mcpwm: enable test on esp32c6

components/driver/.build-test-rules.yml

@@ -43,10 +43,6 @@ components/driver/test_apps/legacy_adc_driver:
 components/driver/test_apps/legacy_mcpwm_driver:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
-  disable_test:
-    - if: IDF_TARGET == "esp32c6"
-      temporary: true
-      reason: target esp32c6 is not supported yet
 
 components/driver/test_apps/legacy_pcnt_driver:
   disable:
@@ -69,10 +65,6 @@ components/driver/test_apps/legacy_timer_driver:
 components/driver/test_apps/mcpwm:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
-  disable_test:
-    - if: IDF_TARGET == "esp32c6"
-      temporary: true
-      reason: target esp32c6 is not supported yet
 
 components/driver/test_apps/pulse_cnt:
   disable:

components/driver/test_apps/legacy_mcpwm_driver/pytest_legacy_mcpwm.py

@@ -7,6 +7,7 @@ from pytest_embedded import Dut
 
 @pytest.mark.esp32
 @pytest.mark.esp32s3
+@pytest.mark.esp32c6
 @pytest.mark.generic
 @pytest.mark.parametrize(
     'config',

components/driver/test_apps/mcpwm/main/test_mcpwm_cap.c

@@ -111,13 +111,14 @@ TEST_CASE("mcpwm_capture_ext_gpio", "[mcpwm]")
 
     printf("simulate GPIO capture signal\r\n");
     gpio_set_level(cap_gpio, 1);
-    vTaskDelay(pdMS_TO_TICKS(100));
+    vTaskDelay(pdMS_TO_TICKS(10));
     gpio_set_level(cap_gpio, 0);
-    vTaskDelay(pdMS_TO_TICKS(100));
+    vTaskDelay(pdMS_TO_TICKS(10));
     printf("capture value: Pos=%"PRIu32", Neg=%"PRIu32"\r\n", cap_value[0], cap_value[1]);
     uint32_t clk_src_res;
-    mcpwm_capture_timer_get_resolution(cap_timer, &clk_src_res);
+    TEST_ESP_OK(mcpwm_capture_timer_get_resolution(cap_timer, &clk_src_res));
-    TEST_ASSERT_UINT_WITHIN(100000, clk_src_res / 10, cap_value[1] - cap_value[0]);
+    clk_src_res /= 1000; // convert to kHz
+    TEST_ASSERT_UINT_WITHIN(1000, 10000, (cap_value[1] - cap_value[0]) * 1000 / clk_src_res);
 
     printf("uninstall capture channel and timer\r\n");
     TEST_ESP_OK(mcpwm_capture_channel_disable(pps_channel));
@@ -184,8 +185,9 @@ TEST_CASE("mcpwm_capture_software_catch", "[mcpwm]")
     uint32_t delta = test_callback_data.cap_data[1] - test_callback_data.cap_data[0];
     esp_rom_printf("duration=%u ticks\r\n", delta);
     uint32_t clk_src_res;
-    mcpwm_capture_timer_get_resolution(cap_timer, &clk_src_res);
+    TEST_ESP_OK(mcpwm_capture_timer_get_resolution(cap_timer, &clk_src_res));
-    TEST_ASSERT_UINT_WITHIN(80000, clk_src_res / 100, delta);
+    clk_src_res /= 1000; // convert to kHz
+    TEST_ASSERT_UINT_WITHIN(1000, 10000, delta * 1000 / clk_src_res);
 
     printf("uninstall capture channel and timer\r\n");
     TEST_ESP_OK(mcpwm_capture_channel_disable(cap_channel));

components/driver/test_apps/mcpwm/main/test_mcpwm_iram.c

@@ -79,9 +79,10 @@ TEST_CASE("mcpwm_capture_iram_safe", "[mcpwm]")
     unity_utils_run_cache_disable_stub(test_simulate_input_post_cache_disable, (void *)cap_gpio);
 
     printf("capture value: Pos=%"PRIu32", Neg=%"PRIu32"\r\n", cap_value[0], cap_value[1]);
-    // Capture timer is clocked from APB by default
+    uint32_t clk_src_res;
-    uint32_t clk_src_res = esp_clk_apb_freq();
+    TEST_ESP_OK(mcpwm_capture_timer_get_resolution(cap_timer, &clk_src_res));
-    TEST_ASSERT_UINT_WITHIN(2000, clk_src_res / 1000, cap_value[1] - cap_value[0]);
+    clk_src_res /= 1000; // convert to kHz
+    TEST_ASSERT_UINT_WITHIN(100, 1000, (cap_value[1] - cap_value[0]) * 1000 / clk_src_res);
 
     printf("uninstall capture channel and timer\r\n");
     TEST_ESP_OK(mcpwm_capture_channel_disable(pps_channel));

components/driver/test_apps/mcpwm/pytest_mcpwm.py

@@ -7,6 +7,7 @@ from pytest_embedded import Dut
 
 @pytest.mark.esp32
 @pytest.mark.esp32s3
+@pytest.mark.esp32c6
 @pytest.mark.generic
 @pytest.mark.parametrize(
     'config',