Implement SigmaDelta based on ESP-IDF API (espressif#6053)

Summary This PR is refactoring of SigmaDelta HAL in order to use IDF instead of current Register manipulation approach. Impact Change in API: uint32_t sigmaDeltaSetup(uint8_t channel, uint32_t freq); changed to --> uint32_t sigmaDeltaSetup(uint8_t pin, uint8_t channel, uint32_t freq); void sigmaDeltaAttachPin(uint8_t pin); removed, no longer needed. Pin is attached in sigmaDeltaSetup()

Author: P-R-O-C-H-Y

cores/esp32/esp32-hal-sigmadelta.c

@@ -12,121 +12,78 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "esp32-hal.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "freertos/semphr.h"
-#include "esp32-hal-matrix.h"
-#include "soc/gpio_sd_reg.h"
-#include "soc/gpio_sd_struct.h"
 
-#include "esp_system.h"
-#ifdef ESP_IDF_VERSION_MAJOR // IDF 4+
-#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
-#include "esp32/rom/ets_sys.h"
-#elif CONFIG_IDF_TARGET_ESP32S2
-#include "esp32s2/rom/ets_sys.h"
-#elif CONFIG_IDF_TARGET_ESP32C3
-#include "esp32c3/rom/ets_sys.h"
-#else 
-#error Target CONFIG_IDF_TARGET is not supported
-#endif
-#else // ESP32 Before IDF 4.0
-#include "rom/ets_sys.h"
-#endif
 
+#include "esp32-hal.h"
+#include "soc/soc_caps.h"
+#include "driver/sigmadelta.h"
 
-#if CONFIG_DISABLE_HAL_LOCKS
-#define SD_MUTEX_LOCK()
-#define SD_MUTEX_UNLOCK()
-#else
-#define SD_MUTEX_LOCK() do {} while (xSemaphoreTake(_sd_sys_lock, portMAX_DELAY) != pdPASS)
-#define SD_MUTEX_UNLOCK() xSemaphoreGive(_sd_sys_lock)
-xSemaphoreHandle _sd_sys_lock;
-#endif
+static uint8_t duty_set[SOC_SIGMADELTA_CHANNEL_NUM] = {0};
+static uint32_t prescaler_set[SOC_SIGMADELTA_CHANNEL_NUM] = {0};
 
 static void _on_apb_change(void * arg, apb_change_ev_t ev_type, uint32_t old_apb, uint32_t new_apb){
  if(old_apb == new_apb){
  return;
  }
  uint32_t iarg = (uint32_t)arg;
  uint8_t channel = iarg;
- if(ev_type == APB_BEFORE_CHANGE){
- SIGMADELTA.cg.clk_en = 0;
- } else {
+ if(ev_type == APB_AFTER_CHANGE){
  old_apb /= 1000000;
  new_apb /= 1000000;
- SD_MUTEX_LOCK();
- uint32_t old_prescale = SIGMADELTA.channel[channel].prescale + 1;
- SIGMADELTA.channel[channel].prescale = ((new_apb * old_prescale) / old_apb) - 1;
- SIGMADELTA.cg.clk_en = 0;
- SIGMADELTA.cg.clk_en = 1;
- SD_MUTEX_UNLOCK();
+ uint32_t old_prescale = prescaler_set[channel] + 1;
+ uint32_t new_prescale = ((new_apb * old_prescale) / old_apb) - 1;
+ sigmadelta_set_prescale(channel,new_prescale);
+ prescaler_set[channel] = new_prescale;
  }
 }
 
-uint32_t sigmaDeltaSetup(uint8_t channel, uint32_t freq) //chan 0-7 freq 1220-312500
+uint32_t sigmaDeltaSetup(uint8_t pin, uint8_t channel, uint32_t freq) //chan 0-x according to SOC, freq 1220-312500
 {
- if(channel > 7) {
+ if(channel >= SOC_SIGMADELTA_CHANNEL_NUM){
  return 0;
  }
-#if !CONFIG_DISABLE_HAL_LOCKS
- static bool tHasStarted = false;
- if(!tHasStarted) {
- tHasStarted = true;
- _sd_sys_lock = xSemaphoreCreateMutex();
- }
-#endif
+ 
  uint32_t apb_freq = getApbFrequency();
  uint32_t prescale = (apb_freq/(freq*256)) - 1;
  if(prescale > 0xFF) {
  prescale = 0xFF;
  }
- SD_MUTEX_LOCK();
-#ifndef CONFIG_IDF_TARGET_ESP32
- SIGMADELTA.misc.function_clk_en = 1;
-#endif
- SIGMADELTA.channel[channel].prescale = prescale;
- SIGMADELTA.cg.clk_en = 0;
- SIGMADELTA.cg.clk_en = 1;
- SD_MUTEX_UNLOCK();
+
+ sigmadelta_config_t sigmadelta_cfg = {
+ .channel = channel,
+ .sigmadelta_prescale = prescale,
+ .sigmadelta_duty = 0,
+ .sigmadelta_gpio = pin,
+ };
+ sigmadelta_config(&sigmadelta_cfg);
+
+ prescaler_set[channel] = prescale;
  uint32_t iarg = channel;
  addApbChangeCallback((void*)iarg, _on_apb_change);
+
  return apb_freq/((prescale + 1) * 256);
 }
 
-void sigmaDeltaWrite(uint8_t channel, uint8_t duty) //chan 0-7 duty 8 bit
+void sigmaDeltaWrite(uint8_t channel, uint8_t duty) //chan 0-x according to SOC duty 8 bit
 {
- if(channel > 7) {
+ if(channel >= SOC_SIGMADELTA_CHANNEL_NUM){
  return;
  }
- duty -= 128;
- SD_MUTEX_LOCK();
- SIGMADELTA.channel[channel].duty = duty;
- SD_MUTEX_UNLOCK();
-}
+ duty -= 128; 
 
-uint8_t sigmaDeltaRead(uint8_t channel) //chan 0-7
-{
- if(channel > 7) {
- return 0;
- }
- SD_MUTEX_LOCK();
- uint8_t duty = SIGMADELTA.channel[channel].duty + 128;
- SD_MUTEX_UNLOCK();
- return duty;
+ sigmadelta_set_duty(channel,duty);
+ duty_set[channel] = duty;
 }
 
-void sigmaDeltaAttachPin(uint8_t pin, uint8_t channel) //channel 0-7
+uint8_t sigmaDeltaRead(uint8_t channel) //chan 0-x according to SOC
 {
- if(channel > 7) {
- return;
+ if(channel >= SOC_SIGMADELTA_CHANNEL_NUM){
+ return 0;
  }
- pinMode(pin, OUTPUT);
- pinMatrixOutAttach(pin, GPIO_SD0_OUT_IDX + channel, false, false);
+ return duty_set[channel]+128;
 }
 
 void sigmaDeltaDetachPin(uint8_t pin)
 {
  pinMatrixOutDetach(pin, false, false);
-}
+}

cores/esp32/esp32-hal-sigmadelta.h

@@ -23,10 +23,9 @@ extern "C" {
 #include <stdbool.h>
 
 //channel 0-7 freq 1220-312500 duty 0-255
-uint32_t sigmaDeltaSetup(uint8_t channel, uint32_t freq);
+uint32_t sigmaDeltaSetup(uint8_t pin, uint8_t channel, uint32_t freq);
 void sigmaDeltaWrite(uint8_t channel, uint8_t duty);
 uint8_t sigmaDeltaRead(uint8_t channel);
-void sigmaDeltaAttachPin(uint8_t pin, uint8_t channel);
 void sigmaDeltaDetachPin(uint8_t pin);
 
 

libraries/ESP32/examples/AnalogOut/SigmaDelta/SigmaDelta.ino

@@ -1,9 +1,7 @@
 void setup()
 {
- //setup channel 0 with frequency 312500 Hz
- sigmaDeltaSetup(0, 312500);
- //attach pin 18 to channel 0
- sigmaDeltaAttachPin(18,0);
+ //setup on pin 18, channel 0 with frequency 312500 Hz
+ sigmaDeltaSetup(18,0, 312500);
  //initialize channel 0 to off
  sigmaDeltaWrite(0, 0);
 }