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Merge branch 'feat/mcpwm_hal'

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Manual merge of !6626
This commit is contained in:
Angus Gratton
2019-11-25 17:18:48 +11:00
committed by Angus Gratton
parent 129c9311ca 538540ce21
commit f2a1a6105a
14 changed files with 2067 additions and 804 deletions
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components/driver/include/driver/mcpwm.h
+45 -90
View File
@@ -21,6 +21,8 @@
#include "driver/periph_ctrl.h"
#include "esp_intr_alloc.h"
#include "soc/soc_caps.h"
#include "hal/mcpwm_types.h"
#include "soc/mcpwm_caps.h"
#ifndef SOC_MCPWM_SUPPORTED
#error MCPWM is not supported in this chip target
@@ -30,6 +32,7 @@
extern "C" {
#endif
/**
* @brief IO signals for the MCPWM
*
@@ -87,6 +90,8 @@ 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");
/**
* @brief Select MCPWM timer
*/
@@ -101,29 +106,16 @@ typedef enum {
* @brief Select MCPWM operator
*/
typedef enum {
MCPWM_OPR_A = 0, /*!<Select MCPWMXA, where 'X' is timer number*/
MCPWM_OPR_B, /*!<Select MCPWMXB, where 'X' is timer number*/
MCPWM_OPR_MAX, /*!<Num of operators to each timer of MCPWM*/
} mcpwm_operator_t;
MCPWM_GEN_A = 0, /*!<Select MCPWMXA, where 'X' is operator number*/
MCPWM_GEN_B, /*!<Select MCPWMXB, where 'X' is operator number*/
MCPWM_GEN_MAX, /*!<Num of generators to each operator of MCPWM*/
} mcpwm_generator_t;
/**
* @brief Select type of MCPWM counter
*/
typedef enum {
MCPWM_UP_COUNTER = 1, /*!<For asymmetric MCPWM*/
MCPWM_DOWN_COUNTER, /*!<For asymmetric MCPWM*/
MCPWM_UP_DOWN_COUNTER, /*!<For symmetric MCPWM, frequency is half of MCPWM frequency set*/
MCPWM_COUNTER_MAX, /*!<Maximum counter mode*/
} mcpwm_counter_type_t;
/**
* @brief Select type of MCPWM duty cycle mode
*/
typedef enum {
MCPWM_DUTY_MODE_0 = 0, /*!<Active high duty, i.e. duty cycle proportional to high time for asymmetric MCPWM*/
MCPWM_DUTY_MODE_1, /*!<Active low duty, i.e. duty cycle proportional to low time for asymmetric MCPWM, out of phase(inverted) MCPWM*/
MCPWM_DUTY_MODE_MAX, /*!<Num of duty cycle modes*/
} mcpwm_duty_type_t;
//definitions and macros to be back-compatible before IDFv4.1
#define MCPWM_OPR_A MCPWM_GEN_A ///< @deprecated
#define MCPWM_OPR_B MCPWM_GEN_B ///< @deprecated
#define MCPWM_OPR_MAX MCPWM_GEN_MAX ///< @deprecated
typedef mcpwm_generator_t mcpwm_operator_t; ///< @deprecated
/**
* @brief MCPWM carrier oneshot mode, in this mode the width of the first pulse of carrier can be programmed
@@ -141,15 +133,6 @@ typedef enum {
MCPWM_CARRIER_OUT_IVT_EN, /*!<Disable carrier output inversion*/
} mcpwm_carrier_out_ivt_t;
/**
* @brief MCPWM select sync signal input
*/
typedef enum {
MCPWM_SELECT_SYNC0 = 4, /*!<Select SYNC0 as input*/
MCPWM_SELECT_SYNC1, /*!<Select SYNC1 as input*/
MCPWM_SELECT_SYNC2, /*!<Select SYNC2 as input*/
} mcpwm_sync_signal_t;
/**
* @brief MCPWM select fault signal input
*/
@@ -167,25 +150,20 @@ typedef enum {
MCPWM_HIGH_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes low to high*/
} mcpwm_fault_input_level_t;
/**
* @brief MCPWM select action to be taken on MCPWMXA when fault occurs
*/
typedef enum {
MCPWM_NO_CHANGE_IN_MCPWMXA = 0, /*!<No change in MCPWMXA output*/
MCPWM_FORCE_MCPWMXA_LOW, /*!<Make MCPWMXA output low*/
MCPWM_FORCE_MCPWMXA_HIGH, /*!<Make MCPWMXA output high*/
MCPWM_TOG_MCPWMXA, /*!<Make MCPWMXA output toggle*/
} mcpwm_action_on_pwmxa_t;
/**
* @brief MCPWM select action to be taken on MCPWMxB when fault occurs
*/
typedef enum {
MCPWM_NO_CHANGE_IN_MCPWMXB = 0, /*!<No change in MCPWMXB output*/
MCPWM_FORCE_MCPWMXB_LOW, /*!<Make MCPWMXB output low*/
MCPWM_FORCE_MCPWMXB_HIGH, /*!<Make MCPWMXB output high*/
MCPWM_TOG_MCPWMXB, /*!<Make MCPWMXB output toggle*/
} mcpwm_action_on_pwmxb_t;
/// @deprecated MCPWM select action to be taken on MCPWMXA when fault occurs
typedef mcpwm_output_action_t mcpwm_action_on_pwmxa_t;
#define MCPWM_NO_CHANGE_IN_MCPWMXA MCPWM_ACTION_NO_CHANGE /*!< @deprecated No change in MCPWMXA output*/
#define MCPWM_FORCE_MCPWMXA_LOW MCPWM_ACTION_FORCE_LOW /*!< @deprecated Make MCPWMXA output low*/
#define MCPWM_FORCE_MCPWMXA_HIGH MCPWM_ACTION_FORCE_HIGH /*!< @deprecated Make MCPWMXA output high*/
#define MCPWM_TOG_MCPWMXA MCPWM_ACTION_TOGGLE /*!< @deprecated Make MCPWMXA output toggle*/
/// @deprecated MCPWM select action to be taken on MCPWMXB when fault occurs
typedef mcpwm_output_action_t mcpwm_action_on_pwmxb_t;
#define MCPWM_NO_CHANGE_IN_MCPWMXB MCPWM_ACTION_NO_CHANGE /*!< @deprecated No change in MCPWMXB output*/
#define MCPWM_FORCE_MCPWMXB_LOW MCPWM_ACTION_FORCE_LOW /*!< @deprecated Make MCPWMXB output low*/
#define MCPWM_FORCE_MCPWMXB_HIGH MCPWM_ACTION_FORCE_HIGH /*!< @deprecated Make MCPWMXB output high*/
#define MCPWM_TOG_MCPWMXB MCPWM_ACTION_TOGGLE /*!< @deprecated Make MCPWMXB output toggle*/
/**
* @brief MCPWM select capture signal input
@@ -196,29 +174,6 @@ typedef enum {
MCPWM_SELECT_CAP2, /*!<Select CAP2 as input*/
} mcpwm_capture_signal_t;
/**
* @brief MCPWM select capture starts from which edge
*/
typedef enum {
MCPWM_NEG_EDGE = 0, /*!<Capture starts from negative edge*/
MCPWM_POS_EDGE, /*!<Capture starts from positive edge*/
} mcpwm_capture_on_edge_t;
/**
* @brief MCPWM deadtime types, used to generate deadtime, RED refers to rising edge delay and FED refers to falling edge delay
*/
typedef enum {
MCPWM_BYPASS_RED = 0, /*!<MCPWMXA = no change, MCPWMXB = falling edge delay*/
MCPWM_BYPASS_FED, /*!<MCPWMXA = rising edge delay, MCPWMXB = no change*/
MCPWM_ACTIVE_HIGH_MODE, /*!<MCPWMXA = rising edge delay, MCPWMXB = falling edge delay*/
MCPWM_ACTIVE_LOW_MODE, /*!<MCPWMXA = compliment of rising edge delay, MCPWMXB = compliment of falling edge delay*/
MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, /*!<MCPWMXA = rising edge delay, MCPWMXB = compliment of falling edge delay*/
MCPWM_ACTIVE_LOW_COMPLIMENT_MODE, /*!<MCPWMXA = compliment of rising edge delay, MCPWMXB = falling edge delay*/
MCPWM_ACTIVE_RED_FED_FROM_PWMXA, /*!<MCPWMXA = MCPWMXB = rising edge delay as well as falling edge delay, generated from MCPWMXA*/
MCPWM_ACTIVE_RED_FED_FROM_PWMXB, /*!<MCPWMXA = MCPWMXB = rising edge delay as well as falling edge delay, generated from MCPWMXB*/
MCPWM_DEADTIME_TYPE_MAX,
} mcpwm_deadtime_type_t;
/**
* @brief MCPWM config structure
*/
@@ -241,7 +196,6 @@ typedef struct {
mcpwm_carrier_out_ivt_t carrier_ivt_mode; /*!<Invert output of carrier*/
} mcpwm_carrier_config_t;
/**
* @brief This function initializes each gpio signal for MCPWM
* @note
@@ -276,7 +230,7 @@ esp_err_t mcpwm_set_pin(mcpwm_unit_t mcpwm_num, const mcpwm_pin_config_t *mcpwm_
* @brief Initialize MCPWM parameters
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers.
* @param mcpwm_conf configure structure mcpwm_config_t
*
* @return
@@ -303,28 +257,28 @@ esp_err_t mcpwm_set_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, u
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param op_num set the operator(MCPWMXA/MCPWMXB), 'X' is timer number selected
* @param gen set the generator(MCPWMXA/MCPWMXB), 'X' is operator number selected
* @param duty set duty cycle in %(i.e for 62.3% duty cycle, duty = 62.3) of each operator
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, float duty);
esp_err_t mcpwm_set_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, float duty);
/**
* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB) in us
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
* @param duty set duty value in microseconds of each operator
* @param gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
* @param duty_in_us set duty value in microseconds of each operator
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, uint32_t duty);
esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, uint32_t duty_in_us);
/**
* @brief Set duty either active high or active low(out of phase/inverted)
@@ -333,14 +287,14 @@ esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num,
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
* @param duty_num set active low or active high duty type
* @param gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
* @param duty_type set active low or active high duty type
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, mcpwm_duty_type_t duty_num);
esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, mcpwm_duty_type_t duty_type);
/**
* @brief Get frequency of timer
@@ -358,40 +312,41 @@ uint32_t mcpwm_get_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
* @param gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
*
* @return
* - duty cycle in % of each operator(56.7 means duty is 56.7%)
*/
float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num);
float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t gen);
/**
* @brief Use this function to set MCPWM signal high
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
* @param gen set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num);
esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen);
/**
* @brief Use this function to set MCPWM signal low
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
* @param gen set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num);
esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen);
/**
* @brief Start MCPWM signal on timer 'x'
*
@@ -578,7 +533,7 @@ esp_err_t mcpwm_fault_init(mcpwm_unit_t mcpwm_num, mcpwm_fault_input_level_t int
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_fault_set_oneshot_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig,
mcpwm_action_on_pwmxa_t action_on_pwmxa, mcpwm_action_on_pwmxb_t action_on_pwmxb);
mcpwm_output_action_t action_on_pwmxa, mcpwm_output_action_t action_on_pwmxb);
/**
* @brief Set cycle-by-cycle mode on fault detection, once fault occur in cyc mode MCPWM signal resumes as soon as fault signal becomes inactive
@@ -596,7 +551,7 @@ esp_err_t mcpwm_fault_set_oneshot_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t tim
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_fault_set_cyc_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig,
mcpwm_action_on_pwmxa_t action_on_pwmxa, mcpwm_action_on_pwmxb_t action_on_pwmxb);
mcpwm_output_action_t action_on_pwmxa, mcpwm_output_action_t action_on_pwmxb);
/**
* @brief Disable fault signal
components/driver/mcpwm.c
+362 -471
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File diff suppressed because it is too large Load Diff
components/driver/test/esp32/test_pwm.c
+191 -230
View File
@@ -26,6 +26,7 @@
#include "esp_log.h"
#include "soc/rtc.h"
#define GPIO_PWMA_OUT 4
#define GPIO_PWMB_OUT 13
#define GPIO_CAP_IN 27
@@ -65,9 +66,23 @@ typedef struct {
mcpwm_capture_signal_t sel_cap_signal;
} capture;
static const char TAG[] = "test_pwm";
const static mcpwm_io_signals_t pwma[] = {MCPWM0A, MCPWM1A, MCPWM2A};
const static mcpwm_io_signals_t pwmb[] = {MCPWM0B, MCPWM1B, MCPWM2B};
const static mcpwm_fault_signal_t fault_sig_array[] = {MCPWM_SELECT_F0, MCPWM_SELECT_F1, MCPWM_SELECT_F2};
const static mcpwm_io_signals_t fault_io_sig_array[] = {MCPWM_FAULT_0, MCPWM_FAULT_1, MCPWM_FAULT_2};
const static mcpwm_sync_signal_t sync_sig_array[] = {MCPWM_SELECT_SYNC0, MCPWM_SELECT_SYNC1, MCPWM_SELECT_SYNC2};
const static mcpwm_io_signals_t sync_io_sig_array[] = {MCPWM_SYNC_0, MCPWM_SYNC_1, MCPWM_SYNC_2};
const static mcpwm_capture_signal_t cap_sig_array[] = {MCPWM_SELECT_CAP0, MCPWM_SELECT_CAP1, MCPWM_SELECT_CAP2};
const static mcpwm_io_signals_t cap_io_sig_array[] = {MCPWM_CAP_0, MCPWM_CAP_1, MCPWM_CAP_2};
// universal settings of mcpwm
static void mcpwm_basic_config(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer)
static void mcpwm_basic_config(mcpwm_unit_t unit, mcpwm_timer_t timer)
{
mcpwm_io_signals_t mcpwm_a = pwma[timer];
mcpwm_io_signals_t mcpwm_b = pwmb[timer];
mcpwm_gpio_init(unit, mcpwm_a, GPIO_PWMA_OUT);
mcpwm_gpio_init(unit, mcpwm_b, GPIO_PWMB_OUT);
mcpwm_config_t pwm_config = {
@@ -119,10 +134,10 @@ static int16_t pcnt_count(int pulse_gpio_num, int ctrl_gpio_num, int last_time)
TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0));
TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0));
TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter));
printf("COUNT: %d\n", test_counter);
printf("COUNT (before): %d\n", test_counter);
vTaskDelay(last_time / portTICK_RATE_MS);
TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter));
printf("COUNT: %d\n", test_counter);
printf("COUNT (after): %d\n", test_counter);
return test_counter;
}
@@ -139,9 +154,9 @@ static void judge_count_value(int allow_error ,int expect_freq)
}
// test the duty configuration
static void timer_duty_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer)
static void timer_duty_test(mcpwm_unit_t unit, mcpwm_timer_t timer)
{
mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
mcpwm_basic_config(unit, timer);
vTaskDelay(1000 / portTICK_RATE_MS); // stay this status for a while so that can view its waveform by logic anylyzer
TEST_ESP_OK(mcpwm_set_duty(unit, timer, MCPWM_OPR_A, (INITIAL_DUTY * 1)));
@@ -149,7 +164,7 @@ static void timer_duty_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm
TEST_ASSERT_EQUAL_INT(mcpwm_get_duty(unit, timer, MCPWM_OPR_A), INITIAL_DUTY * 1);
TEST_ASSERT_EQUAL_INT(mcpwm_get_duty(unit, timer, MCPWM_OPR_B), INITIAL_DUTY * 2);
vTaskDelay(1000 / portTICK_RATE_MS); // stay this status for a while so that can view its waveform by logic anylyzer
vTaskDelay(100 / portTICK_RATE_MS); // stay this status for a while so that can view its waveform by logic anylyzer
mcpwm_set_duty(unit, timer, MCPWM_OPR_A, 55.5f);
mcpwm_set_duty_type(unit, timer, MCPWM_OPR_A, MCPWM_DUTY_MODE_0);
@@ -157,13 +172,15 @@ static void timer_duty_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm
mcpwm_set_duty_in_us(unit, timer, MCPWM_OPR_B, 500);
printf("mcpwm check = %f\n", mcpwm_get_duty(unit, timer, MCPWM_OPR_B));
vTaskDelay(1000 / portTICK_RATE_MS); // stay this status for a while so that can view its waveform by logic anylyzer
vTaskDelay(100 / portTICK_RATE_MS); // stay this status for a while so that can view its waveform by logic anylyzer
mcpwm_stop(unit, timer);
}
// test the start and stop function work or not
static void start_stop_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer)
static void start_stop_test(mcpwm_unit_t unit, mcpwm_timer_t timer)
{
mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
mcpwm_basic_config(unit, timer);
judge_count_value(2, 1000);
TEST_ESP_OK(mcpwm_stop(unit, timer));
vTaskDelay(10 / portTICK_RATE_MS); // wait for a while, stop totally
@@ -174,17 +191,21 @@ static void start_stop_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm
}
// test the deadtime
static void deadtime_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer)
static void deadtime_test(mcpwm_unit_t unit, mcpwm_timer_t timer)
{
mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
mcpwm_basic_config(unit, timer);
mcpwm_deadtime_type_t deadtime_type[8] = {MCPWM_BYPASS_RED, MCPWM_BYPASS_FED, MCPWM_ACTIVE_HIGH_MODE,
MCPWM_ACTIVE_LOW_MODE, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, MCPWM_ACTIVE_LOW_COMPLIMENT_MODE,
MCPWM_ACTIVE_RED_FED_FROM_PWMXA, MCPWM_ACTIVE_RED_FED_FROM_PWMXB};
for(int i=0; i<8; i++) {
mcpwm_deadtime_enable(unit, timer, deadtime_type[i], 1000, 1000);
vTaskDelay(1000 / portTICK_RATE_MS);
vTaskDelay(100 / portTICK_RATE_MS);
mcpwm_deadtime_disable(unit, timer);
//add a small gap between tests to make the waveform more clear
mcpwm_stop(unit, timer);
vTaskDelay(10);
mcpwm_start(unit, timer);
}
}
@@ -193,11 +214,11 @@ static void deadtime_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_i
* 1. by mcpwm_carrier_init
* 2. by different single setting function
*/
static void carrier_with_set_function_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
mcpwm_carrier_out_ivt_t invert_or_not, uint8_t period, uint8_t duty, uint8_t os_width)
static void carrier_with_set_function_test(mcpwm_unit_t unit, mcpwm_timer_t timer, mcpwm_carrier_out_ivt_t invert_or_not,
uint8_t period, uint8_t duty, uint8_t os_width)
{
// no inversion and no one shot
mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
mcpwm_basic_config(unit, timer);
TEST_ESP_OK(mcpwm_carrier_enable(unit, timer));
TEST_ESP_OK(mcpwm_carrier_set_period(unit, timer, period)); //carrier revolution
TEST_ESP_OK(mcpwm_carrier_set_duty_cycle(unit, timer, duty)); // carrier duty
@@ -208,10 +229,11 @@ static void carrier_with_set_function_test(mcpwm_unit_t unit, mcpwm_io_signals_t
vTaskDelay(2000 / portTICK_RATE_MS);
}
static void carrier_with_configuration_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
mcpwm_carrier_os_t oneshot_or_not, mcpwm_carrier_out_ivt_t invert_or_not, uint8_t period, uint8_t duty, uint8_t os_width)
static void carrier_with_configuration_test(mcpwm_unit_t unit, mcpwm_timer_t timer, mcpwm_carrier_os_t oneshot_or_not,
mcpwm_carrier_out_ivt_t invert_or_not, uint8_t period, uint8_t duty,
uint8_t os_width)
{
mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
mcpwm_basic_config(unit, timer);
mcpwm_carrier_config_t chop_config;
chop_config.carrier_period = period; //carrier period = (period + 1)*800ns
@@ -263,9 +285,9 @@ static void get_action_level(mcpwm_fault_input_level_t input_sig, mcpwm_action_o
}
// test the fault event
static void cycle_fault_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
mcpwm_fault_signal_t fault_sig, mcpwm_fault_input_level_t input_sig, mcpwm_io_signals_t fault_io,
mcpwm_action_on_pwmxa_t action_a, mcpwm_action_on_pwmxb_t action_b)
static void cycle_fault_test(mcpwm_unit_t unit, mcpwm_timer_t timer, mcpwm_fault_signal_t fault_sig,
mcpwm_fault_input_level_t input_sig, mcpwm_io_signals_t fault_io,
mcpwm_action_on_pwmxa_t action_a, mcpwm_action_on_pwmxb_t action_b)
{
gpio_config_t gp;
gp.intr_type = GPIO_INTR_DISABLE;
@@ -277,7 +299,7 @@ static void cycle_fault_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpw
pcnt_init(GPIO_PWMA_PCNT_INPUT, PCNT_CTRL_FLOATING_IO1);
pcnt_init(GPIO_PWMB_PCNT_INPUT, PCNT_CTRL_FLOATING_IO2);
mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
mcpwm_basic_config(unit, timer);
mcpwm_gpio_init(unit, fault_io, GPIO_FAULT_IN);
// cycle mode, it can be triggered more than once
@@ -292,9 +314,9 @@ static void cycle_fault_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpw
TEST_ESP_OK(mcpwm_fault_deinit(unit, fault_sig));
}
static void oneshot_fault_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
mcpwm_fault_signal_t fault_sig, mcpwm_fault_input_level_t input_sig, mcpwm_io_signals_t fault_io,
mcpwm_action_on_pwmxa_t action_a, mcpwm_action_on_pwmxb_t action_b)
static void oneshot_fault_test(mcpwm_unit_t unit, mcpwm_timer_t timer, mcpwm_fault_signal_t fault_sig,
mcpwm_fault_input_level_t input_sig, mcpwm_io_signals_t fault_io,
mcpwm_action_on_pwmxa_t action_a, mcpwm_action_on_pwmxb_t action_b)
{
gpio_config_t gp;
gp.intr_type = GPIO_INTR_DISABLE;
@@ -306,23 +328,22 @@ static void oneshot_fault_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mc
pcnt_init(GPIO_PWMA_PCNT_INPUT, PCNT_CTRL_FLOATING_IO1);
pcnt_init(GPIO_PWMB_PCNT_INPUT, PCNT_CTRL_FLOATING_IO2);
mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
mcpwm_basic_config(unit, timer);
mcpwm_gpio_init(unit, fault_io, GPIO_FAULT_IN);
// one shot mode, it just can be triggered once
TEST_ESP_OK(mcpwm_fault_init(unit, input_sig, fault_sig));
TEST_ESP_OK(mcpwm_fault_set_oneshot_mode(unit, timer, fault_sig, action_a, action_b));
vTaskDelay(1000 / portTICK_RATE_MS);
vTaskDelay(10 / portTICK_RATE_MS);
// trigger it
gpio_set_level(FAULT_SIG_NUM, input_sig);
vTaskDelay(1000 / portTICK_RATE_MS);
vTaskDelay(10 / portTICK_RATE_MS);
get_action_level(input_sig, action_a, action_b, 1000, 5);
TEST_ESP_OK(mcpwm_fault_deinit(unit, fault_sig));
}
// test the sync event
static void sync_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
mcpwm_sync_signal_t sync_sig, mcpwm_io_signals_t sync_io)
static void sync_test(mcpwm_unit_t unit, mcpwm_timer_t timer, mcpwm_sync_signal_t sync_sig, mcpwm_io_signals_t sync_io)
{
gpio_config_t gp;
gp.intr_type = GPIO_INTR_DISABLE;
@@ -331,6 +352,8 @@ static void sync_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_si
gpio_config(&gp);
gpio_set_level(SYN_SIG_NUM, 0);
mcpwm_io_signals_t mcpwm_a = pwma[timer];
mcpwm_io_signals_t mcpwm_b = pwmb[timer];
mcpwm_gpio_init(unit, mcpwm_a, GPIO_PWMA_OUT);
mcpwm_gpio_init(unit, mcpwm_b, GPIO_PWMB_OUT);
mcpwm_gpio_init(unit, sync_io, GPIO_SYNC_IN);
@@ -345,10 +368,13 @@ static void sync_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_si
gpio_pulldown_en(GPIO_SYNC_IN);
mcpwm_sync_enable(unit, timer, sync_sig, 200);
//wait for some pulses before sync
vTaskDelay(10);
gpio_set_level(SYN_SIG_NUM, 1);
vTaskDelay(2000 / portTICK_RATE_MS);
vTaskDelay(100 / portTICK_RATE_MS);
gpio_set_level(SYN_SIG_NUM, 0);
mcpwm_sync_disable(unit, timer);
vTaskDelay(2000 / portTICK_RATE_MS);
vTaskDelay(100 / portTICK_RATE_MS);
}
/**
@@ -398,7 +424,7 @@ static void disp_captured_signal(void *arg)
// mcpwm event
static void IRAM_ATTR isr_handler(void *arg)
{
mcpwm_unit_t unit = (mcpwm_unit_t)arg;
mcpwm_unit_t unit = (mcpwm_unit_t)arg;
uint32_t mcpwm_intr_status;
capture evt;
mcpwm_intr_status = MCPWM[unit]->int_st.val; //Read interrupt status
@@ -441,15 +467,19 @@ static void gpio_test_signal(void *arg)
vTaskDelete(NULL);
}
// capture event test function
static void capture_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_io_signals_t cap_io, mcpwm_timer_t timer,
mcpwm_capture_signal_t cap_sig, mcpwm_capture_on_edge_t cap_edge)
static void capture_test(mcpwm_unit_t unit, mcpwm_timer_t timer, mcpwm_capture_on_edge_t cap_edge)
{
// initialize the capture times
// initialize the capture times
cap0_times = 0;
cap1_times = 0;
cap2_times = 0;
//each timer test the capture sig with the same id with it.
mcpwm_io_signals_t cap_io = cap_io_sig_array[timer];
mcpwm_capture_signal_t cap_sig = cap_sig_array[timer];
mcpwm_gpio_init(unit, cap_io, GPIO_CAP_IN);
cap_queue = xQueueCreate(1, sizeof(capture));
@@ -463,11 +493,11 @@ static void capture_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io
vTaskDelay(10 / portTICK_RATE_MS);
}
if(cap_sig == MCPWM_SELECT_CAP0) {
TEST_ASSERT(1000 == cap0_times);
TEST_ASSERT(1000 == cap0_times);
} else if(cap_sig == MCPWM_SELECT_CAP1) {
TEST_ASSERT(1000 == cap1_times);
TEST_ASSERT(1000 == cap1_times);
}else {
TEST_ASSERT(1000 == cap2_times);
TEST_ASSERT(1000 == cap2_times);
}
flag = 0; // set flag to 0 that it can be used in other case
mcpwm_capture_disable(unit, cap_sig);
@@ -483,137 +513,126 @@ static void capture_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io
*/
TEST_CASE("MCPWM timer0 duty test and each timer works or not test(logic analyzer)", "[mcpwm][ignore]")
{
timer_duty_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
timer_duty_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
timer_duty_test(MCPWM_UNIT_0, MCPWM_TIMER_0);
timer_duty_test(MCPWM_UNIT_1, MCPWM_TIMER_0);
}
TEST_CASE("MCPWM timer1 duty test and each timer works or not test(logic analyzer)", "[mcpwm][ignore]")
{
timer_duty_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
timer_duty_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
timer_duty_test(MCPWM_UNIT_0, MCPWM_TIMER_1);
timer_duty_test(MCPWM_UNIT_1, MCPWM_TIMER_1);
}
TEST_CASE("MCPWM timer2 duty test and each timer works or not test(logic analyzer)", "[mcpwm][ignore]")
{
timer_duty_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
timer_duty_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
timer_duty_test(MCPWM_UNIT_0, MCPWM_TIMER_2);
timer_duty_test(MCPWM_UNIT_1, MCPWM_TIMER_2);
}
// the deadtime configuration test
// use the logic analyzer to make sure it goes right
TEST_CASE("MCPWM timer0 deadtime configuration(logic analyzer)", "[mcpwm][ignore]")
{
deadtime_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
deadtime_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
deadtime_test(MCPWM_UNIT_0, MCPWM_TIMER_0);
deadtime_test(MCPWM_UNIT_1, MCPWM_TIMER_0);
}
TEST_CASE("MCPWM timer1 deadtime configuration(logic analyzer)", "[mcpwm][ignore]")
{
deadtime_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
deadtime_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
deadtime_test(MCPWM_UNIT_0, MCPWM_TIMER_1);
deadtime_test(MCPWM_UNIT_1, MCPWM_TIMER_1);
}
TEST_CASE("MCPWM timer2 deadtime configuration(logic analyzer)", "[mcpwm][ignore]")
{
deadtime_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
deadtime_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
deadtime_test(MCPWM_UNIT_0, MCPWM_TIMER_2);
deadtime_test(MCPWM_UNIT_1, MCPWM_TIMER_2);
}
TEST_CASE("MCPWM timer0 start and stop test", "[mcpwm][test_env=UT_T1_MCPWM]")
{
start_stop_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
start_stop_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
start_stop_test(MCPWM_UNIT_0, MCPWM_TIMER_0);
start_stop_test(MCPWM_UNIT_1, MCPWM_TIMER_0);
}
// mcpwm start and stop test
TEST_CASE("MCPWM timer1 start and stop test", "[mcpwm][test_env=UT_T1_MCPWM]")
{
start_stop_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
start_stop_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
start_stop_test(MCPWM_UNIT_0, MCPWM_TIMER_1);
start_stop_test(MCPWM_UNIT_1, MCPWM_TIMER_1);
}
TEST_CASE("MCPWM timer2 start and stop test", "[mcpwm][test_env=UT_T1_MCPWM]")
{
start_stop_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
start_stop_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
start_stop_test(MCPWM_UNIT_0, MCPWM_TIMER_2);
start_stop_test(MCPWM_UNIT_1, MCPWM_TIMER_2);
}
TEST_CASE("MCPWM timer0 carrier test with set function", "[mcpwm][test_env=UT_T1_MCPWM]")
{
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM_TIMER_0,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM_TIMER_0,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM_TIMER_0,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM_TIMER_0,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
}
TEST_CASE("MCPWM timer1 carrier test with set function", "[mcpwm][test_env=UT_T1_MCPWM]")
{
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM_TIMER_1,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM_TIMER_1,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM_TIMER_1,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM_TIMER_1,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
}
TEST_CASE("MCPWM timer2 carrier test with set function", "[mcpwm][test_env=UT_T1_MCPWM]")
{
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM_TIMER_2,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM_TIMER_2,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM_TIMER_2,
MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM_TIMER_2,
MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
}
static void test_carrier_with_config_func(mcpwm_unit_t unit, mcpwm_timer_t timer)
{
mcpwm_carrier_os_t oneshot[2] = {MCPWM_ONESHOT_MODE_DIS, MCPWM_ONESHOT_MODE_EN};
mcpwm_carrier_out_ivt_t invert[2] = {MCPWM_CARRIER_OUT_IVT_DIS, MCPWM_CARRIER_OUT_IVT_EN};
ESP_LOGI(TAG, "test unit%d timer%d", unit, timer);
for(int i=0; i<2; i++){
for(int j=0; j<2; j++) {
printf("i=%d, j=%d\n", i, j);
carrier_with_configuration_test(unit, timer, oneshot[i], invert[j], 6, 3, 3);
}
}
}
TEST_CASE("MCPWM timer0 carrier test with configuration function", "[mcpwm][test_env=UT_T1_MCPWM][timeout=120]")
{
mcpwm_carrier_os_t oneshot[2] = {MCPWM_ONESHOT_MODE_DIS, MCPWM_ONESHOT_MODE_EN};
mcpwm_carrier_out_ivt_t invert[2] = {MCPWM_CARRIER_OUT_IVT_DIS, MCPWM_CARRIER_OUT_IVT_EN};
for(int i=0; i<2; i++){
for(int j=0; j<2; j++) {
printf("i=%d, j=%d\n", i, j);
carrier_with_configuration_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
oneshot[i], invert[j], 6, 3, 3);
carrier_with_configuration_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
oneshot[i], invert[j], 6, 3, 3);
}
}
test_carrier_with_config_func(MCPWM_UNIT_0, MCPWM_TIMER_0);
test_carrier_with_config_func(MCPWM_UNIT_1, MCPWM_TIMER_0);
}
TEST_CASE("MCPWM timer1 carrier test with configuration function", "[mcpwm][test_env=UT_T1_MCPWM][timeout=120]")
{
mcpwm_carrier_os_t oneshot[2] = {MCPWM_ONESHOT_MODE_DIS, MCPWM_ONESHOT_MODE_EN};
mcpwm_carrier_out_ivt_t invert[2] = {MCPWM_CARRIER_OUT_IVT_DIS, MCPWM_CARRIER_OUT_IVT_EN};
for(int i=0; i<2; i++){
for(int j=0; j<2; j++) {
carrier_with_configuration_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
oneshot[i], invert[j], 6, 3, 3);
carrier_with_configuration_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
oneshot[i], invert[j], 6, 3, 3);
}
}
TEST_CASE("MCPWM timer1 carrier test with configuration function", "[mcpwm][test_env=UT_T1_MCPWM][timeout=120]") {
test_carrier_with_config_func(MCPWM_UNIT_0, MCPWM_TIMER_1);
test_carrier_with_config_func(MCPWM_UNIT_1, MCPWM_TIMER_1);
}
TEST_CASE("MCPWM timer2 carrier test with configuration function", "[mcpwm][test_env=UT_T1_MCPWM][timeout=120]")
{
mcpwm_carrier_os_t oneshot[2] = {MCPWM_ONESHOT_MODE_DIS, MCPWM_ONESHOT_MODE_EN};
mcpwm_carrier_out_ivt_t invert[2] = {MCPWM_CARRIER_OUT_IVT_DIS, MCPWM_CARRIER_OUT_IVT_EN};
for(int i=0; i<2; i++){
for(int j=0; j<2; j++) {
carrier_with_configuration_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
oneshot[i], invert[j], 6, 3, 3);
carrier_with_configuration_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
oneshot[i], invert[j], 6, 3, 3);
}
}
test_carrier_with_config_func(MCPWM_UNIT_0, MCPWM_TIMER_2);
test_carrier_with_config_func(MCPWM_UNIT_1, MCPWM_TIMER_2);
}
/**
@@ -624,201 +643,143 @@ TEST_CASE("MCPWM timer2 carrier test with configuration function", "[mcpwm][test
* 2. cycle: it can be triggered more than once, it will changed just as the fault signal changes. If set it triggered by high level,
* when the fault signal is high level, the event will be triggered. But the event will disappear as the fault signal disappears
*/
TEST_CASE("MCPWM timer0 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180]")
void test_cycle_fault(mcpwm_unit_t unit, mcpwm_timer_t timer)
{
// API just supports the high level trigger now, so comment it
// mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
// mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
ESP_LOGI(TAG, "test unit%d timer%d", unit, timer);
//each timer test the fault sig with the same id with it.
mcpwm_fault_signal_t fault_sig = fault_sig_array[timer];
mcpwm_io_signals_t fault_io_sig = fault_io_sig_array[timer];
for(int i=0; i<4; i++){
for(int j=0; j<4; j++) {
printf("i=%d, j=%d\n",i, j);
cycle_fault_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
action_a[i], action_b[j]);
cycle_fault_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
action_a[i], action_b[j]);
cycle_fault_test(unit, timer, fault_sig, MCPWM_HIGH_LEVEL_TGR, fault_io_sig, action_a[i], action_b[j]);
}
}
}
TEST_CASE("MCPWM timer0 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180]")
{
test_cycle_fault(MCPWM_UNIT_0, MCPWM_TIMER_0);
test_cycle_fault(MCPWM_UNIT_1, MCPWM_TIMER_0);
}
TEST_CASE("MCPWM timer1 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180]")
{
// API just supports the high level trigger now, so comment it
// mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
for(int i=0; i<4; i++){
for(int j=0; j<4; j++) {
cycle_fault_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
MCPWM_SELECT_F1, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_1,
action_a[i], action_b[j]);
cycle_fault_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
MCPWM_SELECT_F1, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_1,
action_a[i], action_b[j]);
}
}
test_cycle_fault(MCPWM_UNIT_0, MCPWM_TIMER_1);
test_cycle_fault(MCPWM_UNIT_1, MCPWM_TIMER_1);
}
TEST_CASE("MCPWM timer2 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180][ignore]")
TEST_CASE("MCPWM timer2 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180]")
{
test_cycle_fault(MCPWM_UNIT_0, MCPWM_TIMER_2);
test_cycle_fault(MCPWM_UNIT_1, MCPWM_TIMER_2);
}
static void test_oneshot_fault(mcpwm_unit_t unit, mcpwm_timer_t timer)
{
// API just supports the high level trigger now, so comment it
// mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
//each timer test the fault sig with the same id with it.
mcpwm_fault_signal_t fault_sig = fault_sig_array[timer];
mcpwm_io_signals_t fault_io_sig = fault_io_sig_array[timer];
ESP_LOGI(TAG, "test pwm unit%d, timer%d fault_sig%d", unit, timer, fault_sig);
for(int i=0; i<4; i++){
for(int j=0; j<4; j++) {
cycle_fault_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
MCPWM_SELECT_F2, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_2,
action_a[i], action_b[j]);
cycle_fault_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
MCPWM_SELECT_F2, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_2,
action_a[i], action_b[j]);
printf("action (%d, %d)\n", i, j);
oneshot_fault_test(unit, timer, fault_sig, MCPWM_HIGH_LEVEL_TGR, fault_io_sig, action_a[i], action_b[j]);
}
}
}
// to debug the "mcpwm_fault_deinit" case. The "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_HIGH" scenario can work right
// however, the mcpwm_fault_deinit can not release the status after "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_LOW" scenario
TEST_CASE("MCPWM timer0 one shot fault test single", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
TEST_CASE("MCPWM timer0 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
// API just supports the high level trigger now, so comment it
// mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
oneshot_fault_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
action_a[0], action_b[2]);
test_oneshot_fault(MCPWM_UNIT_0, MCPWM_TIMER_0);
test_oneshot_fault(MCPWM_UNIT_1, MCPWM_TIMER_0);
}
// the mcpwm_fault_deinit can not release the status after "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_LOW" scenario
// set it ignore
// same as the case "MCPWM timer1 one shot fault test" and case "MCPWM timer2 one shot fault test"
TEST_CASE("MCPWM timer0 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
TEST_CASE("MCPWM timer1 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
// API just supports the high level trigger now, so comment it
// mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
for(int i=0; i<4; i++){
for(int j=0; j<4; j++) {
printf("i=%d, j=%d\n",i, j);
oneshot_fault_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
action_a[i], action_b[j]);
oneshot_fault_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
action_a[i], action_b[j]);
}
}
test_oneshot_fault(MCPWM_UNIT_0, MCPWM_TIMER_1);
test_oneshot_fault(MCPWM_UNIT_1, MCPWM_TIMER_1);
}
TEST_CASE("MCPWM timer1 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
TEST_CASE("MCPWM timer2 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
// API just supports the high level trigger now, so comment it
// mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
for(int i=0; i<4; i++){
for(int j=0; j<4; j++) {
oneshot_fault_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
MCPWM_SELECT_F1, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_1,
action_a[i], action_b[j]);
oneshot_fault_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
MCPWM_SELECT_F1, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_1,
action_a[i], action_b[j]);
}
}
test_oneshot_fault(MCPWM_UNIT_0, MCPWM_TIMER_2);
test_oneshot_fault(MCPWM_UNIT_1, MCPWM_TIMER_2);
}
TEST_CASE("MCPWM timer2 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
static void test_sync(mcpwm_timer_t timer)
{
// API just supports the high level trigger now, so comment it
// mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
//each timer test the sync sig with the same id with it.
mcpwm_sync_signal_t sync_sig = sync_sig_array[timer];
mcpwm_io_signals_t sync_io_sig = sync_io_sig_array[timer];
for(int i=0; i<4; i++){
for(int j=0; j<4; j++) {
oneshot_fault_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
MCPWM_SELECT_F2, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_2,
action_a[i], action_b[j]);
oneshot_fault_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
MCPWM_SELECT_F2, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_2,
action_a[i], action_b[j]);
}
}
sync_test(MCPWM_UNIT_0, timer, sync_sig, sync_io_sig);
TEST_ESP_OK(mcpwm_stop(MCPWM_UNIT_0, timer)); // make sure can view the next sync signal clearly
vTaskDelay(100 / portTICK_RATE_MS);
TEST_ESP_OK(mcpwm_start(MCPWM_UNIT_0, timer));
sync_test(MCPWM_UNIT_1, timer, sync_sig, sync_io_sig);
}
// need to view its phenomenon in logic analyzer
// set it ignore
TEST_CASE("MCPWM timer0 sync test(logic analyzer)", "[mcpwm][ignore]")
{
sync_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, MCPWM_SELECT_SYNC0, MCPWM_SYNC_0);
TEST_ESP_OK(mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_0)); // make sure can view the next sync signal clearly
vTaskDelay(1000 / portTICK_RATE_MS);
TEST_ESP_OK(mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_0));
sync_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, MCPWM_SELECT_SYNC0, MCPWM_SYNC_0);
test_sync(MCPWM_TIMER_0);
}
// need to view its phenomenon in logic analyzer
// set it ignore
TEST_CASE("MCPWM timer1 sync test(logic analyzer)", "[mcpwm][ignore]")
{
sync_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1, MCPWM_SELECT_SYNC1, MCPWM_SYNC_1);
TEST_ESP_OK(mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_1)); // make sure can view the next sync signal clearly
vTaskDelay(1000 / portTICK_RATE_MS);
TEST_ESP_OK(mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_1));
sync_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1, MCPWM_SELECT_SYNC1, MCPWM_SYNC_1);
test_sync(MCPWM_TIMER_1);
}
// need to view its phenomenon in logic analyzer
// set it ignore
TEST_CASE("MCPWM timer2 sync test(logic analyzer)", "[mcpwm][ignore]")
{
sync_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2, MCPWM_SELECT_SYNC2, MCPWM_SYNC_2);
TEST_ESP_OK(mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_2)); // make sure can view the next sync signal clearly
vTaskDelay(1000 / portTICK_RATE_MS);
TEST_ESP_OK(mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_2));
sync_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2, MCPWM_SELECT_SYNC2, MCPWM_SYNC_2);
test_sync(MCPWM_TIMER_2);
}
TEST_CASE("MCPWM unit0, timer0 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
capture_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_CAP_0, MCPWM_TIMER_0, MCPWM_SELECT_CAP0, MCPWM_POS_EDGE);
capture_test(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_POS_EDGE);
}
TEST_CASE("MCPWM uni0, timer1 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
TEST_CASE("MCPWM unit0, timer1 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
capture_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_CAP_1, MCPWM_TIMER_1, MCPWM_SELECT_CAP1, MCPWM_POS_EDGE);
capture_test(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_POS_EDGE);
}
TEST_CASE("MCPWM unit0, timer2 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
capture_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_CAP_2, MCPWM_TIMER_2, MCPWM_SELECT_CAP2, MCPWM_POS_EDGE);
capture_test(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_POS_EDGE);
}
TEST_CASE("MCPWM unit1, timer0 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
capture_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_CAP_0, MCPWM_TIMER_0, MCPWM_SELECT_CAP0, MCPWM_NEG_EDGE);
capture_test(MCPWM_UNIT_1, MCPWM_TIMER_0, MCPWM_NEG_EDGE);
}
TEST_CASE("MCPWM unit1, timer1 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
capture_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_CAP_1, MCPWM_TIMER_1, MCPWM_SELECT_CAP1, MCPWM_POS_EDGE);
capture_test(MCPWM_UNIT_1, MCPWM_TIMER_1, MCPWM_POS_EDGE);
}
TEST_CASE("MCPWM unit1, timer2 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
{
capture_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_CAP_2, MCPWM_TIMER_2, MCPWM_SELECT_CAP2, MCPWM_POS_EDGE);
capture_test(MCPWM_UNIT_1, MCPWM_TIMER_2, MCPWM_POS_EDGE);
}