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Merge branch 'feature/mcpwm_interrupt_priority_v5.0' into 'release/v5.0'

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feat(MCPWM): Support set interrupt priority(v5.0)

See merge request espressif/esp-idf!25522
This commit is contained in:
morris
2023-09-19 10:41:58 +08:00
parent d86397aca4 615222f1c2
commit 2bec2de36e
16 changed files with 239 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
components/driver/include/driver/mcpwm_cap.h
View File

@@ -132,6 +132,8 @@ esp_err_t mcpwm_capture_timer_set_phase_on_sync(mcpwm_cap_timer_handle_t cap_tim
*/
typedef struct {
int gpio_num; /*!< GPIO used capturing input signal */
int intr_priority; /*!< MCPWM capture interrupt priority,
if set to 0, the driver will try to allocate an interrupt with a relative low priority (1,2,3) */
uint32_t prescale; /*!< Prescale of input signal, effective frequency = cap_input_clk/prescale */
struct {
uint32_t pos_edge: 1; /*!< Whether to capture on positive edge */

2
components/driver/include/driver/mcpwm_cmpr.h
View File

@@ -19,6 +19,8 @@ extern "C" {
* @brief MCPWM comparator configuration
*/
typedef struct {
int intr_priority; /*!< MCPWM comparator interrupt priority,
if set to 0, the driver will try to allocate an interrupt with a relative low priority (1,2,3) */
struct {
uint32_t update_cmp_on_tez: 1; /*!< Whether to update compare value when timer count equals to zero (tez) */
uint32_t update_cmp_on_tep: 1; /*!< Whether to update compare value when timer count equals to peak (tep) */

8
components/driver/include/driver/mcpwm_fault.h
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -20,8 +20,10 @@ extern "C" {
* @brief MCPWM GPIO fault configuration structure
*/
typedef struct {
int group_id; /*!< In which MCPWM group that the GPIO fault belongs to */
int gpio_num; /*!< GPIO used by the fault signal */
int group_id; /*!< In which MCPWM group that the GPIO fault belongs to */
int intr_priority; /*!< MCPWM GPIO fault interrupt priority,
if set to 0, the driver will try to allocate an interrupt with a relative low priority (1,2,3) */
int gpio_num; /*!< GPIO used by the fault signal */
struct {
uint32_t active_level: 1; /*!< On which level the fault signal is treated as active */
uint32_t io_loop_back: 1; /*!< For debug/test, the signal output from the GPIO will be fed to the input path as well */

4
components/driver/include/driver/mcpwm_oper.h
View File

@@ -19,7 +19,9 @@ extern "C" {
* @brief MCPWM operator configuration
*/
typedef struct {
int group_id; /*!< Specify from which group to allocate the MCPWM operator */
int group_id; /*!< Specify from which group to allocate the MCPWM operator */
int intr_priority; /*!< MCPWM operator interrupt priority,
if set to 0, the driver will try to allocate an interrupt with a relative low priority (1,2,3) */
struct {
uint32_t update_gen_action_on_tez: 1; /*!< Whether to update generator action when timer counts to zero */
uint32_t update_gen_action_on_tep: 1; /*!< Whether to update generator action when timer counts to peak */

2
components/driver/include/driver/mcpwm_timer.h
View File

@@ -35,6 +35,8 @@ typedef struct {
The step size of each count tick equals to (1 / resolution_hz) seconds */
mcpwm_timer_count_mode_t count_mode; /*!< Count mode */
uint32_t period_ticks; /*!< Number of count ticks within a period */
int intr_priority; /*!< MCPWM timer interrupt priority,
if set to 0, the driver will try to allocate an interrupt with a relative low priority (1,2,3) */
struct {
uint32_t update_period_on_empty: 1; /*!< Whether to update period when timer counts to zero */
uint32_t update_period_on_sync: 1; /*!< Whether to update period on sync event */

9
components/driver/mcpwm/mcpwm_cap.c
View File

@@ -240,6 +240,10 @@ esp_err_t mcpwm_new_capture_channel(mcpwm_cap_timer_handle_t cap_timer, const mc
mcpwm_cap_channel_t *cap_chan = NULL;
ESP_GOTO_ON_FALSE(cap_timer && config && ret_cap_channel, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
ESP_GOTO_ON_FALSE(config->prescale && config->prescale <= MCPWM_LL_MAX_CAPTURE_PRESCALE, ESP_ERR_INVALID_ARG, err, TAG, "invalid prescale");
if (config->intr_priority) {
ESP_RETURN_ON_FALSE(1 << (config->intr_priority) & MCPWM_ALLOW_INTR_PRIORITY_MASK, ESP_ERR_INVALID_ARG,
TAG, "invalid interrupt priority:%d", config->intr_priority);
}
// create instance firstly, then install onto platform
cap_chan = calloc(1, sizeof(mcpwm_cap_channel_t));
@@ -250,6 +254,10 @@ esp_err_t mcpwm_new_capture_channel(mcpwm_cap_timer_handle_t cap_timer, const mc
mcpwm_hal_context_t *hal = &group->hal;
int cap_chan_id = cap_chan->cap_chan_id;
// if interrupt priority specified before, it cannot be changed until the group is released
// check if the new priority specified consistents with the old one
ESP_GOTO_ON_ERROR(mcpwm_check_intr_priority(group, config->intr_priority), err, TAG, "set group intrrupt priority failed");
mcpwm_ll_capture_enable_negedge(hal->dev, cap_chan_id, config->flags.neg_edge);
mcpwm_ll_capture_enable_posedge(hal->dev, cap_chan_id, config->flags.pos_edge);
mcpwm_ll_invert_input(hal->dev, cap_chan_id, config->flags.invert_cap_signal);
@@ -361,6 +369,7 @@ esp_err_t mcpwm_capture_channel_register_event_callbacks(mcpwm_cap_channel_handl
if (!cap_channel->intr) {
ESP_RETURN_ON_FALSE(cap_channel->fsm == MCPWM_CAP_CHAN_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "channel not in init state");
int isr_flags = MCPWM_INTR_ALLOC_FLAG;
isr_flags |= mcpwm_get_intr_priority_flag(group);
ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
(uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_CAPTURE(cap_chan_id),
mcpwm_capture_default_isr, cap_channel, &cap_channel->intr), TAG, "install interrupt service for cap channel failed");

9
components/driver/mcpwm/mcpwm_cmpr.c
View File

@@ -75,6 +75,10 @@ esp_err_t mcpwm_new_comparator(mcpwm_oper_handle_t oper, const mcpwm_comparator_
esp_err_t ret = ESP_OK;
mcpwm_cmpr_t *cmpr = NULL;
ESP_GOTO_ON_FALSE(oper && config && ret_cmpr, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
if (config->intr_priority) {
ESP_RETURN_ON_FALSE(1 << (config->intr_priority) & MCPWM_ALLOW_INTR_PRIORITY_MASK, ESP_ERR_INVALID_ARG,
TAG, "invalid interrupt priority:%d", config->intr_priority);
}
cmpr = heap_caps_calloc(1, sizeof(mcpwm_cmpr_t), MCPWM_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(cmpr, ESP_ERR_NO_MEM, err, TAG, "no mem for comparator");
@@ -85,6 +89,10 @@ esp_err_t mcpwm_new_comparator(mcpwm_oper_handle_t oper, const mcpwm_comparator_
int oper_id = oper->oper_id;
int cmpr_id = cmpr->cmpr_id;
// if interrupt priority specified before, it cannot be changed until the group is released
// check if the new priority specified consistents with the old one
ESP_GOTO_ON_ERROR(mcpwm_check_intr_priority(group, config->intr_priority), err, TAG, "set group intrrupt priority failed");
mcpwm_ll_operator_enable_update_compare_on_tez(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_tez);
mcpwm_ll_operator_enable_update_compare_on_tep(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_tep);
mcpwm_ll_operator_enable_update_compare_on_sync(hal->dev, oper_id, cmpr_id, config->flags.update_cmp_on_sync);
@@ -162,6 +170,7 @@ esp_err_t mcpwm_comparator_register_event_callbacks(mcpwm_cmpr_handle_t cmpr, co
if (!cmpr->intr) {
// we want the interrupt service to be enabled after allocation successfully
int isr_flags = MCPWM_INTR_ALLOC_FLAG & ~ ESP_INTR_FLAG_INTRDISABLED;
isr_flags |= mcpwm_get_intr_priority_flag(group);
ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
(uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id),
mcpwm_comparator_default_isr, cmpr, &cmpr->intr), TAG, "install interrupt service for comparator failed");

29
components/driver/mcpwm/mcpwm_com.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -42,6 +42,7 @@ mcpwm_group_t *mcpwm_acquire_group_handle(int group_id)
new_group = true;
s_platform.groups[group_id] = group;
group->group_id = group_id;
group->intr_priority = -1;
group->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
// enable APB to access MCPWM registers
periph_module_enable(mcpwm_periph_signals.groups[group_id].module);
@@ -93,6 +94,32 @@ void mcpwm_release_group_handle(mcpwm_group_t *group)
}
}
esp_err_t mcpwm_check_intr_priority(mcpwm_group_t *group, int intr_priority)
{
esp_err_t ret = ESP_OK;
bool intr_priority_conflict = false;
portENTER_CRITICAL(&group->spinlock);
if (group->intr_priority == -1) {
group->intr_priority = intr_priority;
} else if (intr_priority != 0) {
intr_priority_conflict = (group->intr_priority != intr_priority);
}
portEXIT_CRITICAL(&group->spinlock);
ESP_RETURN_ON_FALSE(!intr_priority_conflict, ESP_ERR_INVALID_STATE, TAG, "intr_priority conflict, already is %d but attempt to %d", group->intr_priority, intr_priority);
return ret;
}
int mcpwm_get_intr_priority_flag(mcpwm_group_t *group)
{
int isr_flags = 0;
if (group->intr_priority) {
isr_flags |= 1 << (group->intr_priority);
} else {
isr_flags |= MCPWM_ALLOW_INTR_PRIORITY_MASK;
}
return isr_flags;
}
esp_err_t mcpwm_select_periph_clock(mcpwm_group_t *group, mcpwm_timer_clock_source_t clk_src)
{
esp_err_t ret = ESP_OK;

9
components/driver/mcpwm/mcpwm_fault.c
View File

@@ -93,6 +93,10 @@ esp_err_t mcpwm_new_gpio_fault(const mcpwm_gpio_fault_config_t *config, mcpwm_fa
ESP_GOTO_ON_FALSE(config && ret_fault, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
ESP_GOTO_ON_FALSE(config->group_id < SOC_MCPWM_GROUPS && config->group_id >= 0, ESP_ERR_INVALID_ARG,
err, TAG, "invalid group ID:%d", config->group_id);
if (config->intr_priority) {
ESP_RETURN_ON_FALSE(1 << (config->intr_priority) & MCPWM_ALLOW_INTR_PRIORITY_MASK, ESP_ERR_INVALID_ARG,
TAG, "invalid interrupt priority:%d", config->intr_priority);
}
fault = heap_caps_calloc(1, sizeof(mcpwm_gpio_fault_t), MCPWM_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(fault, ESP_ERR_NO_MEM, err, TAG, "no mem for gpio fault");
@@ -103,6 +107,10 @@ esp_err_t mcpwm_new_gpio_fault(const mcpwm_gpio_fault_config_t *config, mcpwm_fa
mcpwm_hal_context_t *hal = &group->hal;
int fault_id = fault->fault_id;
// if interrupt priority specified before, it cannot be changed until the group is released
// check if the new priority specified consistents with the old one
ESP_GOTO_ON_ERROR(mcpwm_check_intr_priority(group, config->intr_priority), err, TAG, "set group intrrupt priority failed");
// GPIO configuration
gpio_config_t gpio_conf = {
.intr_type = GPIO_INTR_DISABLE,
@@ -245,6 +253,7 @@ esp_err_t mcpwm_fault_register_event_callbacks(mcpwm_fault_handle_t fault, const
if (!gpio_fault->intr) {
// we want the interrupt service to be enabled after allocation successfully
int isr_flags = MCPWM_INTR_ALLOC_FLAG & ~ESP_INTR_FLAG_INTRDISABLED;
isr_flags |= mcpwm_get_intr_priority_flag(group);
ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
(uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_FAULT_MASK(fault_id),
mcpwm_gpio_fault_default_isr, gpio_fault, &gpio_fault->intr), TAG, "install interrupt service for gpio fault failed");

9
components/driver/mcpwm/mcpwm_oper.c
View File

@@ -90,6 +90,10 @@ esp_err_t mcpwm_new_operator(const mcpwm_operator_config_t *config, mcpwm_oper_h
ESP_GOTO_ON_FALSE(config && ret_oper, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
ESP_GOTO_ON_FALSE(config->group_id < SOC_MCPWM_GROUPS && config->group_id >= 0, ESP_ERR_INVALID_ARG,
err, TAG, "invalid group ID:%d", config->group_id);
if (config->intr_priority) {
ESP_RETURN_ON_FALSE(1 << (config->intr_priority) & MCPWM_ALLOW_INTR_PRIORITY_MASK, ESP_ERR_INVALID_ARG,
TAG, "invalid interrupt priority:%d", config->intr_priority);
}
oper = heap_caps_calloc(1, sizeof(mcpwm_oper_t), MCPWM_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(oper, ESP_ERR_NO_MEM, err, TAG, "no mem for operator");
@@ -100,6 +104,10 @@ esp_err_t mcpwm_new_operator(const mcpwm_operator_config_t *config, mcpwm_oper_h
mcpwm_hal_context_t *hal = &group->hal;
int oper_id = oper->oper_id;
// if interrupt priority specified before, it cannot be changed until the group is released
// check if the new priority specified consistents with the old one
ESP_GOTO_ON_ERROR(mcpwm_check_intr_priority(group, config->intr_priority), err, TAG, "set group intrrupt priority failed");
// reset MCPWM operator
mcpwm_hal_operator_reset(hal, oper_id);
@@ -240,6 +248,7 @@ esp_err_t mcpwm_operator_register_event_callbacks(mcpwm_oper_handle_t oper, cons
if (!oper->intr) {
// we want the interrupt service to be enabled after allocation successfully
int isr_flags = MCPWM_INTR_ALLOC_FLAG & ~ ESP_INTR_FLAG_INTRDISABLED;
isr_flags |= mcpwm_get_intr_priority_flag(group);
ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
(uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_OPER_MASK(oper_id),
mcpwm_operator_default_isr, oper, &oper->intr), TAG, "install interrupt service for operator failed");

9
components/driver/mcpwm/mcpwm_private.h
View File

@@ -29,11 +29,13 @@ extern "C" {
#endif
#if CONFIG_MCPWM_ISR_IRAM_SAFE
#define MCPWM_INTR_ALLOC_FLAG (ESP_INTR_FLAG_LOWMED | ESP_INTR_FLAG_SHARED | ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM)
#define MCPWM_INTR_ALLOC_FLAG (ESP_INTR_FLAG_SHARED | ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM)
#else
#define MCPWM_INTR_ALLOC_FLAG (ESP_INTR_FLAG_LOWMED | ESP_INTR_FLAG_SHARED | ESP_INTR_FLAG_INTRDISABLED)
#define MCPWM_INTR_ALLOC_FLAG (ESP_INTR_FLAG_SHARED | ESP_INTR_FLAG_INTRDISABLED)
#endif
#define MCPWM_ALLOW_INTR_PRIORITY_MASK ESP_INTR_FLAG_LOWMED
#define MCPWM_PERIPH_CLOCK_PRE_SCALE (2)
#define MCPWM_PM_LOCK_NAME_LEN_MAX 16
@@ -54,6 +56,7 @@ typedef struct mcpwm_cap_channel_t mcpwm_cap_channel_t;
struct mcpwm_group_t {
int group_id; // group ID, index from 0
int intr_priority; // MCPWM interrupt priority
mcpwm_hal_context_t hal; // HAL instance is at group level
portMUX_TYPE spinlock; // group level spinlock
uint32_t resolution_hz; // MCPWM group clock resolution
@@ -225,6 +228,8 @@ struct mcpwm_cap_channel_t {
mcpwm_group_t *mcpwm_acquire_group_handle(int group_id);
void mcpwm_release_group_handle(mcpwm_group_t *group);
esp_err_t mcpwm_check_intr_priority(mcpwm_group_t *group, int intr_priority);
int mcpwm_get_intr_priority_flag(mcpwm_group_t *group);
esp_err_t mcpwm_select_periph_clock(mcpwm_group_t *group, mcpwm_timer_clock_source_t clk_src);
#ifdef __cplusplus

10
components/driver/mcpwm/mcpwm_timer.c
View File

@@ -91,6 +91,10 @@ esp_err_t mcpwm_new_timer(const mcpwm_timer_config_t *config, mcpwm_timer_handle
ESP_GOTO_ON_FALSE(config && ret_timer, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
ESP_GOTO_ON_FALSE(config->group_id < SOC_MCPWM_GROUPS && config->group_id >= 0, ESP_ERR_INVALID_ARG,
err, TAG, "invalid group ID:%d", config->group_id);
if (config->intr_priority) {
ESP_RETURN_ON_FALSE(1 << (config->intr_priority) & MCPWM_ALLOW_INTR_PRIORITY_MASK, ESP_ERR_INVALID_ARG,
TAG, "invalid interrupt priority:%d", config->intr_priority);
}
timer = heap_caps_calloc(1, sizeof(mcpwm_timer_t), MCPWM_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(timer, ESP_ERR_NO_MEM, err, TAG, "no mem for timer");
@@ -100,6 +104,11 @@ esp_err_t mcpwm_new_timer(const mcpwm_timer_config_t *config, mcpwm_timer_handle
int group_id = group->group_id;
mcpwm_hal_context_t *hal = &group->hal;
int timer_id = timer->timer_id;
// if interrupt priority specified before, it cannot be changed until the group is released
// check if the new priority specified consistents with the old one
ESP_GOTO_ON_ERROR(mcpwm_check_intr_priority(group, config->intr_priority), err, TAG, "set group intrrupt priority failed");
// select the clock source
mcpwm_timer_clock_source_t clk_src = config->clk_src ? config->clk_src : MCPWM_TIMER_CLK_SRC_DEFAULT;
ESP_GOTO_ON_ERROR(mcpwm_select_periph_clock(group, (soc_module_clk_t)clk_src), err, TAG, "set group clock failed");
@@ -192,6 +201,7 @@ esp_err_t mcpwm_timer_register_event_callbacks(mcpwm_timer_handle_t timer, const
if (!timer->intr) {
ESP_RETURN_ON_FALSE(timer->fsm == MCPWM_TIMER_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "timer not in init state");
int isr_flags = MCPWM_INTR_ALLOC_FLAG;
isr_flags |= mcpwm_get_intr_priority_flag(group);
ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
(uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_TIMER_MASK(timer_id),
mcpwm_timer_default_isr, timer, &timer->intr), TAG, "install interrupt service for timer failed");

1
components/driver/test_apps/mcpwm/main/CMakeLists.txt
View File

@@ -6,6 +6,7 @@ set(srcs "test_app_main.c"
"test_mcpwm_oper.c"
"test_mcpwm_sync.c"
"test_mcpwm_timer.c"
"test_mcpwm_common.c"
"test_mcpwm_utils.c")
if(CONFIG_MCPWM_ISR_IRAM_SAFE)

125
components/driver/test_apps/mcpwm/main/test_mcpwm_common.c Normal file
View File

@@ -0,0 +1,125 @@
/*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "unity.h"
#include "esp_private/mcpwm.h"
#include "test_mcpwm_utils.h"
#include "driver/mcpwm_prelude.h"
TEST_CASE("mcpwm_set_interrupt_priority", "[mcpwm]")
{
printf("install timer\r\n");
mcpwm_timer_config_t timer_config = {
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 1 * 1000 * 1000,
.period_ticks = 20 * 1000,
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
.intr_priority = 3,
};
mcpwm_timer_handle_t timer = NULL;
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
printf("register event callbacks\r\n");
mcpwm_timer_event_callbacks_t timer_cbs = {
.on_stop = NULL,
.on_full = NULL,
.on_empty = NULL,
};
TEST_ESP_OK(mcpwm_timer_register_event_callbacks(timer, &timer_cbs, NULL));
timer_config.intr_priority = 1;
mcpwm_timer_handle_t timer2 = NULL;
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_new_timer(&timer_config, &timer2));
TEST_ESP_ERR(ESP_ERR_INVALID_ARG, mcpwm_timer_register_event_callbacks(timer2, &timer_cbs, NULL));
printf("install operator\r\n");
mcpwm_operator_config_t operator_config = {
.group_id = 0,
.intr_priority = 0,
};
mcpwm_oper_handle_t oper = NULL;
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
printf("register event callbacks\r\n");
mcpwm_operator_event_callbacks_t oper_cbs = {
.on_brake_cbc = NULL,
.on_brake_ost = NULL,
};
TEST_ESP_OK(mcpwm_operator_register_event_callbacks(oper, &oper_cbs, NULL));
operator_config.intr_priority = 1;
mcpwm_oper_handle_t oper2 = NULL;
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_new_operator(&operator_config, &oper2));
TEST_ESP_ERR(ESP_ERR_INVALID_ARG, mcpwm_operator_register_event_callbacks(oper2, &oper_cbs, NULL));
printf("install comparator\r\n");
mcpwm_comparator_config_t comparator_config = {
.intr_priority = 0,
};
mcpwm_cmpr_handle_t comparator = NULL;
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator));
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
printf("register event callback\r\n");
mcpwm_comparator_event_callbacks_t comparator_cbs = {
.on_reach = NULL,
};
TEST_ESP_OK(mcpwm_comparator_register_event_callbacks(comparator, &comparator_cbs, NULL));
comparator_config.intr_priority = 1;
mcpwm_cmpr_handle_t comparator2 = NULL;
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_new_comparator(oper, &comparator_config, &comparator2));
TEST_ESP_ERR(ESP_ERR_INVALID_ARG, mcpwm_comparator_register_event_callbacks(comparator2, &comparator_cbs, NULL));
printf("install gpio fault\r\n");
const int fault_gpio = 0;
mcpwm_fault_handle_t fault = NULL;
mcpwm_gpio_fault_config_t gpio_fault_config = {
.group_id = 0,
.gpio_num = fault_gpio,
.intr_priority = 0,
};
TEST_ESP_OK(mcpwm_new_gpio_fault(&gpio_fault_config, &fault));
printf("register event callback\r\n");
mcpwm_fault_event_callbacks_t fault_cbs = {
.on_fault_enter = NULL,
.on_fault_exit = NULL,
};
TEST_ESP_OK(mcpwm_fault_register_event_callbacks(fault, &fault_cbs, NULL));
gpio_fault_config.intr_priority = 1;
mcpwm_fault_handle_t fault2 = NULL;
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_new_gpio_fault(&gpio_fault_config, &fault2));
TEST_ESP_ERR(ESP_ERR_INVALID_ARG, mcpwm_fault_register_event_callbacks(fault2, &fault_cbs, NULL));
printf("install capture timer\r\n");
mcpwm_cap_timer_handle_t cap_timer = NULL;
mcpwm_capture_timer_config_t cap_timer_config = {
.clk_src = MCPWM_CAPTURE_CLK_SRC_DEFAULT,
.group_id = 0,
};
TEST_ESP_OK(mcpwm_new_capture_timer(&cap_timer_config, &cap_timer));
printf("install capture\r\n");
mcpwm_cap_channel_handle_t cap_channel = NULL;
mcpwm_capture_channel_config_t cap_chan_config = {
.gpio_num = -1,
.prescale = 2,
.intr_priority = 3,
};
TEST_ESP_OK(mcpwm_new_capture_channel(cap_timer, &cap_chan_config, &cap_channel));
printf("register event callback\r\n");
mcpwm_capture_event_callbacks_t cap_cbs = {
.on_cap = NULL,
};
TEST_ESP_OK(mcpwm_capture_channel_register_event_callbacks(cap_channel, &cap_cbs, NULL));
cap_chan_config.intr_priority = 1;
mcpwm_cap_channel_handle_t cap_channel2 = NULL;
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_new_capture_channel(cap_timer, &cap_chan_config, &cap_channel2));
TEST_ESP_ERR(ESP_ERR_INVALID_ARG, mcpwm_capture_channel_register_event_callbacks(cap_channel2, &cap_cbs, NULL));
printf("delete all mcpwm objects\r\n");
TEST_ESP_OK(mcpwm_del_comparator(comparator));
TEST_ESP_OK(mcpwm_del_operator(oper));
TEST_ESP_OK(mcpwm_del_capture_channel(cap_channel));
TEST_ESP_OK(mcpwm_del_capture_timer(cap_timer));
TEST_ESP_OK(mcpwm_del_timer(timer));
TEST_ESP_OK(mcpwm_del_fault(fault));
}

2
components/driver/test_apps/mcpwm/main/test_mcpwm_utils.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/