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Improvements relating to SAMA5 TSD driver

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This commit is contained in:
TimJTi 2024-03-19 13:14:57 +00:00 committed by Xiang Xiao
parent 3451330000
commit df7650af71
3 changed files with 160 additions and 77 deletions
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9
arch/arm/src/sama5/sam_adc.c
View File

@ -481,8 +481,10 @@ static void sam_adc_gain(struct sam_adc_s *priv);
static void sam_adc_analogchange(struct sam_adc_s *priv);
static void sam_adc_sequencer(struct sam_adc_s *priv);
static void sam_adc_channels(struct sam_adc_s *priv);
#if defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG)
static void sam_adc_trigperiod(struct sam_adc_s *priv, uint32_t period);
#endif
#endif
/****************************************************************************
* Private Data
@ -858,7 +860,7 @@ static int sam_adc_dmasetup(struct sam_adc_s *priv, uint8_t *buffer,
* None
*
****************************************************************************/
#if defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG)
static void sam_adc_trigperiod(struct sam_adc_s *priv, uint32_t period)
{
uint32_t trigper;
@ -909,6 +911,7 @@ static void sam_adc_trigperiod(struct sam_adc_s *priv, uint32_t period)
regval |= ADC_TRGR_TRGPER(trigper);
sam_adc_putreg(priv, SAM_ADC_TRGR, regval);
}
#endif
/****************************************************************************
* ADC interrupt handling
@ -1103,7 +1106,11 @@ static int sam_adc_bind(struct adc_dev_s *dev,
static void sam_adc_reset(struct adc_dev_s *dev)
{
#if defined(CONFIG_SAMA5_ADC_REGDEBUG) || \
defined(CONFIG_SAMA5_ADC_DMA) || \
defined(CONFIG_SAMA5_ADC_TIOATRIG)
struct sam_adc_s *priv = (struct sam_adc_s *)dev->ad_priv;
#endif
uint32_t regval;
ainfo("Resetting..\n");

152
arch/arm/src/sama5/sam_tsd.c
View File

@ -65,7 +65,10 @@
#include <nuttx/irq.h>
#include <nuttx/arch.h>
#include <nuttx/wdog.h>
#if !defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
# include <nuttx/wdog.h>
#endif
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <nuttx/semaphore.h>
@ -91,13 +94,13 @@
*/
#define DEV_FORMAT "/dev/input%d"
#define DEV_NAMELEN 16
#define DEV_NAMELEN 24
/* Poll the pen position while the pen is down at this rate (50MS): */
#define TSD_WDOG_DELAY MSEC2TICK(50)
/* This is a value for the threshold that guantees a big difference on the
/* This is a value for the threshold that guarantees a big difference on the
* first pendown (but can't overflow).
*/
@ -136,10 +139,25 @@
# define BOARD_TSD_PENDETSENS 0
#endif
/* The driver has always used 8 sample averages for the default filtering,
* once a pen down has been detected.
* With typical periodic sample rates of 20ms+, this means some loss of
* precision of touchscreen movement detection, or even missed touches.
* A board-level #define can override this default
*/
#ifndef BOARD_TSD_PENDOWN_TSAV
# define BOARD_TSD_PENDOWN_TSAV ADC_TSMR_TSAV_8CONV
#endif
#if !defined BOARD_TSD_IBCTL && defined ATSAMA5D2
# define BOARD_TSD_IBCTL 0
#endif
#ifndef BOARD_TOUCHSCREEN_SAMPLE_CACHES
# define BOARD_TOUCHSCREEN_SAMPLE_CACHES 64
#endif
/****************************************************************************
* Private Types
****************************************************************************/
@ -150,7 +168,7 @@ enum sam_contact_e
{
CONTACT_NONE = 0, /* No contact */
CONTACT_DOWN, /* First contact */
CONTACT_MOVE, /* Same contact, possibly different position */
CONTACT_MOVE, /* Same contact, possibly diff. position */
CONTACT_UP, /* Contact lost */
};
@ -184,11 +202,15 @@ struct sam_tsd_s
struct sam_adc_s *adc; /* ADC device handle */
struct work_s work; /* Supports int. handling "bottom half" */
struct sam_sample_s sample; /* Last sampled touch point data */
#if !defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
struct wdog_s wdog; /* Poll position while the pen is down */
#endif
struct g_tscaldata_s caldata; /* Touchscreen Calibration Data */
bool scaled; /* Character dreiver read should return
* scaled values (true) or not (false).
*/
uint32_t pending; /* saved ISR status from the ADC driver */
/* The following is a list if poll structures of threads waiting for
* driver events. The 'struct pollfd' reference for each open is also
@ -211,8 +233,10 @@ static int sam_tsd_waitsample(struct sam_tsd_s *priv,
struct sam_sample_s *sample);
static void sam_tsd_bottomhalf(void *arg);
static int sam_tsd_schedule(struct sam_tsd_s *priv);
#if !defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
static void sam_tsd_expiry(wdparm_t arg);
#endif
/* Character driver methods */
static int sam_tsd_open(struct file *filep);
@ -501,25 +525,31 @@ static void sam_tsd_bottomhalf(void *arg)
uint32_t yscale;
uint32_t y;
uint32_t ydiff;
#ifdef CONFIG_SAMA5_TSD_4WIRE
uint32_t z1;
uint32_t z2;
uint32_t pressr;
uint32_t p;
#endif
bool pendown;
DEBUGASSERT(priv != NULL);
/* Get the set of pending ADC interrupts and pen status */
pending = sam_adc_getreg(priv->adc, SAM_ADC_ISR);
regval = sam_adc_getreg(priv->adc, SAM_ADC_TRGR);
/* Get exclusive access to the driver data structure */
sam_adc_lock(priv->adc);
pending = priv->pending; /* ISR status passed to us from the ADC driver */
/* Check the pen state */
/* Check the pen state. Down if:
* - Pen status is down OR
* - Pen down interrupt seen, but NOT if
* - Pen up interrrupt occurred as we need to deal with that
*/
pendown = ((pending & ADC_SR_PENS) != 0);
pendown = ((((pending & ADC_SR_PENS) != 0) ||
((pending & ADC_INT_PEN) != 0)) &&
(pending & ADC_INT_NOPEN) == 0);
/* Handle the change from pen down to pen up */
@ -536,8 +566,11 @@ static void sam_tsd_bottomhalf(void *arg)
/* We will enable only the ADC_INT_PEN interrupt on exit. We don't
* want to hear anything from the touchscreen until the next touch.
*/
#ifdef SAMA5_TSD_TRIG_CHANGE_ALLOWED
ier = ADC_INT_PEN;
#else
ier = ADC_TSD_PRESSINTS;
#endif
/* Ignore the interrupt if the pen was already up (CONTACT_NONE == pen
* up and already reported; CONTACT_UP == pen up, but not reported)
@ -547,6 +580,7 @@ static void sam_tsd_bottomhalf(void *arg)
priv->sample.contact == CONTACT_UP)
{
iinfo("\t\t\t\t\tIgnored interrupt\n");
goto ignored;
}
@ -562,7 +596,7 @@ static void sam_tsd_bottomhalf(void *arg)
sam_tsd_setaverage(priv, ADC_TSMR_TSAV_NOFILTER);
sam_tsd_debounce(priv, BOARD_TSD_DEBOUNCE);
#ifdef SAMA5_TSD_PENDET_TRIG_ALLOWED
#ifdef SAMA5_TSD_TRIG_CHANGE_ALLOWED
regval = sam_adc_getreg(priv->adc, SAM_ADC_TRGR);
regval &= ~ADC_TRGR_TRGMOD_MASK;
regval |= ADC_TRGR_TRGMOD_PEN;
@ -583,10 +617,13 @@ static void sam_tsd_bottomhalf(void *arg)
* a little later. NOTE that pen interrupts are not re-enabled in
* this case; we rely on the timer expiry to get us going again.
*/
#if !defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
wd_start(&priv->wdog, TSD_WDOG_DELAY,
sam_tsd_expiry, (wdparm_t)priv);
ier = 0;
#endif
iinfo("\t\t\t\t\tlast event not processed\n");
goto ignored;
}
else
@ -599,7 +636,7 @@ static void sam_tsd_bottomhalf(void *arg)
ier = ADC_TSD_RELEASEINTS;
/* Check if all of the date that we need is available. If not, just
/* Check if all of the data that we need is available. If not, just
* re-enable interrupts and wait until it is.
*/
@ -607,15 +644,14 @@ static void sam_tsd_bottomhalf(void *arg)
{
/* But don't enable interrupts for the data that we already have */
ier &= ~(pending & TSD_ALLREADY);
ier &= ~pending & TSD_ALLREADY;
/* datasheet says that if TSAV != 0 there may not be interrupts
* for TSD channels so periodic or continuous triggers are needed
* unless we're already using periodic triggers (for std adc ops).
* for TSD channels so periodic or continuous triggers are needed.
* We may be already using periodic triggers (for std adc ops).
*/
#ifdef SAMA5_TSD_PENDET_TRIG_ALLOWED
#ifdef SAMA5_TSD_TRIG_CHANGE_ALLOWED
regval = sam_adc_getreg(priv->adc, SAM_ADC_TSMR);
regval &= ADC_TSMR_TSAV_MASK;
if ((regval & ADC_TSMR_TSAV_MASK) != 0)
{
regval = sam_adc_getreg(priv->adc, SAM_ADC_TRGR);
@ -628,11 +664,13 @@ static void sam_tsd_bottomhalf(void *arg)
}
#endif
iinfo("\t\t\t\t\tNot all data ready to read\n");
goto ignored;
}
/* Sample positional values. Get raw X and Y position data */
iinfo("\t\t\t\t\tsampling data\n");
regval = sam_adc_getreg(priv->adc, SAM_ADC_XPOSR);
xraw = (regval & ADC_XPOSR_XPOS_MASK) >> ADC_XPOSR_XPOS_SHIFT;
xscale = (regval & ADC_XPOSR_XSCALE_MASK) >> ADC_XPOSR_XSCALE_SHIFT;
@ -650,12 +688,13 @@ static void sam_tsd_bottomhalf(void *arg)
#endif
/* Discard any bad readings. This check may not be necessary. */
if (xraw == 0 || xraw >= xscale || yraw == 0 || yraw > yscale)
if (xraw == 0 || xraw > xscale || yraw == 0 || yraw > yscale)
{
iwarn("WARNING: Discarding: x %" PRId32 ":%" PRId32
" y %" PRId32 ":%" PRId32 "\n",
xraw, xscale,
yraw, yscale);
iinfo("\t\t\t\t\tBad reading\n");
goto ignored;
}
@ -668,11 +707,11 @@ static void sam_tsd_bottomhalf(void *arg)
*/
#ifdef CONFIG_SAMA5_TSD_SWAPXY
x = ((yraw << 12)) / yscale;
y = ((xraw << 12)) / xscale;
x = ((yraw << 12) - yraw) / yscale;
y = ((xraw << 12) - xraw) / xscale;
#else
x = ((xraw << 12)) / xscale;
y = ((yraw << 12)) / yscale;
x = ((xraw << 12) - xraw) / xscale;
y = ((yraw << 12) - yraw) / yscale;
#endif
/* Perform a thresholding operation so that the results will be
@ -685,10 +724,11 @@ static void sam_tsd_bottomhalf(void *arg)
ydiff = y > priv->threshy ? (y - priv->threshy) : (priv->threshy - y);
/* Continue to sample the position while the pen is down */
#if !defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
wd_start(&priv->wdog, TSD_WDOG_DELAY,
sam_tsd_expiry, (wdparm_t)priv);
#endif
/* Check the thresholds. Bail if (1) this is not the first
* measurement and (2) there is no significant difference from
* the last measurement.
@ -702,6 +742,7 @@ static void sam_tsd_bottomhalf(void *arg)
* anything.
*/
iinfo("\t\t\t\t\tNo change\n");
goto ignored;
}
@ -753,13 +794,12 @@ static void sam_tsd_bottomhalf(void *arg)
/* First contact. Handle transitions from pen UP to pen DOWN */
priv->sample.contact = CONTACT_DOWN;
#ifdef SAMA5_TSD_PENDET_TRIG_ALLOWED
/* Configure for periodic trigger */
sam_tsd_setaverage(priv, ADC_TSMR_TSAV_8CONV);
sam_tsd_setaverage(priv, BOARD_TSD_PENDOWN_TSAV);
sam_tsd_debounce(priv, 300); /* 300ns */
/* Configure for periodic trigger */
#ifdef SAMA5_TSD_TRIG_CHANGE_ALLOWED
regval = sam_adc_getreg(priv->adc, SAM_ADC_TRGR);
regval &= ~ADC_TRGR_TRGMOD_MASK;
regval |= ADC_TRGR_TRGMOD_PERIOD;
@ -801,9 +841,10 @@ static int sam_tsd_schedule(struct sam_tsd_s *priv)
/* Disable the watchdog timer. It will be re-enabled in the worker thread
* while the pen remains down.
*/
#if !defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
wd_cancel(&priv->wdog);
#endif
/* Disable further touchscreen interrupts. Touchscreen interrupts will be
* re-enabled after the worker thread executes.
*/
@ -833,7 +874,8 @@ static int sam_tsd_schedule(struct sam_tsd_s *priv)
* watchdog timer. This function handles that timer expiration.
*
****************************************************************************/
#if !defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
static void sam_tsd_expiry(wdparm_t arg)
{
struct sam_tsd_s *priv = (struct sam_tsd_s *)arg;
@ -842,6 +884,7 @@ static void sam_tsd_expiry(wdparm_t arg)
sam_tsd_schedule(priv);
}
#endif
/****************************************************************************
* Name: sam_tsd_open
@ -936,6 +979,7 @@ static ssize_t sam_tsd_read(struct file *filep, char *buffer, size_t len)
struct sam_tsd_s *priv;
struct touch_sample_s *report;
struct sam_sample_s sample;
int regval;
int ret;
iinfo("buffer:%p len:%d\n", buffer, len);
@ -967,7 +1011,7 @@ static ssize_t sam_tsd_read(struct file *filep, char *buffer, size_t len)
ret = sam_tsd_sample(priv, &sample);
if (ret < 0)
{
/* Sample data is not available now. We would ave to wait to get
/* Sample data is not available now. We would have to wait to get
* receive sample data. If the user has specified the O_NONBLOCK
* option, then just return an error.
*/
@ -978,6 +1022,18 @@ static ssize_t sam_tsd_read(struct file *filep, char *buffer, size_t len)
ret = -EAGAIN;
goto errout;
}
else
{
/* If we have opened in blocking mode, there is a big risk that
* we cause the system to hang because tsd_wait_sample will enter
* a critical section until an adc sample is available - which may
* be a very long time if the pen detect ADC trigger is in use.
*/
regval = sam_adc_getreg(priv->adc, SAM_ADC_TRGR);
regval &= ADC_TRGR_TRGMOD_MASK;
DEBUGASSERT(regval != ADC_TRGR_TRGMOD_PEN);
}
/* Wait for sample data */
@ -1554,7 +1610,7 @@ static void sam_tsd_initialize(struct sam_tsd_s *priv)
{
uint32_t regval;
#ifdef SAMA5_TSD_PENDET_TRIG_ALLOWED
#ifdef SAMA5_TSD_TRIG_CHANGE_ALLOWED
/* Disable touch trigger */
regval = sam_adc_getreg(priv->adc, SAM_ADC_TRGR);
@ -1569,17 +1625,20 @@ static void sam_tsd_initialize(struct sam_tsd_s *priv)
sam_tsd_tracking(priv, BOARD_TSD_TRACKTIM);
/* set trigger mode to be periodic in case ADC not already
* been initialised. It's the only option allowed and that works.
* been initialised. It's the only option allowed and that works, unless
* continuous mode is set of course.
*/
#ifndef SAMA5_TSD_PENDET_TRIG_ALLOWED
/* if we're allowed to use pendet trigger no need to do this */
#ifdef CONFIG_SAMA5_ADC_TRIGGER_PERIOD
regval = sam_adc_getreg(priv, SAM_ADC_TRGR);
regval &= ~ADC_TRGR_TRGMOD_MASK;
regval |= ADC_TRGR_TRGMOD_PERIOD;
sam_adc_putreg(priv, SAM_ADC_TRGR, regval);
sam_tsd_trigperiod(priv, CONFIG_SAMA5_ADC_TRIGGER_PERIOD);
/* Make sure the configured trigger period is used */
sam_tsd_trigperiod(priv, CONFIG_SAMA5_ADC_TRIGGER_PERIOD);
#else
sam_tsd_trigperiod(priv, 20000); /* 20ms */
#endif
@ -1643,7 +1702,7 @@ static void sam_tsd_initialize(struct sam_tsd_s *priv)
#endif
sam_adc_putreg(priv->adc, SAM_ADC_ACR, regval);
#ifdef SAMA5_TSD_PENDET_TRIG_ALLOWED
#ifdef SAMA5_TSD_TRIG_CHANGE_ALLOWED /* we assume periodic otherwise */
/* Configure pen interrupt generation */
regval = sam_adc_getreg(priv->adc, SAM_ADC_TRGR);
@ -1661,6 +1720,7 @@ static void sam_tsd_initialize(struct sam_tsd_s *priv)
sam_adc_putreg(priv->adc, SAM_ADC_CR, regval);
#endif
regval = sam_adc_getreg(priv->adc, SAM_ADC_ISR);
up_enable_irq(SAM_IRQ_ADC);
}
@ -1687,15 +1747,16 @@ static void sam_tsd_uninitialize(struct sam_tsd_s *priv)
/* Disable the watchdog timer. It will be re-enabled in the worker thread
* while the pen remains down.
*/
#if !defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
wd_cancel(&priv->wdog);
#endif
/* Disable further touchscreen interrupts. Touchscreen interrupts will be
* re-enabled after the worker thread executes.
*/
sam_adc_putreg(priv->adc, SAM_ADC_IDR, ADC_TSD_ALLINTS);
#ifdef SAMA5_TSD_PENDET_TRIG_ALLOWED
#ifdef SAMA5_TSD_TRIG_CHANGE_ALLOWED
/* Disable touch trigger */
regval = sam_adc_getreg(priv->adc, SAM_ADC_TRGR);
@ -1800,6 +1861,7 @@ void sam_tsd_interrupt(uint32_t pending)
* worker thread.
*/
priv->pending = pending;
ret = sam_tsd_schedule(priv);
if (ret < 0)
{

20
arch/arm/src/sama5/sam_tsd.h
View File

@ -40,14 +40,27 @@
# define CONFIG_SAMA5_TSD_RXP 6
#endif
#if !defined(CONFIG_SAMA5_ADC_SWTRIG) && \
!defined(CONFIG_SAMA5_ADC_PERIODIC_TRIG) && \
!defined(CONFIG_SAMA5_ADC_CONTINUOUS_TRIG)
# warning ADC trigger mode incompatible with TSD operation
#endif
#ifndef CONFIG_SAMA5_ADC_TRIGGER_PERIOD
# define CONFIG_SAMA5_ADC_TRIGGER_PERIOD 20000
#endif
/* Only allow Pendet triggering in limited circumstances */
/* Only allow TSD trigger mode changes in limited circumstances.
* The TSD driver changes between pen detection and periodic triggers
* but this can upset normal non-tsd ADC operation, so we only allow the
* driver to change the mode if SW trigger mode is set.
* NB - this still might conflict of course so BEWARE!
*/
#if defined(CONFIG_SAMA5_ADC_SWTRIG)
# define SAMA5_TSD_PENDET_TRIG_ALLOWED
#ifdef CONFIG_SAMA5_ADC_SWTRIG
# define SAMA5_TSD_TRIG_CHANGE_ALLOWED
#else
# warning TSD will not be using Pen Detection interrupts
#endif
/* Touchscreen interrupt event sets
@ -60,6 +73,7 @@
* ADC_SR_PENS Pen detect Status (Not an interrupt)
*/
#define ADC_TSD_PRESSINTS (ADC_INT_XRDY | ADC_INT_YRDY | ADC_INT_PRDY | ADC_INT_PEN)
#define ADC_TSD_CMNINTS (ADC_INT_XRDY | ADC_INT_YRDY | ADC_INT_PRDY | ADC_INT_NOPEN)
#define ADC_TSD_ALLINTS (ADC_TSD_CMNINTS | ADC_INT_PEN)
#define ADC_TSD_ALLSTATUS (ADC_TSD_ALLINTS | ADC_SR_PENS)