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mcpwm: deprecate legacy driver

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This commit is contained in:
morris
2022-05-28 17:02:07 +08:00
parent 7b1da8ab0a
commit fd3a1ffc21
12 changed files with 436 additions and 300 deletions
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14
components/driver/Kconfig
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@@ -352,6 +352,20 @@ menu "Driver Configurations"
cache misses, and also be able to run whilst the cache is disabled. cache misses, and also be able to run whilst the cache is disabled.
(e.g. SPI Flash write) (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 endmenu # MCPWM Configuration
menu "I2S Configuration" menu "I2S Configuration"

292
components/driver/include/driver/mcpwm.h → components/driver/deprecated/driver/mcpwm.h
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@@ -9,298 +9,16 @@
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include "esp_err.h" #include "esp_err.h"
#include "esp_bit_defs.h" #include "driver/mcpwm_types_legacy.h"
#include "esp_intr_alloc.h"
#include "soc/soc_caps.h" #if !CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN
#include "hal/mcpwm_types.h" #warning "legacy MCPWM driver is deprecated, please migrate to the new driver (include driver/mcpwm_prelude.h)"
#endif
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #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 * @brief This function initializes each gpio signal for MCPWM
* *

307
components/driver/deprecated/driver/mcpwm_types_legacy.h Normal file
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@@ -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

37
components/driver/mcpwm.c → components/driver/deprecated/mcpwm_legacy.c
View File

@@ -14,16 +14,17 @@
#include "esp_err.h" #include "esp_err.h"
#include "esp_check.h" #include "esp_check.h"
#include "esp_rom_gpio.h" #include "esp_rom_gpio.h"
#include "esp_intr_alloc.h"
#include "soc/gpio_periph.h" #include "soc/gpio_periph.h"
#include "soc/mcpwm_periph.h" #include "soc/mcpwm_periph.h"
#include "hal/mcpwm_hal.h" #include "hal/mcpwm_hal.h"
#include "hal/gpio_hal.h" #include "hal/gpio_hal.h"
#include "hal/mcpwm_ll.h" #include "hal/mcpwm_ll.h"
#include "driver/mcpwm_types_legacy.h"
#include "driver/gpio.h" #include "driver/gpio.h"
#include "driver/mcpwm.h"
#include "esp_private/periph_ctrl.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"); _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_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_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); 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_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_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); 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_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_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); 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_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_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); 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_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_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); 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_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_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); 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_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_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); 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_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_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_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_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_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); 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_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_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); 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) 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 //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) 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 //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) 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); mcpwm_critical_exit(mcpwm_num);
return ESP_OK; 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`");
}

5
components/driver/test_apps/legacy_mcpwm_driver/CMakeLists.txt Normal file
View File

@@ -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)

2
components/driver/test_apps/legacy_mcpwm_driver/README.md Normal file
View File

@@ -0,0 +1,2 @@
| Supported Targets | ESP32 | ESP32-S3 |
| ----------------- | ----- | -------- |

7
components/driver/test_apps/legacy_mcpwm_driver/main/CMakeLists.txt Normal file
View File

@@ -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)

40
components/driver/test_apps/legacy_mcpwm_driver/main/test_app_main.c Normal file
View File

@@ -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();
}

3
components/driver/test/test_pwm.c → components/driver/test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c
View File

@@ -12,7 +12,6 @@
#include "hal/gpio_hal.h" #include "hal/gpio_hal.h"
#include "esp_rom_gpio.h" #include "esp_rom_gpio.h"
#include "esp_private/esp_clk.h" #include "esp_private/esp_clk.h"
#if SOC_MCPWM_SUPPORTED
#include "soc/mcpwm_periph.h" #include "soc/mcpwm_periph.h"
#include "driver/pulse_cnt.h" #include "driver/pulse_cnt.h"
#include "driver/mcpwm.h" #include "driver/mcpwm.h"
@@ -568,5 +567,3 @@ TEST_CASE("MCPWM capture test", "[mcpwm]")
} }
} }
} }
#endif // SOC_MCPWM_SUPPORTED

21
components/driver/test_apps/legacy_mcpwm_driver/pytest_legacy_mcpwm.py Normal file
View File

@@ -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()

5
components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.ci.release Normal file
View File

@@ -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

3
components/driver/test_apps/legacy_mcpwm_driver/sdkconfig.defaults Normal file
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@@ -0,0 +1,3 @@
CONFIG_FREERTOS_HZ=1000
CONFIG_ESP_TASK_WDT=n
CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN=y