Merge branch 'feature/add_mcpwm_rc_fast_clk_source_v6.1' into 'release/v6.1'

feat(mcpwm): support RC_FAST group clock source (backport v6.1)

See merge request espressif/esp-idf!51322

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

@@ -25,4 +25,5 @@ endif()
 # the component can be registered as WHOLE_ARCHIVE
 idf_component_register(SRCS ${srcs}
                        PRIV_REQUIRES unity esp_driver_mcpwm esp_driver_gpio esp_driver_gptimer esp_psram
+                                     esp_timer esp_rom
                        WHOLE_ARCHIVE)

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

@@ -7,6 +7,8 @@
 #include "freertos/task.h"
 #include "freertos/event_groups.h"
 #include "unity.h"
+#include "esp_timer.h"
+#include "esp_rom_sys.h"
 #include "hal/mcpwm_ll.h"
 #include "driver/mcpwm_timer.h"
 #include "esp_private/mcpwm.h"
@@ -88,6 +90,77 @@ TEST_CASE("mcpwm_timer_start_stop", "[mcpwm]")
     }
 }
 
+TEST_CASE("mcpwm_timer_various_clk_src", "[mcpwm]")
+{
+    mcpwm_timer_clock_source_t clk_srcs[] = SOC_MCPWM_TIMER_CLKS;
+    const int num_timers = MCPWM_LL_GET(TIMERS_PER_GROUP) * MCPWM_LL_GET(GROUP_NUM);
+    const uint32_t resolution_test_duration_us = 5000;
+
+    for (size_t clk_src_idx = 0; clk_src_idx < sizeof(clk_srcs) / sizeof(clk_srcs[0]); clk_src_idx++) {
+        mcpwm_timer_clock_source_t clk_src = clk_srcs[clk_src_idx];
+        const uint32_t tolerance_percent = (soc_module_clk_t)clk_src == SOC_MOD_CLK_RC_FAST ? 10 : 1;
+        mcpwm_timer_config_t config = {
+            .clk_src = clk_src,
+            .resolution_hz = 1000000, // 1MHz
+            .period_ticks = 12000,
+            .count_mode = MCPWM_TIMER_COUNT_MODE_UP,
+        };
+
+        printf("create MCPWM timers with clock source: %d\r\n", clk_src);
+        mcpwm_timer_handle_t timers[num_timers];
+        for (int group_id = 0; group_id < MCPWM_LL_GET(GROUP_NUM); group_id++) {
+            config.group_id = group_id;
+            for (int timer_id = 0; timer_id < MCPWM_LL_GET(TIMERS_PER_GROUP); timer_id++) {
+                int timer_index = group_id * MCPWM_LL_GET(TIMERS_PER_GROUP) + timer_id;
+                TEST_ESP_OK(mcpwm_new_timer(&config, &timers[timer_index]));
+            }
+        }
+
+        printf("enable timers\r\n");
+        for (int i = 0; i < num_timers; i++) {
+            TEST_ESP_OK(mcpwm_timer_enable(timers[i]));
+        }
+
+        printf("check timer resolution\r\n");
+        for (int i = 0; i < num_timers; i++) {
+            TEST_ESP_OK(mcpwm_timer_start_stop(timers[i], MCPWM_TIMER_START_NO_STOP));
+
+            uint32_t start_count = 0;
+            uint32_t end_count = 0;
+            mcpwm_timer_direction_t direction;
+            TEST_ESP_OK(mcpwm_timer_get_phase(timers[i], &start_count, &direction));
+            int64_t start_time_us = esp_timer_get_time();
+
+            esp_rom_delay_us(resolution_test_duration_us);
+
+            TEST_ESP_OK(mcpwm_timer_get_phase(timers[i], &end_count, &direction));
+            int64_t elapsed_time_us = esp_timer_get_time() - start_time_us;
+            uint32_t expected_ticks = (uint64_t)config.resolution_hz * elapsed_time_us / 1000000;
+            uint32_t actual_ticks;
+            if (end_count >= start_count) {
+                actual_ticks = end_count - start_count;
+            } else {
+                actual_ticks = config.period_ticks - start_count + end_count;
+            }
+            uint32_t tolerance_ticks = expected_ticks * tolerance_percent / 100;
+
+            TEST_ASSERT_EQUAL(MCPWM_TIMER_DIRECTION_UP, direction);
+            TEST_ASSERT_UINT32_WITHIN(tolerance_ticks, expected_ticks, actual_ticks);
+
+            // make sure the timer has stopped
+            TEST_ESP_OK(mcpwm_timer_start_stop(timers[i], MCPWM_TIMER_STOP_EMPTY));
+            vTaskDelay(pdMS_TO_TICKS(20));
+            check_mcpwm_timer_phase(&timers[i], 1, 0, MCPWM_TIMER_DIRECTION_UP);
+        }
+
+        printf("disable and delete timers\r\n");
+        for (int i = 0; i < num_timers; i++) {
+            TEST_ESP_OK(mcpwm_timer_disable(timers[i]));
+            TEST_ESP_OK(mcpwm_del_timer(timers[i]));
+        }
+    }
+}
+
 #define TEST_MCPWM_TIMER_EVENT_BIT_FULL  (1 << 0)
 #define TEST_MCPWM_TIMER_EVENT_BIT_EMPTY (1 << 1)
 #define TEST_MCPWM_TIMER_EVENT_BIT_STOP  (1 << 2)

components/esp_hal_mcpwm/esp32c6/include/hal/mcpwm_ll.h

@@ -145,6 +145,9 @@ static inline void mcpwm_ll_group_set_clock_source(int group_id, soc_module_clk_
     case SOC_MOD_CLK_XTAL:
         PCR.pwm_clk_conf.pwm_clkm_sel = 2;
         break;
+    case SOC_MOD_CLK_RC_FAST:
+        PCR.pwm_clk_conf.pwm_clkm_sel = 3;
+        break;
     default:
         HAL_ASSERT(false);
         break;

components/esp_hal_mcpwm/esp32h2/include/hal/mcpwm_ll.h

@@ -140,6 +140,9 @@ static inline void mcpwm_ll_group_set_clock_source(int group_id, soc_module_clk_
     case SOC_MOD_CLK_XTAL:
         PCR.pwm_clk_conf.pwm_clkm_sel = 0;
         break;
+    case SOC_MOD_CLK_RC_FAST:
+        PCR.pwm_clk_conf.pwm_clkm_sel = 1;
+        break;
     case SOC_MOD_CLK_PLL_F96M:
         PCR.pwm_clk_conf.pwm_clkm_sel = 2;
         break;

components/esp_hal_mcpwm/esp32s31/include/hal/mcpwm_ll.h

@@ -181,7 +181,7 @@ static inline void mcpwm_ll_group_set_clock_source(int group_id, soc_module_clk_
     case SOC_MOD_CLK_XTAL:
         clk_id = 0;
         break;
-    case SOC_MOD_CLK_PLL_F20M:
+    case SOC_MOD_CLK_RC_FAST:
         clk_id = 1;
         break;
     case SOC_MOD_CLK_PLL_F160M:

components/soc/esp32c5/include/soc/clk_tree_defs.h

@@ -284,13 +284,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Timer
  */
-#define SOC_MCPWM_TIMER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_TIMER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM timer clock source
  */
 typedef enum {
     MCPWM_TIMER_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_TIMER_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_TIMER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_TIMER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default clock choice */
 } soc_periph_mcpwm_timer_clk_src_t;
@@ -298,13 +299,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Capture Timer
  */
-#define SOC_MCPWM_CAPTURE_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_CAPTURE_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM capture clock source
  */
 typedef enum {
     MCPWM_CAPTURE_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_CAPTURE_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_CAPTURE_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_CAPTURE_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default clock choice */
 } soc_periph_mcpwm_capture_clk_src_t;
@@ -312,13 +314,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Carrier
  */
-#define SOC_MCPWM_CARRIER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_CARRIER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM carrier clock source
  */
 typedef enum {
     MCPWM_CARRIER_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_CARRIER_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_CARRIER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_CARRIER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default clock choice */
 } soc_periph_mcpwm_carrier_clk_src_t;

components/soc/esp32c6/include/soc/clk_tree_defs.h

@@ -281,13 +281,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Timer
  */
-#define SOC_MCPWM_TIMER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_TIMER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM timer clock source
  */
 typedef enum {
     MCPWM_TIMER_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_TIMER_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_TIMER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_TIMER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default clock choice */
 } soc_periph_mcpwm_timer_clk_src_t;
@@ -295,13 +296,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Capture Timer
  */
-#define SOC_MCPWM_CAPTURE_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_CAPTURE_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM capture clock source
  */
 typedef enum {
     MCPWM_CAPTURE_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_CAPTURE_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_CAPTURE_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_CAPTURE_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default clock choice */
 } soc_periph_mcpwm_capture_clk_src_t;
@@ -309,13 +311,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Carrier
  */
-#define SOC_MCPWM_CARRIER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_CARRIER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM carrier clock source
  */
 typedef enum {
     MCPWM_CARRIER_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_CARRIER_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_CARRIER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_CARRIER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default clock choice */
 } soc_periph_mcpwm_carrier_clk_src_t;

components/soc/esp32h2/include/soc/clk_tree_defs.h

@@ -275,13 +275,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Timer
  */
-#define SOC_MCPWM_TIMER_CLKS {SOC_MOD_CLK_PLL_F96M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_TIMER_CLKS {SOC_MOD_CLK_PLL_F96M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM timer clock source
  */
 typedef enum {
     MCPWM_TIMER_CLK_SRC_PLL96M = SOC_MOD_CLK_PLL_F96M,   /*!< Select PLL_F96M as the source clock */
+    MCPWM_TIMER_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_TIMER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_TIMER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F96M,  /*!< Select PLL_F96M as the default clock choice */
 } soc_periph_mcpwm_timer_clk_src_t;
@@ -289,13 +290,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Capture Timer
  */
-#define SOC_MCPWM_CAPTURE_CLKS {SOC_MOD_CLK_PLL_F96M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_CAPTURE_CLKS {SOC_MOD_CLK_PLL_F96M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM capture clock source
  */
 typedef enum {
     MCPWM_CAPTURE_CLK_SRC_PLL96M = SOC_MOD_CLK_PLL_F96M,   /*!< Select PLL_F96M as the source clock */
+    MCPWM_CAPTURE_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_CAPTURE_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_CAPTURE_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F96M,  /*!< Select PLL_F96M as the default clock choice */
 } soc_periph_mcpwm_capture_clk_src_t;
@@ -303,13 +305,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Carrier
  */
-#define SOC_MCPWM_CARRIER_CLKS {SOC_MOD_CLK_PLL_F96M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_CARRIER_CLKS {SOC_MOD_CLK_PLL_F96M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM carrier clock source
  */
 typedef enum {
     MCPWM_CARRIER_CLK_SRC_PLL96M = SOC_MOD_CLK_PLL_F96M,   /*!< Select PLL_F96M as the source clock */
+    MCPWM_CARRIER_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_CARRIER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_CARRIER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F96M,  /*!< Select PLL_F96M as the default clock choice */
 } soc_periph_mcpwm_carrier_clk_src_t;

components/soc/esp32p4/include/soc/clk_tree_defs.h

@@ -308,13 +308,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Timer
  */
-#define SOC_MCPWM_TIMER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_TIMER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM timer clock source
  */
 typedef enum {
     MCPWM_TIMER_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_TIMER_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_TIMER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_TIMER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default choice */
 } soc_periph_mcpwm_timer_clk_src_t;
@@ -322,13 +323,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Capture Timer
  */
-#define SOC_MCPWM_CAPTURE_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_CAPTURE_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM capture clock source
  */
 typedef enum {
     MCPWM_CAPTURE_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_CAPTURE_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_CAPTURE_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_CAPTURE_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default choice */
 } soc_periph_mcpwm_capture_clk_src_t;
@@ -336,13 +338,14 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of MCPWM Carrier
  */
-#define SOC_MCPWM_CARRIER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_XTAL}
+#define SOC_MCPWM_CARRIER_CLKS {SOC_MOD_CLK_PLL_F160M, SOC_MOD_CLK_RC_FAST, SOC_MOD_CLK_XTAL}
 
 /**
  * @brief Type of MCPWM carrier clock source
  */
 typedef enum {
     MCPWM_CARRIER_CLK_SRC_PLL160M = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the source clock */
+    MCPWM_CARRIER_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,   /*!< Select RC_FAST as the source clock */
     MCPWM_CARRIER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL as the source clock */
     MCPWM_CARRIER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F160M, /*!< Select PLL_F160M as the default choice */
 } soc_periph_mcpwm_carrier_clk_src_t;