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Merge branch 'refactor/mcpwm_generator_remove_varg_api' into 'master'

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refactor(mcpwm): remove varg action setting functions for timer, compare, and brake events

Closes IDF-13901, IDF-13890, IDF-13865, and IDF-13880

See merge request espressif/esp-idf!42259
This commit is contained in:
morris
2025-10-10 03:25:40 +08:00
parent 1e1b95cfa1 b76254895c
commit 4e62b0e44e
14 changed files with 177 additions and 276 deletions
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1
components/esp_driver_mcpwm/include/driver/mcpwm_fault.h
View File

@@ -8,7 +8,6 @@
#include <stdint.h>
#include <stdbool.h>
#include <stdarg.h>
#include "esp_err.h"
#include "driver/mcpwm_types.h"

50
components/esp_driver_mcpwm/include/driver/mcpwm_gen.h
View File

@@ -8,7 +8,6 @@
#include <stdint.h>
#include <stdbool.h>
#include <stdarg.h>
#include "esp_err.h"
#include "driver/mcpwm_types.h"
@@ -84,8 +83,6 @@ typedef struct {
*/
#define MCPWM_GEN_TIMER_EVENT_ACTION(dir, ev, act) \
(mcpwm_gen_timer_event_action_t) { .direction = dir, .event = ev, .action = act }
#define MCPWM_GEN_TIMER_EVENT_ACTION_END() \
(mcpwm_gen_timer_event_action_t) { .event = MCPWM_TIMER_EVENT_INVALID }
/**
* @brief Set generator action on MCPWM timer event
@@ -100,21 +97,6 @@ typedef struct {
*/
esp_err_t mcpwm_generator_set_action_on_timer_event(mcpwm_gen_handle_t gen, mcpwm_gen_timer_event_action_t ev_act);
/**
* @brief Set generator actions on multiple MCPWM timer events
*
* @note This is an aggregation version of `mcpwm_generator_set_action_on_timer_event`, which allows user to set multiple actions in one call.
*
* @param[in] gen MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM timer event action list, must be terminated by `MCPWM_GEN_TIMER_EVENT_ACTION_END()`
* @return
* - ESP_OK: Set generator actions successfully
* - ESP_ERR_INVALID_ARG: Set generator actions failed because of invalid argument
* - ESP_ERR_INVALID_STATE: Set generator actions failed because of timer is not connected to operator
* - ESP_FAIL: Set generator actions failed because of other error
*/
esp_err_t mcpwm_generator_set_actions_on_timer_event(mcpwm_gen_handle_t gen, mcpwm_gen_timer_event_action_t ev_act, ...);
/**
* @brief Generator action on specific comparator event
*/
@@ -129,8 +111,6 @@ typedef struct {
*/
#define MCPWM_GEN_COMPARE_EVENT_ACTION(dir, cmp, act) \
(mcpwm_gen_compare_event_action_t) { .direction = dir, .comparator = cmp, .action = act }
#define MCPWM_GEN_COMPARE_EVENT_ACTION_END() \
(mcpwm_gen_compare_event_action_t) { .comparator = NULL }
/**
* @brief Set generator action on MCPWM compare event
@@ -144,20 +124,6 @@ typedef struct {
*/
esp_err_t mcpwm_generator_set_action_on_compare_event(mcpwm_gen_handle_t generator, mcpwm_gen_compare_event_action_t ev_act);
/**
* @brief Set generator actions on multiple MCPWM compare events
*
* @note This is an aggregation version of `mcpwm_generator_set_action_on_compare_event`, which allows user to set multiple actions in one call.
*
* @param[in] generator MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM compare event action list, must be terminated by `MCPWM_GEN_COMPARE_EVENT_ACTION_END()`
* @return
* - ESP_OK: Set generator actions successfully
* - ESP_ERR_INVALID_ARG: Set generator actions failed because of invalid argument
* - ESP_FAIL: Set generator actions failed because of other error
*/
esp_err_t mcpwm_generator_set_actions_on_compare_event(mcpwm_gen_handle_t generator, mcpwm_gen_compare_event_action_t ev_act, ...);
/**
* @brief Generator action on specific brake event
*/
@@ -172,8 +138,6 @@ typedef struct {
*/
#define MCPWM_GEN_BRAKE_EVENT_ACTION(dir, mode, act) \
(mcpwm_gen_brake_event_action_t) { .direction = dir, .brake_mode = mode, .action = act }
#define MCPWM_GEN_BRAKE_EVENT_ACTION_END() \
(mcpwm_gen_brake_event_action_t) { .brake_mode = MCPWM_OPER_BRAKE_MODE_INVALID }
/**
* @brief Set generator action on MCPWM brake event
@@ -187,20 +151,6 @@ typedef struct {
*/
esp_err_t mcpwm_generator_set_action_on_brake_event(mcpwm_gen_handle_t generator, mcpwm_gen_brake_event_action_t ev_act);
/**
* @brief Set generator actions on multiple MCPWM brake events
*
* @note This is an aggregation version of `mcpwm_generator_set_action_on_brake_event`, which allows user to set multiple actions in one call.
*
* @param[in] generator MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM brake event action list, must be terminated by `MCPWM_GEN_BRAKE_EVENT_ACTION_END()`
* @return
* - ESP_OK: Set generator actions successfully
* - ESP_ERR_INVALID_ARG: Set generator actions failed because of invalid argument
* - ESP_FAIL: Set generator actions failed because of other error
*/
esp_err_t mcpwm_generator_set_actions_on_brake_event(mcpwm_gen_handle_t generator, mcpwm_gen_brake_event_action_t ev_act, ...);
/**
* @brief Generator action on specific fault event
*/

65
components/esp_driver_mcpwm/src/mcpwm_gen.c
View File

@@ -160,37 +160,6 @@ esp_err_t mcpwm_generator_set_action_on_timer_event(mcpwm_gen_handle_t gen, mcpw
return ESP_OK;
}
esp_err_t mcpwm_generator_set_actions_on_timer_event(mcpwm_gen_handle_t gen, mcpwm_gen_timer_event_action_t ev_act, ...)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_timer_t *timer = oper->timer;
ESP_RETURN_ON_FALSE(timer, ESP_ERR_INVALID_STATE, TAG, "no timer is connected to the operator");
mcpwm_gen_timer_event_action_t ev_act_itor = ev_act;
bool invalid_utep = false;
bool invalid_dtez = false;
va_list it = {};
va_start(it, ev_act);
while (ev_act_itor.event != MCPWM_TIMER_EVENT_INVALID) {
invalid_utep = (timer->count_mode == MCPWM_TIMER_COUNT_MODE_UP_DOWN) &&
(ev_act_itor.direction == MCPWM_TIMER_DIRECTION_UP) &&
(ev_act_itor.event == MCPWM_TIMER_EVENT_FULL);
invalid_dtez = (timer->count_mode == MCPWM_TIMER_COUNT_MODE_UP_DOWN) &&
(ev_act_itor.direction == MCPWM_TIMER_DIRECTION_DOWN) &&
(ev_act_itor.event == MCPWM_TIMER_EVENT_EMPTY);
if (invalid_utep || invalid_dtez) {
va_end(it);
ESP_RETURN_ON_FALSE(false, ESP_ERR_INVALID_ARG, TAG, "UTEP and DTEZ can't be reached under MCPWM_TIMER_COUNT_MODE_UP_DOWN mode");
}
mcpwm_ll_generator_set_action_on_timer_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act_itor.direction, ev_act_itor.event, ev_act_itor.action);
ev_act_itor = va_arg(it, mcpwm_gen_timer_event_action_t);
}
va_end(it);
return ESP_OK;
}
esp_err_t mcpwm_generator_set_action_on_compare_event(mcpwm_gen_handle_t gen, mcpwm_gen_compare_event_action_t ev_act)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
@@ -202,23 +171,6 @@ esp_err_t mcpwm_generator_set_action_on_compare_event(mcpwm_gen_handle_t gen, mc
return ESP_OK;
}
esp_err_t mcpwm_generator_set_actions_on_compare_event(mcpwm_gen_handle_t gen, mcpwm_gen_compare_event_action_t ev_act, ...)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_gen_compare_event_action_t ev_act_itor = ev_act;
va_list it = {};
va_start(it, ev_act);
while (ev_act_itor.comparator) {
mcpwm_ll_generator_set_action_on_compare_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act_itor.direction, ev_act_itor.comparator->cmpr_id, ev_act_itor.action);
ev_act_itor = va_arg(it, mcpwm_gen_compare_event_action_t);
}
va_end(it);
return ESP_OK;
}
esp_err_t mcpwm_generator_set_action_on_brake_event(mcpwm_gen_handle_t gen, mcpwm_gen_brake_event_action_t ev_act)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
@@ -230,23 +182,6 @@ esp_err_t mcpwm_generator_set_action_on_brake_event(mcpwm_gen_handle_t gen, mcpw
return ESP_OK;
}
esp_err_t mcpwm_generator_set_actions_on_brake_event(mcpwm_gen_handle_t gen, mcpwm_gen_brake_event_action_t ev_act, ...)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_gen_brake_event_action_t ev_act_itor = ev_act;
va_list it = {};
va_start(it, ev_act);
while (ev_act_itor.brake_mode != MCPWM_OPER_BRAKE_MODE_INVALID) {
mcpwm_ll_generator_set_action_on_brake_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act_itor.direction, ev_act_itor.brake_mode, ev_act_itor.action);
ev_act_itor = va_arg(it, mcpwm_gen_brake_event_action_t);
}
va_end(it);
return ESP_OK;
}
esp_err_t mcpwm_generator_set_action_on_fault_event(mcpwm_gen_handle_t gen, mcpwm_gen_fault_event_action_t ev_act)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");

1
components/esp_driver_mcpwm/src/mcpwm_private.h
View File

@@ -8,7 +8,6 @@
#include <stdint.h>
#include <stdlib.h>
#include <stdarg.h>
#include <sys/cdefs.h>
#include <sys/lock.h>
#include "sdkconfig.h"

77
components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_gen.c
View File

@@ -260,10 +260,10 @@ TEST_CASE("mcpwm_generator_action_on_timer_event", "[mcpwm]")
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
printf("set generator to output high on timer full\r\n");
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP)));
printf("start timer\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
vTaskDelay(pdMS_TO_TICKS(100));
@@ -272,10 +272,10 @@ TEST_CASE("mcpwm_generator_action_on_timer_event", "[mcpwm]")
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
printf("set generator to output low on timer full\r\n");
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP)));
printf("start timer\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
vTaskDelay(pdMS_TO_TICKS(100));
@@ -457,49 +457,48 @@ static void single_edge_active_low(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t g
static void pulse_placement(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_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, 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_TOGGLE)));
}
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)
{
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, 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_LOW)));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH)));
}
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)
{
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW)));
}
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)
{
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(genb,
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_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW)));
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)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_HIGH)));
}
TEST_CASE("mcpwm_generator_action_on_compare_event", "[mcpwm]")

8
components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_sleep.c
View File

@@ -62,10 +62,10 @@ static void test_mcpwm_timer_sleep_retention(bool allow_pd)
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
printf("set generator to output high on timer full\r\n");
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP)));
// go to sleep
esp_sleep_context_t sleep_ctx;

89
docs/en/api-reference/peripherals/mcpwm.rst
View File

@@ -318,7 +318,7 @@ Generator Actions on Events
Set Generator Action on Timer Event
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
One generator can set multiple actions on different timer events, by calling :cpp:func:`mcpwm_generator_set_actions_on_timer_event` with a variable number of action configurations. The action configuration is defined in :cpp:type:`mcpwm_gen_timer_event_action_t`:
A single generator can be configured to perform multiple actions in response to different timer events. To achieve this, invoke :cpp:func:`mcpwm_generator_set_action_on_timer_event` for each desired event-action pair. The details of each action are specified using the :cpp:type:`mcpwm_gen_timer_event_action_t` structure.
- :cpp:member:`mcpwm_gen_timer_event_action_t::direction` specifies the timer direction. The supported directions are listed in :cpp:type:`mcpwm_timer_direction_t`.
- :cpp:member:`mcpwm_gen_timer_event_action_t::event` specifies the timer event. The supported timer events are listed in :cpp:type:`mcpwm_timer_event_t`.
@@ -326,14 +326,10 @@ One generator can set multiple actions on different timer events, by calling :cp
There is a helper macro :c:macro:`MCPWM_GEN_TIMER_EVENT_ACTION` to simplify the construction of a timer event action entry.
Please note, the argument list of :cpp:func:`mcpwm_generator_set_actions_on_timer_event` **must** be terminated by :c:macro:`MCPWM_GEN_TIMER_EVENT_ACTION_END`.
You can also set the timer action one by one by calling :cpp:func:`mcpwm_generator_set_action_on_timer_event` without varargs.
Set Generator Action on Compare Event
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
One generator can set multiple actions on different compare events, by calling :cpp:func:`mcpwm_generator_set_actions_on_compare_event` with a variable number of action configurations. The action configuration is defined in :cpp:type:`mcpwm_gen_compare_event_action_t`:
A single generator can be configured to perform multiple actions in response to different compare events. To achieve this, invoke :cpp:func:`mcpwm_generator_set_action_on_compare_event` for each desired compare event and action pair. The specific action settings are encapsulated in the :cpp:type:`mcpwm_gen_compare_event_action_t` structure.
- :cpp:member:`mcpwm_gen_compare_event_action_t::direction` specifies the timer direction. The supported directions are listed in :cpp:type:`mcpwm_timer_direction_t`.
- :cpp:member:`mcpwm_gen_compare_event_action_t::comparator` specifies the comparator handle. See `MCPWM Comparators <#mcpwm-comparators>`__ for how to allocate a comparator.
@@ -341,14 +337,10 @@ One generator can set multiple actions on different compare events, by calling :
There is a helper macro :c:macro:`MCPWM_GEN_COMPARE_EVENT_ACTION` to simplify the construction of a compare event action entry.
Please note, the argument list of :cpp:func:`mcpwm_generator_set_actions_on_compare_event` **must** be terminated by :c:macro:`MCPWM_GEN_COMPARE_EVENT_ACTION_END`.
You can also set the compare action one by one by calling :cpp:func:`mcpwm_generator_set_action_on_compare_event` without varargs.
Set Generator Action on Fault Event
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
One generator can set action on fault based trigger events, by calling :cpp:func:`mcpwm_generator_set_action_on_fault_event` with an action configurations. The action configuration is defined in :cpp:type:`mcpwm_gen_fault_event_action_t`:
A single generator can be configured to perform multiple actions in response to fault events. To achieve this, invoke :cpp:func:`mcpwm_generator_set_action_on_fault_event` for each desired action. The specific actions to be taken are described by the :cpp:type:`mcpwm_gen_fault_event_action_t` structure.
- :cpp:member:`mcpwm_gen_fault_event_action_t::direction` specifies the timer direction. The supported directions are listed in :cpp:type:`mcpwm_timer_direction_t`.
- :cpp:member:`mcpwm_gen_fault_event_action_t::fault` specifies the fault used for the trigger. See `MCPWM Faults <#mcpwm-faults>`__ for how to allocate a fault.
@@ -360,12 +352,10 @@ The trigger only support GPIO fault. when the input is not a GPIO fault, this fu
There is a helper macro :c:macro:`MCPWM_GEN_FAULT_EVENT_ACTION` to simplify the construction of a trigger event action entry.
Please note, fault event does not have variadic function like :cpp:func:`mcpwm_generator_set_actions_on_fault_event`.
Set Generator Action on Sync Event
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
One generator can set action on sync based trigger events, by calling :cpp:func:`mcpwm_generator_set_action_on_sync_event` with an action configurations. The action configuration is defined in :cpp:type:`mcpwm_gen_sync_event_action_t`:
A single generator can be configured to perform multiple actions in response to different synchronization events. This is achieved by invoking :cpp:func:`mcpwm_generator_set_action_on_sync_event` for each desired event-action pair. The specific action to be taken for each synchronization event is described by the :cpp:type:`mcpwm_gen_sync_event_action_t` structure.
- :cpp:member:`mcpwm_gen_sync_event_action_t::direction` specifies the timer direction. The supported directions are listed in :cpp:type:`mcpwm_timer_direction_t`.
- :cpp:member:`mcpwm_gen_sync_event_action_t::sync` specifies the sync source used for the trigger. See `MCPWM Sync Sources <#mcpwm-sync-sources>`__ for how to allocate a sync source.
@@ -377,8 +367,6 @@ The trigger only support one sync action, regardless of the kinds. When set sync
There is a helper macro :c:macro:`MCPWM_GEN_SYNC_EVENT_ACTION` to simplify the construction of a trigger event action entry.
Please note, sync event does not have variadic function like :cpp:func:`mcpwm_generator_set_actions_on_sync_event`.
.. _mcpwm-classical-pwm-waveforms-and-generator-configurations:
@@ -439,13 +427,12 @@ Pulse Placement Asymmetric Waveform
static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
{
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE)));
}
Dual Edge Asymmetric Waveform - Active Low
@@ -457,14 +444,14 @@ Dual Edge Asymmetric Waveform - Active Low
static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
{
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH)));
}
Dual Edge Symmetric Waveform - Active Low
@@ -476,14 +463,14 @@ Dual Edge Symmetric Waveform - Active Low
static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
{
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW)));
}
Dual Edge Symmetric Waveform - Complementary
@@ -495,14 +482,14 @@ Dual Edge Symmetric Waveform - Complementary
static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
{
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(genb,
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()));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_HIGH)));
}
@@ -797,7 +784,7 @@ The way that MCPWM operator reacts to the fault is called **Brake**. The MCPWM o
Set Generator Action on Brake Event
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
One generator can set multiple actions on different brake events, by calling :cpp:func:`mcpwm_generator_set_actions_on_brake_event` with a variable number of action configurations. The action configuration is defined in :cpp:type:`mcpwm_gen_brake_event_action_t`:
A single generator can be configured to perform multiple actions in response to brake events. To achieve this, invoke :cpp:func:`mcpwm_generator_set_action_on_brake_event` for each desired action. The specific actions available for configuration are defined in :cpp:type:`mcpwm_gen_brake_event_action_t`.
- :cpp:member:`mcpwm_gen_brake_event_action_t::direction` specifies the timer direction. The supported directions are listed in :cpp:type:`mcpwm_timer_direction_t`.
- :cpp:member:`mcpwm_gen_brake_event_action_t::brake_mode` specifies the brake mode. The supported brake modes are listed in the :cpp:type:`mcpwm_operator_brake_mode_t`.
@@ -805,10 +792,6 @@ One generator can set multiple actions on different brake events, by calling :cp
There is a helper macro :c:macro:`MCPWM_GEN_BRAKE_EVENT_ACTION` to simplify the construction of a brake event action entry.
Please note, the argument list of :cpp:func:`mcpwm_generator_set_actions_on_brake_event` **must** be terminated by :c:macro:`MCPWM_GEN_BRAKE_EVENT_ACTION_END`.
You can also set the brake action one by one by calling :cpp:func:`mcpwm_generator_set_action_on_brake_event` without varargs.
Register Fault Event Callbacks
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -843,7 +826,7 @@ This function will lazy the install interrupt service for the MCPWM operator, wh
Generator Force Actions
^^^^^^^^^^^^^^^^^^^^^^^
Software can override generator output level at runtime, by calling :cpp:func:`mcpwm_generator_set_force_level`. The software force level always has a higher priority than other event actions set in e.g., :cpp:func:`mcpwm_generator_set_actions_on_timer_event`.
Software can override generator output level at runtime, by calling :cpp:func:`mcpwm_generator_set_force_level`. The software force level always has a higher priority than other event actions set in e.g., :cpp:func:`mcpwm_generator_set_action_on_timer_event`.
- Set the ``level`` to -1 means to disable the force action, and the generator's output level will be controlled by the event actions again.
- Set the ``hold_on`` to true, and the force output level will keep alive until it is removed by assigning ``level`` to -1.

6
docs/en/migration-guides/release-5.x/5.0/peripherals.rst
View File

@@ -433,12 +433,12 @@ LCD
^^^^^^^^^^^^^^^^^^^^^^^^^
- ``mcpwm_gpio_init`` and ``mcpwm_set_pin``: GPIO configurations are moved to submodule's own configuration. e.g., set the PWM GPIO in :cpp:member:`mcpwm_generator_config_t::gen_gpio_num`.
- ``mcpwm_init``: To get an expected PWM waveform, users need to allocated at least one MCPWM timer and MCPWM operator, then connect them by calling :cpp:func:`mcpwm_operator_connect_timer`. After that, users should set the generator's actions on various events by calling e.g., :cpp:func:`mcpwm_generator_set_actions_on_timer_event`, :cpp:func:`mcpwm_generator_set_actions_on_compare_event`.
- ``mcpwm_init``: To get an expected PWM waveform, users need to allocated at least one MCPWM timer and MCPWM operator, then connect them by calling :cpp:func:`mcpwm_operator_connect_timer`. After that, users should set the generator's actions on various events by calling e.g., :cpp:func:`mcpwm_generator_set_action_on_timer_event`, :cpp:func:`mcpwm_generator_set_action_on_compare_event`.
- ``mcpwm_group_set_resolution``: in the new driver, the group resolution is fixed to the maximum, usually it is 80 MHz.
- ``mcpwm_timer_set_resolution``: MCPWM Timer resolution is set in :cpp:member:`mcpwm_timer_config_t::resolution_hz`.
- ``mcpwm_set_frequency``: PWM frequency is determined by :cpp:member:`mcpwm_timer_config_t::resolution_hz`, :cpp:member:`mcpwm_timer_config_t::count_mode` and :cpp:member:`mcpwm_timer_config_t::period_ticks`.
- ``mcpwm_set_duty``: To set the PWM duty cycle, users should call :cpp:func:`mcpwm_comparator_set_compare_value` to change comparator's threshold.
- ``mcpwm_set_duty_type``: There is no preset duty cycle types. The duty cycle type is configured by setting different generator actions. e.g., :cpp:func:`mcpwm_generator_set_actions_on_timer_event`.
- ``mcpwm_set_duty_type``: There is no preset duty cycle types. The duty cycle type is configured by setting different generator actions. e.g., :cpp:func:`mcpwm_generator_set_action_on_timer_event`.
- ``mcpwm_set_signal_high`` and ``mcpwm_set_signal_low`` are replaced by :cpp:func:`mcpwm_generator_set_force_level`. In the new driver, it is implemented by setting force action for the generator, instead of changing the duty cycle to 0% or 100% at the background.
- ``mcpwm_start`` and ``mcpwm_stop`` are replaced by :cpp:func:`mcpwm_timer_start_stop`. You have more modes to start and stop the MCPWM timer, see :cpp:type:`mcpwm_timer_start_stop_cmd_t`.
- ``mcpwm_carrier_init`` is replaced by :cpp:func:`mcpwm_operator_apply_carrier`.
@@ -450,7 +450,7 @@ LCD
- ``mcpwm_carrier_output_invert`` is replaced by :cpp:member:`mcpwm_carrier_config_t::invert_before_modulate` and :cpp:member:`mcpwm_carrier_config_t::invert_after_modulate`.
- ``mcpwm_deadtime_enable`` and ``mcpwm_deadtime_disable`` are replaced by :cpp:func:`mcpwm_generator_set_dead_time`.
- ``mcpwm_fault_init`` is replaced by :cpp:func:`mcpwm_new_gpio_fault`.
- ``mcpwm_fault_set_oneshot_mode``, ``mcpwm_fault_set_cyc_mode`` are replaced by :cpp:func:`mcpwm_operator_set_brake_on_fault` and :cpp:func:`mcpwm_generator_set_actions_on_brake_event`.
- ``mcpwm_fault_set_oneshot_mode``, ``mcpwm_fault_set_cyc_mode`` are replaced by :cpp:func:`mcpwm_operator_set_brake_on_fault` and :cpp:func:`mcpwm_generator_set_action_on_brake_event`.
- ``mcpwm_capture_enable`` is removed. It is duplicated to :cpp:func:`mcpwm_capture_enable_channel`.
- ``mcpwm_capture_disable`` is removed. It is duplicated to :cpp:func:`mcpwm_capture_capture_disable_channel`.
- ``mcpwm_capture_enable_channel`` and ``mcpwm_capture_disable_channel`` are replaced by :cpp:func:`mcpwm_capture_channel_enable` and :cpp:func:`mcpwm_capture_channel_disable`.

23
docs/en/migration-guides/release-6.x/6.0/peripherals.rst
View File

@@ -85,6 +85,29 @@ The ``io_od_mode`` member in the :cpp:type:`rmt_tx_channel_config_t` configurati
The legacy MCPWM driver ``driver/mcpwm.h`` is deprecated since version 5.0 (see :ref:`deprecate_mcpwm_legacy_driver`). Starting from version 6.0, the legacy driver is completely removed. The new driver is placed in the :component:`esp_driver_mcpwm`, and the header file path is ``driver/mcpwm_prelude``.
Variadic Generator APIs are Removed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The legacy variadic ("varg") generator APIs have been removed in this release. Code that used vararg-style calls for generator action setup must be migrated to the explicit, typed APIs. These APIs use configuration structs and clearly-typed setter functions (for example, :cpp:type:`mcpwm_generator_config_t`, :cpp:type:`mcpwm_gen_timer_event_action_t` and :cpp:type:`mcpwm_generator_set_action_on_timer_event`).
Migration steps (summary):
- Replace varg-style action configuration with helper structs/macros and dedicated setter functions::
.. code-block:: c
/* Old (varg) */
mcpwm_generator_set_actions_on_compare_event(my_generator,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, my_comparator, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, my_comparator, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION_END());
/* New */
mcpwm_generator_set_action_on_compare_event(my_generator,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, my_comparator, MCPWM_GEN_ACTION_LOW));
mcpwm_generator_set_action_on_compare_event(my_generator,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, my_comparator, MCPWM_GEN_ACTION_HIGH));
GPIO
----

89
docs/zh_CN/api-reference/peripherals/mcpwm.rst
View File

@@ -318,7 +318,7 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
设置生成器对定时器事件执行的操作
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
调用 :cpp:func:`mcpwm_generator_set_actions_on_timer_event` 并辅以若干操作配置，可以针对不同的定时器事件，为生成器设置不同的操作。操作配置定义在 :cpp:type:`mcpwm_gen_timer_event_action_t` 中：
单个生成器可以针对不同的定时器事件配置多种操作。为此，应针对每个事件-操作对分别调用 :cpp:func:`mcpwm_generator_set_action_on_timer_event`。每个操作的详细配置通过结构体 :cpp:type:`mcpwm_gen_timer_event_action_t` 指定。
- :cpp:member:`mcpwm_gen_timer_event_action_t::direction` 指定定时器计数方向，可以调用 :cpp:type:`mcpwm_timer_direction_t` 查看支持的方向。
- :cpp:member:`mcpwm_gen_timer_event_action_t::event` 指定定时器事件，可以调用 :cpp:type:`mcpwm_timer_event_t` 查看支持的定时器事件。
@@ -326,14 +326,10 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
可借助辅助宏 :c:macro:`MCPWM_GEN_TIMER_EVENT_ACTION` 构建定时器事件操作条目。
需注意，:cpp:func:`mcpwm_generator_set_actions_on_timer_event` 的参数列表 **必须** 以 :c:macro:`MCPWM_GEN_TIMER_EVENT_ACTION_END` 结束。
也可以调用 :cpp:func:`mcpwm_generator_set_action_on_timer_event` 逐一设置定时器操作，无需涉及变量参数。
设置生成器对比较器事件执行的操作
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
调用 :cpp:func:`mcpwm_generator_set_actions_on_compare_event` 并辅以若干操作配置，可以针对不同的比较器事件，为生成器设置不同的操作。操作配置定义在 :cpp:type:`mcpwm_gen_compare_event_action_t` 中：
单个生成器可以针对不同的比较器事件配置多种操作。为此，应针对每个比较事件-操作对分别调用 :cpp:func:`mcpwm_generator_set_action_on_compare_event`。每个操作的详细配置通过结构体 :cpp:type:`mcpwm_gen_compare_event_action_t` 指定。
- :cpp:member:`mcpwm_gen_compare_event_action_t::direction` 指定定时器计数方向，可以调用 :cpp:type:`mcpwm_timer_direction_t` 查看支持的方向。
- :cpp:member:`mcpwm_gen_compare_event_action_t::comparator` 指定比较器句柄。有关分配比较器的方法，请参见 `MCPWM 比较器`_。
@@ -341,14 +337,10 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
可借助辅助宏 :c:macro:`MCPWM_GEN_COMPARE_EVENT_ACTION` 构建比较事件操作条目。
需注意，:cpp:func:`mcpwm_generator_set_actions_on_compare_event` 的参数列表 **必须** 以 :c:macro:`MCPWM_GEN_COMPARE_EVENT_ACTION_END` 结束。
也可以调用 :cpp:func:`mcpwm_generator_set_action_on_compare_event` 逐一设置比较器操作，无需涉及变量参数。
设置生成器对故障事件执行的操作
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
调用 :cpp:func:`mcpwm_generator_set_action_on_fault_event` 并辅以操作配置，可以针对故障事件，为生成器设置操作。操作配置定义在 :cpp:type:`mcpwm_gen_fault_event_action_t` 中：
单个发生器可以配置为在故障事件发生时执行多个操作。要实现此功能，请针对每个期望的操作调用 :cpp:func:`mcpwm_generator_set_action_on_fault_event`。具体的操作由 :cpp:type:`mcpwm_gen_fault_event_action_t` 结构体描述。
- :cpp:member:`mcpwm_gen_fault_event_action_t::direction` 指定定时器计数方向，可以调用 :cpp:type:`mcpwm_timer_direction_t` 查看支持的方向。
- :cpp:member:`mcpwm_gen_fault_event_action_t::fault` 指定用于触发器的故障。有关分配故障的方法，请参见 `MCPWM 故障`_。
@@ -360,12 +352,10 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
可借助辅助宏 :c:macro:`MCPWM_GEN_FAULT_EVENT_ACTION` 构建触发事件操作条目。
需注意，故障事件没有类似 :cpp:func:`mcpwm_generator_set_actions_on_fault_event` 这样的可变参数函数。
设置生成器对同步事件执行的操作
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
调用 :cpp:func:`mcpwm_generator_set_action_on_sync_event` 并辅以操作配置，可以针对同步事件，为生成器设置操作。操作配置定义在 :cpp:type:`mcpwm_gen_sync_event_action_t` 中：
单个生成器可以针对不同的同步事件配置多种操作。为此，应针对每个同步事件-操作对分别调用 :cpp:func:`mcpwm_generator_set_action_on_sync_event`。每个操作的详细配置通过结构体 :cpp:type:`mcpwm_gen_sync_event_action_t` 指定。
- :cpp:member:`mcpwm_gen_sync_event_action_t::direction` 指定定时器计数方向，可以调用 :cpp:type:`mcpwm_timer_direction_t` 查看支持的方向。
- :cpp:member:`mcpwm_gen_sync_event_action_t::sync` 指定用于触发器的同步源。有关分配同步源的方法，请参见 `MCPWM 同步源`_。
@@ -377,8 +367,6 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
可借助辅助宏 :c:macro:`MCPWM_GEN_SYNC_EVENT_ACTION` 构建触发事件操作条目。
需注意，同步事件没有类似 :cpp:func:`mcpwm_generator_set_actions_on_sync_event` 这样的可变参数函数。
.. _mcpwm-classical-pwm-waveforms-and-generator-configurations:
@@ -439,13 +427,12 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
{
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE)));
}
双沿不对称波形 - 低电平有效
@@ -457,14 +444,14 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
{
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(genb,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH)));
}
双沿对称波形 - 低电平有效
@@ -476,14 +463,14 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
{
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW)));
}
双沿对称波形 - 互补
@@ -495,14 +482,14 @@ MCPWM 比较器可以在定时器计数器等于比较值时发送通知。若
static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
{
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(genb,
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()));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gena,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(genb,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_HIGH)));
}
@@ -797,7 +784,7 @@ MCPWM 操作器对故障的响应方式为 **制动**。可以调用 :cpp:func:`
设置发生制动事件时的生成器操作
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
调用 :cpp:func:`mcpwm_generator_set_actions_on_brake_event` 并辅以若干操作配置，可以针对不同的制动事件，为生成器设置不同的对应操作。操作配置定义在 :cpp:type:`mcpwm_gen_brake_event_action_t` 中：
单个生成器可以针对不同的制动事件配置多种操作。为此，应针对每个期望的操作分别调用 :cpp:func:`mcpwm_generator_set_action_on_brake_event`。每个操作的详细配置通过结构体 :cpp:type:`mcpwm_gen_brake_event_action_t` 指定。
- :cpp:member:`mcpwm_gen_brake_event_action_t::direction` 指定定时器的方向，可以调用 :cpp:type:`mcpwm_timer_direction_t` 查看支持的方向。
- :cpp:member:`mcpwm_gen_brake_event_action_t::brake_mode` 指定制动模式，可以调用 :cpp:type:`mcpwm_operator_brake_mode_t` 查看支持的制动模式。
@@ -805,10 +792,6 @@ MCPWM 操作器对故障的响应方式为 **制动**。可以调用 :cpp:func:`
可借助辅助宏 :c:macro:`MCPWM_GEN_BRAKE_EVENT_ACTION` 构建制动事件操作条目。
需注意， :cpp:func:`mcpwm_generator_set_actions_on_brake_event` 的参数列表 **必须** 以 :c:macro:`MCPWM_GEN_BRAKE_EVENT_ACTION_END` 结束。
也可以调用 :cpp:func:`mcpwm_generator_set_action_on_brake_event` 逐一设置制动操作，无需涉及变量参数。
注册故障事件回调
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -843,7 +826,7 @@ MCPWM 操作器支持在进行制动操作前发送通知。若有函数需在
生成器强制操作
^^^^^^^^^^^^^^^^^^^^^^^
调用 :cpp:func:`mcpwm_generator_set_force_level`，使能软件强制决定运行时的生成器输出电平。相较于通过 :cpp:func:`mcpwm_generator_set_actions_on_timer_event` 配置的其他事件操作，软件强制事件优先级最高。
调用 :cpp:func:`mcpwm_generator_set_force_level`，使能软件强制决定运行时的生成器输出电平。相较于通过 :cpp:func:`mcpwm_generator_set_action_on_timer_event` 配置的其他事件操作，软件强制事件优先级最高。
- 设置 ``level`` 为 -1，代表禁用强制操作，生成器的输出电平重新交由事件操作控制。
- 设置 ``hold_on`` 为 true，代表强制输出电平将保持不变，直到设置 ``level`` 为 -1 来移除该电平。

6
docs/zh_CN/migration-guides/release-5.x/5.0/peripherals.rst
View File

@@ -433,12 +433,12 @@ LCD
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
- ``mcpwm_gpio_init`` 和 ``mcpwm_set_pin``：GPIO 管脚配置在子模块配置中完成，例如在 :cpp:member:`mcpwm_generator_config_t::gen_gpio_num` 中设置 PWM GPIO 管脚。
- ``mcpwm_init``：为得到预期的 PWM 波形，用户需要至少分配一个 MCPWM 定时器和 MCPWM 运算器，然后通过调用 :cpp:func:`mcpwm_operator_connect_timer` 将二者连接起来。然后，用户需要调用如:cpp:func:`mcpwm_generator_set_actions_on_timer_event`， :cpp:func:`mcpwm_generator_set_actions_on_compare_event` 来设置发生器对不同事件的动作。
- ``mcpwm_init``：为得到预期的 PWM 波形，用户需要至少分配一个 MCPWM 定时器和 MCPWM 运算器，然后通过调用 :cpp:func:`mcpwm_operator_connect_timer` 将二者连接起来。然后，用户需要调用如:cpp:func:`mcpwm_generator_set_action_on_timer_event`， :cpp:func:`mcpwm_generator_set_action_on_compare_event` 来设置发生器对不同事件的动作。
- ``mcpwm_group_set_resolution``：新驱动中，群组分辨率固定为最大值，通常为 80 MHz。
- ``mcpwm_timer_set_resolution``：MCPWM 定时器的分辨率在 :cpp:member:`mcpwm_timer_config_t::resolution_hz` 中进行设置。
- ``mcpwm_set_frequency``：PWM 频率由 :cpp:member:`mcpwm_timer_config_t::resolution_hz` ，:cpp:member:`mcpwm_timer_config_t::count_mode` 和:cpp:member:`mcpwm_timer_config_t::period_ticks` 决定。
- ``mcpwm_set_duty``：为设置 PWM 占空比，用户应调用 :cpp:func:`mcpwm_comparator_set_compare_value` 来改变比较器的阈值。
- ``mcpwm_set_duty_type``：新驱动中没有预设的占空比模式，通过设置不同的发生器行为，如 :cpp:func:`mcpwm_generator_set_actions_on_timer_event`，来配置占空比模式。
- ``mcpwm_set_duty_type``：新驱动中没有预设的占空比模式，通过设置不同的发生器行为，如 :cpp:func:`mcpwm_generator_set_action_on_timer_event`，来配置占空比模式。
- ``mcpwm_set_signal_high`` 和 ``mcpwm_set_signal_low`` 更新为 :cpp:func:`mcpwm_generator_set_force_level`。新驱动中，这是通过为发生器设置力作用来实现的，而不是在后台将占空比改为 0% 或 100%。
- ``mcpwm_start`` 和 ``mcpwm_stop`` 更新为 :cpp:func:`mcpwm_timer_start_stop`。用户可以用更多的模式来启动和停止 MCPWM 定时器，详见 :cpp:type:`mcpwm_timer_start_stop_cmd_t`。
- ``mcpwm_carrier_init`` 更新为 :cpp:func:`mcpwm_operator_apply_carrier`。
@@ -450,7 +450,7 @@ LCD
- ``mcpwm_carrier_output_invert`` 更新为 :cpp:member:`mcpwm_carrier_config_t::invert_before_modulate` 和 :cpp:member:`mcpwm_carrier_config_t::invert_after_modulate`。
- ``mcpwm_deadtime_enable`` 与 ``mcpwm_deadtime_disable`` 更新为 :cpp:func:`mcpwm_generator_set_dead_time`。
- ``mcpwm_fault_init`` 更新为 :cpp:func:`mcpwm_new_gpio_fault`。
- ``mcpwm_fault_set_oneshot_mode`` 与 ``mcpwm_fault_set_cyc_mode`` 更新为 :cpp:func:`mcpwm_operator_set_brake_on_fault` 与 :cpp:func:`mcpwm_generator_set_actions_on_brake_event`。
- ``mcpwm_fault_set_oneshot_mode`` 与 ``mcpwm_fault_set_cyc_mode`` 更新为 :cpp:func:`mcpwm_operator_set_brake_on_fault` 与 :cpp:func:`mcpwm_generator_set_action_on_brake_event`。
- 由于 ``mcpwm_capture_enable`` 与 :cpp:func:`mcpwm_capture_enable_channel` 重复，因此在更新后被删除。
- 由于 ``mcpwm_capture_disable`` 与 :cpp:func:`mcpwm_capture_capture_disable_channel` 重复，因此在更新后被删除。
- ``mcpwm_capture_enable_channel`` 与 ``mcpwm_capture_disable_channel`` 更新为 :cpp:func:`mcpwm_capture_channel_enable` 与 :cpp:func:`mcpwm_capture_channel_disable`。

23
docs/zh_CN/migration-guides/release-6.x/6.0/peripherals.rst
View File

@@ -85,6 +85,29 @@ RMT
旧版的 MCPWM 驱动 ``driver/mcpwm.h`` 在 5.0 的版本中就已经被弃用（请参考 :ref:`deprecate_mcpwm_legacy_driver`）。从 6.0 版本开始，旧版驱动被完全移除。新驱动位于 :component:`esp_driver_mcpwm` 组件中，头文件引用路径为 ``driver/mcpwm_prelude``。
可变参数生成器 API 已被移除
~~~~~~~~~~~~~~~~~~~~~~~~~~~
本版本中已移除旧版的可变参数（"varg"）生成器 API。原先使用可变参数方式配置生成器动作的代码，需迁移到显式、类型化的 API。这些新 API 使用配置结构体和类型明确的设置函数（例如 :cpp:type:`mcpwm_generator_config_t`、:cpp:type:`mcpwm_gen_timer_event_action_t` 和 :cpp:type:`mcpwm_generator_set_action_on_timer_event`）。
迁移步骤（摘要）：
- 用辅助结构体/宏和专用设置函数替换 varg 风格的动作配置::
.. code-block:: c
/* 旧版（varg）*/
mcpwm_generator_set_actions_on_compare_event(my_generator,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, my_comparator, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, my_comparator, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION_END());
/* 新版 */
mcpwm_generator_set_action_on_compare_event(my_generator,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, my_comparator, MCPWM_GEN_ACTION_LOW));
mcpwm_generator_set_action_on_compare_event(my_generator,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, my_comparator, MCPWM_GEN_ACTION_HIGH));
GPIO
----

10
examples/peripherals/mcpwm/mcpwm_foc_svpwm_open_loop/main/svpwm/esp_svpwm.c
View File

@@ -49,10 +49,12 @@ esp_err_t svpwm_new_inverter(const inverter_config_t *config, inverter_handle_t
}
for (int i = 0; i < 3; i++) {
ESP_GOTO_ON_ERROR(mcpwm_generator_set_actions_on_compare_event(svpwm_dev->generators[i][0],
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, svpwm_dev->comparators[i], MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, svpwm_dev->comparators[i], MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()), err, TAG, "Set generator actions failed");
ESP_GOTO_ON_ERROR(mcpwm_generator_set_action_on_compare_event(svpwm_dev->generators[i][0],
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, svpwm_dev->comparators[i], MCPWM_GEN_ACTION_LOW)),
err, TAG, "Set generator UP action failed");
ESP_GOTO_ON_ERROR(mcpwm_generator_set_action_on_compare_event(svpwm_dev->generators[i][0],
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, svpwm_dev->comparators[i], MCPWM_GEN_ACTION_HIGH)),
err, TAG, "Set generator DOWN action failed");
}
for (int i = 0; i < 3; i++) {

5
tools/idf_py_actions/hints.yml
View File

@@ -54,6 +54,11 @@
re_variables: ['(esp_spiram_get_chip_size|esp_spiram_get_size)']
hint_variables: ['esp_spiram_get_chip_size and esp_spiram_get_size', 'esp_psram_get_size()']
-
re: "error: implicit declaration of function '(MCPWM_GEN_TIMER_EVENT_ACTION_END|MCPWM_GEN_COMPARE_EVENT_ACTION_END|MCPWM_GEN_BRAKE_EVENT_ACTION_END)'"
hint: "Macro function '{}()' has been removed. Please don't use variadic APIs when setting MCPWM generator actions."
match_to_output: True
-
re: "error: implicit declaration of function 'esp_secure_boot_verify_rsa_signature_block'"
hint: "'esp_secure_boot_verify_rsa_signature_block()' has been made private and is no longer available."