feat(pcnt): support pcnt on esp32h21

components/esp_driver_pcnt/test_apps/pulse_cnt/README.md

@@ -1,2 +1,2 @@
-| Supported Targets | ESP32 | ESP32-C5 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C5 | ESP32-C6 | ESP32-H2 | ESP32-H21 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | --------- | -------- | -------- | -------- |

components/hal/esp32h21/include/hal/pcnt_ll.h

@@ -0,0 +1,504 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <limits.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include "soc/pcnt_struct.h"
+#include "hal/pcnt_types.h"
+#include "hal/misc.h"
+#include "soc/pcr_struct.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define PCNT_LL_GET_HW(num)      (((num) == 0) ? (&PCNT) : NULL)
+#define PCNT_LL_MAX_GLITCH_WIDTH 1023
+#define PCNT_LL_MAX_LIM          SHRT_MAX
+#define PCNT_LL_MIN_LIM          SHRT_MIN
+
+typedef enum {
+    PCNT_LL_WATCH_EVENT_INVALID = -1,
+    PCNT_LL_WATCH_EVENT_THRES1,
+    PCNT_LL_WATCH_EVENT_THRES0,
+    PCNT_LL_WATCH_EVENT_LOW_LIMIT,
+    PCNT_LL_WATCH_EVENT_HIGH_LIMIT,
+    PCNT_LL_WATCH_EVENT_ZERO_CROSS,
+    PCNT_LL_WATCH_EVENT_MAX
+} pcnt_ll_watch_event_id_t;
+
+typedef enum {
+    PCNT_LL_STEP_EVENT_REACH_INTERVAL_FORWARD = PCNT_LL_WATCH_EVENT_MAX,
+    PCNT_LL_STEP_EVENT_REACH_INTERVAL_BACKWARD,
+} pcnt_ll_step_event_id_t;
+
+#define PCNT_LL_WATCH_EVENT_MASK          ((1 << PCNT_LL_WATCH_EVENT_MAX) - 1)
+#define PCNT_LL_UNIT_WATCH_EVENT(unit_id) (1 << (unit_id))
+
+/**
+ * @brief Set PCNT channel edge action
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param channel PCNT channel number
+ * @param pos_act Counter action when detecting positive edge
+ * @param neg_act Counter action when detecting negative edge
+ */
+static inline void pcnt_ll_set_edge_action(pcnt_dev_t *hw, uint32_t unit, uint32_t channel, pcnt_channel_edge_action_t pos_act, pcnt_channel_edge_action_t neg_act)
+{
+    if (channel == 0) {
+        hw->conf_unit[unit].conf0.ch0_pos_mode_un = pos_act;
+        hw->conf_unit[unit].conf0.ch0_neg_mode_un = neg_act;
+    } else {
+        hw->conf_unit[unit].conf0.ch1_pos_mode_un = pos_act;
+        hw->conf_unit[unit].conf0.ch1_neg_mode_un = neg_act;
+    }
+}
+
+/**
+ * @brief Set PCNT channel level action
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param channel PCNT channel number
+ * @param high_act Counter action when control signal is high level
+ * @param low_act Counter action when control signal is low level
+ */
+static inline void pcnt_ll_set_level_action(pcnt_dev_t *hw, uint32_t unit, uint32_t channel, pcnt_channel_level_action_t high_act, pcnt_channel_level_action_t low_act)
+{
+    if (channel == 0) {
+        hw->conf_unit[unit].conf0.ch0_hctrl_mode_un = high_act;
+        hw->conf_unit[unit].conf0.ch0_lctrl_mode_un = low_act;
+    } else {
+        hw->conf_unit[unit].conf0.ch1_hctrl_mode_un = high_act;
+        hw->conf_unit[unit].conf0.ch1_lctrl_mode_un = low_act;
+    }
+}
+
+/**
+ * @brief Get pulse counter value
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit  Pulse Counter unit number
+ * @return PCNT count value (a signed integer)
+ */
+__attribute__((always_inline))
+static inline int pcnt_ll_get_count(pcnt_dev_t *hw, uint32_t unit)
+{
+    pcnt_un_cnt_reg_t cnt_reg;
+    cnt_reg.val = hw->cnt_unit[unit].val;
+
+    int16_t value = cnt_reg.pulse_cnt_un;
+    return value;
+}
+
+/**
+ * @brief Pause PCNT counter of PCNT unit
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ */
+__attribute__((always_inline))
+static inline void pcnt_ll_stop_count(pcnt_dev_t *hw, uint32_t unit)
+{
+    hw->ctrl.val |= 1 << (2 * unit + 1);
+}
+
+/**
+ * @brief Resume counting for PCNT counter
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number, select from uint32_t
+ */
+__attribute__((always_inline))
+static inline void pcnt_ll_start_count(pcnt_dev_t *hw, uint32_t unit)
+{
+    hw->ctrl.val &= ~(1 << (2 * unit + 1));
+}
+
+/**
+ * @brief Clear PCNT counter value to zero
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param  unit PCNT unit number, select from uint32_t
+ */
+__attribute__((always_inline))
+static inline void pcnt_ll_clear_count(pcnt_dev_t *hw, uint32_t unit)
+{
+    hw->ctrl.val |= 1 << (2 * unit);
+    hw->ctrl.val &= ~(1 << (2 * unit));
+}
+
+/**
+ * @brief Enable PCNT step comparator event
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param enable true to enable, false to disable
+ */
+static inline void pcnt_ll_enable_step_notify(pcnt_dev_t *hw, uint32_t unit, bool enable)
+{
+    if (enable) {
+        hw->ctrl.val |= 1 << (8 + unit);
+    } else {
+        hw->ctrl.val &= ~(1 << (8 + unit));
+    }
+}
+
+/**
+ * @brief Set PCNT step value
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param direction PCNT step direction
+ * @param value PCNT step value
+ */
+static inline void pcnt_ll_set_step_value(pcnt_dev_t *hw, uint32_t unit, pcnt_step_direction_t direction, uint16_t value)
+{
+    if (direction == PCNT_STEP_FORWARD) {
+        HAL_FORCE_MODIFY_U32_REG_FIELD(hw->conf_unit[unit].conf3, cnt_h_step_un, value);
+    } else {
+        HAL_FORCE_MODIFY_U32_REG_FIELD(hw->conf_unit[unit].conf3, cnt_l_step_un, value);
+    }
+}
+
+/**
+ * @brief Enable PCNT interrupt for PCNT unit
+ * @note  Each PCNT unit has five watch point events that share the same interrupt bit.
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit_mask PCNT units mask
+ * @param enable True to enable interrupt, False to disable interrupt
+ */
+static inline void pcnt_ll_enable_intr(pcnt_dev_t *hw, uint32_t unit_mask, bool enable)
+{
+    if (enable) {
+        hw->int_ena.val |= unit_mask;
+    } else {
+        hw->int_ena.val &= ~unit_mask;
+    }
+}
+
+/**
+ * @brief Get PCNT interrupt status
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @return Interrupt status word
+ */
+__attribute__((always_inline))
+static inline uint32_t pcnt_ll_get_intr_status(pcnt_dev_t *hw)
+{
+    return hw->int_st.val;
+}
+
+/**
+ * @brief Clear PCNT interrupt status
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param status value to clear interrupt status
+ */
+__attribute__((always_inline))
+static inline void pcnt_ll_clear_intr_status(pcnt_dev_t *hw, uint32_t status)
+{
+    hw->int_clr.val = status;
+}
+
+/**
+ * @brief Enable PCNT high limit event
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param enable true to enable, false to disable
+ */
+static inline void pcnt_ll_enable_high_limit_event(pcnt_dev_t *hw, uint32_t unit, bool enable)
+{
+    hw->conf_unit[unit].conf0.thr_h_lim_en_un = enable;
+}
+
+/**
+ * @brief Enable PCNT low limit event
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param enable true to enable, false to disable
+ */
+static inline void pcnt_ll_enable_low_limit_event(pcnt_dev_t *hw, uint32_t unit, bool enable)
+{
+    hw->conf_unit[unit].conf0.thr_l_lim_en_un = enable;
+}
+
+/**
+ * @brief Enable PCNT zero cross event
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param enable true to enable, false to disable
+ */
+static inline void pcnt_ll_enable_zero_cross_event(pcnt_dev_t *hw, uint32_t unit, bool enable)
+{
+    hw->conf_unit[unit].conf0.thr_zero_en_un = enable;
+}
+
+/**
+ * @brief Enable PCNT threshold event
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param thres Threshold ID
+ * @param enable true to enable, false to disable
+ */
+static inline void pcnt_ll_enable_thres_event(pcnt_dev_t *hw, uint32_t unit, uint32_t thres, bool enable)
+{
+    if (thres == 0) {
+        hw->conf_unit[unit].conf0.thr_thres0_en_un = enable;
+    } else {
+        hw->conf_unit[unit].conf0.thr_thres1_en_un = enable;
+    }
+}
+
+/**
+ * @brief Disable all PCNT threshold events
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit unit number
+ */
+static inline void pcnt_ll_disable_all_events(pcnt_dev_t *hw, uint32_t unit)
+{
+    hw->conf_unit[unit].conf0.val &= ~(PCNT_LL_WATCH_EVENT_MASK << 11);
+}
+
+/**
+ * @brief Set PCNT high limit value
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param value PCNT high limit value
+ */
+static inline void pcnt_ll_set_high_limit_value(pcnt_dev_t *hw, uint32_t unit, int value)
+{
+    pcnt_un_conf2_reg_t conf2_reg;
+    conf2_reg.val = hw->conf_unit[unit].conf2.val;
+
+    conf2_reg.cnt_h_lim_un = value;
+    hw->conf_unit[unit].conf2.val = conf2_reg.val;
+}
+
+/**
+ * @brief Set PCNT low limit value
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param value PCNT low limit value
+ */
+static inline void pcnt_ll_set_low_limit_value(pcnt_dev_t *hw, uint32_t unit, int value)
+{
+    pcnt_un_conf2_reg_t conf2_reg;
+    conf2_reg.val = hw->conf_unit[unit].conf2.val;
+
+    conf2_reg.cnt_l_lim_un = value;
+    hw->conf_unit[unit].conf2.val = conf2_reg.val;
+}
+
+/**
+ * @brief Set PCNT threshold value
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param thres Threshold ID
+ * @param value PCNT threshold value
+ */
+static inline void pcnt_ll_set_thres_value(pcnt_dev_t *hw, uint32_t unit, uint32_t thres, int value)
+{
+    pcnt_un_conf1_reg_t conf1_reg;
+    conf1_reg.val = hw->conf_unit[unit].conf1.val;
+
+    if (thres == 0) {
+        conf1_reg.cnt_thres0_un = value;
+    } else {
+        conf1_reg.cnt_thres1_un = value;
+    }
+    hw->conf_unit[unit].conf1.val = conf1_reg.val;
+}
+
+/**
+ * @brief Get PCNT high limit value
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @return PCNT high limit value
+ */
+static inline int pcnt_ll_get_high_limit_value(pcnt_dev_t *hw, uint32_t unit)
+{
+    pcnt_un_conf2_reg_t conf2_reg;
+    conf2_reg.val = hw->conf_unit[unit].conf2.val;
+
+    int16_t value = conf2_reg.cnt_h_lim_un;
+    return value;
+}
+
+/**
+ * @brief Get PCNT low limit value
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @return PCNT high limit value
+ */
+static inline int pcnt_ll_get_low_limit_value(pcnt_dev_t *hw, uint32_t unit)
+{
+    pcnt_un_conf2_reg_t conf2_reg;
+    conf2_reg.val = hw->conf_unit[unit].conf2.val;
+
+    int16_t value = conf2_reg.cnt_l_lim_un ;
+    return value;
+}
+
+/**
+ * @brief Get PCNT threshold value
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param thres Threshold ID
+ * @return PCNT threshold value
+ */
+__attribute__((always_inline))
+static inline int pcnt_ll_get_thres_value(pcnt_dev_t *hw, uint32_t unit, uint32_t thres)
+{
+    int16_t value;
+    pcnt_un_conf1_reg_t conf1_reg;
+    conf1_reg.val = hw->conf_unit[unit].conf1.val;
+
+    if (thres == 0) {
+        value = conf1_reg.cnt_thres0_un ;
+    } else {
+        value = conf1_reg.cnt_thres1_un ;
+    }
+    return value;
+}
+
+/**
+ * @brief Get PCNT unit runtime status
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @return PCNT unit runtime status
+ */
+static inline uint32_t pcnt_ll_get_unit_status(pcnt_dev_t *hw, uint32_t unit)
+{
+    return hw->status_unit[unit].val;
+}
+
+/**
+ * @brief Get PCNT zero cross mode
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @return Zero cross mode
+ */
+__attribute__((always_inline))
+static inline pcnt_unit_zero_cross_mode_t pcnt_ll_get_zero_cross_mode(pcnt_dev_t *hw, uint32_t unit)
+{
+    return (pcnt_unit_zero_cross_mode_t)(hw->status_unit[unit].val & 0x03);
+}
+
+/**
+ * @brief Get PCNT event status
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @return Event status word
+ */
+__attribute__((always_inline))
+static inline uint32_t pcnt_ll_get_event_status(pcnt_dev_t *hw, uint32_t unit)
+{
+    return hw->status_unit[unit].val >> 2;
+}
+
+/**
+ * @brief Set PCNT glitch filter threshold
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param filter_val PCNT signal filter value, counter in APB_CLK cycles.
+ *        Any pulses lasting shorter than this will be ignored when the filter is enabled.
+ */
+static inline void pcnt_ll_set_glitch_filter_thres(pcnt_dev_t *hw, uint32_t unit, uint32_t filter_val)
+{
+    hw->conf_unit[unit].conf0.filter_thres_un = filter_val;
+}
+
+/**
+ * @brief Get PCNT glitch filter threshold
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @return glitch filter threshold
+ */
+static inline uint32_t pcnt_ll_get_glitch_filter_thres(pcnt_dev_t *hw, uint32_t unit)
+{
+    return hw->conf_unit[unit].conf0.filter_thres_un;
+}
+
+/**
+ * @brief Enable PCNT glitch filter
+ *
+ * @param hw Peripheral PCNT hardware instance address.
+ * @param unit PCNT unit number
+ * @param enable True to enable the filter, False to disable the filter
+ */
+static inline void pcnt_ll_enable_glitch_filter(pcnt_dev_t *hw, uint32_t unit, bool enable)
+{
+    hw->conf_unit[unit].conf0.filter_en_un = enable;
+}
+
+/**
+ * @brief Get interrupt status register address.
+ *
+ * @param hw Beginning address of the peripheral registers.
+ *
+ * @return Interrupt status register address
+ */
+static inline volatile void *pcnt_ll_get_intr_status_reg(pcnt_dev_t *hw)
+{
+    return &hw->int_st.val;
+}
+
+/**
+ * @brief Enable or disable the bus clock for the PCNT module
+ *
+ * @param set_bit True to set bit, false to clear bit
+ */
+static inline void pcnt_ll_enable_bus_clock(int group_id, bool enable)
+{
+    (void)group_id;
+    PCR.pcnt_conf.pcnt_clk_en = enable;
+}
+
+/**
+ * @brief Reset the PCNT module
+ */
+static inline void pcnt_ll_reset_register(int group_id)
+{
+    (void)group_id;
+    PCR.pcnt_conf.pcnt_rst_en = 1;
+    PCR.pcnt_conf.pcnt_rst_en = 0;
+}
+
+/**
+ * @brief Check if the step notify is supported
+ */
+static inline bool pcnt_ll_is_step_notify_supported(int group_id)
+{
+    (void)group_id;
+    return true;
+}
+
+
+#ifdef __cplusplus
+}
+#endif

components/soc/esp32h21/include/soc/Kconfig.soc_caps.in

@@ -115,6 +115,10 @@ config SOC_REG_I2C_SUPPORTED
     bool
     default y
 
+config SOC_PCNT_SUPPORTED
+    bool
+    default y
+
 config SOC_TWAI_SUPPORTED
     bool
     default y
@@ -467,6 +471,34 @@ config SOC_LEDC_CHANNEL_NUM
     int
     default 6
 
+config SOC_PCNT_GROUPS
+    int
+    default 1
+
+config SOC_PCNT_UNITS_PER_GROUP
+    int
+    default 4
+
+config SOC_PCNT_CHANNELS_PER_UNIT
+    int
+    default 2
+
+config SOC_PCNT_THRES_POINT_PER_UNIT
+    int
+    default 2
+
+config SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE
+    bool
+    default y
+
+config SOC_PCNT_SUPPORT_CLEAR_SIGNAL
+    bool
+    default y
+
+config SOC_PCNT_SUPPORT_STEP_NOTIFY
+    bool
+    default y
+
 config SOC_RMT_GROUPS
     int
     default 1

components/soc/esp32h21/include/soc/soc_caps.h

@@ -72,7 +72,7 @@
 #define SOC_MODEM_CLOCK_SUPPORTED       1
 #define SOC_REG_I2C_SUPPORTED           1
 // #define SOC_PHY_SUPPORTED               1
-// #define SOC_PCNT_SUPPORTED              1    //TODO: [ESP32H21] IDF-11566
+#define SOC_PCNT_SUPPORTED              1
 // #define SOC_MCPWM_SUPPORTED             1    //TODO: [ESP32H21] IDF-11601
 #define SOC_TWAI_SUPPORTED              1
 // #define SOC_ETM_SUPPORTED               1    //TODO: [ESP32H21] IDF-11576
@@ -303,11 +303,13 @@
 // #define SOC_MPU_REGION_WO_SUPPORTED               0
 
 /*-------------------------- PCNT CAPS ---------------------------------------*/
-// #define SOC_PCNT_GROUPS                       1U
-// #define SOC_PCNT_UNITS_PER_GROUP              4
-// #define SOC_PCNT_CHANNELS_PER_UNIT            2
-// #define SOC_PCNT_THRES_POINT_PER_UNIT         2
-// #define SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE 1
+#define SOC_PCNT_GROUPS                       1U
+#define SOC_PCNT_UNITS_PER_GROUP              4
+#define SOC_PCNT_CHANNELS_PER_UNIT            2
+#define SOC_PCNT_THRES_POINT_PER_UNIT         2
+#define SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE 1
+#define SOC_PCNT_SUPPORT_CLEAR_SIGNAL         1
+#define SOC_PCNT_SUPPORT_STEP_NOTIFY          1
 
 /*--------------------------- RMT CAPS ---------------------------------------*/
 #define SOC_RMT_GROUPS                        1U /*!< One RMT group */

components/soc/esp32h21/pcnt_periph.c

@@ -0,0 +1,72 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "soc/pcnt_periph.h"
+#include "soc/gpio_sig_map.h"
+#include "soc/pcnt_reg.h"
+
+const pcnt_signal_conn_t pcnt_periph_signals = {
+    .groups = {
+        [0] = {
+            .irq = ETS_PCNT_INTR_SOURCE,
+            .module_name = "pcnt0",
+            .units = {
+                [0] = {
+                    .channels = {
+                        [0] = {
+                            .control_sig = PCNT_CTRL_CH0_IN0_IDX,
+                            .pulse_sig = PCNT_SIG_CH0_IN0_IDX
+                        },
+                        [1] = {
+                            .control_sig = PCNT_CTRL_CH1_IN0_IDX,
+                            .pulse_sig = PCNT_SIG_CH1_IN0_IDX
+                        }
+                    },
+                    .clear_sig = PCNT_RST_IN0_IDX
+                },
+                [1] = {
+                    .channels = {
+                        [0] = {
+                            .control_sig = PCNT_CTRL_CH0_IN1_IDX,
+                            .pulse_sig = PCNT_SIG_CH0_IN1_IDX,
+                        },
+                        [1] = {
+                            .control_sig = PCNT_CTRL_CH1_IN1_IDX,
+                            .pulse_sig = PCNT_SIG_CH1_IN1_IDX
+                        }
+                    },
+                    .clear_sig = PCNT_RST_IN1_IDX
+                },
+                [2] = {
+                    .channels = {
+                        [0] = {
+                            .control_sig = PCNT_CTRL_CH0_IN2_IDX,
+                            .pulse_sig = PCNT_SIG_CH0_IN2_IDX,
+                        },
+                        [1] = {
+                            .control_sig = PCNT_CTRL_CH1_IN2_IDX,
+                            .pulse_sig = PCNT_SIG_CH1_IN2_IDX
+                        }
+                    },
+                    .clear_sig = PCNT_RST_IN2_IDX
+                },
+                [3] = {
+                    .channels = {
+                        [0] = {
+                            .control_sig = PCNT_CTRL_CH0_IN3_IDX,
+                            .pulse_sig = PCNT_SIG_CH0_IN3_IDX,
+                        },
+                        [1] = {
+                            .control_sig = PCNT_CTRL_CH1_IN3_IDX,
+                            .pulse_sig = PCNT_SIG_CH1_IN3_IDX
+                        }
+                    },
+                    .clear_sig = PCNT_RST_IN3_IDX
+                }
+            }
+        }
+    }
+};

components/soc/esp32h21/register/soc/pcnt_struct.h

@@ -1,5 +1,5 @@
 /**
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
  *
  *  SPDX-License-Identifier: Apache-2.0
  */
@@ -156,65 +156,14 @@ typedef union {
         /** cnt_h_step_u0 : R/W; bitpos: [15:0]; default: 0;
          *  Configures the forward rotation step value for unit 0.
          */
-        uint32_t cnt_h_step_u0:16;
+        uint32_t cnt_h_step_un:16;
         /** cnt_l_step_u0 : R/W; bitpos: [31:16]; default: 0;
          *  Configures the reverse rotation step value for unit 0.
          */
-        uint32_t cnt_l_step_u0:16;
+        uint32_t cnt_l_step_un:16;
     };
     uint32_t val;
-} pcnt_u0_conf3_reg_t;
-
-/** Type of u1_conf3 register
- *  Configuration register for unit $n's step value.
- */
-typedef union {
-    struct {
-        /** cnt_h_step_u1 : R/W; bitpos: [15:0]; default: 0;
-         *  Configures the forward rotation step value for unit 1.
-         */
-        uint32_t cnt_h_step_u1:16;
-        /** cnt_l_step_u1 : R/W; bitpos: [31:16]; default: 0;
-         *  Configures the reverse rotation step value for unit 1.
-         */
-        uint32_t cnt_l_step_u1:16;
-    };
-    uint32_t val;
-} pcnt_u1_conf3_reg_t;
-
-/** Type of u2_conf3 register
- *  Configuration register for unit $n's step value.
- */
-typedef union {
-    struct {
-        /** cnt_h_step_u2 : R/W; bitpos: [15:0]; default: 0;
-         *  Configures the forward rotation step value for unit 2.
-         */
-        uint32_t cnt_h_step_u2:16;
-        /** cnt_l_step_u2 : R/W; bitpos: [31:16]; default: 0;
-         *  Configures the reverse rotation step value for unit 2.
-         */
-        uint32_t cnt_l_step_u2:16;
-    };
-    uint32_t val;
-} pcnt_u2_conf3_reg_t;
-
-/** Type of u3_conf3 register
- *  Configuration register for unit $n's step value.
- */
-typedef union {
-    struct {
-        /** cnt_h_step_u3 : R/W; bitpos: [15:0]; default: 0;
-         *  Configures the forward rotation step value for unit 3.
-         */
-        uint32_t cnt_h_step_u3:16;
-        /** cnt_l_step_u3 : R/W; bitpos: [31:16]; default: 0;
-         *  Configures the reverse rotation step value for unit 3.
-         */
-        uint32_t cnt_l_step_u3:16;
-    };
-    uint32_t val;
-} pcnt_u3_conf3_reg_t;
+} pcnt_un_conf3_reg_t;
 
 /** Type of ctrl register
  *  Control register for all counters
@@ -484,29 +433,19 @@ typedef union {
 } pcnt_date_reg_t;
 
 
-typedef struct {
-    volatile pcnt_un_conf0_reg_t u0_conf0;
-    volatile pcnt_un_conf1_reg_t u0_conf1;
-    volatile pcnt_un_conf2_reg_t u0_conf2;
-    volatile pcnt_u0_conf3_reg_t u0_conf3;
-    volatile pcnt_un_conf0_reg_t u1_conf0;
-    volatile pcnt_un_conf1_reg_t u1_conf1;
-    volatile pcnt_un_conf2_reg_t u1_conf2;
-    volatile pcnt_u1_conf3_reg_t u1_conf3;
-    volatile pcnt_un_conf0_reg_t u2_conf0;
-    volatile pcnt_un_conf1_reg_t u2_conf1;
-    volatile pcnt_un_conf2_reg_t u2_conf2;
-    volatile pcnt_u2_conf3_reg_t u2_conf3;
-    volatile pcnt_un_conf0_reg_t u3_conf0;
-    volatile pcnt_un_conf1_reg_t u3_conf1;
-    volatile pcnt_un_conf2_reg_t u3_conf2;
-    volatile pcnt_u3_conf3_reg_t u3_conf3;
-    volatile pcnt_un_cnt_reg_t un_cnt[4];
+typedef struct pcnt_dev_t {
+    volatile struct {
+        pcnt_un_conf0_reg_t conf0;
+        pcnt_un_conf1_reg_t conf1;
+        pcnt_un_conf2_reg_t conf2;
+        pcnt_un_conf3_reg_t conf3;
+    } conf_unit[4];
+    volatile pcnt_un_cnt_reg_t cnt_unit[4];
     volatile pcnt_int_raw_reg_t int_raw;
     volatile pcnt_int_st_reg_t int_st;
     volatile pcnt_int_ena_reg_t int_ena;
     volatile pcnt_int_clr_reg_t int_clr;
-    volatile pcnt_un_status_reg_t un_status[4];
+    volatile pcnt_un_status_reg_t status_unit[4];
     volatile pcnt_ctrl_reg_t ctrl;
     uint32_t reserved_074[34];
     volatile pcnt_date_reg_t date;

docs/docs_not_updated/esp32h21.txt

@@ -177,7 +177,6 @@ api-reference/peripherals/lcd/i2c_lcd.rst
 api-reference/peripherals/lcd/spi_lcd.rst
 api-reference/peripherals/lcd/rgb_lcd.rst
 api-reference/peripherals/lcd/parl_lcd.rst
-api-reference/peripherals/pcnt.rst
 api-reference/peripherals/spi_features.rst
 api-reference/peripherals/ppa.rst
 api-reference/peripherals/ledc.rst

examples/peripherals/pcnt/rotary_encoder/README.md

@@ -1,5 +1,5 @@
-| Supported Targets | ESP32 | ESP32-C5 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C5 | ESP32-C6 | ESP32-H2 | ESP32-H21 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | --------- | -------- | -------- | -------- |
 
 # Rotary Encoder Example