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Merge branch 'feature/mcpwm_add_peripheral_signal_list' into 'master'

Browse Source 
mcpwm: added peripheral signal description list

See merge request espressif/esp-idf!12480
This commit is contained in:
Michael (XIAO Xufeng)
2021-03-18 10:07:59 +00:00
parent d01c951d46 ff65363ada
commit 4028d4e083
11 changed files with 440 additions and 68 deletions
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2
components/driver/include/driver/mcpwm.h
View File

@@ -86,7 +86,7 @@ typedef enum {
MCPWM_UNIT_MAX, /*!<Num of MCPWM units on ESP32*/
} mcpwm_unit_t;
_Static_assert(MCPWM_UNIT_MAX == SOC_MCPWM_PERIPH_NUM, "MCPWM unit number not equal to chip capabilities");
_Static_assert(MCPWM_UNIT_MAX == SOC_MCPWM_GROUPS, "MCPWM unit number not equal to chip capabilities");
/**
* @brief Select MCPWM timer

91
components/driver/mcpwm.c
View File

@@ -47,13 +47,14 @@ static const char *MCPWM_TAG = "MCPWM";
}
#define MCPWM_DRIVER_INIT_ERROR "MCPWM DRIVER NOT INITIALIZED"
#define MCPWM_UNIT_NUM_ERROR "MCPWM UNIT NUM ERROR"
#define MCPWM_GROUP_NUM_ERROR "MCPWM GROUP NUM ERROR"
#define MCPWM_TIMER_ERROR "MCPWM TIMER NUM ERROR"
#define MCPWM_CAPTURE_ERROR "MCPWM CAPTURE NUM ERROR"
#define MCPWM_PARAM_ADDR_ERROR "MCPWM PARAM ADDR ERROR"
#define MCPWM_DUTY_TYPE_ERROR "MCPWM DUTY TYPE ERROR"
#define MCPWM_GPIO_ERROR "MCPWM GPIO NUM ERROR"
#define MCPWM_GEN_ERROR "MCPWM GENERATOR ERROR"
#define MCPWM_DB_ERROR "MCPWM DEADTIME TYPE ERROR"
#define MCPWM_DT_ERROR "MCPWM DEADTIME TYPE ERROR"
#define MCPWM_CLK_PRESCL 15 //MCPWM clock prescale
#define TIMER_CLK_PRESCALE 9 //MCPWM timer prescales
@@ -62,13 +63,13 @@ static const char *MCPWM_TAG = "MCPWM";
#define OFFSET_FOR_GPIO_IDX_1 6
#define OFFSET_FOR_GPIO_IDX_2 75
_Static_assert(SOC_MCPWM_OP_NUM >= SOC_MCPWM_TIMER_NUM, "This driver assumes the timer num equals to the operator num.");
_Static_assert(SOC_MCPWM_COMPARATOR_NUM >= SOC_MCPWM_GENERATOR_NUM, "This driver assumes the generator num equals to the generator num.");
_Static_assert(SOC_MCPWM_GENERATOR_NUM == 2, "This driver assumes the generator num equals to 2.");
_Static_assert(SOC_MCPWM_OPERATORS_PER_GROUP >= SOC_MCPWM_TIMERS_PER_GROUP, "This driver assumes the timer num equals to the operator num.");
_Static_assert(SOC_MCPWM_COMPARATORS_PER_OPERATOR >= SOC_MCPWM_GENERATORS_PER_OPERATOR, "This driver assumes the generator num equals to the generator num.");
_Static_assert(SOC_MCPWM_GENERATORS_PER_OPERATOR == 2, "This driver assumes the generator num equals to 2.");
#define MCPWM_TIMER_ID_CHECK(mcpwm_num, timer_num) do {\
MCPWM_CHECK((mcpwm_num) < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG); \
MCPWM_CHECK((timer_num) < SOC_MCPWM_TIMER_NUM, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG); \
MCPWM_CHECK((mcpwm_num) < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG); \
MCPWM_CHECK((timer_num) < SOC_MCPWM_TIMERS_PER_GROUP, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG); \
} while(0)
#define MCPWM_TIMER_CHECK(mcpwm_num, timer_num) do{\
@@ -82,7 +83,7 @@ _Static_assert(SOC_MCPWM_GENERATOR_NUM == 2, "This driver assumes the generator
} while(0)
static mcpwm_context_t context[SOC_MCPWM_PERIPH_NUM] = {
static mcpwm_context_t context[SOC_MCPWM_GROUPS] = {
CONTEXT_INITIALIZER(),
CONTEXT_INITIALIZER(),
};
@@ -100,45 +101,40 @@ static inline void mcpwm_critical_exit(mcpwm_unit_t mcpwm_num)
esp_err_t mcpwm_gpio_init(mcpwm_unit_t mcpwm_num, mcpwm_io_signals_t io_signal, int gpio_num)
{
if (gpio_num == MCPWM_PIN_IGNORE) {
//IGNORE
if (gpio_num < 0) { // ignore on minus gpio number
return ESP_OK;
}
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK((GPIO_IS_VALID_GPIO(gpio_num)), MCPWM_GPIO_ERROR, ESP_ERR_INVALID_ARG);
periph_module_enable(PERIPH_PWM0_MODULE + mcpwm_num);
// we enabled both input and output mode for GPIO used here, which can help to simulate trigger source especially in test code
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio_num], PIN_FUNC_GPIO);
bool mcpwm_gpio_sig = (io_signal <= MCPWM2B);
if (mcpwm_num == MCPWM_UNIT_0) {
if (mcpwm_gpio_sig) {
MCPWM_CHECK((GPIO_IS_VALID_OUTPUT_GPIO(gpio_num)), MCPWM_GPIO_ERROR, ESP_ERR_INVALID_ARG);
gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT);
esp_rom_gpio_connect_out_signal(gpio_num, PWM0_OUT0A_IDX + io_signal, 0, 0);
} else {
gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
esp_rom_gpio_connect_in_signal(gpio_num, PWM0_SYNC0_IN_IDX + io_signal - OFFSET_FOR_GPIO_IDX_1, 0);
}
} else { //MCPWM_UNIT_1
if (mcpwm_gpio_sig) {
MCPWM_CHECK((GPIO_IS_VALID_OUTPUT_GPIO(gpio_num)), MCPWM_GPIO_ERROR, ESP_ERR_INVALID_ARG);
gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT);
esp_rom_gpio_connect_out_signal(gpio_num, PWM1_OUT0A_IDX + io_signal, 0, 0);
} else if (io_signal >= MCPWM_SYNC_0 && io_signal <= MCPWM_FAULT_2) {
gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
esp_rom_gpio_connect_in_signal(gpio_num, PWM1_SYNC0_IN_IDX + io_signal - OFFSET_FOR_GPIO_IDX_1, 0);
} else {
gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
esp_rom_gpio_connect_in_signal(gpio_num, PWM1_SYNC0_IN_IDX + io_signal - OFFSET_FOR_GPIO_IDX_2, 0);
}
if (io_signal <= MCPWM2B) { // Generator output signal
MCPWM_CHECK((GPIO_IS_VALID_OUTPUT_GPIO(gpio_num)), MCPWM_GPIO_ERROR, ESP_ERR_INVALID_ARG);
gpio_set_direction(gpio_num, GPIO_MODE_INPUT_OUTPUT);
int operator_id = io_signal / 2;
int generator_id = io_signal % 2;
esp_rom_gpio_connect_out_signal(gpio_num, mcpwm_periph_signals.groups[mcpwm_num].operators[operator_id].generators[generator_id].pwm_sig, 0, 0);
} else if (io_signal <= MCPWM_SYNC_2) { // External sync input signal
gpio_set_direction(gpio_num, GPIO_MODE_INPUT_OUTPUT);
int ext_sync_id = io_signal - MCPWM_SYNC_0;
esp_rom_gpio_connect_in_signal(gpio_num, mcpwm_periph_signals.groups[mcpwm_num].ext_syncers[ext_sync_id].sync_sig, 0);
} else if (io_signal <= MCPWM_FAULT_2) { // Fault input signal
gpio_set_direction(gpio_num, GPIO_MODE_INPUT_OUTPUT);
int fault_id = io_signal - MCPWM_FAULT_0;
esp_rom_gpio_connect_in_signal(gpio_num, mcpwm_periph_signals.groups[mcpwm_num].detectors[fault_id].fault_sig, 0);
} else if (io_signal >= MCPWM_CAP_0 && io_signal <= MCPWM_CAP_2) { // Capture input signal
gpio_set_direction(gpio_num, GPIO_MODE_INPUT_OUTPUT);
int capture_id = io_signal - MCPWM_CAP_0;
esp_rom_gpio_connect_in_signal(gpio_num, mcpwm_periph_signals.groups[mcpwm_num].captures[capture_id].cap_sig, 0);
}
return ESP_OK;
}
esp_err_t mcpwm_set_pin(mcpwm_unit_t mcpwm_num, const mcpwm_pin_config_t *mcpwm_pin)
{
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
mcpwm_gpio_init(mcpwm_num, MCPWM0A, mcpwm_pin->mcpwm0a_out_num); //MCPWM0A
mcpwm_gpio_init(mcpwm_num, MCPWM0B, mcpwm_pin->mcpwm0b_out_num); //MCPWM0B
mcpwm_gpio_init(mcpwm_num, MCPWM1A, mcpwm_pin->mcpwm1a_out_num); //MCPWM1A
@@ -250,7 +246,7 @@ esp_err_t mcpwm_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpw
//the driver currently always use the timer x for operator x
const int op = timer_num;
MCPWM_TIMER_ID_CHECK(mcpwm_num, op);
periph_module_enable(PERIPH_PWM0_MODULE + mcpwm_num);
periph_module_enable(mcpwm_periph_signals.groups[mcpwm_num].module);
mcpwm_hal_context_t *hal = &context[mcpwm_num].hal;
mcpwm_hal_init_config_t init_config = {
@@ -274,7 +270,7 @@ esp_err_t mcpwm_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpw
//update the comparer to keep the same duty rate
mcpwm_hal_operator_update_basic(hal, op);
for (int gen = 0; gen < SOC_MCPWM_GENERATOR_NUM; gen++) {
for (int gen = 0; gen < SOC_MCPWM_GENERATORS_PER_OPERATOR; gen++) {
hal->op[op].gen[gen] = (mcpwm_hal_generator_config_t) {
.comparator = gen, //the driver currently always use the comparator A for PWMxA output, and comparator B for PWMxB output
.duty_type = mcpwm_conf->duty_mode,
@@ -447,7 +443,7 @@ esp_err_t mcpwm_deadtime_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num,
//the driver currently always use the timer x for operator x
const int op = timer_num;
MCPWM_TIMER_CHECK(mcpwm_num, timer_num);
MCPWM_CHECK(dt_mode < MCPWM_DEADTIME_TYPE_MAX, MCPWM_DB_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(dt_mode < MCPWM_DEADTIME_TYPE_MAX, MCPWM_DT_ERROR, ESP_ERR_INVALID_ARG);
mcpwm_hal_context_t *hal = &context[mcpwm_num].hal;
mcpwm_hal_deadzone_conf_t deadzone = {
.red = red,
@@ -477,7 +473,7 @@ esp_err_t mcpwm_deadtime_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num
esp_err_t mcpwm_fault_init(mcpwm_unit_t mcpwm_num, mcpwm_fault_input_level_t intput_level, mcpwm_fault_signal_t fault_sig)
{
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
mcpwm_critical_enter(mcpwm_num);
mcpwm_hal_fault_init(&context[mcpwm_num].hal, fault_sig, intput_level);
@@ -487,7 +483,7 @@ esp_err_t mcpwm_fault_init(mcpwm_unit_t mcpwm_num, mcpwm_fault_input_level_t int
esp_err_t mcpwm_fault_deinit(mcpwm_unit_t mcpwm_num, mcpwm_fault_signal_t fault_sig)
{
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
mcpwm_critical_enter(mcpwm_num);
mcpwm_hal_fault_disable(&context[mcpwm_num].hal, fault_sig);
@@ -533,7 +529,9 @@ esp_err_t mcpwm_fault_set_oneshot_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t tim
esp_err_t mcpwm_capture_enable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig, mcpwm_capture_on_edge_t cap_edge,
uint32_t num_of_pulse)
{
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
// enable MCPWM module incase user don't use `mcpwm_init` at all
periph_module_enable(mcpwm_periph_signals.groups[mcpwm_num].module);
mcpwm_hal_init_config_t init_config = {
.host_id = mcpwm_num,
};
@@ -555,17 +553,18 @@ esp_err_t mcpwm_capture_enable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t ca
esp_err_t mcpwm_capture_disable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)
{
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
mcpwm_critical_enter(mcpwm_num);
mcpwm_hal_capture_disable(&context[mcpwm_num].hal, cap_sig);
mcpwm_critical_exit(mcpwm_num);
periph_module_disable(mcpwm_periph_signals.groups[mcpwm_num].module);
return ESP_OK;
}
uint32_t mcpwm_capture_signal_get_value(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)
{
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
uint32_t captured_value;
mcpwm_hal_capture_get_result(&context[mcpwm_num].hal, cap_sig, &captured_value, NULL);
@@ -574,7 +573,7 @@ uint32_t mcpwm_capture_signal_get_value(mcpwm_unit_t mcpwm_num, mcpwm_capture_si
uint32_t mcpwm_capture_signal_get_edge(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)
{
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
mcpwm_capture_on_edge_t edge;
mcpwm_hal_capture_get_result(&context[mcpwm_num].hal, cap_sig, NULL, &edge);
return (edge == MCPWM_NEG_EDGE ? 2 : 1);
@@ -609,8 +608,8 @@ esp_err_t mcpwm_sync_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
esp_err_t mcpwm_isr_register(mcpwm_unit_t mcpwm_num, void (*fn)(void *), void *arg, int intr_alloc_flags, intr_handle_t *handle)
{
esp_err_t ret;
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_PERIPH_NUM, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(mcpwm_num < SOC_MCPWM_GROUPS, MCPWM_GROUP_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(fn != NULL, MCPWM_PARAM_ADDR_ERROR, ESP_ERR_INVALID_ARG);
ret = esp_intr_alloc((ETS_PWM0_INTR_SOURCE + mcpwm_num), intr_alloc_flags, fn, arg, handle);
ret = esp_intr_alloc(mcpwm_periph_signals.groups[mcpwm_num].irq_id, intr_alloc_flags, fn, arg, handle);
return ret;
}

10
components/hal/include/hal/mcpwm_hal.h
View File

@@ -87,8 +87,8 @@ typedef struct {
/// Configuration of each operator
typedef struct {
mcpwm_hal_generator_config_t gen[SOC_MCPWM_GENERATOR_NUM]; ///< Configuration of the generators
float duty[SOC_MCPWM_COMPARATOR_NUM]; ///< Duty rate for each comparator, 10 means 10%.
mcpwm_hal_generator_config_t gen[SOC_MCPWM_GENERATORS_PER_OPERATOR]; ///< Configuration of the generators
float duty[SOC_MCPWM_COMPARATORS_PER_OPERATOR]; ///< Duty rate for each comparator, 10 means 10%.
int timer; ///< The timer this operator is using
} mcpwm_hal_operator_config_t;
@@ -102,8 +102,8 @@ typedef struct {
typedef struct {
mcpwm_dev_t *dev; ///< Beginning address of the MCPWM peripheral registers. Call `mcpwm_hal_init` to initialize it.
uint32_t prescale; ///< Prescale from the 160M clock to MCPWM main clock.
mcpwm_hal_timer_config_t timer[SOC_MCPWM_TIMER_NUM]; ///< Configuration of the timers
mcpwm_hal_operator_config_t op[SOC_MCPWM_OP_NUM]; ///< Configuration of the operators
mcpwm_hal_timer_config_t timer[SOC_MCPWM_TIMERS_PER_GROUP]; ///< Configuration of the timers
mcpwm_hal_operator_config_t op[SOC_MCPWM_OPERATORS_PER_GROUP]; ///< Configuration of the operators
} mcpwm_hal_context_t;
/// Configuration of the carrier
@@ -125,7 +125,7 @@ typedef struct {
typedef struct {
uint32_t cbc_enabled_mask; ///< Whether the cycle-by-cycle fault handling is enabled on each fault signal. BIT(n) stands for signal n.
uint32_t ost_enabled_mask; ///< Whether the oneshot fault handling is enabled on each on each fault signal. BIT(n) stands for signal n.
mcpwm_output_action_t action_on_fault[SOC_MCPWM_GENERATOR_NUM]; ///< Action to perform on each generator when any one of the fault signal triggers.
mcpwm_output_action_t action_on_fault[SOC_MCPWM_GENERATORS_PER_OPERATOR]; ///< Action to perform on each generator when any one of the fault signal triggers.
} mcpwm_hal_fault_conf_t;
/// Configuration of the synchronization of each clock

20
components/hal/mcpwm_hal.c
View File

@@ -43,11 +43,11 @@ void mcpwm_hal_timer_update_basic(mcpwm_hal_context_t *hal, int timer)
mcpwm_ll_timer_set_prescale(hal->dev, timer, hal->timer[timer].timer_prescale);
uint32_t period = MCPWM_BASE_CLK / (hal->timer[timer].freq *
(hal->prescale +1) * (hal->timer[timer].timer_prescale + 1));
(hal->prescale + 1) * (hal->timer[timer].timer_prescale + 1));
mcpwm_ll_timer_set_period(hal->dev, timer, period);
//write back the actual value to the context
hal->timer[timer].freq = MCPWM_BASE_CLK / (period *
(hal->prescale +1) * (hal->timer[timer].timer_prescale + 1));
(hal->prescale + 1) * (hal->timer[timer].timer_prescale + 1));
mcpwm_ll_timer_set_count_mode(hal->dev, timer, hal->timer[timer].count_mode);
}
@@ -70,10 +70,10 @@ void mcpwm_hal_operator_update_basic(mcpwm_hal_context_t *hal, int op)
{
mcpwm_hal_operator_config_t *op_conf = &hal->op[op];
mcpwm_ll_operator_select_timer(hal->dev, op, op_conf->timer);
for (int cmp = 0; cmp < SOC_MCPWM_COMPARATOR_NUM; cmp++) {
for (int cmp = 0; cmp < SOC_MCPWM_COMPARATORS_PER_OPERATOR; cmp++) {
mcpwm_hal_operator_update_comparator(hal, op, cmp);
}
for (int gen = 0; gen < SOC_MCPWM_GENERATOR_NUM; gen++) {
for (int gen = 0; gen < SOC_MCPWM_GENERATORS_PER_OPERATOR; gen++) {
mcpwm_hal_operator_update_generator(hal, op, gen);
}
}
@@ -88,7 +88,7 @@ void mcpwm_hal_operator_update_comparator(mcpwm_hal_context_t *hal, int op, int
void mcpwm_hal_operator_update_generator(mcpwm_hal_context_t *hal, int op, int gen_num)
{
mcpwm_hal_generator_config_t* gen_config = &(hal->op[op].gen[gen_num]);
mcpwm_hal_generator_config_t *gen_config = &(hal->op[op].gen[gen_num]);
if (gen_config->duty_type == MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH) {
mcpwm_ll_gen_set_zero_action(hal->dev, op, gen_num, MCPWM_ACTION_FORCE_HIGH);
mcpwm_ll_gen_set_period_action(hal->dev, op, gen_num, MCPWM_ACTION_FORCE_HIGH);
@@ -166,21 +166,21 @@ void mcpwm_hal_fault_init(mcpwm_hal_context_t *hal, int fault_sig, bool level)
void mcpwm_hal_operator_update_fault(mcpwm_hal_context_t *hal, int op, const mcpwm_hal_fault_conf_t *fault_conf)
{
for (int fault_sig = 0; fault_sig < SOC_MCPWM_FAULT_SIG_NUM; fault_sig++) {
for (int fault_sig = 0; fault_sig < SOC_MCPWM_FAULT_DETECTORS_PER_GROUP; fault_sig++) {
bool enabled = (fault_conf->cbc_enabled_mask & BIT(fault_sig)) ? true : false;
mcpwm_ll_fault_cbc_enable_signal(hal->dev, op, fault_sig, enabled);
}
for (int fault_sig = 0; fault_sig < SOC_MCPWM_FAULT_SIG_NUM; fault_sig++) {
for (int fault_sig = 0; fault_sig < SOC_MCPWM_FAULT_DETECTORS_PER_GROUP; fault_sig++) {
bool enabled = (fault_conf->ost_enabled_mask & BIT(fault_sig)) ? true : false;
mcpwm_ll_fault_oneshot_enable_signal(hal->dev, op, fault_sig, enabled);
}
if (fault_conf->cbc_enabled_mask) {
for (int gen = 0; gen < SOC_MCPWM_GENERATOR_NUM; gen++) {
for (int gen = 0; gen < SOC_MCPWM_GENERATORS_PER_OPERATOR; gen++) {
mcpwm_ll_fault_set_cyc_action(hal->dev, op, gen, fault_conf->action_on_fault[gen], fault_conf->action_on_fault[gen]);
}
}
if (fault_conf->ost_enabled_mask) {
for (int gen = 0; gen < SOC_MCPWM_GENERATOR_NUM; gen++) {
for (int gen = 0; gen < SOC_MCPWM_GENERATORS_PER_OPERATOR; gen++) {
mcpwm_ll_fault_set_oneshot_action(hal->dev, op, gen, fault_conf->action_on_fault[gen], fault_conf->action_on_fault[gen]);
}
}
@@ -193,7 +193,7 @@ void mcpwm_hal_fault_oneshot_clear(mcpwm_hal_context_t *hal, int op)
void mcpwm_hal_fault_disable(mcpwm_hal_context_t *hal, int fault_sig)
{
for (int op = 0; op < SOC_MCPWM_OP_NUM; op++) {
for (int op = 0; op < SOC_MCPWM_OPERATORS_PER_GROUP; op++) {
if (mcpwm_ll_fault_oneshot_signal_enabled(hal->dev, op, fault_sig)) {
mcpwm_ll_fault_clear_ost(hal->dev, op);
}

1
components/soc/esp32/CMakeLists.txt
View File

@@ -6,6 +6,7 @@ set(srcs
"i2s_periph.c"
"interrupts.c"
"ledc_periph.c"
"mcpwm_periph.c"
"pcnt_periph.c"
"rmt_periph.c"
"rtc_io_periph.c"

16
components/soc/esp32/include/soc/soc_caps.h
View File

@@ -150,12 +150,16 @@
#define SOC_LEDC_TIMER_BIT_WIDE_NUM (20)
/*-------------------------- MCPWM CAPS --------------------------------------*/
#define SOC_MCPWM_PERIPH_NUM 2 ///< MCPWM peripheral number
#define SOC_MCPWM_TIMER_NUM 3 ///< Timer that each peripheral has
#define SOC_MCPWM_OP_NUM 3 ///< Operator that each peripheral has
#define SOC_MCPWM_COMPARATOR_NUM 2 ///< Comparator that each operator has
#define SOC_MCPWM_GENERATOR_NUM 2 ///< Generator that each operator has
#define SOC_MCPWM_FAULT_SIG_NUM 3 ///< Fault signal number that each peripheral has
#define SOC_MCPWM_GROUPS (2) ///< 2 MCPWM groups on the chip (i.e., the number of independent MCPWM peripherals)
#define SOC_MCPWM_TIMERS_PER_GROUP (3) ///< The number of timers that each group has
#define SOC_MCPWM_OPERATORS_PER_GROUP (3) ///< The number of operators that each group has
#define SOC_MCPWM_COMPARATORS_PER_OPERATOR (2) ///< The number of comparators that each operator has
#define SOC_MCPWM_GENERATORS_PER_OPERATOR (2) ///< The number of generators that each operator has
#define SOC_MCPWM_FAULT_DETECTORS_PER_GROUP (3) ///< The number of fault signal detectors that each group has
#define SOC_MCPWM_CAPTURE_TIMERS_PER_GROUP (1) ///< The number of capture timers that each group has
#define SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER (3) ///< The number of capture channels that each capture timer has
#define SOC_MCPWM_EXT_SYNCERS_PER_GROUP (3) ///< The number of external syncers that each group has
#define SOC_MCPWM_BASE_CLK_HZ (160000000ULL) ///< Base Clock frequency of 160MHz
/*-------------------------- MPU CAPS ----------------------------------------*/
//TODO: correct the caller and remove unsupported lines

160
components/soc/esp32/mcpwm_periph.c Normal file
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@@ -0,0 +1,160 @@
// Copyright 2020 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 "soc/soc.h"
#include "soc/mcpwm_periph.h"
#include "soc/gpio_sig_map.h"
const mcpwm_signal_conn_t mcpwm_periph_signals = {
.groups = {
[0] = {
.module = PERIPH_PWM0_MODULE,
.irq_id = ETS_PWM0_INTR_SOURCE,
.operators = {
[0] = {
.generators = {
[0] = {
.pwm_sig = PWM0_OUT0A_IDX
},
[1] = {
.pwm_sig = PWM0_OUT0B_IDX
}
}
},
[1] = {
.generators = {
[0] = {
.pwm_sig = PWM0_OUT1A_IDX
},
[1] = {
.pwm_sig = PWM0_OUT1B_IDX
}
}
},
[2] = {
.generators = {
[0] = {
.pwm_sig = PWM0_OUT2A_IDX
},
[1] = {
.pwm_sig = PWM0_OUT2B_IDX
}
}
}
},
.detectors = {
[0] = {
.fault_sig = PWM0_F0_IN_IDX
},
[1] = {
.fault_sig = PWM0_F1_IN_IDX
},
[2] = {
.fault_sig = PWM0_F2_IN_IDX
}
},
.captures = {
[0] = {
.cap_sig = PWM0_CAP0_IN_IDX
},
[1] = {
.cap_sig = PWM0_CAP1_IN_IDX
},
[2] = {
.cap_sig = PWM0_CAP2_IN_IDX
}
},
.ext_syncers = {
[0] = {
.sync_sig = PWM0_SYNC0_IN_IDX
},
[1] = {
.sync_sig = PWM0_SYNC1_IN_IDX
},
[2] = {
.sync_sig = PWM0_SYNC2_IN_IDX
}
}
},
[1] = {
.module = PERIPH_PWM1_MODULE,
.irq_id = ETS_PWM1_INTR_SOURCE,
.operators = {
[0] = {
.generators = {
[0] = {
.pwm_sig = PWM1_OUT0A_IDX
},
[1] = {
.pwm_sig = PWM1_OUT0B_IDX
}
}
},
[1] = {
.generators = {
[0] = {
.pwm_sig = PWM1_OUT1A_IDX
},
[1] = {
.pwm_sig = PWM1_OUT1B_IDX
}
}
},
[2] = {
.generators = {
[0] = {
.pwm_sig = PWM1_OUT2A_IDX
},
[1] = {
.pwm_sig = PWM1_OUT2B_IDX
}
}
}
},
.detectors = {
[0] = {
.fault_sig = PWM1_F0_IN_IDX
},
[1] = {
.fault_sig = PWM1_F1_IN_IDX
},
[2] = {
.fault_sig = PWM1_F2_IN_IDX
}
},
.captures = {
[0] = {
.cap_sig = PWM1_CAP0_IN_IDX
},
[1] = {
.cap_sig = PWM1_CAP1_IN_IDX
},
[2] = {
.cap_sig = PWM1_CAP2_IN_IDX
}
},
.ext_syncers = {
[0] = {
.sync_sig = PWM1_SYNC0_IN_IDX
},
[1] = {
.sync_sig = PWM1_SYNC1_IN_IDX
},
[2] = {
.sync_sig = PWM1_SYNC2_IN_IDX
}
}
}
}
};

1
components/soc/esp32s3/CMakeLists.txt
View File

@@ -9,6 +9,7 @@ set(srcs
"interrupts.c"
"lcd_periph.c"
"ledc_periph.c"
"mcpwm_periph.c"
"pcnt_periph.c"
"rmt_periph.c"
"rtc_io_periph.c"

13
components/soc/esp32s3/include/soc/soc_caps.h
View File

@@ -10,6 +10,7 @@
#define SOC_TWAI_SUPPORTED 1
#define SOC_GDMA_SUPPORTED 1
#define SOC_I80_LCD_SUPPORTED 1
#define SOC_MCPWM_SUPPORTED 1
#define SOC_DEDICATED_GPIO_SUPPORTED 1
#define SOC_CPU_CORES_NUM 2
#define SOC_CACHE_SUPPORT_WRAP 1
@@ -52,6 +53,18 @@
/*-------------------------- LEDC CAPS ---------------------------------------*/
#include "ledc_caps.h"
/*-------------------------- MCPWM CAPS --------------------------------------*/
#define SOC_MCPWM_GROUPS (2) ///< 2 MCPWM groups on the chip (i.e., the number of independent MCPWM peripherals)
#define SOC_MCPWM_TIMERS_PER_GROUP (3) ///< The number of timers that each group has
#define SOC_MCPWM_OPERATORS_PER_GROUP (3) ///< The number of operators that each group has
#define SOC_MCPWM_COMPARATORS_PER_OPERATOR (2) ///< The number of comparators that each operator has
#define SOC_MCPWM_GENERATORS_PER_OPERATOR (2) ///< The number of generators that each operator has
#define SOC_MCPWM_FAULT_DETECTORS_PER_GROUP (3) ///< The number of fault signal detectors that each group has
#define SOC_MCPWM_CAPTURE_TIMERS_PER_GROUP (1) ///< The number of capture timers that each group has
#define SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER (3) ///< The number of capture channels that each capture timer has
#define SOC_MCPWM_EXT_SYNCERS_PER_GROUP (3) ///< The number of external syncers that each group has
#define SOC_MCPWM_BASE_CLK_HZ (160000000ULL) ///< Base Clock frequency of 160MHz
/*-------------------------- MPU CAPS ----------------------------------------*/
#include "mpu_caps.h"

160
components/soc/esp32s3/mcpwm_periph.c Normal file
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@@ -0,0 +1,160 @@
// Copyright 2020 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 "soc/soc.h"
#include "soc/mcpwm_periph.h"
#include "soc/gpio_sig_map.h"
const mcpwm_signal_conn_t mcpwm_periph_signals = {
.groups = {
[0] = {
.module = PERIPH_PWM0_MODULE,
.irq_id = ETS_PWM0_INTR_SOURCE,
.operators = {
[0] = {
.generators = {
[0] = {
.pwm_sig = PWM0_OUT0A_IDX
},
[1] = {
.pwm_sig = PWM0_OUT0B_IDX
}
}
},
[1] = {
.generators = {
[0] = {
.pwm_sig = PWM0_OUT1A_IDX
},
[1] = {
.pwm_sig = PWM0_OUT1B_IDX
}
}
},
[2] = {
.generators = {
[0] = {
.pwm_sig = PWM0_OUT2A_IDX
},
[1] = {
.pwm_sig = PWM0_OUT2B_IDX
}
}
}
},
.detectors = {
[0] = {
.fault_sig = PWM0_F0_IN_IDX
},
[1] = {
.fault_sig = PWM0_F1_IN_IDX
},
[2] = {
.fault_sig = PWM0_F2_IN_IDX
}
},
.captures = {
[0] = {
.cap_sig = PWM0_CAP0_IN_IDX
},
[1] = {
.cap_sig = PWM0_CAP1_IN_IDX
},
[2] = {
.cap_sig = PWM0_CAP2_IN_IDX
}
},
.ext_syncers = {
[0] = {
.sync_sig = PWM0_SYNC0_IN_IDX
},
[1] = {
.sync_sig = PWM0_SYNC1_IN_IDX
},
[2] = {
.sync_sig = PWM0_SYNC2_IN_IDX
}
}
},
[1] = {
.module = PERIPH_PWM1_MODULE,
.irq_id = ETS_PWM1_INTR_SOURCE,
.operators = {
[0] = {
.generators = {
[0] = {
.pwm_sig = PWM1_OUT0A_IDX
},
[1] = {
.pwm_sig = PWM1_OUT0B_IDX
}
}
},
[1] = {
.generators = {
[0] = {
.pwm_sig = PWM1_OUT1A_IDX
},
[1] = {
.pwm_sig = PWM1_OUT1B_IDX
}
}
},
[2] = {
.generators = {
[0] = {
.pwm_sig = PWM1_OUT2A_IDX
},
[1] = {
.pwm_sig = PWM1_OUT2B_IDX
}
}
}
},
.detectors = {
[0] = {
.fault_sig = PWM1_F0_IN_IDX
},
[1] = {
.fault_sig = PWM1_F1_IN_IDX
},
[2] = {
.fault_sig = PWM1_F2_IN_IDX
}
},
.captures = {
[0] = {
.cap_sig = PWM1_CAP0_IN_IDX
},
[1] = {
.cap_sig = PWM1_CAP1_IN_IDX
},
[2] = {
.cap_sig = PWM1_CAP2_IN_IDX
}
},
.ext_syncers = {
[0] = {
.sync_sig = PWM1_SYNC0_IN_IDX
},
[1] = {
.sync_sig = PWM1_SYNC1_IN_IDX
},
[2] = {
.sync_sig = PWM1_SYNC2_IN_IDX
}
}
}
}
};

34
components/soc/include/soc/mcpwm_periph.h
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@@ -13,5 +13,39 @@
// limitations under the License.
#pragma once
#include "soc/soc_caps.h"
#include "soc/mcpwm_reg.h"
#include "soc/mcpwm_struct.h"
#include "soc/periph_defs.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef struct {
struct {
const periph_module_t module; // Peripheral module
const int irq_id;
struct {
struct {
const uint32_t pwm_sig;
} generators[SOC_MCPWM_GENERATORS_PER_OPERATOR];
} operators[SOC_MCPWM_OPERATORS_PER_GROUP];
struct {
const uint32_t fault_sig;
} detectors[SOC_MCPWM_FAULT_DETECTORS_PER_GROUP];
struct {
const uint32_t cap_sig;
} captures[SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER];
struct {
const uint32_t sync_sig;
} ext_syncers[SOC_MCPWM_EXT_SYNCERS_PER_GROUP];
} groups[SOC_MCPWM_GROUPS];
} mcpwm_signal_conn_t;
extern const mcpwm_signal_conn_t mcpwm_periph_signals;
#ifdef __cplusplus
}
#endif