mirror of
https://github.com/espressif/esp-idf.git
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694 lines
32 KiB
C
694 lines
32 KiB
C
/*
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* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "unity.h"
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#include "soc/soc_caps.h"
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#include "driver/mcpwm_timer.h"
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#include "driver/mcpwm_oper.h"
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#include "driver/mcpwm_cmpr.h"
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#include "driver/mcpwm_gen.h"
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#include "driver/gpio.h"
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TEST_CASE("mcpwm_generator_install_uninstall", "[mcpwm]")
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{
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mcpwm_operator_config_t oper_config = {
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.group_id = 0,
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};
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mcpwm_oper_handle_t oper = NULL;
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printf("create a MCPWM operator\r\n");
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TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
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printf("create MCPWM generators from that operator\r\n");
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mcpwm_gen_handle_t gens[SOC_MCPWM_GENERATORS_PER_OPERATOR];
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mcpwm_generator_config_t gen_config = {
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.gen_gpio_num = 0,
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};
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for (int i = 0; i < SOC_MCPWM_GENERATORS_PER_OPERATOR; i++) {
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TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gens[i]));
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}
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TEST_ESP_ERR(ESP_ERR_NOT_FOUND, mcpwm_new_generator(oper, &gen_config, &gens[0]));
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printf("delete generators and operator\r\n");
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// can't delete operator if the generator is till in working
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_del_operator(oper));
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for (int i = 0; i < SOC_MCPWM_GENERATORS_PER_OPERATOR; i++) {
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TEST_ESP_OK(mcpwm_del_generator(gens[i]));
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}
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TEST_ESP_OK(mcpwm_del_operator(oper));
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}
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TEST_CASE("mcpwm_generator_force_level_hold_on", "[mcpwm]")
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{
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// The operator can even work without the timer
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printf("create operator and generator\r\n");
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mcpwm_oper_handle_t oper = NULL;
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mcpwm_operator_config_t operator_config = {
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.group_id = 0,
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};
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TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
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mcpwm_gen_handle_t generator = NULL;
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const int gen_gpio = 0;
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mcpwm_generator_config_t generator_config = {
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.gen_gpio_num = gen_gpio,
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.flags.io_loop_back = true, // loop back for test
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};
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TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator));
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printf("add force level to the generator, hold on");
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for (int i = 0; i < 10; i++) {
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TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 0, true));
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vTaskDelay(pdMS_TO_TICKS(10));
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TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
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TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 1, true));
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vTaskDelay(pdMS_TO_TICKS(10));
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TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
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}
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printf("remove the force level\r\n");
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TEST_ESP_OK(mcpwm_generator_set_force_level(generator, -1, true));
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printf("delete generator and operator\r\n");
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TEST_ESP_OK(mcpwm_del_generator(generator));
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TEST_ESP_OK(mcpwm_del_operator(oper));
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}
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TEST_CASE("mcpwm_generator_force_level_recovery", "[mcpwm]")
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{
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printf("create mcpwm timer\r\n");
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mcpwm_timer_config_t timer_config = {
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.group_id = 0,
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.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
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.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
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.resolution_hz = 1000000,
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.period_ticks = 50000,
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};
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mcpwm_timer_handle_t timer = NULL;
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TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
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TEST_ESP_OK(mcpwm_timer_enable(timer));
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printf("create operator\r\n");
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mcpwm_oper_handle_t oper = NULL;
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mcpwm_operator_config_t operator_config = {
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.group_id = 0,
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.flags.update_gen_action_on_tez = true,
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};
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TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
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TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
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printf("create generator\r\n");
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mcpwm_gen_handle_t generator = NULL;
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const int gen_gpio = 0;
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mcpwm_generator_config_t generator_config = {
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.gen_gpio_num = gen_gpio,
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.flags.io_loop_back = true, // loop back for test
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};
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TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator));
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printf("add force level to the generator, and recovery by events");
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TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 0, false));
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TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
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TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 1, false));
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TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
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TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 0, false));
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TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
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TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(generator,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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// generator should output high level on tez event, the previous force level should disappear
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
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vTaskDelay(pdMS_TO_TICKS(200));
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TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
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vTaskDelay(pdMS_TO_TICKS(100));
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TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 1, false));
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TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
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TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(generator,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
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// generator should output low level on tez event, the previous force level should disappear
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
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vTaskDelay(pdMS_TO_TICKS(200));
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TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
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vTaskDelay(pdMS_TO_TICKS(100));
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printf("delete generator, operator and timer\r\n");
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TEST_ESP_OK(mcpwm_timer_disable(timer));
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TEST_ESP_OK(mcpwm_del_generator(generator));
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TEST_ESP_OK(mcpwm_del_operator(oper));
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TEST_ESP_OK(mcpwm_del_timer(timer));
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}
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TEST_CASE("mcpwm_generator_action_on_timer_event", "[mcpwm]")
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{
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const int generator_gpio = 0;
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printf("create timer and operator\r\n");
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mcpwm_timer_config_t timer_config = {
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.group_id = 0,
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.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
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.resolution_hz = 1000000,
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.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
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.period_ticks = 1000,
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};
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mcpwm_timer_handle_t timer = NULL;
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TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
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TEST_ESP_OK(mcpwm_timer_enable(timer));
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mcpwm_operator_config_t oper_config = {
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.group_id = 0,
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};
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mcpwm_oper_handle_t oper = NULL;
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TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
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printf("connect timer and operator\r\n");
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TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
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printf("create generator\r\n");
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mcpwm_generator_config_t gen_config = {
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.gen_gpio_num = generator_gpio,
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.flags.io_loop_back = 1, // so that we can read the GPIO value by GPIO driver
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};
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mcpwm_gen_handle_t gen = NULL;
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TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
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printf("set generator to output high on timer full\r\n");
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TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
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MCPWM_GEN_TIMER_EVENT_ACTION_END()));
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printf("start timer\r\n");
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
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vTaskDelay(pdMS_TO_TICKS(100));
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printf("stop timer on full\r\n");
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_FULL));
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TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
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printf("set generator to output low on timer full\r\n");
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TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW),
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
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MCPWM_GEN_TIMER_EVENT_ACTION_END()));
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printf("start timer\r\n");
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
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vTaskDelay(pdMS_TO_TICKS(100));
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printf("stop timer on full\r\n");
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_FULL));
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TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
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printf("delete timer, operator, generator\r\n");
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TEST_ESP_OK(mcpwm_timer_disable(timer));
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TEST_ESP_OK(mcpwm_del_generator(gen));
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TEST_ESP_OK(mcpwm_del_operator(oper));
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TEST_ESP_OK(mcpwm_del_timer(timer));
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}
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typedef void (*set_gen_actions_cb_t)(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb);
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static void mcpwm_gen_action_test_template(uint32_t timer_resolution, uint32_t period, mcpwm_timer_count_mode_t count_mode,
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uint32_t cmpa, uint32_t cmpb, int gpioa, int gpiob, set_gen_actions_cb_t set_generator_actions)
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{
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mcpwm_timer_config_t timer_config = {
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.group_id = 0,
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.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
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.count_mode = count_mode,
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.resolution_hz = timer_resolution,
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.period_ticks = period,
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};
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mcpwm_timer_handle_t timer = NULL;
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TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
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mcpwm_operator_config_t operator_config = {
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.group_id = 0,
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};
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mcpwm_oper_handle_t oper = NULL;
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TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
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TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
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TEST_ESP_OK(mcpwm_timer_enable(timer));
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mcpwm_cmpr_handle_t comparator_a = NULL;
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mcpwm_cmpr_handle_t comparator_b = NULL;
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mcpwm_comparator_config_t comparator_config = {
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.flags.update_cmp_on_tez = true,
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};
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TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator_a));
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TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator_b));
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TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator_a, cmpa));
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TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator_b, cmpb));
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mcpwm_gen_handle_t generator_a = NULL;
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mcpwm_gen_handle_t generator_b = NULL;
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mcpwm_generator_config_t generator_config = {
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.gen_gpio_num = gpioa,
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};
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TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator_a));
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generator_config.gen_gpio_num = gpiob;
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TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator_b));
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set_generator_actions(generator_a, generator_b, comparator_a, comparator_b);
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
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vTaskDelay(pdMS_TO_TICKS(100));
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
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vTaskDelay(pdMS_TO_TICKS(10));
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TEST_ESP_OK(mcpwm_timer_disable(timer));
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TEST_ESP_OK(mcpwm_del_generator(generator_a));
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TEST_ESP_OK(mcpwm_del_generator(generator_b));
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TEST_ESP_OK(mcpwm_del_comparator(comparator_a));
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TEST_ESP_OK(mcpwm_del_comparator(comparator_b));
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TEST_ESP_OK(mcpwm_del_operator(oper));
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TEST_ESP_OK(mcpwm_del_timer(timer));
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}
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static void single_edge_active_high(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
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{
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TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
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TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
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}
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static void single_edge_active_low(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
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{
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TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
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TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
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TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
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TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH)));
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}
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static void pulse_placement(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
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{
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TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
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MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
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TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(genb,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE),
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MCPWM_GEN_TIMER_EVENT_ACTION_END()));
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}
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static void dual_edge_active_low_asym(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
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{
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TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
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MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
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TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(genb,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW),
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
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MCPWM_GEN_TIMER_EVENT_ACTION_END()));
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}
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static void dual_edge_active_low_sym(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
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{
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TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
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MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
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TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(genb,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH),
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
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MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
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}
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static void dual_edge_complementary(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
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{
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TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
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MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
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TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(genb,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_action_on_compare_event", "[mcpwm]")
|
|
{
|
|
printf("[Asymmetric, SingleEdge, ActiveHigh]\r\n");
|
|
// PWMA: high = [1->350], low = [351->499,0]
|
|
// PWMB: high = [1->200], low = [201->499,0]
|
|
mcpwm_gen_action_test_template(1000000, 500, MCPWM_TIMER_COUNT_MODE_UP, 350, 200, 0, 2, single_edge_active_high);
|
|
|
|
printf("[Asymmetric, SingleEdge, ActiveLow]\r\n");
|
|
// PWMA: low = [0->300], high = [301->499]
|
|
// PWMB: low = [0->150], high = [151->499]
|
|
mcpwm_gen_action_test_template(1000000, 500, MCPWM_TIMER_COUNT_MODE_UP, 300, 150, 0, 2, single_edge_active_low);
|
|
|
|
printf("[Asymmetric, PulsePlacement]\r\n");
|
|
// PWMA: low = [0->200], high = [201->400], low = [401->599]
|
|
// PWMB: high = [0->599], low = [0->599]
|
|
mcpwm_gen_action_test_template(1000000, 600, MCPWM_TIMER_COUNT_MODE_UP, 200, 400, 0, 2, pulse_placement);
|
|
|
|
printf("[Asymmetric, DualEdge, ActiveLow]\r\n");
|
|
// PWMA: low = [0->250], high = [251->599, 600->450], low = [451->1]
|
|
// PWMB: low = [0->599], low = [600->1]
|
|
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 250, 450, 0, 2, dual_edge_active_low_asym);
|
|
|
|
printf("[Symmetric, DualEdge, ActiveLow]\r\n");
|
|
// PWMA: low = [0->400], high = [401->599, 600->400], low = [399->1]
|
|
// PWMB: low = [0->500], high = [501->599, 600->500], low = [499->1]
|
|
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 400, 500, 0, 2, dual_edge_active_low_sym);
|
|
|
|
printf("[Symmetric, DualEdge, Complementary]\r\n");
|
|
// PWMA: low = [0->350], high = [351->599, 600->350], low = [349->1]
|
|
// PWMB: low = [0->400], high = [401->599, 600->400], low = [399->1]
|
|
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 350, 400, 0, 2, dual_edge_complementary);
|
|
}
|
|
|
|
typedef void (*set_dead_time_cb_t)(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb);
|
|
|
|
static void mcpwm_deadtime_test_template(uint32_t timer_resolution, uint32_t period, uint32_t cmpa, uint32_t cmpb, int gpioa, int gpiob,
|
|
set_gen_actions_cb_t set_generator_actions, set_dead_time_cb_t set_dead_time)
|
|
{
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = timer_resolution,
|
|
.period_ticks = period,
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
|
|
mcpwm_operator_config_t operator_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
TEST_ESP_OK(mcpwm_timer_enable(timer));
|
|
|
|
mcpwm_cmpr_handle_t comparator_a = NULL;
|
|
mcpwm_cmpr_handle_t comparator_b = NULL;
|
|
mcpwm_comparator_config_t comparator_config = {
|
|
.flags.update_cmp_on_tez = true,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator_a));
|
|
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator_b));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator_a, cmpa));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator_b, cmpb));
|
|
|
|
mcpwm_gen_handle_t generator_a = NULL;
|
|
mcpwm_gen_handle_t generator_b = NULL;
|
|
mcpwm_generator_config_t generator_config = {
|
|
.gen_gpio_num = gpioa,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator_a));
|
|
generator_config.gen_gpio_num = gpiob;
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator_b));
|
|
|
|
set_generator_actions(generator_a, generator_b, comparator_a, comparator_b);
|
|
set_dead_time(generator_a, generator_b);
|
|
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
|
|
TEST_ESP_OK(mcpwm_timer_disable(timer));
|
|
TEST_ESP_OK(mcpwm_del_generator(generator_a));
|
|
TEST_ESP_OK(mcpwm_del_generator(generator_b));
|
|
TEST_ESP_OK(mcpwm_del_comparator(comparator_a));
|
|
TEST_ESP_OK(mcpwm_del_comparator(comparator_b));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
static void ahc_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void ahc_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0
|
|
};
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
dead_time_config.negedge_delay_ticks = 100;
|
|
dead_time_config.flags.invert_output = true;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
|
|
}
|
|
|
|
static void alc_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void alc_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0,
|
|
.flags.invert_output = true
|
|
};
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
dead_time_config.negedge_delay_ticks = 100;
|
|
dead_time_config.flags.invert_output = false;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
|
|
}
|
|
|
|
static void ah_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void ah_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0,
|
|
};
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
dead_time_config.negedge_delay_ticks = 100;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
|
|
}
|
|
|
|
static void al_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void al_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0,
|
|
.flags.invert_output = true
|
|
};
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
dead_time_config.negedge_delay_ticks = 100;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
|
|
}
|
|
|
|
static void reda_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void reda_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0,
|
|
};
|
|
// apply deadtime to generator_a
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
// bypass deadtime module for generator_b
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
|
|
}
|
|
|
|
static void fedb_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void fedb_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 0,
|
|
.negedge_delay_ticks = 0,
|
|
};
|
|
// generator_a bypass the deadtime module (no delay)
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
// apply dead time to generator_b
|
|
dead_time_config.negedge_delay_ticks = 50;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
|
|
|
|
}
|
|
|
|
static void redfedb_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void redfedb_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 0,
|
|
.negedge_delay_ticks = 0,
|
|
};
|
|
// generator_a bypass the deadtime module (no delay)
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
// apply dead time on both edge for generator_b
|
|
dead_time_config.negedge_delay_ticks = 50;
|
|
dead_time_config.posedge_delay_ticks = 50;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_deadtime_classical_configuration", "[mcpwm]")
|
|
{
|
|
printf("Active High Complementary\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 600, 200, 400, 0, 2, ahc_set_generator_actions, ahc_set_dead_time);
|
|
|
|
printf("Active Low Complementary\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 600, 200, 400, 0, 2, alc_set_generator_actions, alc_set_dead_time);
|
|
|
|
printf("Active High\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 600, 200, 400, 0, 2, ah_set_generator_actions, ah_set_dead_time);
|
|
|
|
printf("Active Low\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 600, 200, 400, 0, 2, al_set_generator_actions, al_set_dead_time);
|
|
|
|
printf("RED on A, Bypass B\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 500, 350, 350, 0, 2, reda_only_set_generator_actions, reda_only_set_dead_time);
|
|
|
|
printf("Bypass A, FED on B\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 500, 350, 350, 0, 2, fedb_only_set_generator_actions, fedb_only_set_dead_time);
|
|
|
|
printf("Bypass A, RED + FED on B\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 500, 350, 350, 0, 2, redfedb_only_set_generator_actions, redfedb_only_set_dead_time);
|
|
}
|
|
|
|
TEST_CASE("mcpwm_duty_empty_full", "[mcpwm]")
|
|
{
|
|
const int gen_gpio_num = 0;
|
|
mcpwm_timer_handle_t timer;
|
|
mcpwm_oper_handle_t oper;
|
|
mcpwm_cmpr_handle_t comparator;
|
|
mcpwm_gen_handle_t gen;
|
|
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = 1 * 1000 * 1000,
|
|
.period_ticks = 50, // 50us <-> 20KHz
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
};
|
|
mcpwm_operator_config_t operator_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_comparator_config_t comparator_config = {
|
|
.flags.update_cmp_on_tep = true,
|
|
.flags.update_cmp_on_tez = true,
|
|
};
|
|
printf("install timer, operator and comparator\r\n");
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
|
|
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator));
|
|
|
|
printf("connect MCPWM timer and operators\r\n");
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 0));
|
|
|
|
printf("install MCPWM generator\r\n");
|
|
mcpwm_generator_config_t gen_config = {
|
|
.gen_gpio_num = gen_gpio_num,
|
|
.flags.io_loop_back = true, // we want to read the output level as well
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
|
|
|
|
printf("set generator actions on timer and compare events\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
|
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gen,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));
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printf("start timer\r\n");
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TEST_ESP_OK(mcpwm_timer_enable(timer));
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
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// check if the output is a const low level
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for (int i = 0; i < 100; i++) {
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TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio_num));
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esp_rom_delay_us(1);
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}
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// set the compare equals to the period
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TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 50));
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vTaskDelay(pdMS_TO_TICKS(10));
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// so the output should be a const high level
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for (int i = 0; i < 100; i++) {
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TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio_num));
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esp_rom_delay_us(1);
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}
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TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 49));
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vTaskDelay(pdMS_TO_TICKS(100));
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TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 1));
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vTaskDelay(pdMS_TO_TICKS(100));
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printf("uninstall timer, operator and comparator\r\n");
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TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
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TEST_ESP_OK(mcpwm_timer_disable(timer));
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TEST_ESP_OK(mcpwm_del_generator(gen));
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TEST_ESP_OK(mcpwm_del_comparator(comparator));
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TEST_ESP_OK(mcpwm_del_operator(oper));
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TEST_ESP_OK(mcpwm_del_timer(timer));
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}
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