feat(mcpwm): add a new api to get cap value directly

components/driver/Kconfig

@@ -2,23 +2,6 @@ menu "Driver Configurations"
 
     orsource "./twai/Kconfig.twai"
 
-    menu "Legacy MCPWM Driver Configurations"
-        depends on SOC_MCPWM_SUPPORTED
-        config MCPWM_SUPPRESS_DEPRECATE_WARN
-            bool "Suppress legacy driver deprecated warning"
-            default n
-            help
-                Whether to suppress the deprecation warnings when using legacy MCPWM driver (driver/mcpwm.h).
-                If you want to continue using the legacy driver, and don't want to see related deprecation warnings,
-                you can enable this option.
-
-        config MCPWM_SKIP_LEGACY_CONFLICT_CHECK
-            bool "Skip legacy conflict check"
-            default n
-            help
-                This configuration option allows the user to bypass the conflict check mechanism with legacy code.
-    endmenu # Legacy MCPWM Driver Configurations
-
     menu "Legacy RMT Driver Configurations"
         depends on SOC_RMT_SUPPORTED
         config RMT_SUPPRESS_DEPRECATE_WARN
@@ -45,23 +28,6 @@ menu "Driver Configurations"
                 This configuration option allows the user to bypass the conflict check mechanism with legacy code.
     endmenu # Legacy I2C Driver Configurationss
 
-    menu "Legacy PCNT Driver Configurations"
-        depends on SOC_PCNT_SUPPORTED
-        config PCNT_SUPPRESS_DEPRECATE_WARN
-            bool "Suppress legacy driver deprecated warning"
-            default n
-            help
-                whether to suppress the deprecation warnings when using legacy PCNT driver (driver/pcnt.h).
-                If you want to continue using the legacy driver, and don't want to see related deprecation warnings,
-                you can enable this option.
-
-        config PCNT_SKIP_LEGACY_CONFLICT_CHECK
-            bool "Skip legacy conflict check"
-            default n
-            help
-                This configuration option allows the user to bypass the conflict check mechanism with legacy code.
-    endmenu # Legacy PCNT Driver Configurationss
-
     menu "Legacy SDM Driver Configurations"
         depends on SOC_SDM_SUPPORTED
         config SDM_SUPPRESS_DEPRECATE_WARN

components/esp_driver_mcpwm/include/driver/mcpwm_cap.h

@@ -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
  */
@@ -242,6 +242,20 @@ esp_err_t mcpwm_capture_channel_register_event_callbacks(mcpwm_cap_channel_handl
  */
 esp_err_t mcpwm_capture_channel_trigger_soft_catch(mcpwm_cap_channel_handle_t cap_channel);
 
+/**
+ * @brief Get the last captured value of the MCPWM capture channel
+ *
+ * @note  To convert the count value to a time, user can use `mcpwm_capture_timer_get_resolution` to get the resolution of the capture timer.
+ *
+ * @param[in] cap_channel MCPWM capture channel handle, allocated by `mcpwm_new_capture_channel()`
+ * @param[out] value Returned capture value
+ * @return
+ *      - ESP_OK: Get capture value successfully
+ *      - ESP_ERR_INVALID_ARG: Get capture value failed because of invalid argument
+ *      - ESP_FAIL: Get capture value failed because of other error
+ */
+esp_err_t mcpwm_capture_get_latched_value(mcpwm_cap_channel_handle_t cap_channel, uint32_t *value);
+
 #ifdef __cplusplus
 }
 #endif

components/esp_driver_mcpwm/src/mcpwm_cap.c

@@ -413,6 +413,13 @@ esp_err_t mcpwm_capture_channel_trigger_soft_catch(mcpwm_cap_channel_handle_t ca
     return ESP_OK;
 }
 
+esp_err_t mcpwm_capture_get_latched_value(mcpwm_cap_channel_handle_t cap_channel, uint32_t *value)
+{
+    ESP_RETURN_ON_FALSE(cap_channel && value, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
+    *value = mcpwm_ll_capture_get_value(cap_channel->cap_timer->group->hal.dev, cap_channel->cap_chan_id);
+    return ESP_OK;
+}
+
 esp_err_t mcpwm_capture_timer_set_phase_on_sync(mcpwm_cap_timer_handle_t cap_timer, const mcpwm_capture_timer_sync_phase_config_t *config)
 {
     ESP_RETURN_ON_FALSE(cap_timer, ESP_ERR_INVALID_ARG, TAG, "invalid argument");

docs/en/api-reference/peripherals/mcpwm.rst

@@ -960,6 +960,11 @@ Trigger a Software Capture Event
 
 Sometimes, the software also wants to trigger a "fake" capture event. The :cpp:func:`mcpwm_capture_channel_trigger_soft_catch` is provided for that purpose. Please note that, even though it is a "fake" capture event, it can still cause an interrupt, thus your capture event callback function gets invoked as well.
 
+Get the Last Captured Value
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If you don't want to process the captured value in the capture event callback function, but want to process it in other places, you can call :cpp:func:`mcpwm_capture_get_latched_value` to get the last captured value.
+
 .. only:: SOC_MCPWM_SUPPORT_ETM
 
     .. _mcpwm-etm-event-and-task:

docs/zh_CN/api-reference/peripherals/mcpwm.rst

@@ -960,6 +960,11 @@ MCPWM 捕获通道支持在信号上检测到有效边沿时发送通知。须
 
 某些场景下，可能存在需要软件触发“虚假”捕获事件的需求。此时，可以调用 :cpp:func:`mcpwm_capture_channel_trigger_soft_catch` 实现。需注意，此类“虚假”捕获事件仍然会触发中断，并从而调用捕获事件回调函数。
 
+获得上一次锁存的捕获值
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+如果不想在捕获事件回调函数中处理捕获值，而是想在其他地方处理，可以调用 :cpp:func:`mcpwm_capture_get_latched_value` 获得上一次锁存的捕获值。
+
 .. only:: SOC_MCPWM_SUPPORT_ETM
 
     .. _mcpwm-etm-event-and-task: