From fd3a1ffc21027f8c37745fa92780befb0b0abcd5 Mon Sep 17 00:00:00 2001
From: morris <maoshengrong@espressif.com>
Date: Sat, 28 May 2022 17:02:07 +0800
Subject: [PATCH] mcpwm: deprecate legacy driver

---
 components/driver/Kconfig                     |  14 +
 .../{include => deprecated}/driver/mcpwm.h    | 292 +----------------
 .../deprecated/driver/mcpwm_types_legacy.h    | 307 ++++++++++++++++++
 .../{mcpwm.c => deprecated/mcpwm_legacy.c}    |  37 ++-
 .../legacy_mcpwm_driver/CMakeLists.txt        |   5 +
 .../test_apps/legacy_mcpwm_driver/README.md   |   2 +
 .../legacy_mcpwm_driver/main/CMakeLists.txt   |   7 +
 .../legacy_mcpwm_driver/main/test_app_main.c  |  40 +++
 .../main/test_legacy_mcpwm.c}                 |   3 -
 .../pytest_legacy_mcpwm.py                    |  21 ++
 .../legacy_mcpwm_driver/sdkconfig.ci.release  |   5 +
 .../legacy_mcpwm_driver/sdkconfig.defaults    |   3 +
 12 files changed, 436 insertions(+), 300 deletions(-)
 rename components/driver/{include => deprecated}/driver/mcpwm.h (59%)
 create mode 100644 components/driver/deprecated/driver/mcpwm_types_legacy.h
 rename components/driver/{mcpwm.c => deprecated/mcpwm_legacy.c} (97%)
 create mode 100644 components/driver/test_apps/legacy_mcpwm_driver/CMakeLists.txt
 create mode 100644 components/driver/test_apps/legacy_mcpwm_driver/README.md
 create mode 100644 components/driver/test_apps/legacy_mcpwm_driver/main/CMakeLists.txt
 create mode 100644 components/driver/test_apps/legacy_mcpwm_driver/main/test_app_main.c
 rename components/driver/{test/test_pwm.c => test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c} (99%)
 create mode 100644 components/driver/test_apps/legacy_mcpwm_driver/pytest_legacy_mcpwm.py
 create mode 100644 components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.ci.release
 create mode 100644 components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.defaults

diff --git a/components/driver/Kconfig b/components/driver/Kconfig
index bb46a084f6..8def437f13 100644
--- a/components/driver/Kconfig
+++ b/components/driver/Kconfig
@@ -352,6 +352,20 @@ menu "Driver Configurations"
                 cache misses, and also be able to run whilst the cache is disabled.
                 (e.g. SPI Flash write)
 
+        config MCPWM_SUPPRESS_DEPRECATE_WARN
+            bool "Suppress leagcy driver deprecated warning"
+            default n
+            help
+                Wether 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_ENABLE_DEBUG_LOG
+            bool "Enable debug log"
+            default n
+            help
+                Wether to enable the debug log message for MCPWM driver.
+                Note that, this option only controls the MCPWM driver log, won't affect other drivers.
     endmenu # MCPWM Configuration
 
     menu "I2S Configuration"
diff --git a/components/driver/include/driver/mcpwm.h b/components/driver/deprecated/driver/mcpwm.h
similarity index 59%
rename from components/driver/include/driver/mcpwm.h
rename to components/driver/deprecated/driver/mcpwm.h
index 08f4adc8b1..e8ff38778f 100644
--- a/components/driver/include/driver/mcpwm.h
+++ b/components/driver/deprecated/driver/mcpwm.h
@@ -9,298 +9,16 @@
 #include <stdbool.h>
 #include <stdint.h>
 #include "esp_err.h"
-#include "esp_bit_defs.h"
-#include "esp_intr_alloc.h"
-#include "soc/soc_caps.h"
-#include "hal/mcpwm_types.h"
+#include "driver/mcpwm_types_legacy.h"
+
+#if !CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN
+#warning "legacy MCPWM driver is deprecated, please migrate to the new driver (include driver/mcpwm_prelude.h)"
+#endif
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/**
- * @brief IO signals for the MCPWM
- *
- *        - 6 MCPWM output pins that generate PWM signals
- *        - 3 MCPWM fault input pins to detect faults like overcurrent, overvoltage, etc.
- *        - 3 MCPWM sync input pins to synchronize MCPWM outputs signals
- *        - 3 MCPWM capture input pins to gather feedback from controlled motors, using e.g. hall sensors
- */
-typedef enum {
-    MCPWM0A = 0,        /*!<PWM0A output pin*/
-    MCPWM0B,            /*!<PWM0B output pin*/
-    MCPWM1A,            /*!<PWM1A output pin*/
-    MCPWM1B,            /*!<PWM1B output pin*/
-    MCPWM2A,            /*!<PWM2A output pin*/
-    MCPWM2B,            /*!<PWM2B output pin*/
-    MCPWM_SYNC_0,       /*!<SYNC0  input pin*/
-    MCPWM_SYNC_1,       /*!<SYNC1  input pin*/
-    MCPWM_SYNC_2,       /*!<SYNC2  input pin*/
-    MCPWM_FAULT_0,      /*!<FAULT0 input pin*/
-    MCPWM_FAULT_1,      /*!<FAULT1 input pin*/
-    MCPWM_FAULT_2,      /*!<FAULT2 input pin*/
-    MCPWM_CAP_0 = 84,   /*!<CAP0   input pin*/
-    MCPWM_CAP_1,        /*!<CAP1   input pin*/
-    MCPWM_CAP_2,        /*!<CAP2   input pin*/
-} mcpwm_io_signals_t;
-
-/**
- * @brief pin number for MCPWM
- */
-typedef struct {
-    int mcpwm0a_out_num;       /*!<MCPWM0A out pin*/
-    int mcpwm0b_out_num;       /*!<MCPWM0A out pin*/
-    int mcpwm1a_out_num;       /*!<MCPWM0A out pin*/
-    int mcpwm1b_out_num;       /*!<MCPWM0A out pin*/
-    int mcpwm2a_out_num;       /*!<MCPWM0A out pin*/
-    int mcpwm2b_out_num;       /*!<MCPWM0A out pin*/
-    int mcpwm_sync0_in_num;    /*!<SYNC0  in pin*/
-    int mcpwm_sync1_in_num;    /*!<SYNC1  in pin*/
-    int mcpwm_sync2_in_num;    /*!<SYNC2  in pin*/
-    int mcpwm_fault0_in_num;   /*!<FAULT0 in pin*/
-    int mcpwm_fault1_in_num;   /*!<FAULT1 in pin*/
-    int mcpwm_fault2_in_num;   /*!<FAULT2 in pin*/
-    int mcpwm_cap0_in_num;     /*!<CAP0   in pin*/
-    int mcpwm_cap1_in_num;     /*!<CAP1   in pin*/
-    int mcpwm_cap2_in_num;     /*!<CAP2   in pin*/
-} mcpwm_pin_config_t;
-
-/**
- * @brief Select MCPWM unit
- */
-typedef enum {
-    MCPWM_UNIT_0,   /*!<MCPWM unit0 selected*/
-    MCPWM_UNIT_1,   /*!<MCPWM unit1 selected*/
-    MCPWM_UNIT_MAX, /*!<Max number of MCPWM units*/
-} mcpwm_unit_t;
-
-/**
- * @brief Select MCPWM timer
- */
-typedef enum {
-    MCPWM_TIMER_0,   /*!<Select MCPWM timer0*/
-    MCPWM_TIMER_1,   /*!<Select MCPWM timer1*/
-    MCPWM_TIMER_2,   /*!<Select MCPWM timer2*/
-    MCPWM_TIMER_MAX, /*!<Max number of timers in a unit*/
-} mcpwm_timer_t;
-
-/**
- * @brief Select MCPWM operator
- */
-typedef enum {
-    MCPWM_GEN_A,   /*!<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;
-
-//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 output inversion, high frequency carrier signal active with MCPWM signal is high
- */
-typedef enum {
-    MCPWM_CARRIER_OUT_IVT_DIS, /*!<Enable  carrier output inversion*/
-    MCPWM_CARRIER_OUT_IVT_EN,  /*!<Disable carrier output inversion*/
-} mcpwm_carrier_out_ivt_t;
-
-/**
- * @brief MCPWM select fault signal input
- */
-typedef enum {
-    MCPWM_SELECT_F0, /*!<Select F0 as input*/
-    MCPWM_SELECT_F1, /*!<Select F1 as input*/
-    MCPWM_SELECT_F2, /*!<Select F2 as input*/
-} mcpwm_fault_signal_t;
-
-/**
- * @brief MCPWM select sync signal input
- */
-typedef enum {
-    MCPWM_SELECT_NO_INPUT,        /*!<No sync input selected*/
-    MCPWM_SELECT_TIMER0_SYNC,     /*!<Select software sync signal from timer0 as input*/
-    MCPWM_SELECT_TIMER1_SYNC,     /*!<Select software sync signal from timer1 as input*/
-    MCPWM_SELECT_TIMER2_SYNC,     /*!<Select software sync signal from timer2 as input*/
-    MCPWM_SELECT_GPIO_SYNC0,      /*!<Select GPIO SYNC0 as input*/
-    MCPWM_SELECT_GPIO_SYNC1,      /*!<Select GPIO SYNC1 as input*/
-    MCPWM_SELECT_GPIO_SYNC2,      /*!<Select GPIO SYNC2 as input*/
-} mcpwm_sync_signal_t;
-
-// backward compatibility
-#define MCPWM_SELCT_SYNC0 MCPWM_SELCT_GPIO_SYNC0
-#define MCPWM_SELCT_SYNC1 MCPWM_SELCT_GPIO_SYNC1
-#define MCPWM_SELCT_SYNC2 MCPWM_SELCT_GPIO_SYNC2
-
-/**
- * @brief MCPWM timer sync event trigger
- */
-typedef enum {
-    MCPWM_SWSYNC_SOURCE_SYNCIN,      /*!<the input sync signal will be routed to its sync output path*/
-    MCPWM_SWSYNC_SOURCE_TEZ,         /*!<sync signal generated when timer counts to zero*/
-    MCPWM_SWSYNC_SOURCE_TEP,         /*!<sync signal generated when timer counts to peak*/
-    MCPWM_SWSYNC_SOURCE_DISABLED,    /*!<timer does not generate sync signals*/
-} mcpwm_timer_sync_trigger_t;
-
-/**
- * @brief MCPWM select triggering level of fault signal
- */
-typedef enum {
-    MCPWM_LOW_LEVEL_TGR,  /*!<Fault condition occurs when fault input signal goes from high to low*/
-    MCPWM_HIGH_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes low to high*/
-} mcpwm_fault_input_level_t;
-
-/**
- * @brief MCPWM select capture starts from which edge
- */
-typedef enum {
-    MCPWM_NEG_EDGE = BIT(0),           /*!<Capture the negative edge*/
-    MCPWM_POS_EDGE = BIT(1),           /*!<Capture the positive edge*/
-    MCPWM_BOTH_EDGE = BIT(1) | BIT(0), /*!<Capture both edges*/
-} mcpwm_capture_on_edge_t;
-
-/**
- * @brief Select type of MCPWM counter
- */
-typedef enum {
-    MCPWM_FREEZE_COUNTER,   /*!<Counter freeze */
-    MCPWM_UP_COUNTER,       /*!<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_HAL_GENERATOR_MODE_FORCE_LOW,
-    MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH,
-    MCPWM_DUTY_MODE_MAX,   /*!<Num of duty cycle modes*/
-} mcpwm_duty_type_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_DEADTIME_BYPASS = 0,          /*!<Bypass the deadtime*/
-    MCPWM_BYPASS_RED,                   /*!<MCPWMXA Out = MCPWMXA In with no delay, MCPWMXB Out = MCPWMXA In with falling edge delay*/
-    MCPWM_BYPASS_FED,                   /*!<MCPWMXA Out = MCPWMXA In with rising edge delay, MCPWMXB Out = MCPWMXB In with no delay*/
-    MCPWM_ACTIVE_HIGH_MODE,             /*!<MCPWMXA Out = MCPWMXA In with rising edge delay,  MCPWMXB Out = MCPWMXA In with falling edge delay*/
-    MCPWM_ACTIVE_LOW_MODE,              /*!<MCPWMXA Out = MCPWMXA In with compliment of rising edge delay,  MCPWMXB Out = MCPWMXA In with compliment of falling edge delay*/
-    MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE,  /*!<MCPWMXA Out = MCPWMXA In with rising edge delay,  MCPWMXB = MCPWMXA In with compliment of falling edge delay*/
-    MCPWM_ACTIVE_LOW_COMPLIMENT_MODE,   /*!<MCPWMXA Out = MCPWMXA In with compliment of rising edge delay,  MCPWMXB Out = MCPWMXA In with falling edge delay*/
-    MCPWM_ACTIVE_RED_FED_FROM_PWMXA,    /*!<MCPWMXA Out = MCPWMXB Out = MCPWMXA In with rising edge delay as well as falling edge delay*/
-    MCPWM_ACTIVE_RED_FED_FROM_PWMXB,    /*!<MCPWMXA Out = MCPWMXB Out = MCPWMXB In with rising edge delay as well as falling edge delay*/
-    MCPWM_DEADTIME_TYPE_MAX,            /*!<Maximum number of supported dead time modes*/
-} mcpwm_deadtime_type_t;
-
-/**
- * @brief MCPWM select action to be taken on the output when event happens
- */
-typedef enum {
-    MCPWM_ACTION_NO_CHANGE = 0,  /*!<No change in the output*/
-    MCPWM_ACTION_FORCE_LOW,      /*!<Make output low*/
-    MCPWM_ACTION_FORCE_HIGH,     /*!<Make output high*/
-    MCPWM_ACTION_TOGGLE,         /*!<Make output toggle*/
-} mcpwm_output_action_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
- */
-typedef enum {
-    MCPWM_SELECT_CAP0, /*!<Select CAP0 as input*/
-    MCPWM_SELECT_CAP1, /*!<Select CAP1 as input*/
-    MCPWM_SELECT_CAP2, /*!<Select CAP2 as input*/
-} mcpwm_capture_signal_t;
-
-/**
- * @brief MCPWM capture channel ID alias
- */
-typedef mcpwm_capture_signal_t mcpwm_capture_channel_id_t;
-
-/**
- * @brief event data that will be passed into ISR callback
- */
-typedef struct {
-    mcpwm_capture_on_edge_t cap_edge;   /*!<Which signal edge is detected*/
-    uint32_t cap_value;                 /*!<Corresponding timestamp when event occurs. Clock rate = APB(usually 80M)*/
-} cap_event_data_t;
-
-/**
- * @brief Type of capture event callback
- * @param mcpwm MCPWM unit(0-1)
- * @param cap_channel capture channel ID
- * @param edata Capture event data, contains capture edge and capture value, fed by the driver
- * @param user_data User registered data, passed from `mcpwm_capture_config_t`
- *
- * @note Since this an ISR callback so do not do anything that may block and call APIs that is designed to be used within ISR(usually has '_ISR' postfix)
- *
- * @return Whether a task switch is needed after the callback function returns,
- *         this is usually due to the callback wakes up some high priority task.
- *
- */
-typedef bool (*cap_isr_cb_t)(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_channel, const cap_event_data_t *edata,
-                             void *user_data);
-
-/**
- * @brief MCPWM config structure
- */
-typedef struct {
-    uint32_t frequency;              /*!<Set frequency of MCPWM in Hz*/
-    float cmpr_a;                    /*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
-    float cmpr_b;                    /*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
-    mcpwm_duty_type_t duty_mode;     /*!<Set type of duty cycle*/
-    mcpwm_counter_type_t counter_mode;  /*!<Set  type of MCPWM counter*/
-} mcpwm_config_t;
-
-/**
- * @brief MCPWM carrier configuration structure
- */
-typedef struct {
-    uint8_t carrier_period;                    /*!<Set carrier period = (carrier_period + 1)*800ns, carrier_period should be < 16*/
-    uint8_t carrier_duty;                      /*!<Set carrier duty cycle, carrier_duty should be less than 8 (increment every 12.5%)*/
-    uint8_t pulse_width_in_os;                 /*!<Set pulse width of first pulse in one shot mode = (carrier period)*(pulse_width_in_os + 1), should be less then 16*/
-    mcpwm_carrier_out_ivt_t carrier_ivt_mode;  /*!<Invert output of carrier*/
-} mcpwm_carrier_config_t;
-
-/**
- * @brief MCPWM config capture structure
- */
-typedef struct {
-    mcpwm_capture_on_edge_t cap_edge;      /*!<Set capture edge*/
-    uint32_t cap_prescale;                 /*!<Prescale of capture signal, ranging from 1 to 256*/
-    cap_isr_cb_t capture_cb;               /*!<User defined capture event callback, running under interrupt context */
-    void *user_data;                       /*!<User defined ISR callback function args*/
-} mcpwm_capture_config_t;
-
-/**
- * @brief MCPWM config sync structure
- */
-typedef struct {
-    mcpwm_sync_signal_t sync_sig;              /*!<Set sync input signal that will cause timer to sync*/
-    uint32_t timer_val;                        /*!<Counter value to be set after sync, in 0 ~ 999, unit: 1 / 1000 * peak*/
-    mcpwm_timer_direction_t count_direction;   /*!<Counting direction to be set after sync */
-} mcpwm_sync_config_t;
-
 /**
  * @brief This function initializes each gpio signal for MCPWM
  *
diff --git a/components/driver/deprecated/driver/mcpwm_types_legacy.h b/components/driver/deprecated/driver/mcpwm_types_legacy.h
new file mode 100644
index 0000000000..38f94dddfe
--- /dev/null
+++ b/components/driver/deprecated/driver/mcpwm_types_legacy.h
@@ -0,0 +1,307 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "esp_bit_defs.h"
+#include "soc/soc_caps.h"
+#include "hal/mcpwm_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief IO signals for the MCPWM
+ *
+ *        - 6 MCPWM output pins that generate PWM signals
+ *        - 3 MCPWM fault input pins to detect faults like over-current, over-voltage, etc.
+ *        - 3 MCPWM sync input pins to synchronize MCPWM outputs signals
+ *        - 3 MCPWM capture input pins to gather feedback from controlled motors, using e.g. hall sensors
+ */
+typedef enum {
+    MCPWM0A = 0,        /*!<PWM0A output pin*/
+    MCPWM0B,            /*!<PWM0B output pin*/
+    MCPWM1A,            /*!<PWM1A output pin*/
+    MCPWM1B,            /*!<PWM1B output pin*/
+    MCPWM2A,            /*!<PWM2A output pin*/
+    MCPWM2B,            /*!<PWM2B output pin*/
+    MCPWM_SYNC_0,       /*!<SYNC0  input pin*/
+    MCPWM_SYNC_1,       /*!<SYNC1  input pin*/
+    MCPWM_SYNC_2,       /*!<SYNC2  input pin*/
+    MCPWM_FAULT_0,      /*!<FAULT0 input pin*/
+    MCPWM_FAULT_1,      /*!<FAULT1 input pin*/
+    MCPWM_FAULT_2,      /*!<FAULT2 input pin*/
+    MCPWM_CAP_0 = 84,   /*!<CAP0   input pin*/
+    MCPWM_CAP_1,        /*!<CAP1   input pin*/
+    MCPWM_CAP_2,        /*!<CAP2   input pin*/
+} mcpwm_io_signals_t;
+
+/**
+ * @brief pin number for MCPWM
+ */
+typedef struct {
+    int mcpwm0a_out_num;       /*!<MCPWM0A out pin*/
+    int mcpwm0b_out_num;       /*!<MCPWM0A out pin*/
+    int mcpwm1a_out_num;       /*!<MCPWM0A out pin*/
+    int mcpwm1b_out_num;       /*!<MCPWM0A out pin*/
+    int mcpwm2a_out_num;       /*!<MCPWM0A out pin*/
+    int mcpwm2b_out_num;       /*!<MCPWM0A out pin*/
+    int mcpwm_sync0_in_num;    /*!<SYNC0  in pin*/
+    int mcpwm_sync1_in_num;    /*!<SYNC1  in pin*/
+    int mcpwm_sync2_in_num;    /*!<SYNC2  in pin*/
+    int mcpwm_fault0_in_num;   /*!<FAULT0 in pin*/
+    int mcpwm_fault1_in_num;   /*!<FAULT1 in pin*/
+    int mcpwm_fault2_in_num;   /*!<FAULT2 in pin*/
+    int mcpwm_cap0_in_num;     /*!<CAP0   in pin*/
+    int mcpwm_cap1_in_num;     /*!<CAP1   in pin*/
+    int mcpwm_cap2_in_num;     /*!<CAP2   in pin*/
+} mcpwm_pin_config_t;
+
+/**
+ * @brief Select MCPWM unit
+ */
+typedef enum {
+    MCPWM_UNIT_0,   /*!<MCPWM unit0 selected*/
+    MCPWM_UNIT_1,   /*!<MCPWM unit1 selected*/
+    MCPWM_UNIT_MAX, /*!<Max number of MCPWM units*/
+} mcpwm_unit_t;
+
+/**
+ * @brief Select MCPWM timer
+ */
+typedef enum {
+    MCPWM_TIMER_0,   /*!<Select MCPWM timer0*/
+    MCPWM_TIMER_1,   /*!<Select MCPWM timer1*/
+    MCPWM_TIMER_2,   /*!<Select MCPWM timer2*/
+    MCPWM_TIMER_MAX, /*!<Max number of timers in a unit*/
+} mcpwm_timer_t;
+
+/**
+ * @brief Select MCPWM operator
+ */
+typedef enum {
+    MCPWM_GEN_A,   /*!<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;
+
+//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 output inversion, high frequency carrier signal active with MCPWM signal is high
+ */
+typedef enum {
+    MCPWM_CARRIER_OUT_IVT_DIS, /*!<Enable  carrier output inversion*/
+    MCPWM_CARRIER_OUT_IVT_EN,  /*!<Disable carrier output inversion*/
+} mcpwm_carrier_out_ivt_t;
+
+/**
+ * @brief MCPWM select fault signal input
+ */
+typedef enum {
+    MCPWM_SELECT_F0, /*!<Select F0 as input*/
+    MCPWM_SELECT_F1, /*!<Select F1 as input*/
+    MCPWM_SELECT_F2, /*!<Select F2 as input*/
+} mcpwm_fault_signal_t;
+
+/**
+ * @brief MCPWM select sync signal input
+ */
+typedef enum {
+    MCPWM_SELECT_NO_INPUT,        /*!<No sync input selected*/
+    MCPWM_SELECT_TIMER0_SYNC,     /*!<Select software sync signal from timer0 as input*/
+    MCPWM_SELECT_TIMER1_SYNC,     /*!<Select software sync signal from timer1 as input*/
+    MCPWM_SELECT_TIMER2_SYNC,     /*!<Select software sync signal from timer2 as input*/
+    MCPWM_SELECT_GPIO_SYNC0,      /*!<Select GPIO SYNC0 as input*/
+    MCPWM_SELECT_GPIO_SYNC1,      /*!<Select GPIO SYNC1 as input*/
+    MCPWM_SELECT_GPIO_SYNC2,      /*!<Select GPIO SYNC2 as input*/
+} mcpwm_sync_signal_t;
+
+// backward compatibility
+#define MCPWM_SELCT_SYNC0 MCPWM_SELCT_GPIO_SYNC0
+#define MCPWM_SELCT_SYNC1 MCPWM_SELCT_GPIO_SYNC1
+#define MCPWM_SELCT_SYNC2 MCPWM_SELCT_GPIO_SYNC2
+
+/**
+ * @brief MCPWM timer sync event trigger
+ */
+typedef enum {
+    MCPWM_SWSYNC_SOURCE_SYNCIN,      /*!<the input sync signal will be routed to its sync output path*/
+    MCPWM_SWSYNC_SOURCE_TEZ,         /*!<sync signal generated when timer counts to zero*/
+    MCPWM_SWSYNC_SOURCE_TEP,         /*!<sync signal generated when timer counts to peak*/
+    MCPWM_SWSYNC_SOURCE_DISABLED,    /*!<timer does not generate sync signals*/
+} mcpwm_timer_sync_trigger_t;
+
+/**
+ * @brief MCPWM select triggering level of fault signal
+ */
+typedef enum {
+    MCPWM_LOW_LEVEL_TGR,  /*!<Fault condition occurs when fault input signal goes from high to low*/
+    MCPWM_HIGH_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes low to high*/
+} mcpwm_fault_input_level_t;
+
+/**
+ * @brief MCPWM select capture starts from which edge
+ */
+typedef enum {
+    MCPWM_NEG_EDGE = BIT(0),           /*!<Capture the negative edge*/
+    MCPWM_POS_EDGE = BIT(1),           /*!<Capture the positive edge*/
+    MCPWM_BOTH_EDGE = BIT(1) | BIT(0), /*!<Capture both edges*/
+} mcpwm_capture_on_edge_t;
+
+/**
+ * @brief Select type of MCPWM counter
+ */
+typedef enum {
+    MCPWM_FREEZE_COUNTER,   /*!<Counter freeze */
+    MCPWM_UP_COUNTER,       /*!<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_FORCE_LOW,  /*!< Forced to output low level */
+    MCPWM_DUTY_MODE_FORCE_HIGH, /*!< Forced to output high level */
+    MCPWM_DUTY_MODE_MAX,        /*!<Num of duty cycle modes*/
+} mcpwm_duty_type_t;
+
+#define MCPWM_HAL_GENERATOR_MODE_FORCE_LOW MCPWM_DUTY_MODE_FORCE_LOW    /*!< @deprecated Forced to output low level */
+#define MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH MCPWM_DUTY_MODE_FORCE_HIGH  /*!< @deprecated Forced to output low level */
+
+/**
+ * @brief MCPWM deadtime types, used to generate deadtime, RED refers to rising edge delay and FED refers to falling edge delay
+ */
+typedef enum {
+    MCPWM_DEADTIME_BYPASS = 0,          /*!<Bypass the deadtime*/
+    MCPWM_BYPASS_RED,                   /*!<MCPWMXA Out = MCPWMXA In with no delay, MCPWMXB Out = MCPWMXA In with falling edge delay*/
+    MCPWM_BYPASS_FED,                   /*!<MCPWMXA Out = MCPWMXA In with rising edge delay, MCPWMXB Out = MCPWMXB In with no delay*/
+    MCPWM_ACTIVE_HIGH_MODE,             /*!<MCPWMXA Out = MCPWMXA In with rising edge delay,  MCPWMXB Out = MCPWMXA In with falling edge delay*/
+    MCPWM_ACTIVE_LOW_MODE,              /*!<MCPWMXA Out = MCPWMXA In with compliment of rising edge delay,  MCPWMXB Out = MCPWMXA In with compliment of falling edge delay*/
+    MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE,  /*!<MCPWMXA Out = MCPWMXA In with rising edge delay,  MCPWMXB = MCPWMXA In with compliment of falling edge delay*/
+    MCPWM_ACTIVE_LOW_COMPLIMENT_MODE,   /*!<MCPWMXA Out = MCPWMXA In with compliment of rising edge delay,  MCPWMXB Out = MCPWMXA In with falling edge delay*/
+    MCPWM_ACTIVE_RED_FED_FROM_PWMXA,    /*!<MCPWMXA Out = MCPWMXB Out = MCPWMXA In with rising edge delay as well as falling edge delay*/
+    MCPWM_ACTIVE_RED_FED_FROM_PWMXB,    /*!<MCPWMXA Out = MCPWMXB Out = MCPWMXB In with rising edge delay as well as falling edge delay*/
+    MCPWM_DEADTIME_TYPE_MAX,            /*!<Maximum number of supported dead time modes*/
+} mcpwm_deadtime_type_t;
+
+/**
+ * @brief MCPWM select action to be taken on the output when event happens
+ */
+typedef enum {
+    MCPWM_ACTION_NO_CHANGE = 0,  /*!<No change in the output*/
+    MCPWM_ACTION_FORCE_LOW,      /*!<Make output low*/
+    MCPWM_ACTION_FORCE_HIGH,     /*!<Make output high*/
+    MCPWM_ACTION_TOGGLE,         /*!<Make output toggle*/
+} mcpwm_output_action_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
+ */
+typedef enum {
+    MCPWM_SELECT_CAP0, /*!<Select CAP0 as input*/
+    MCPWM_SELECT_CAP1, /*!<Select CAP1 as input*/
+    MCPWM_SELECT_CAP2, /*!<Select CAP2 as input*/
+} mcpwm_capture_signal_t;
+
+/**
+ * @brief MCPWM capture channel ID alias
+ */
+typedef mcpwm_capture_signal_t mcpwm_capture_channel_id_t;
+
+/**
+ * @brief event data that will be passed into ISR callback
+ */
+typedef struct {
+    mcpwm_capture_on_edge_t cap_edge;   /*!<Which signal edge is detected*/
+    uint32_t cap_value;                 /*!<Corresponding timestamp when event occurs. Clock rate = APB(usually 80M)*/
+} cap_event_data_t;
+
+/**
+ * @brief Type of capture event callback
+ * @param mcpwm MCPWM unit(0-1)
+ * @param cap_channel capture channel ID
+ * @param edata Capture event data, contains capture edge and capture value, fed by the driver
+ * @param user_data User registered data, passed from `mcpwm_capture_config_t`
+ *
+ * @note Since this an ISR callback so do not do anything that may block and call APIs that is designed to be used within ISR(usually has '_ISR' postfix)
+ *
+ * @return Whether a task switch is needed after the callback function returns,
+ *         this is usually due to the callback wakes up some high priority task.
+ *
+ */
+typedef bool (*cap_isr_cb_t)(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_channel, const cap_event_data_t *edata,
+                             void *user_data);
+
+/**
+ * @brief MCPWM config structure
+ */
+typedef struct {
+    uint32_t frequency;              /*!<Set frequency of MCPWM in Hz*/
+    float cmpr_a;                    /*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
+    float cmpr_b;                    /*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
+    mcpwm_duty_type_t duty_mode;     /*!<Set type of duty cycle*/
+    mcpwm_counter_type_t counter_mode;  /*!<Set  type of MCPWM counter*/
+} mcpwm_config_t;
+
+/**
+ * @brief MCPWM carrier configuration structure
+ */
+typedef struct {
+    uint8_t carrier_period;                    /*!<Set carrier period = (carrier_period + 1)*800ns, carrier_period should be < 16*/
+    uint8_t carrier_duty;                      /*!<Set carrier duty cycle, carrier_duty should be less than 8 (increment every 12.5%)*/
+    uint8_t pulse_width_in_os;                 /*!<Set pulse width of first pulse in one shot mode = (carrier period)*(pulse_width_in_os + 1), should be less then 16*/
+    mcpwm_carrier_out_ivt_t carrier_ivt_mode;  /*!<Invert output of carrier*/
+} mcpwm_carrier_config_t;
+
+/**
+ * @brief MCPWM config capture structure
+ */
+typedef struct {
+    mcpwm_capture_on_edge_t cap_edge;      /*!<Set capture edge*/
+    uint32_t cap_prescale;                 /*!<Prescale of capture signal, ranging from 1 to 256*/
+    cap_isr_cb_t capture_cb;               /*!<User defined capture event callback, running under interrupt context */
+    void *user_data;                       /*!<User defined ISR callback function args*/
+} mcpwm_capture_config_t;
+
+/**
+ * @brief MCPWM config sync structure
+ */
+typedef struct {
+    mcpwm_sync_signal_t sync_sig;              /*!<Set sync input signal that will cause timer to sync*/
+    uint32_t timer_val;                        /*!<Counter value to be set after sync, in 0 ~ 999, unit: 1 / 1000 * peak*/
+    mcpwm_timer_direction_t count_direction;   /*!<Counting direction to be set after sync */
+} mcpwm_sync_config_t;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/driver/mcpwm.c b/components/driver/deprecated/mcpwm_legacy.c
similarity index 97%
rename from components/driver/mcpwm.c
rename to components/driver/deprecated/mcpwm_legacy.c
index 8ffcd7f984..51a501563d 100644
--- a/components/driver/mcpwm.c
+++ b/components/driver/deprecated/mcpwm_legacy.c
@@ -14,16 +14,17 @@
 #include "esp_err.h"
 #include "esp_check.h"
 #include "esp_rom_gpio.h"
+#include "esp_intr_alloc.h"
 #include "soc/gpio_periph.h"
 #include "soc/mcpwm_periph.h"
 #include "hal/mcpwm_hal.h"
 #include "hal/gpio_hal.h"
 #include "hal/mcpwm_ll.h"
+#include "driver/mcpwm_types_legacy.h"
 #include "driver/gpio.h"
-#include "driver/mcpwm.h"
 #include "esp_private/periph_ctrl.h"
 
-static const char *TAG = "mcpwm";
+static const char *TAG = "mcpwm(legacy)";
 
 _Static_assert(MCPWM_UNIT_MAX == SOC_MCPWM_GROUPS, "MCPWM unit number not equal to chip capabilities");
 
@@ -326,11 +327,11 @@ esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, m
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_NO_CHANGE);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, gen, MCPWM_ACTION_FORCE_HIGH);
-        } else if (duty_type == MCPWM_HAL_GENERATOR_MODE_FORCE_LOW) {
+        } else if (duty_type == MCPWM_DUTY_MODE_FORCE_LOW) {
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, gen, MCPWM_ACTION_FORCE_LOW);
-        } else if (duty_type == MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH) {
+        } else if (duty_type == MCPWM_DUTY_MODE_FORCE_HIGH) {
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_HIGH);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_FORCE_HIGH);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, gen, MCPWM_ACTION_FORCE_HIGH);
@@ -345,11 +346,11 @@ esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, m
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_FORCE_HIGH);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_NO_CHANGE);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, gen, MCPWM_ACTION_FORCE_LOW);
-        } else if (duty_type == MCPWM_HAL_GENERATOR_MODE_FORCE_LOW) {
+        } else if (duty_type == MCPWM_DUTY_MODE_FORCE_LOW) {
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, gen, MCPWM_ACTION_FORCE_LOW);
-        } else if (duty_type == MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH) {
+        } else if (duty_type == MCPWM_DUTY_MODE_FORCE_HIGH) {
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_FORCE_HIGH);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_HIGH);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, gen, MCPWM_ACTION_FORCE_HIGH);
@@ -364,14 +365,14 @@ esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, m
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, gen, MCPWM_ACTION_FORCE_HIGH);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, gen, MCPWM_ACTION_FORCE_LOW);
-        } else if (duty_type == MCPWM_HAL_GENERATOR_MODE_FORCE_LOW) {
+        } else if (duty_type == MCPWM_DUTY_MODE_FORCE_LOW) {
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, gen, MCPWM_ACTION_FORCE_LOW);
             mcpwm_ll_generator_set_action_on_compare_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, gen, MCPWM_ACTION_FORCE_LOW);
-        } else if (duty_type == MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH) {
+        } else if (duty_type == MCPWM_DUTY_MODE_FORCE_HIGH) {
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_ACTION_FORCE_HIGH);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_HIGH);
             mcpwm_ll_generator_set_action_on_timer_event(hal->dev, op, gen, MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_ACTION_FORCE_HIGH);
@@ -463,13 +464,13 @@ uint32_t mcpwm_get_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, m
 esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen)
 {
     //the driver currently always use the timer x for operator x
-    return mcpwm_set_duty_type(mcpwm_num, timer_num, gen, MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH);
+    return mcpwm_set_duty_type(mcpwm_num, timer_num, gen, MCPWM_DUTY_MODE_FORCE_HIGH);
 }
 
 esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen)
 {
     //the driver currently always use the timer x for operator x
-    return mcpwm_set_duty_type(mcpwm_num, timer_num, gen, MCPWM_HAL_GENERATOR_MODE_FORCE_LOW);
+    return mcpwm_set_duty_type(mcpwm_num, timer_num, gen, MCPWM_DUTY_MODE_FORCE_LOW);
 }
 
 esp_err_t mcpwm_carrier_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
@@ -943,3 +944,19 @@ esp_err_t mcpwm_set_timer_sync_output(mcpwm_unit_t mcpwm_num, mcpwm_timer_t time
     mcpwm_critical_exit(mcpwm_num);
     return ESP_OK;
 }
+
+/**
+ * @brief This function will be called during start up, to check that this legacy mcpwm driver is not running along with the new MCPWM driver
+ */
+__attribute__((constructor))
+static void check_mcpwm_driver_conflict(void)
+{
+    // This function was declared as weak here. The new MCPWM driver has the implementation.
+    // So if the new MCPWM driver is not linked in, then `mcpwm_acquire_group_handle()` should be NULL at runtime.
+    extern __attribute__((weak)) void *mcpwm_acquire_group_handle(int group_id);
+    if ((void *)mcpwm_acquire_group_handle != NULL) {
+        ESP_EARLY_LOGE(TAG, "CONFLICT! driver_ng is not allowed to be used with the legacy driver");
+        abort();
+    }
+    ESP_EARLY_LOGW(TAG, "legacy driver is deprecated, please migrate to `driver/mcpwm_prelude.h`");
+}
diff --git a/components/driver/test_apps/legacy_mcpwm_driver/CMakeLists.txt b/components/driver/test_apps/legacy_mcpwm_driver/CMakeLists.txt
new file mode 100644
index 0000000000..6a6fac6b51
--- /dev/null
+++ b/components/driver/test_apps/legacy_mcpwm_driver/CMakeLists.txt
@@ -0,0 +1,5 @@
+# This is the project CMakeLists.txt file for the test subproject
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(legacy_mcpwm_driver_test)
diff --git a/components/driver/test_apps/legacy_mcpwm_driver/README.md b/components/driver/test_apps/legacy_mcpwm_driver/README.md
new file mode 100644
index 0000000000..5ab630aafd
--- /dev/null
+++ b/components/driver/test_apps/legacy_mcpwm_driver/README.md
@@ -0,0 +1,2 @@
+| Supported Targets | ESP32 | ESP32-S3 |
+| ----------------- | ----- | -------- |
diff --git a/components/driver/test_apps/legacy_mcpwm_driver/main/CMakeLists.txt b/components/driver/test_apps/legacy_mcpwm_driver/main/CMakeLists.txt
new file mode 100644
index 0000000000..f5ad62dfcf
--- /dev/null
+++ b/components/driver/test_apps/legacy_mcpwm_driver/main/CMakeLists.txt
@@ -0,0 +1,7 @@
+set(srcs "test_app_main.c"
+         "test_legacy_mcpwm.c")
+
+# In order for the cases defined by `TEST_CASE` to be linked into the final elf,
+# the component can be registered as WHOLE_ARCHIVE
+idf_component_register(SRCS ${srcs}
+                       WHOLE_ARCHIVE)
diff --git a/components/driver/test_apps/legacy_mcpwm_driver/main/test_app_main.c b/components/driver/test_apps/legacy_mcpwm_driver/main/test_app_main.c
new file mode 100644
index 0000000000..027d2b69c0
--- /dev/null
+++ b/components/driver/test_apps/legacy_mcpwm_driver/main/test_app_main.c
@@ -0,0 +1,40 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "unity.h"
+#include "unity_test_runner.h"
+#include "esp_heap_caps.h"
+
+#define TEST_MEMORY_LEAK_THRESHOLD (-300)
+
+static size_t before_free_8bit;
+static size_t before_free_32bit;
+
+static void check_leak(size_t before_free, size_t after_free, const char *type)
+{
+    ssize_t delta = after_free - before_free;
+    printf("MALLOC_CAP_%s: Before %u bytes free, After %u bytes free (delta %d)\n", type, before_free, after_free, delta);
+    TEST_ASSERT_MESSAGE(delta >= TEST_MEMORY_LEAK_THRESHOLD, "memory leak");
+}
+
+void setUp(void)
+{
+    before_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT);
+    before_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT);
+}
+
+void tearDown(void)
+{
+    size_t after_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT);
+    size_t after_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT);
+    check_leak(before_free_8bit, after_free_8bit, "8BIT");
+    check_leak(before_free_32bit, after_free_32bit, "32BIT");
+}
+
+void app_main(void)
+{
+    unity_run_menu();
+}
diff --git a/components/driver/test/test_pwm.c b/components/driver/test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c
similarity index 99%
rename from components/driver/test/test_pwm.c
rename to components/driver/test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c
index 0a3240b01c..72a41a7bc8 100644
--- a/components/driver/test/test_pwm.c
+++ b/components/driver/test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c
@@ -12,7 +12,6 @@
 #include "hal/gpio_hal.h"
 #include "esp_rom_gpio.h"
 #include "esp_private/esp_clk.h"
-#if SOC_MCPWM_SUPPORTED
 #include "soc/mcpwm_periph.h"
 #include "driver/pulse_cnt.h"
 #include "driver/mcpwm.h"
@@ -568,5 +567,3 @@ TEST_CASE("MCPWM capture test", "[mcpwm]")
         }
     }
 }
-
-#endif // SOC_MCPWM_SUPPORTED
diff --git a/components/driver/test_apps/legacy_mcpwm_driver/pytest_legacy_mcpwm.py b/components/driver/test_apps/legacy_mcpwm_driver/pytest_legacy_mcpwm.py
new file mode 100644
index 0000000000..25da5646d2
--- /dev/null
+++ b/components/driver/test_apps/legacy_mcpwm_driver/pytest_legacy_mcpwm.py
@@ -0,0 +1,21 @@
+# SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: CC0-1.0
+
+import pytest
+from pytest_embedded import Dut
+
+
+@pytest.mark.esp32
+@pytest.mark.esp32s3
+@pytest.mark.generic
+@pytest.mark.parametrize(
+    'config',
+    [
+        'release',
+    ],
+    indirect=True,
+)
+def test_legacy_mcpwm(dut: Dut) -> None:
+    dut.expect('Press ENTER to see the list of tests')
+    dut.write('*')
+    dut.expect_unity_test_output()
diff --git a/components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.ci.release b/components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.ci.release
new file mode 100644
index 0000000000..91d93f163e
--- /dev/null
+++ b/components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.ci.release
@@ -0,0 +1,5 @@
+CONFIG_PM_ENABLE=y
+CONFIG_FREERTOS_USE_TICKLESS_IDLE=y
+CONFIG_COMPILER_OPTIMIZATION_SIZE=y
+CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y
+CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT=y
diff --git a/components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.defaults b/components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.defaults
new file mode 100644
index 0000000000..4c808e5adc
--- /dev/null
+++ b/components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.defaults
@@ -0,0 +1,3 @@
+CONFIG_FREERTOS_HZ=1000
+CONFIG_ESP_TASK_WDT=n
+CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN=y