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esp32-hal-gpio.c
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// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "esp32-hal-gpio.h"
#include "pins_arduino.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_attr.h"
#include "soc/gpio_reg.h"
#include "soc/io_mux_reg.h"
#include "soc/gpio_struct.h"
#include "driver/gpio.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"
#include "esp32/rom/gpio.h"
#include "esp_intr_alloc.h"
#include "soc/rtc_io_reg.h"
#define GPIO_FUNC 2
#elif CONFIG_IDF_TARGET_ESP32S2
#include "esp32s2/rom/ets_sys.h"
#include "esp32s2/rom/gpio.h"
#include "esp_intr_alloc.h"
#include "soc/periph_defs.h"
#include "soc/rtc_io_reg.h"
#define GPIO_FUNC 1
#elif CONFIG_IDF_TARGET_ESP32C3
#include "esp32c3/rom/ets_sys.h"
#include "esp32c3/rom/gpio.h"
#include "esp_intr_alloc.h"
#include "soc/periph_defs.h"
#define USE_ESP_IDF_GPIO 1
#else
#define USE_ESP_IDF_GPIO 1
#endif
#else // ESP32 Before IDF 4.0
#include "rom/ets_sys.h"
#include "rom/gpio.h"
#include "esp_intr.h"
#endif
#if CONFIG_IDF_TARGET_ESP32
const int8_t esp32_adc2gpio[20] = {36, 37, 38, 39, 32, 33, 34, 35, -1, -1, 4, 0, 2, 15, 13, 12, 14, 27, 25, 26};
#elif CONFIG_IDF_TARGET_ESP32S2
const int8_t esp32_adc2gpio[20] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20};
#endif
const DRAM_ATTR esp32_gpioMux_t esp32_gpioMux[SOC_GPIO_PIN_COUNT]={
#if CONFIG_IDF_TARGET_ESP32
{0x44, 11, 11, 1},
{0x88, -1, -1, -1},
{0x40, 12, 12, 2},
{0x84, -1, -1, -1},
{0x48, 10, 10, 0},
{0x6c, -1, -1, -1},
{0x60, -1, -1, -1},
{0x64, -1, -1, -1},
{0x68, -1, -1, -1},
{0x54, -1, -1, -1},
{0x58, -1, -1, -1},
{0x5c, -1, -1, -1},
{0x34, 15, 15, 5},
{0x38, 14, 14, 4},
{0x30, 16, 16, 6},
{0x3c, 13, 13, 3},
{0x4c, -1, -1, -1},
{0x50, -1, -1, -1},
{0x70, -1, -1, -1},
{0x74, -1, -1, -1},
{0x78, -1, -1, -1},
{0x7c, -1, -1, -1},
{0x80, -1, -1, -1},
{0x8c, -1, -1, -1},
{0, -1, -1, -1},
{0x24, 6, 18, -1}, //DAC1
{0x28, 7, 19, -1}, //DAC2
{0x2c, 17, 17, 7},
{0, -1, -1, -1},
{0, -1, -1, -1},
{0, -1, -1, -1},
{0, -1, -1, -1},
{0x1c, 9, 4, 8},
{0x20, 8, 5, 9},
{0x14, 4, 6, -1},
{0x18, 5, 7, -1},
{0x04, 0, 0, -1},
{0x08, 1, 1, -1},
{0x0c, 2, 2, -1},
{0x10, 3, 3, -1}
#elif CONFIG_IDF_TARGET_ESP32S2
{0x04, 0, -1, -1},
{0x08, 1, 0, 1},
{0x0c, 2, 1, 2},
{0x10, 3, 2, 3},
{0x14, 4, 3, 4},
{0x18, 5, 4, 5},
{0x1c, 6, 5, 6},
{0x20, 7, 6, 7},
{0x24, 8, 7, 8},
{0x28, 9, 8, 9},//FSPI_HD
{0x2c, 10, 9, 10},//FSPI_CS0 / FSPI_D4
{0x30, 11, 10, 11},//FSPI_D / FSPI_D5
{0x34, 12, 11, 12},//FSPI_CLK / FSPI_D6
{0x38, 13, 12, 13},//FSPI_Q / FSPI_D7
{0x3c, 14, 13, 14},//FSPI_WP / FSPI_DQS
{0x40, 15, 14, -1},//32K+ / RTS0
{0x44, 16, 15, -1},//32K- / CTS0
{0x48, 17, 16, -1},//DAC1 / TXD1
{0x4c, 18, 17, -1},//DAC2 / RXD1
{0x50, 19, 18, -1},//USB D- / RTS1
{0x54, 20, 19, -1},//USB D+ / CTS1
{0x58, 21, -1, -1},//SDA?
{ 0, -1, -1, -1},//UNAVAILABLE
{ 0, -1, -1, -1},//UNAVAILABLE
{ 0, -1, -1, -1},//UNAVAILABLE
{ 0, -1, -1, -1},//UNAVAILABLE
{0x6c, -1, -1, -1},//RESERVED SPI_CS1
{0x70, -1, -1, -1},//RESERVED SPI_HD
{0x74, -1, -1, -1},//RESERVED SPI_WP
{0x78, -1, -1, -1},//RESERVED SPI_CS0
{0x7c, -1, -1, -1},//RESERVED SPI_CLK
{0x80, -1, -1, -1},//RESERVED SPI_Q
{0x84, -1, -1, -1},//RESERVED SPI_D
{0x88, -1, -1, -1},//FSPI_HD
{0x8c, -1, -1, -1},//FSPI_CS0
{0x90, -1, -1, -1},//FSPI_D
{0x94, -1, -1, -1},//FSPI_CLK
{0x98, -1, -1, -1},//FSPI_Q
{0x9c, -1, -1, -1},//FSPI_WP
{0xa0, -1, -1, -1},//MTCK
{0xa4, -1, -1, -1},//MTDO
{0xa8, -1, -1, -1},//MTDI
{0xac, -1, -1, -1},//MTMS
{0xb0, -1, -1, -1},//TXD0
{0xb4, -1, -1, -1},//RXD0
{0xb8, -1, -1, -1},//SCL?
{0xbc, -1, -1, -1},//INPUT ONLY
{0, -1, -1, -1}
#elif CONFIG_IDF_TARGET_ESP32C3
{0x04, -1, 0, -1}, // ADC1_CH0
{0x08, -1, 1, -1}, // ADC1_CH1
{0x0c, -1, 2, -1}, // ADC1_CH2 | FSPIQ
{0x10, -1, 3, -1}, // ADC1_CH3
{0x14, -1, 4, -1}, // MTMS | ADC1_CH4 | FSPIHD
{0x18, -1, 5, -1}, // MTDI | ADC2_CH0 | FSPIWP
{0x1c, -1, -1, -1}, // MTCK | FSPICLK
{0x20, -1, -1, -1}, // MTDO | FSPID
{0x24, -1, -1, -1}, //
{0x28, -1, -1, -1}, //
{0x2c, -1, -1, -1}, // FSPICSO
{0x30, -1, -1, -1}, //
{0x34, -1, -1, -1}, // SPIHD
{0x38, -1, -1, -1}, // SPIWP
{0x3c, -1, -1, -1}, // SPICSO
{0x40, -1, -1, -1}, // SPICLK
{0x44, -1, -1, -1}, // SPID
{0x48, -1, -1, -1}, // SPIQ
{0x4c, -1, -1, -1}, // USB-
{0x50, -1, -1, -1}, // USB+
{0x54, -1, -1, -1}, // U0RXD
{0x58, -1, -1, -1}, // U0TXD
#endif
};
typedef void (*voidFuncPtr)(void);
typedef void (*voidFuncPtrArg)(void*);
typedef struct {
voidFuncPtr fn;
void* arg;
bool functional;
} InterruptHandle_t;
static InterruptHandle_t __pinInterruptHandlers[SOC_GPIO_PIN_COUNT] = {0,};
#include "driver/rtc_io.h"
extern void ARDUINO_ISR_ATTR __pinMode(uint8_t pin, uint8_t mode)
{
#if USE_ESP_IDF_GPIO
if (!GPIO_IS_VALID_GPIO(pin)) {
return;
}
gpio_config_t conf = {
.pin_bit_mask = (1ULL<<pin), /*!< GPIO pin: set with bit mask, each bit maps to a GPIO */
.mode = GPIO_MODE_DISABLE, /*!< GPIO mode: set input/output mode */
.pull_up_en = GPIO_PULLUP_DISABLE, /*!< GPIO pull-up */
.pull_down_en = GPIO_PULLDOWN_DISABLE, /*!< GPIO pull-down */
.intr_type = GPIO_INTR_DISABLE /*!< GPIO interrupt type */
};
if (mode < 0x20) {//io
conf.mode = mode & (INPUT | OUTPUT);
if (mode & OPEN_DRAIN) {
conf.mode |= GPIO_MODE_DEF_OD;
}
if (mode & PULLUP) {
conf.pull_up_en = GPIO_PULLUP_ENABLE;
}
if (mode & PULLDOWN) {
conf.pull_down_en = GPIO_PULLDOWN_ENABLE;
}
}
gpio_config(&conf);
if(mode == SPECIAL){
#if CONFIG_IDF_TARGET_ESP32
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[pin], (uint32_t)(((pin)==RX||(pin)==TX)?0:1));
#elif CONFIG_IDF_TARGET_ESP32S2
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[pin], (uint32_t)(((pin)==RX||(pin)==TX)?0:2));
#endif
} else if(mode == ANALOG){
#if !CONFIG_IDF_TARGET_ESP32C3
adc_gpio_init(ADC_UNIT_1, ADC_CHANNEL_0);
#endif
} else if(mode >= 0x20 && mode < ANALOG) {//function
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[pin], mode >> 5);
}
#else
if(!digitalPinIsValid(pin)) {
return;
}
int8_t rtc_io = esp32_gpioMux[pin].rtc;
uint32_t rtc_reg = (rtc_io != -1)?rtc_io_desc[rtc_io].reg:0;
if(mode == ANALOG) {
if(!rtc_reg) {
return;//not rtc pin
}
#if CONFIG_IDF_TARGET_ESP32S2
SENS.sar_io_mux_conf.iomux_clk_gate_en = 1;
#endif
SET_PERI_REG_MASK(rtc_io_desc[rtc_io].reg, (rtc_io_desc[rtc_io].mux));
SET_PERI_REG_BITS(rtc_io_desc[rtc_io].reg, RTC_IO_TOUCH_PAD1_FUN_SEL_V, 0, rtc_io_desc[rtc_io].func);
RTCIO.pin[rtc_io].pad_driver = 0;//OD = 1
RTCIO.enable_w1tc.w1tc = (1U << rtc_io);
CLEAR_PERI_REG_MASK(rtc_io_desc[rtc_io].reg, rtc_io_desc[rtc_io].ie);
if (rtc_io_desc[rtc_io].pullup) {
CLEAR_PERI_REG_MASK(rtc_io_desc[rtc_io].reg, rtc_io_desc[rtc_io].pullup);
}
if (rtc_io_desc[rtc_io].pulldown) {
CLEAR_PERI_REG_MASK(rtc_io_desc[rtc_io].reg, rtc_io_desc[rtc_io].pulldown);
}
ESP_REG(DR_REG_IO_MUX_BASE + esp32_gpioMux[pin].reg) = ((uint32_t)GPIO_FUNC << MCU_SEL_S) | ((uint32_t)2 << FUN_DRV_S) | FUN_IE;
return;
}
//RTC pins PULL settings
if(rtc_reg) {
ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_io_desc[rtc_io].mux);
if(mode & PULLUP) {
ESP_REG(rtc_reg) = (ESP_REG(rtc_reg) | rtc_io_desc[rtc_io].pullup) & ~(rtc_io_desc[rtc_io].pulldown);
} else if(mode & PULLDOWN) {
ESP_REG(rtc_reg) = (ESP_REG(rtc_reg) | rtc_io_desc[rtc_io].pulldown) & ~(rtc_io_desc[rtc_io].pullup);
} else {
ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_io_desc[rtc_io].pullup | rtc_io_desc[rtc_io].pulldown);
}
}
uint32_t pinFunction = 0, pinControl = 0;
if(mode & INPUT) {
if(pin < 32) {
GPIO.enable_w1tc = ((uint32_t)1 << pin);
} else {
GPIO.enable1_w1tc.val = ((uint32_t)1 << (pin - 32));
}
} else if(mode & OUTPUT) {
if(pin >= NUM_OUPUT_PINS){
return;
} else if(pin < 32) {
GPIO.enable_w1ts = ((uint32_t)1 << pin);
} else {
GPIO.enable1_w1ts.val = ((uint32_t)1 << (pin - 32));
}
}
if(mode & PULLUP) {
pinFunction |= FUN_PU;
} else if(mode & PULLDOWN) {
pinFunction |= FUN_PD;
}
pinFunction |= ((uint32_t)2 << FUN_DRV_S);//what are the drivers?
pinFunction |= FUN_IE;//input enable but required for output as well?
if(mode & (INPUT | OUTPUT)) {
pinFunction |= ((uint32_t)PIN_FUNC_GPIO << MCU_SEL_S);
} else if(mode == SPECIAL) {
#if CONFIG_IDF_TARGET_ESP32
pinFunction |= ((uint32_t)(((pin)==RX||(pin)==TX)?0:1) << MCU_SEL_S);
#elif CONFIG_IDF_TARGET_ESP32S2
pinFunction |= ((uint32_t)(((pin)==RX||(pin)==TX)?0:2) << MCU_SEL_S);
#endif
} else {
pinFunction |= ((uint32_t)(mode >> 5) << MCU_SEL_S);
}
ESP_REG(DR_REG_IO_MUX_BASE + esp32_gpioMux[pin].reg) = pinFunction;
if(mode & OPEN_DRAIN) {
pinControl = (1 << GPIO_PIN0_PAD_DRIVER_S);
}
GPIO.pin[pin].val = pinControl;
#endif
}
extern void ARDUINO_ISR_ATTR __digitalWrite(uint8_t pin, uint8_t val)
{
#if USE_ESP_IDF_GPIO
gpio_set_level((gpio_num_t)pin, val);
#elif CONFIG_IDF_TARGET_ESP32C3
if (val) {
GPIO.out_w1ts.out_w1ts = (1 << pin);
} else {
GPIO.out_w1tc.out_w1tc = (1 << pin);
}
#else
if(val) {
if(pin < 32) {
GPIO.out_w1ts = ((uint32_t)1 << pin);
} else if(pin < NUM_OUPUT_PINS) {
GPIO.out1_w1ts.val = ((uint32_t)1 << (pin - 32));
}
} else {
if(pin < 32) {
GPIO.out_w1tc = ((uint32_t)1 << pin);
} else if(pin < NUM_OUPUT_PINS) {
GPIO.out1_w1tc.val = ((uint32_t)1 << (pin - 32));
}
}
#endif
}
extern int ARDUINO_ISR_ATTR __digitalRead(uint8_t pin)
{
#if USE_ESP_IDF_GPIO
return gpio_get_level((gpio_num_t)pin);
#elif CONFIG_IDF_TARGET_ESP32C3
return (GPIO.in.data >> pin) & 0x1;
#else
if(pin < 32) {
return (GPIO.in >> pin) & 0x1;
} else if(pin < GPIO_PIN_COUNT) {
return (GPIO.in1.val >> (pin - 32)) & 0x1;
}
return 0;
#endif
}
#if USE_ESP_IDF_GPIO
static void ARDUINO_ISR_ATTR __onPinInterrupt(void * arg) {
InterruptHandle_t * isr = (InterruptHandle_t*)arg;
if(isr->fn) {
if(isr->arg){
((voidFuncPtrArg)isr->fn)(isr->arg);
} else {
isr->fn();
}
}
}
#else
static intr_handle_t gpio_intr_handle = NULL;
static void ARDUINO_ISR_ATTR __onPinInterrupt()
{
uint32_t gpio_intr_status_l=0;
uint32_t gpio_intr_status_h=0;
gpio_intr_status_l = GPIO.status;
gpio_intr_status_h = GPIO.status1.val;
GPIO.status_w1tc = gpio_intr_status_l;//Clear intr for gpio0-gpio31
GPIO.status1_w1tc.val = gpio_intr_status_h;//Clear intr for gpio32-39
uint8_t pin=0;
if(gpio_intr_status_l) {
do {
if(gpio_intr_status_l & ((uint32_t)1 << pin)) {
if(__pinInterruptHandlers[pin].fn) {
if(__pinInterruptHandlers[pin].arg){
((voidFuncPtrArg)__pinInterruptHandlers[pin].fn)(__pinInterruptHandlers[pin].arg);
} else {
__pinInterruptHandlers[pin].fn();
}
}
}
} while(++pin<32);
}
if(gpio_intr_status_h) {
pin=32;
do {
if(gpio_intr_status_h & ((uint32_t)1 << (pin - 32))) {
if(__pinInterruptHandlers[pin].fn) {
if(__pinInterruptHandlers[pin].arg){
((voidFuncPtrArg)__pinInterruptHandlers[pin].fn)(__pinInterruptHandlers[pin].arg);
} else {
__pinInterruptHandlers[pin].fn();
}
}
}
} while(++pin<GPIO_PIN_COUNT);
}
}
#endif
extern void cleanupFunctional(void* arg);
extern void __attachInterruptFunctionalArg(uint8_t pin, voidFuncPtrArg userFunc, void * arg, int intr_type, bool functional)
{
static bool interrupt_initialized = false;
if(!interrupt_initialized) {
#if USE_ESP_IDF_GPIO
esp_err_t err = gpio_install_isr_service((int)ARDUINO_ISR_FLAG);
interrupt_initialized = (err == ESP_OK) || (err == ESP_ERR_INVALID_STATE);
#else
interrupt_initialized = true;
esp_intr_alloc(ETS_GPIO_INTR_SOURCE, (int)ARDUINO_ISR_FLAG, __onPinInterrupt, NULL, &gpio_intr_handle);
#endif
}
if(!interrupt_initialized) {
log_e("GPIO ISR Service Failed To Start");
return;
}
// if new attach without detach remove old info
if (__pinInterruptHandlers[pin].functional && __pinInterruptHandlers[pin].arg)
{
cleanupFunctional(__pinInterruptHandlers[pin].arg);
}
__pinInterruptHandlers[pin].fn = (voidFuncPtr)userFunc;
__pinInterruptHandlers[pin].arg = arg;
__pinInterruptHandlers[pin].functional = functional;
#if USE_ESP_IDF_GPIO
gpio_set_intr_type((gpio_num_t)pin, (gpio_int_type_t)(intr_type & 0x7));
if(intr_type & 0x8){
gpio_wakeup_enable((gpio_num_t)pin, (gpio_int_type_t)(intr_type & 0x7));
}
gpio_isr_handler_add((gpio_num_t)pin, __onPinInterrupt, &__pinInterruptHandlers[pin]);
gpio_intr_enable((gpio_num_t)pin);
#else
esp_intr_disable(gpio_intr_handle);
#if CONFIG_IDF_TARGET_ESP32
if(esp_intr_get_cpu(gpio_intr_handle)) { //APP_CPU
#endif
GPIO.pin[pin].int_ena = 1;
#if CONFIG_IDF_TARGET_ESP32
} else { //PRO_CPU
GPIO.pin[pin].int_ena = 4;
}
#endif
GPIO.pin[pin].int_type = intr_type;
esp_intr_enable(gpio_intr_handle);
#endif
}
extern void __attachInterruptArg(uint8_t pin, voidFuncPtrArg userFunc, void * arg, int intr_type)
{
__attachInterruptFunctionalArg(pin, userFunc, arg, intr_type, false);
}
extern void __attachInterrupt(uint8_t pin, voidFuncPtr userFunc, int intr_type) {
__attachInterruptFunctionalArg(pin, (voidFuncPtrArg)userFunc, NULL, intr_type, false);
}
extern void __detachInterrupt(uint8_t pin)
{
#if USE_ESP_IDF_GPIO
gpio_intr_disable((gpio_num_t)pin);
gpio_isr_handler_remove((gpio_num_t)pin);
gpio_wakeup_disable((gpio_num_t)pin);
#else
esp_intr_disable(gpio_intr_handle);
#endif
if (__pinInterruptHandlers[pin].functional && __pinInterruptHandlers[pin].arg)
{
cleanupFunctional(__pinInterruptHandlers[pin].arg);
}
__pinInterruptHandlers[pin].fn = NULL;
__pinInterruptHandlers[pin].arg = NULL;
__pinInterruptHandlers[pin].functional = false;
#if USE_ESP_IDF_GPIO
gpio_set_intr_type((gpio_num_t)pin, GPIO_INTR_DISABLE);
#else
GPIO.pin[pin].int_ena = 0;
GPIO.pin[pin].int_type = 0;
esp_intr_enable(gpio_intr_handle);
#endif
}
extern void pinMode(uint8_t pin, uint8_t mode) __attribute__ ((weak, alias("__pinMode")));
extern void digitalWrite(uint8_t pin, uint8_t val) __attribute__ ((weak, alias("__digitalWrite")));
extern int digitalRead(uint8_t pin) __attribute__ ((weak, alias("__digitalRead")));
extern void attachInterrupt(uint8_t pin, voidFuncPtr handler, int mode) __attribute__ ((weak, alias("__attachInterrupt")));
extern void attachInterruptArg(uint8_t pin, voidFuncPtrArg handler, void * arg, int mode) __attribute__ ((weak, alias("__attachInterruptArg")));
extern void detachInterrupt(uint8_t pin) __attribute__ ((weak, alias("__detachInterrupt")));