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fix(legacy_touch): fixed touch read API can't be called in ISR context

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Closes https://github.com/espressif/esp-idf/issues/17045
This commit is contained in:
laokaiyao
2025-08-04 15:36:41 +08:00
parent 6e0dd0581c
commit b5fd5da6e8
2 changed files with 56 additions and 63 deletions
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7
components/driver/test_apps/touch_sensor_v1/main/test_touch_v1.c
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@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -301,6 +301,11 @@ static bool s_pad_activated[TOUCH_PAD_MAX];
static void test_touch_intr_cb(void *arg) static void test_touch_intr_cb(void *arg)
{ {
uint32_t pad_intr = touch_pad_get_status(); uint32_t pad_intr = touch_pad_get_status();
uint16_t touch_value;
// Should be able to read touch value in ISR
touch_pad_read_filtered(touch_list[0], &touch_value);
touch_pad_read_raw_data(touch_list[0], &touch_value);
//clear interrupt //clear interrupt
touch_pad_clear_status(); touch_pad_clear_status();
for (int i = 0; i < TEST_TOUCH_CHANNEL; i++) { for (int i = 0; i < TEST_TOUCH_CHANNEL; i++) {

106
components/driver/touch_sensor/esp32/touch_sensor.c
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@@ -52,13 +52,17 @@ static SemaphoreHandle_t rtc_touch_mux = NULL;
static __attribute__((unused)) const char *TOUCH_TAG = "TOUCH_SENSOR"; static __attribute__((unused)) const char *TOUCH_TAG = "TOUCH_SENSOR";
#define TOUCH_CHANNEL_CHECK(channel) ESP_RETURN_ON_FALSE(channel < SOC_TOUCH_SENSOR_NUM, ESP_ERR_INVALID_ARG, TOUCH_TAG, "Touch channel error"); #define TOUCH_CHANNEL_CHECK(channel) ESP_RETURN_ON_FALSE(channel < SOC_TOUCH_SENSOR_NUM, ESP_ERR_INVALID_ARG, TOUCH_TAG, "Touch channel error");
#define TOUCH_CHANNEL_CHECK_ISR(channel) ESP_RETURN_ON_FALSE_ISR(channel < SOC_TOUCH_SENSOR_NUM, ESP_ERR_INVALID_ARG, TOUCH_TAG, "Touch channel error");
#define TOUCH_NULL_POINTER_CHECK(p, name) ESP_RETURN_ON_FALSE((p), ESP_ERR_INVALID_ARG, TOUCH_TAG, "input param '"name"' is NULL") #define TOUCH_NULL_POINTER_CHECK(p, name) ESP_RETURN_ON_FALSE((p), ESP_ERR_INVALID_ARG, TOUCH_TAG, "input param '"name"' is NULL")
#define TOUCH_NULL_POINTER_CHECK_ISR(p, name) ESP_RETURN_ON_FALSE_ISR((p), ESP_ERR_INVALID_ARG, TOUCH_TAG, "input param '"name"' is NULL")
#define TOUCH_PARAM_CHECK_STR(s) ""s" parameter error" #define TOUCH_PARAM_CHECK_STR(s) ""s" parameter error"
static portMUX_TYPE s_filter_spinlock = portMUX_INITIALIZER_UNLOCKED; static portMUX_TYPE s_filter_spinlock = portMUX_INITIALIZER_UNLOCKED;
extern portMUX_TYPE rtc_spinlock; //TODO: Will be placed in the appropriate position after the rtc module is finished. extern portMUX_TYPE rtc_spinlock; //TODO: Will be placed in the appropriate position after the rtc module is finished.
#define TOUCH_ENTER_CRITICAL(spinlock) portENTER_CRITICAL(spinlock) #define TOUCH_ENTER_CRITICAL(spinlock) portENTER_CRITICAL(spinlock)
#define TOUCH_EXIT_CRITICAL(spinlock) portEXIT_CRITICAL(spinlock) #define TOUCH_EXIT_CRITICAL(spinlock) portEXIT_CRITICAL(spinlock)
#define TOUCH_ENTER_CRITICAL_SAFE(spinlock) portENTER_CRITICAL_SAFE(spinlock)
#define TOUCH_EXIT_CRITICAL_SAFE(spinlock) portEXIT_CRITICAL_SAFE(spinlock)
/*--------------------------------------------------------------- /*---------------------------------------------------------------
Touch Pad Touch Pad
@@ -67,6 +71,7 @@ extern portMUX_TYPE rtc_spinlock; //TODO: Will be placed in the appropriate posi
#define BITSWAP(data, n, m) (((data >> n) & 0x1) == ((data >> m) & 0x1) ? (data) : ((data) ^ ((0x1 <<n) | (0x1 << m)))) #define BITSWAP(data, n, m) (((data >> n) & 0x1) == ((data >> m) & 0x1) ? (data) : ((data) ^ ((0x1 <<n) | (0x1 << m))))
#define TOUCH_BITS_SWAP(v) BITSWAP(v, TOUCH_PAD_NUM8, TOUCH_PAD_NUM9) #define TOUCH_BITS_SWAP(v) BITSWAP(v, TOUCH_PAD_NUM8, TOUCH_PAD_NUM9)
static esp_err_t _touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value, touch_fsm_mode_t mode); static esp_err_t _touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value, touch_fsm_mode_t mode);
static esp_err_t s_touch_pad_filter_create(void);
esp_err_t touch_pad_isr_handler_register(void (*fn)(void *), void *arg, int no_use, intr_handle_t *handle_no_use) esp_err_t touch_pad_isr_handler_register(void (*fn)(void *), void *arg, int no_use, intr_handle_t *handle_no_use)
{ {
@@ -339,25 +344,15 @@ esp_err_t touch_pad_init(void)
TOUCH_ENTER_CRITICAL(&rtc_spinlock); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_init(); touch_hal_init();
TOUCH_EXIT_CRITICAL(&rtc_spinlock); TOUCH_EXIT_CRITICAL(&rtc_spinlock);
ESP_RETURN_ON_ERROR(s_touch_pad_filter_create(), TOUCH_TAG, "failed to create the filter");
return ESP_OK; return ESP_OK;
} }
esp_err_t touch_pad_deinit(void) esp_err_t touch_pad_deinit(void)
{ {
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized"); ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
esp_err_t ret = ESP_OK; ESP_RETURN_ON_ERROR(touch_pad_filter_delete(), TOUCH_TAG, "failed to delete the filter");
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY); xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
if (s_touch_pad_filter) {
if (s_touch_pad_filter->timer) {
ESP_GOTO_ON_ERROR(esp_timer_stop(s_touch_pad_filter->timer), err, TOUCH_TAG, "failed to stop the timer");
ESP_GOTO_ON_ERROR(esp_timer_delete(s_touch_pad_filter->timer), err, TOUCH_TAG, "failed to delete the timer");
s_touch_pad_filter->timer = NULL;
}
free(s_touch_pad_filter);
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
s_touch_pad_filter = NULL;
TOUCH_EXIT_CRITICAL(&s_filter_spinlock);
}
s_touch_pad_init_bit = 0x0000; s_touch_pad_init_bit = 0x0000;
TOUCH_ENTER_CRITICAL(&rtc_spinlock); TOUCH_ENTER_CRITICAL(&rtc_spinlock);
touch_hal_deinit(); touch_hal_deinit();
@@ -366,9 +361,6 @@ esp_err_t touch_pad_deinit(void)
vSemaphoreDelete(rtc_touch_mux); vSemaphoreDelete(rtc_touch_mux);
rtc_touch_mux = NULL; rtc_touch_mux = NULL;
return ESP_OK; return ESP_OK;
err:
xSemaphoreGive(rtc_touch_mux);
return ret;
} }
static esp_err_t _touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value, touch_fsm_mode_t mode) static esp_err_t _touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value, touch_fsm_mode_t mode)
@@ -414,38 +406,34 @@ esp_err_t touch_pad_read(touch_pad_t touch_num, uint16_t *touch_value)
IRAM_ATTR esp_err_t touch_pad_read_raw_data(touch_pad_t touch_num, uint16_t *touch_value) IRAM_ATTR esp_err_t touch_pad_read_raw_data(touch_pad_t touch_num, uint16_t *touch_value)
{ {
esp_err_t ret = ESP_OK; esp_err_t ret = ESP_OK;
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized"); ESP_RETURN_ON_FALSE_ISR(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
TOUCH_CHANNEL_CHECK(touch_num); TOUCH_CHANNEL_CHECK_ISR(touch_num);
TOUCH_NULL_POINTER_CHECK(touch_value, "touch_value"); TOUCH_NULL_POINTER_CHECK_ISR(touch_value, "touch_value");
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY); ESP_GOTO_ON_FALSE_ISR(s_touch_pad_filter, ESP_FAIL, err, TOUCH_TAG, "Touch pad filter not initialized");
ESP_GOTO_ON_FALSE(s_touch_pad_filter, ESP_FAIL, err, TOUCH_TAG, "Touch pad filter not initialized"); TOUCH_ENTER_CRITICAL_SAFE(&s_filter_spinlock);
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
*touch_value = s_touch_pad_filter->raw_val[touch_num]; *touch_value = s_touch_pad_filter->raw_val[touch_num];
TOUCH_EXIT_CRITICAL(&s_filter_spinlock); TOUCH_EXIT_CRITICAL_SAFE(&s_filter_spinlock);
if (*touch_value == 0) { if (*touch_value == 0) {
ret = ESP_ERR_INVALID_STATE; ret = ESP_ERR_INVALID_STATE;
} }
err: err:
xSemaphoreGive(rtc_touch_mux);
return ret; return ret;
} }
IRAM_ATTR esp_err_t touch_pad_read_filtered(touch_pad_t touch_num, uint16_t *touch_value) IRAM_ATTR esp_err_t touch_pad_read_filtered(touch_pad_t touch_num, uint16_t *touch_value)
{ {
esp_err_t ret = ESP_OK; esp_err_t ret = ESP_OK;
ESP_RETURN_ON_FALSE(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized"); ESP_RETURN_ON_FALSE_ISR(rtc_touch_mux, ESP_FAIL, TOUCH_TAG, "Touch pad not initialized");
TOUCH_CHANNEL_CHECK(touch_num); TOUCH_CHANNEL_CHECK_ISR(touch_num);
TOUCH_NULL_POINTER_CHECK(touch_value, "touch_value"); TOUCH_NULL_POINTER_CHECK_ISR(touch_value, "touch_value");
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY); ESP_GOTO_ON_FALSE_ISR(s_touch_pad_filter, ESP_FAIL, err, TOUCH_TAG, "Touch pad filter not initialized");
ESP_GOTO_ON_FALSE(s_touch_pad_filter, ESP_FAIL, err, TOUCH_TAG, "Touch pad filter not initialized"); TOUCH_ENTER_CRITICAL_SAFE(&s_filter_spinlock);
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
*touch_value = (s_touch_pad_filter->filtered_val[touch_num]); *touch_value = (s_touch_pad_filter->filtered_val[touch_num]);
TOUCH_EXIT_CRITICAL(&s_filter_spinlock); TOUCH_EXIT_CRITICAL_SAFE(&s_filter_spinlock);
if (*touch_value == 0) { if (*touch_value == 0) {
ret = ESP_ERR_INVALID_STATE; ret = ESP_ERR_INVALID_STATE;
} }
err: err:
xSemaphoreGive(rtc_touch_mux);
return ret; return ret;
} }
@@ -490,37 +478,12 @@ esp_err_t touch_pad_filter_start(uint32_t filter_period_ms)
esp_err_t ret = ESP_OK; esp_err_t ret = ESP_OK;
xSemaphoreTake(rtc_touch_mux, portMAX_DELAY); xSemaphoreTake(rtc_touch_mux, portMAX_DELAY);
if (s_touch_pad_filter == NULL) { ESP_GOTO_ON_FALSE(s_touch_pad_filter && s_touch_pad_filter->timer, ESP_ERR_INVALID_STATE, err, TOUCH_TAG, "Touch pad filter not initialized");
s_touch_pad_filter = (touch_pad_filter_t *) calloc(1, sizeof(touch_pad_filter_t));
ESP_GOTO_ON_FALSE(s_touch_pad_filter, ESP_ERR_NO_MEM, err_no_mem, TOUCH_TAG, "no memory for filter");
}
if (s_touch_pad_filter->timer == NULL) {
esp_timer_create_args_t timer_cfg = {
.callback = touch_pad_filter_cb,
.arg = NULL,
.dispatch_method = ESP_TIMER_TASK,
.name = "touch filter timer",
.skip_unhandled_events = true,
};
ESP_GOTO_ON_ERROR(esp_timer_create(&timer_cfg, &(s_touch_pad_filter->timer)),
err_timer_create, TOUCH_TAG, "failed to create the filter timer");
s_touch_pad_filter->period = filter_period_ms; s_touch_pad_filter->period = filter_period_ms;
touch_pad_filter_cb(NULL); // Trigger once immediately to get the initial raw value touch_pad_filter_cb(NULL); // Trigger once immediately to get the initial raw value
ESP_GOTO_ON_ERROR(esp_timer_start_periodic(s_touch_pad_filter->timer, filter_period_ms * 1000), ESP_GOTO_ON_ERROR(esp_timer_start_periodic(s_touch_pad_filter->timer, filter_period_ms * 1000),
err_timer_start, TOUCH_TAG, "failed to start the filter timer"); err, TOUCH_TAG, "failed to start the filter timer");
} err:
xSemaphoreGive(rtc_touch_mux);
return ret;
err_timer_start:
esp_timer_delete(s_touch_pad_filter->timer);
err_timer_create:
free(s_touch_pad_filter);
TOUCH_ENTER_CRITICAL(&s_filter_spinlock);
s_touch_pad_filter = NULL;
TOUCH_EXIT_CRITICAL(&s_filter_spinlock);
err_no_mem:
xSemaphoreGive(rtc_touch_mux); xSemaphoreGive(rtc_touch_mux);
return ret; return ret;
} }
@@ -538,6 +501,31 @@ esp_err_t touch_pad_filter_stop(void)
return ret; return ret;
} }
static esp_err_t s_touch_pad_filter_create(void)
{
esp_err_t ret = ESP_OK;
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));
ESP_GOTO_ON_FALSE(s_touch_pad_filter, ESP_ERR_NO_MEM, err, TOUCH_TAG, "no memory for filter");
}
if (s_touch_pad_filter->timer == NULL) {
esp_timer_create_args_t timer_cfg = {
.callback = touch_pad_filter_cb,
.arg = NULL,
.dispatch_method = ESP_TIMER_TASK,
.name = "touch filter timer",
.skip_unhandled_events = true,
};
ESP_GOTO_ON_ERROR(esp_timer_create(&timer_cfg, &(s_touch_pad_filter->timer)),
err, TOUCH_TAG, "failed to create the filter timer");
}
err:
xSemaphoreGive(rtc_touch_mux);
return ret;
}
esp_err_t touch_pad_filter_delete(void) esp_err_t touch_pad_filter_delete(void)
{ {
ESP_RETURN_ON_FALSE(s_touch_pad_filter, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad filter not initialized"); ESP_RETURN_ON_FALSE(s_touch_pad_filter, ESP_ERR_INVALID_STATE, TOUCH_TAG, "Touch pad filter not initialized");