|
||
|
|
xTimerStop(s_touch_pad_filter->timer, portMAX_DELAY);
|
||
|
|
} else {
|
||
|
|
ESP_LOGE(TOUCH_TAG, "Touch pad filter deleted");
|
||
|
|
ret = ESP_ERR_INVALID_STATE;
|
||
|
|
}
|
||
|
|
xSemaphoreGive(rtc_touch_mux);
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t touch_pad_filter_delete(void)
|
||
|
|
{
|
||
|
|
TOUCH_CHECK(s_touch_pad_filter != NULL, "Touch pad filter not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
TOUCH_CHECK(rtc_touch_mux != NULL, "Touch pad not initialized", ESP_ERR_INVALID_STATE);
|
||
|
|
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
|
||
|
|
if (s_touch_pad_filter != NULL) {
|
||
|
|
if (s_touch_pad_filter->timer != NULL) {
|
||
|
|
xTimerStop(s_touch_pad_filter->timer, portMAX_DELAY);
|
||
|
|
xTimerDelete(s_touch_pad_filter->timer, portMAX_DELAY);
|
||
|
|
s_touch_pad_filter->timer = NULL;
|
||
|
|
}
|
||
|
|
free(s_touch_pad_filter);
|
||
|
|
s_touch_pad_filter = NULL;
|
||
|
|
}
|
||
|
|
xSemaphoreGive(rtc_touch_mux);
|
||
|
|
return ESP_OK;
|
||
|
|
}
|