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Merge #19425 #19426

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19425: drivers/servo: Fix typo in comment r=benpicco a=maribu

### Contribution description

As the title says

### Testing procedure

Not needed; code review will confirm that this is a comment only change.

### Issues/PRs references

None

19426: cpu/esp32: cleanup of ESP-IDF interface API (module `esp_idf_api`) r=benpicco a=gschorcht

### Contribution description

This PR cleans up the wrapper library (module `esp_idf_api`) that is used to interface to ESP-IDF driver modules.

A number of ESP-IDF header files needed to compile RIOT include the ESP-IDF header file `driver/gpio.h` only because of the definition of the type `gpio_num_t`. However, `driver/gpio.h` does not only define `gpio_num_t` but the complete ESP-IDF GPIO API which conflicts with that in RIOT. The solution was to use a wrapper library when compiling the RIOT code that does not need to include the ESP-IDF header file `driver/gpio.h`. The disadvantage of this approach was that for each ESP-IDF function to be used in RIOT, a corresponding function in the wrapper library had to be defined which does nothing else than calling the corresponding ESP-IDF function.

This PR provides another approach which does not require such a wrapper library in most cases and allows to clean up the  wrapper library (module `esp_idf_api`). It just provides its own `driver/gpio.h` that is included by ESP-IDF header files instead of the original ESP-IDF header file `driver/gpio.h`. It  defines only the required `gpio_num_t` when RIOT code is compiled but includes the original ESP-IDF header file `driver/gpio.h` when ESP-IDF code is compiled. As a result. most of the functions in the wrapper library could be eliminated. A further advantage is that further ESP-IDF API functions can be used without defining corresponding wrapper functions.

### Testing procedure

Green CI

### Issues/PRs references


Co-authored-by: Marian Buschsieweke <marian.buschsieweke@ovgu.de>
Co-authored-by: Gunar Schorcht <gunar@schorcht.net>
This commit is contained in:
bors[bot] 2023-03-28 01:35:22 +00:00 committed by GitHub
commit f8d7762f0e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
19 changed files with 57 additions and 410 deletions
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65
cpu/esp32/esp-idf-api/adc.c
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@ -1,65 +0,0 @@
/*
* Copyright (C) 2022 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32_esp_idf_api
* @{
*
* @file
* @brief Interface for the ESP-IDF ADC HAL API
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @}
*/
#include <stdbool.h>
#include "driver/adc.h"
void esp_idf_adc_power_acquire(void)
{
adc_power_acquire();
}
void esp_idf_adc_power_release(void)
{
adc_power_release();
}
esp_err_t esp_idf_adc1_config_width(adc_bits_width_t width_bit)
{
return adc1_config_width(width_bit);
}
esp_err_t esp_idf_adc1_config_channel_atten(adc_channel_t channel,
adc_atten_t atten)
{
return adc1_config_channel_atten(channel, atten);
}
int esp_idf_adc1_get_raw(adc1_channel_t channel)
{
return adc1_get_raw(channel);
}
esp_err_t esp_idf_adc2_config_channel_atten(adc_channel_t channel,
adc_atten_t atten)
{
return adc2_config_channel_atten(channel, atten);
}
esp_err_t esp_idf_adc2_get_raw(adc2_channel_t channel,
adc_bits_width_t width_bit, int *raw_out)
{
return adc2_get_raw(channel, width_bit, raw_out);
}
esp_err_t esp_idf_adc_vref_to_gpio(adc_unit_t adc_unit, gpio_num_t gpio)
{
return adc_vref_to_gpio(adc_unit, gpio);
}

41
cpu/esp32/esp-idf-api/dac.c
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@ -1,41 +0,0 @@
/*
* Copyright (C) 2022 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32_esp_idf_api
* @{
*
* @file
* @brief Interface for the ESP-IDF DAC HAL API
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @}
*/
#ifdef MODULE_PERIPH_DAC
#include <stdbool.h>
#include "driver/dac_common.h"
esp_err_t esp_idf_dac_output_voltage(dac_channel_t channel, uint8_t dac_value)
{
return dac_output_voltage(channel, dac_value);
}
esp_err_t esp_idf_dac_output_enable(dac_channel_t channel)
{
return dac_output_enable(channel);
}
esp_err_t esp_idf_dac_output_disable(dac_channel_t channel)
{
return dac_output_disable(channel);
}
#endif

44
cpu/esp32/esp-idf-api/ledc.c
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@ -1,44 +0,0 @@
/*
* Copyright (C) 2022 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32_esp_idf_api
* @{
*
* @file
* @brief Interface for the ESP-IDF LEDC HAL API
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @}
*/
#include <stdbool.h>
#include "driver/ledc.h"
int esp_ledc_channel_config(const ledc_channel_config_t* ledc_conf)
{
return ledc_channel_config(ledc_conf);
}
int esp_ledc_timer_config(const ledc_timer_config_t* timer_conf)
{
return ledc_timer_config(timer_conf);
}
int esp_ledc_update_duty(ledc_mode_t speed_mode, ledc_channel_t channel)
{
return ledc_update_duty(speed_mode, channel);
}
int esp_ledc_set_duty_with_hpoint(ledc_mode_t speed_mode,
ledc_channel_t channel,
uint32_t duty, uint32_t hpoint)
{
return ledc_set_duty_with_hpoint(speed_mode, channel, duty, hpoint);
}

30
cpu/esp32/esp-idf-api/periph_ctrl.c
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@ -1,30 +0,0 @@
/*
* Copyright (C) 2022 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32_esp_idf_api
* @{
*
* @file
* @brief Interface for ESP-IDF peripherals control API
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @}
*/
#include "driver/periph_ctrl.h"
void esp_idf_periph_module_enable(periph_module_t periph)
{
periph_module_enable(periph);
}
void esp_idf_periph_module_disable(periph_module_t periph)
{
periph_module_disable(periph);
}

2
cpu/esp32/esp-idf/esp_idf.mk
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@ -1,6 +1,6 @@
# common definitions for all ESP-IDF modules
# additional include pathes required by als ESP-IDF module
# additional include pathes required by ESP-IDF module
INCLUDES += -I$(ESP32_SDK_DIR)/components/bootloader_support/include
INCLUDES += -I$(ESP32_SDK_DIR)/components/bootloader_support/include_bootloader
INCLUDES += -I$(ESP32_SDK_DIR)/components/driver/$(CPU_FAM)/include

3
cpu/esp32/esp-idf/esp_idf_cflags.mk
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@ -1,5 +1,8 @@
# common definitions for all ESP-IDF modules
# indicate that ESP-IDF code is compiled
CFLAGS += -DESP_IDF_CODE
# shortcuts used by ESP-IDF
CFLAGS += -Dasm=__asm
CFLAGS += -Dtypeof=__typeof__

24
cpu/esp32/esp-idf/include/driver/gpio.h Normal file
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@ -0,0 +1,24 @@
#ifndef DRIVER_GPIO_H
#define DRIVER_GPIO_H
#ifdef ESP_IDF_CODE
#include_next "driver/gpio.h"
#else
#include "hal/gpio_types.h"
#define GPIO_PIN_COUNT (SOC_GPIO_PIN_COUNT)
#endif
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
#endif /* DRIVER_GPIO_H */

7
cpu/esp32/include/adc_arch.h
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@ -34,10 +34,9 @@ extern "C" {
#include "periph/adc.h"
#include "periph/gpio.h"
#include "driver/adc.h"
#include "hal/adc_types.h"
#include "esp_idf_api/adc.h"
/**
* @brief Attenuations that can be set for ADC lines
*
@ -112,9 +111,9 @@ int adc_line_vref_to_gpio(adc_t line, gpio_t gpio);
* @return 0 on success
* @return -1 on invalid ADC line
*/
static inline int adc_vref_to_gpio25 (void)
static inline int adc_vref_to_gpio25(void)
{
return esp_idf_adc_vref_to_gpio(ADC_UNIT_2, GPIO25);
return adc_vref_to_gpio(ADC_UNIT_2, GPIO25);
}
#endif

57
cpu/esp32/include/esp_idf_api/adc.h
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@ -1,57 +0,0 @@
/*
* Copyright (C) 2022 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32_esp_idf_api
* @{
*
* @file
* @brief Interface for the ESP-IDF ADC HAL API
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @}
*/
#ifndef ESP_IDF_API_ADC_H
#define ESP_IDF_API_ADC_H
#include "esp_err.h"
#include "hal/adc_types.h"
#include "hal/gpio_types.h"
#ifndef DOXYGEN /* Hide implementation details from doxygen */
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name ESP-IDF interface mapper functions
* @{
*/
/** @} */
void esp_idf_adc_power_acquire(void);
void esp_idf_adc_power_release(void);
esp_err_t esp_idf_adc1_config_width(adc_bits_width_t width_bit);
esp_err_t esp_idf_adc1_config_channel_atten(adc_channel_t channel,
adc_atten_t atten);
int esp_idf_adc1_get_raw(adc_channel_t channel);
esp_err_t esp_idf_adc2_config_channel_atten(adc_channel_t channel,
adc_atten_t atten);
esp_err_t esp_idf_adc2_get_raw(adc_channel_t channel,
adc_bits_width_t width_bit, int *raw_out);
esp_err_t esp_idf_adc_vref_to_gpio(adc_unit_t adc_unit, gpio_num_t gpio);
#ifdef __cplusplus
}
#endif
#endif /* DOXYGEN */
#endif /* ESP_IDF_API_ADC_H */

47
cpu/esp32/include/esp_idf_api/dac.h
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@ -1,47 +0,0 @@
/*
* Copyright (C) 2022 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32_esp_idf_api
* @{
*
* @file
* @brief Interface for the ESP-IDF DAC HAL API
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @}
*/
#ifndef ESP_IDF_API_DAC_H
#define ESP_IDF_API_DAC_H
#include "esp_err.h"
#include "hal/dac_types.h"
#ifndef DOXYGEN /* Hide implementation details from doxygen */
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name ESP-IDF interface wrapper functions
* @{
*/
esp_err_t esp_idf_dac_output_voltage(dac_channel_t channel, uint8_t dac_value);
esp_err_t esp_idf_dac_output_enable(dac_channel_t channel);
esp_err_t esp_idf_dac_output_disable(dac_channel_t channel);
/** @} */
#ifdef __cplusplus
}
#endif
#endif /* DOXYGEN */
#endif /* ESP_IDF_API_DAC_H */

48
cpu/esp32/include/esp_idf_api/ledc.h
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@ -1,48 +0,0 @@
/*
* Copyright (C) 2022 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32_esp_idf_api
* @{
*
* @file
* @brief Interface for the ESP-IDF LEDC HAL API
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @}
*/
#ifndef ESP_IDF_API_LEDC_H
#define ESP_IDF_API_LEDC_H
#include "hal/ledc_types.h"
#ifndef DOXYGEN /* Hide implementation details from doxygen */
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name ESP-IDF interface wrapper functions
* @{
*/
int esp_ledc_channel_config(const ledc_channel_config_t* ledc_conf);
int esp_ledc_timer_config(const ledc_timer_config_t* timer_conf);
int esp_ledc_update_duty(ledc_mode_t speed_mode, ledc_channel_t channel);
int esp_ledc_set_duty_with_hpoint(ledc_mode_t speed_mode,
ledc_channel_t channel,
uint32_t duty, uint32_t hpoint);
/** @} */
#ifdef __cplusplus
}
#endif
#endif /* DOXYGEN */
#endif /* ESP_IDF_API_LEDC_H */

39
cpu/esp32/include/esp_idf_api/periph_ctrl.h
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@ -1,39 +0,0 @@
/*
* Copyright (C) 2022 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32_esp_idf_api
* @{
*
* @file
* @brief Interface for ESP-IDF peripherals control API
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @}
*/
#ifndef ESP_IDF_API_PERIPH_CTRL_H
#define ESP_IDF_API_PERIPH_CTRL_H
#ifndef DOXYGEN /* Hide implementation details from doxygen */
#include "soc/periph_defs.h"
#ifdef __cplusplus
extern "C" {
#endif
void esp_idf_periph_module_enable(periph_module_t periph);
void esp_idf_periph_module_disable(periph_module_t periph);
#ifdef __cplusplus
}
#endif
#endif /* DOXYGEN */
#endif /* ESP_IDF_API_PERIPH_CTRL_H */

26
cpu/esp32/periph/adc.c
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@ -36,7 +36,7 @@
#include "esp_common.h"
#include "gpio_arch.h"
#include "esp_idf_api/adc.h"
#include "driver/adc.h"
#define ENABLE_DEBUG 0
#include "debug.h"
@ -134,15 +134,13 @@ int adc_init(adc_t line)
/* initialize the ADC1 unit if needed */
_adc1_ctrl_init();
/* set the attenuation and configure its associated GPIO pin mux */
esp_idf_adc1_config_channel_atten(_adc_hw[rtcio].adc_channel,
ADC_ATTEN_DB_11);
adc1_config_channel_atten(_adc_hw[rtcio].adc_channel, ADC_ATTEN_DB_11);
}
else if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_2) {
/* initialize the ADC2 unit if needed */
_adc2_ctrl_init();
/* set the attenuation and configure its associated GPIO pin mux */
esp_idf_adc2_config_channel_atten(_adc_hw[rtcio].adc_channel,
ADC_ATTEN_DB_11);
adc2_config_channel_atten(_adc_hw[rtcio].adc_channel, ADC_ATTEN_DB_11);
}
else {
return -1;
@ -166,15 +164,15 @@ int32_t adc_sample(adc_t line, adc_res_t res)
int raw;
if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_1) {
esp_idf_adc1_config_width(_adc_esp_res_map[res].res);
raw = esp_idf_adc1_get_raw(_adc_hw[rtcio].adc_channel);
adc1_config_width(_adc_esp_res_map[res].res);
raw = adc1_get_raw(_adc_hw[rtcio].adc_channel);
if (raw < 0) {
return -1;
}
}
else if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_2) {
if (esp_idf_adc2_get_raw(_adc_hw[rtcio].adc_channel,
_adc_esp_res_map[res].res, &raw) < 0) {
if (adc2_get_raw(_adc_hw[rtcio].adc_channel,
_adc_esp_res_map[res].res, &raw) < 0) {
return -1;
}
}
@ -191,12 +189,10 @@ int adc_set_attenuation(adc_t line, adc_atten_t atten)
assert(rtcio != RTCIO_NA);
if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_1) {
return esp_idf_adc1_config_channel_atten(_adc_hw[rtcio].adc_channel,
atten);
return adc1_config_channel_atten(_adc_hw[rtcio].adc_channel, atten);
}
else if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_2) {
return esp_idf_adc2_config_channel_atten(_adc_hw[rtcio].adc_channel,
atten);
return adc2_config_channel_atten(_adc_hw[rtcio].adc_channel, atten);
}
return -1;
@ -221,10 +217,10 @@ int adc_line_vref_to_gpio(adc_t line, gpio_t gpio)
esp_err_t res = ESP_OK;
if (_adc_hw[rtcio_vref].adc_ctrl == ADC_UNIT_1) {
res = esp_idf_adc_vref_to_gpio(ADC_UNIT_1, gpio);
res = adc_vref_to_gpio(ADC_UNIT_1, gpio);
}
else if (_adc_hw[rtcio_vref].adc_ctrl == ADC_UNIT_2) {
res = esp_idf_adc_vref_to_gpio(ADC_UNIT_2, gpio);
res = adc_vref_to_gpio(ADC_UNIT_2, gpio);
}
if (res != ESP_OK) {
LOG_TAG_ERROR("adc", "Could not route Vref of ADC line %d to GPIO%d\n",

9
cpu/esp32/periph/dac.c
View File

@ -23,8 +23,8 @@
#include "periph/dac.h"
#include "esp_common.h"
#include "driver/dac_common.h"
#include "soc/dac_periph.h"
#include "esp_idf_api/dac.h"
#define ENABLE_DEBUG 0
#include "debug.h"
@ -61,22 +61,21 @@ void dac_set(dac_t line, uint16_t value)
{
assert(line < DAC_NUMOF);
assert(_dac_channels[line] != DAC_CHANNEL_MAX);
esp_idf_dac_output_voltage(_dac_channels[line],
value >> (16 - SOC_DAC_RESOLUTION));
dac_output_voltage(_dac_channels[line], value >> (16 - SOC_DAC_RESOLUTION));
}
void dac_poweroff(dac_t line)
{
assert(line < DAC_NUMOF);
assert(_dac_channels[line] != DAC_CHANNEL_MAX);
esp_idf_dac_output_disable(_dac_channels[line]);
dac_output_disable(_dac_channels[line]);
}
void dac_poweron(dac_t line)
{
assert(line < DAC_NUMOF);
assert(_dac_channels[line] != DAC_CHANNEL_MAX);
esp_idf_dac_output_enable(_dac_channels[line]);
dac_output_enable(_dac_channels[line]);
}
static bool _dac_conf_check(void)

7
cpu/esp32/periph/pwm.c
View File

@ -28,14 +28,13 @@
#include "periph/pwm.h"
#include "periph/gpio.h"
#include "driver/periph_ctrl.h"
#include "esp_common.h"
#include "esp_rom_gpio.h"
#include "hal/ledc_hal.h"
#include "soc/ledc_struct.h"
#include "soc/rtc.h"
#include "esp_idf_api/periph_ctrl.h"
#define ENABLE_DEBUG 0
#include "debug.h"
@ -253,7 +252,7 @@ void pwm_poweron(pwm_t pwm)
DEBUG("%s pwm=%u\n", __func__, pwm);
/* enable and init the module and select the right clock source */
esp_idf_periph_module_enable(_CFG.module);
periph_module_enable(_CFG.module);
ledc_hal_init(&_DEV.hw, _CFG.group);
ledc_hal_set_slow_clk_sel(&_DEV.hw, LEDC_SLOW_CLK_APB);
ledc_hal_set_clock_source(&_DEV.hw, _CFG.timer, LEDC_APB_CLK);
@ -317,7 +316,7 @@ void pwm_poweroff(pwm_t pwm)
/* if all devices of the same hardware module are disable, it is powered off */
if (i == PWM_NUMOF) {
esp_idf_periph_module_disable(_CFG.module);
periph_module_disable(_CFG.module);
}
}

4
cpu/esp32/periph/spi.c
View File

@ -38,13 +38,13 @@
#include "periph/spi.h"
#include "syscalls.h"
#include "driver/periph_ctrl.h"
#include "esp_attr.h"
#include "esp_rom_gpio.h"
#include "hal/spi_hal.h"
#include "hal/spi_types.h"
#include "soc/rtc.h"
#include "esp_idf_api/periph_ctrl.h"
#include "esp_idf_api/gpio.h"
#undef MHZ
@ -117,7 +117,7 @@ void IRAM_ATTR spi_init(spi_t bus)
}
/* enable (power on) the according SPI module */
esp_idf_periph_module_enable(_spi[bus].periph->module);
periph_module_enable(_spi[bus].periph->module);
/* initialize SPI peripheral */
spi_ll_master_init(_spi[bus].periph->hw);

5
cpu/esp32/periph/timer.c
View File

@ -26,6 +26,7 @@
*/
#include "periph/timer.h"
#include "driver/periph_ctrl.h"
#include "esp/common_macros.h"
#include "hal/interrupt_controller_types.h"
#include "hal/interrupt_controller_ll.h"
@ -40,8 +41,6 @@
#include "xtensa/xtensa_api.h"
#endif
#include "esp_idf_api/periph_ctrl.h"
#include "esp_common.h"
#include "irq_arch.h"
#include "syscalls.h"
@ -244,7 +243,7 @@ int timer_init(tim_t dev, uint32_t freq, timer_cb_t cb, void *arg)
intr_cntrl_ll_enable_interrupts(BIT(CPU_INUM_TIMER));
/* enable TMG module */
esp_idf_periph_module_enable(_timers_desc[dev].module);
periph_module_enable(_timers_desc[dev].module);
/* hardware timer configuration */
timer_hal_init(&_timers[dev].hw, _timers_desc[dev].group, _timers_desc[dev].index);

7
cpu/esp_common/periph/uart.c
View File

@ -59,6 +59,7 @@
#else /* defined(MCU_ESP8266) */
#include "driver/periph_ctrl.h"
#include "esp_rom_gpio.h"
#include "esp_rom_uart.h"
#include "hal/interrupt_controller_types.h"
@ -73,8 +74,6 @@
#include "soc/uart_reg.h"
#include "soc/uart_struct.h"
#include "esp_idf_api/periph_ctrl.h"
#undef UART_CLK_FREQ
#define UART_CLK_FREQ rtc_clk_apb_freq_get() /* APB_CLK is used */
@ -232,7 +231,7 @@ void uart_poweron(uart_t uart)
assert(uart < UART_NUMOF);
#ifndef MCU_ESP8266
esp_idf_periph_module_enable(_uarts[uart].mod);
periph_module_enable(_uarts[uart].mod);
#endif
_uart_config(uart);
}
@ -242,7 +241,7 @@ void uart_poweroff(uart_t uart)
assert(uart < UART_NUMOF);
#ifndef MCU_ESP8266
esp_idf_periph_module_disable(_uarts[uart].mod);
periph_module_disable(_uarts[uart].mod);
#endif
}

2
drivers/servo/timer.c
View File

@ -61,7 +61,7 @@ static unsigned ticks_from_us(uint64_t duration, uint64_t freq)
* timer chan n+1 ------------+
*
* Channel 0 is set to the period of one PWM control cycle and due to flag
* `TIM_FLAG_RESET_ON_MATCH` will end the period and stat the new period. As
* `TIM_FLAG_RESET_ON_MATCH` will end the period and start the new period. As
* a result, n+1 channels are needed to control n servos.
*/
static void timer_cb(void *arg, int chan)