feat(mcpwm): refactor mcpwm driver into a component

components/driver/CMakeLists.txt

@@ -15,7 +15,6 @@ set(includes "include"
              "i2c/include"
              "i2s/include"
              "ledc/include"
-             "mcpwm/include"
              "parlio/include"
              "rmt/include"
              "sdio_slave/include"
@@ -103,21 +102,9 @@ if(CONFIG_SOC_LEDC_SUPPORTED)
     list(APPEND ldfragments "ledc/linker.lf")
 endif()
 
-# MCPWM related source files
+# MCPWM legacy driver
 if(CONFIG_SOC_MCPWM_SUPPORTED)
-    list(APPEND srcs "mcpwm/mcpwm_cap.c"
+    list(APPEND srcs "deprecated/mcpwm_legacy.c")
-                     "mcpwm/mcpwm_cmpr.c"
-                     "mcpwm/mcpwm_com.c"
-                     "mcpwm/mcpwm_fault.c"
-                     "mcpwm/mcpwm_gen.c"
-                     "mcpwm/mcpwm_oper.c"
-                     "mcpwm/mcpwm_sync.c"
-                     "mcpwm/mcpwm_timer.c"
-                     "deprecated/mcpwm_legacy.c")
-    if(CONFIG_SOC_MCPWM_SUPPORT_ETM)
-        list(APPEND srcs "mcpwm/mcpwm_etm.c")
-    endif()
-    list(APPEND ldfragments "mcpwm/linker.lf")
 endif()
 
 # PCNT legacy driver
@@ -211,7 +198,7 @@ else()
                            REQUIRES esp_pm esp_ringbuf freertos soc hal esp_hw_support
                            # for backward compatibility, the driver component needs to
                            # have a public dependency on other "esp_driver_foo" components
-                                    esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi
+                                    esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi esp_driver_mcpwm
                            LDFRAGMENTS ${ldfragments}
                           )
 endif()

components/driver/Kconfig

@@ -147,8 +147,6 @@ menu "Driver Configurations"
 
     orsource "./rmt/Kconfig.rmt"
 
-    orsource "./mcpwm/Kconfig.mcpwm"
-
     menu "I2S Configuration"
         depends on SOC_I2S_SUPPORTED
         config I2S_ISR_IRAM_SAFE

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

@@ -74,10 +74,14 @@ components/driver/test_apps/legacy_i2c_driver:
 components/driver/test_apps/legacy_mcpwm_driver:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_filepatterns:
+    - components/driver/deprecated/**/*mcpwm*
 
 components/driver/test_apps/legacy_pcnt_driver:
   disable:
     - if: SOC_PCNT_SUPPORTED != 1
+  depends_filepatterns:
+    - components/driver/deprecated/**/*pcnt*
 
 components/driver/test_apps/legacy_rmt_driver:
   disable:
@@ -98,10 +102,8 @@ components/driver/test_apps/legacy_sigma_delta_driver:
 components/driver/test_apps/legacy_timer_driver:
   disable:
     - if: SOC_GPTIMER_SUPPORTED != 1
-
+  depends_filepatterns:
-components/driver/test_apps/mcpwm:
+    - components/driver/deprecated/**/*timer*
-  disable:
-    - if: SOC_MCPWM_SUPPORTED != 1
 
 components/driver/test_apps/parlio:
   disable:

components/esp_driver_gptimer/test_apps/gptimer/main/CMakeLists.txt

@@ -8,5 +8,5 @@ endif()
 # 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}
-                       PRIV_REQUIRES unity driver
+                       PRIV_REQUIRES unity esp_driver_gptimer
                        WHOLE_ARCHIVE)

components/esp_driver_mcpwm/CMakeLists.txt

@@ -0,0 +1,21 @@
+set(srcs)
+set(public_include "include")
+if(CONFIG_SOC_MCPWM_SUPPORTED)
+    list(APPEND srcs "src/mcpwm_cap.c"
+                     "src/mcpwm_cmpr.c"
+                     "src/mcpwm_com.c"
+                     "src/mcpwm_fault.c"
+                     "src/mcpwm_gen.c"
+                     "src/mcpwm_oper.c"
+                     "src/mcpwm_sync.c"
+                     "src/mcpwm_timer.c")
+    if(CONFIG_SOC_MCPWM_SUPPORT_ETM)
+        list(APPEND srcs "src/mcpwm_etm.c")
+    endif()
+endif()
+
+idf_component_register(SRCS ${srcs}
+                       INCLUDE_DIRS ${public_include}
+                       PRIV_REQUIRES "esp_pm" "esp_driver_gpio"
+                       LDFRAGMENTS "linker.lf"
+                      )

components/esp_driver_mcpwm/Kconfig

@@ -1,4 +1,4 @@
-menu "MCPWM Configuration"
+menu "ESP-Driver:MCPWM Configurations"
     depends on SOC_MCPWM_SUPPORTED
     config MCPWM_ISR_IRAM_SAFE
         bool "Place MCPWM ISR function into IRAM"
@@ -30,4 +30,4 @@ menu "MCPWM Configuration"
         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

components/esp_driver_mcpwm/linker.lf

@@ -1,5 +1,5 @@
 [mapping:mcpwm_driver]
-archive: libdriver.a
+archive: libesp_driver_mcpwm.a
 entries:
     if MCPWM_CTRL_FUNC_IN_IRAM = y:
         mcpwm_cmpr: mcpwm_comparator_set_compare_value (noflash)

components/esp_driver_mcpwm/test_apps/.build-test-rules.yml

@@ -0,0 +1,7 @@
+# Documentation: .gitlab/ci/README.md#manifest-file-to-control-the-buildtest-apps
+
+components/esp_driver_mcpwm/test_apps/mcpwm:
+  disable:
+    - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm

components/esp_driver_mcpwm/test_apps/mcpwm/CMakeLists.txt

@@ -10,7 +10,7 @@ project(mcpwm_test)
 if(CONFIG_COMPILER_DUMP_RTL_FILES)
     add_custom_target(check_test_app_sections ALL
                       COMMAND ${PYTHON} $ENV{IDF_PATH}/tools/ci/check_callgraph.py
-                      --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/driver/,${CMAKE_BINARY_DIR}/esp-idf/hal/
+                      --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_mcpwm/,${CMAKE_BINARY_DIR}/esp-idf/hal/
                       --elf-file ${CMAKE_BINARY_DIR}/mcpwm_test.elf
                       find-refs
                       --from-sections=.iram0.text

components/esp_driver_mcpwm/test_apps/mcpwm/main/CMakeLists.txt

@@ -16,5 +16,5 @@ endif()
 # 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}
-                       PRIV_REQUIRES unity driver
+                       PRIV_REQUIRES unity esp_driver_mcpwm esp_driver_gpio
                        WHOLE_ARCHIVE)

components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_common.c

@@ -163,7 +163,6 @@ TEST_CASE("mcpwm_group_set_prescale_dynamically", "[mcpwm]")
     carrier_config.first_pulse_duration_us = 5;
     TEST_ESP_OK(mcpwm_operator_apply_carrier(oper, &carrier_config));
 
-
     TEST_ESP_OK(mcpwm_del_generator(generator));
     TEST_ESP_OK(mcpwm_del_operator(oper));
     TEST_ESP_OK(mcpwm_del_timer(timer));

components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt

@@ -9,6 +9,5 @@ endif()
 # 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}
-                       PRIV_REQUIRES unity esp_driver_pcnt spi_flash
+                       PRIV_REQUIRES unity esp_driver_pcnt esp_driver_gpio spi_flash
-                                     driver # will be replaced by esp_driver_gpio
                        WHOLE_ARCHIVE)

components/esp_hw_support/test_apps/.build-test-rules.yml

@@ -16,8 +16,9 @@ components/esp_hw_support/test_apps/etm:
   depends_components:
     - esp_driver_gptimer
     - esp_driver_gpio
+    - esp_driver_mcpwm
     - esp_timer
-    - driver # TODO: replace with esp_driver_mcpwm, esp_driver_ana_cmpr
+    - driver # TODO: replace with esp_driver_ana_cmpr (IDF-8521)
 
 components/esp_hw_support/test_apps/host_test_linux:
   enable:

components/esp_hw_support/test_apps/etm/main/CMakeLists.txt

@@ -29,6 +29,6 @@ endif()
 # 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}
-                       PRIV_REQUIRES unity esp_timer esp_driver_gptimer esp_driver_gpio
+                       PRIV_REQUIRES unity esp_timer esp_driver_gptimer esp_driver_gpio esp_driver_mcpwm
-                                     driver # TODO: replace with esp_driver_mcpwm (IDF-8379), esp_driver_ana_cmpr
+                                     driver # TODO: replace with esp_driver_ana_cmpr (IDF-8521)
                        WHOLE_ARCHIVE)

components/hal/include/hal/color_types.h

@@ -92,7 +92,7 @@ typedef union {
                       Color Conversion
 ---------------------------------------------------------------*/
 /**
- * @brief LCD color range
+ * @brief Color range
  * @note The difference between a full range color and a limited range color is
  *       the amount of shades of black and white that they can display.
  */

docs/doxygen/Doxyfile

@@ -89,15 +89,6 @@ INPUT = \
     $(PROJECT_PATH)/components/driver/i2s/include/driver/i2s_tdm.h \
     $(PROJECT_PATH)/components/driver/i2s/include/driver/i2s_types.h \
     $(PROJECT_PATH)/components/driver/ledc/include/driver/ledc.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_cap.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_cmpr.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_etm.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_fault.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_gen.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_oper.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_sync.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_timer.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_types.h \
     $(PROJECT_PATH)/components/driver/parlio/include/driver/parlio_tx.h \
     $(PROJECT_PATH)/components/driver/parlio/include/driver/parlio_types.h \
     $(PROJECT_PATH)/components/driver/rmt/include/driver/rmt_common.h \
@@ -142,6 +133,15 @@ INPUT = \
     $(PROJECT_PATH)/components/esp_driver_gptimer/include/driver/gptimer.h \
     $(PROJECT_PATH)/components/esp_driver_gptimer/include/driver/gptimer_etm.h \
     $(PROJECT_PATH)/components/esp_driver_gptimer/include/driver/gptimer_types.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_cap.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_cmpr.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_etm.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_fault.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_gen.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_oper.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_sync.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_timer.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_types.h \
     $(PROJECT_PATH)/components/esp_driver_pcnt/include/driver/pulse_cnt.h \
     $(PROJECT_PATH)/components/esp_eth/include/esp_eth_com.h \
     $(PROJECT_PATH)/components/esp_eth/include/esp_eth_driver.h \

docs/en/api-reference/peripherals/mcpwm.rst

@@ -1044,7 +1044,7 @@ API Reference
 .. include-build-file:: inc/mcpwm_sync.inc
 .. include-build-file:: inc/mcpwm_cap.inc
 .. include-build-file:: inc/mcpwm_etm.inc
-.. include-build-file:: inc/components/driver/mcpwm/include/driver/mcpwm_types.inc
+.. include-build-file:: inc/components/esp_driver_mcpwm/include/driver/mcpwm_types.inc
 .. include-build-file:: inc/components/hal/include/hal/mcpwm_types.inc
 
 

docs/en/migration-guides/release-5.x/5.3/peripherals.rst

@@ -9,6 +9,7 @@ In order to control the dependence of other components on drivers at a smaller g
 - `esp_driver_pcnt` - Driver for pulse counter
 - `esp_driver_gpio` - Driver for GPIO
 - `esp_driver_spi` - Driver for GPSPI
+- `esp_driver_mcpwm` - Driver for Motor Control PWM
 
 For compatibility, the original `driver`` component is still treated as an all-in-one component by registering these `esp_driver_xyz`` components as its public dependencies. In other words, you do not need to modify the CMake file of an existing project, but you now have a way to specify the specific peripheral driver that your project depends on.
 

docs/zh_CN/api-reference/peripherals/mcpwm.rst

@@ -1044,7 +1044,7 @@ API Reference
 .. include-build-file:: inc/mcpwm_sync.inc
 .. include-build-file:: inc/mcpwm_cap.inc
 .. include-build-file:: inc/mcpwm_etm.inc
-.. include-build-file:: inc/components/driver/mcpwm/include/driver/mcpwm_types.inc
+.. include-build-file:: inc/components/esp_driver_mcpwm/include/driver/mcpwm_types.inc
 .. include-build-file:: inc/components/hal/include/hal/mcpwm_types.inc
 
 

docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst

@@ -9,6 +9,7 @@
 - `esp_driver_pcnt` - 脉冲计数器驱动
 - `esp_driver_gpio` - GPIO 驱动
 - `esp_driver_spi` - 通用 SPI 驱动
+- `esp_driver_mcpwm` - 电机控制 PWM 驱动
 
 为了兼容性，原来的 `driver` 组件仍然存在，并作为一个 “all-in-one" 的组件，将以上这些 `esp_driver_xyz` 组件注册成自己的公共依赖。换句话说，你无需修改既有项目的 CMake 文件，但是你现在多了一个途径去指定你项目依赖的具体的外设驱动。
 

examples/peripherals/.build-test-rules.yml

@@ -151,10 +151,14 @@ examples/peripherals/ledc/ledc_gamma_curve_fade:
 examples/peripherals/mcpwm:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
 
 examples/peripherals/mcpwm/mcpwm_bdc_speed_control:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
   disable_test:
     - if: IDF_TARGET != "esp32s3"
       temporary: true
@@ -163,6 +167,8 @@ examples/peripherals/mcpwm/mcpwm_bdc_speed_control:
 examples/peripherals/mcpwm/mcpwm_bldc_hall_control:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
   disable_test:
     - if: IDF_TARGET != "esp32s3"
       temporary: true
@@ -171,6 +177,8 @@ examples/peripherals/mcpwm/mcpwm_bldc_hall_control:
 examples/peripherals/mcpwm/mcpwm_foc_svpwm_open_loop:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
   disable_test:
     - if: IDF_TARGET != "esp32s3"
       temporary: true

tools/test_apps/system/g1_components/CMakeLists.txt

@@ -35,7 +35,7 @@ set(extra_components_which_shouldnt_be_included
     cxx
     # [refactor-todo]: driver is a dependency of esp_pm, spi_flash, vfs, esp_wifi
     #   all of these should be removed from G1 except for spi_flash.
-    driver esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi
+    driver esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi esp_driver_mcpwm
     # esp_app_format is dependency of bootloader_support, app_update
     esp_app_format
     # esp_bootloader_format is dependency of bootloader_support, app_update