Merge branch 'feature/pcnt_interrupt_prioity_v5.1' into 'release/v5.1'

feat(pcnt): support set interrupt priority(v5.1)

See merge request espressif/esp-idf!25575

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

@@ -46,6 +46,11 @@ To install a PCNT unit, there's a configuration structure that needs to be given
 
 -  :cpp:member:`pcnt_unit_config_t::low_limit` and :cpp:member:`pcnt_unit_config_t::high_limit` specify the range for the internal hardware counter. The counter will reset to zero automatically when it crosses either the high or low limit.
 -  :cpp:member:`pcnt_unit_config_t::accum_count` sets whether to create an internal accumulator for the counter. This is helpful when you want to extend the counter's width, which by default is 16bit at most, defined in the hardware. See also :ref:`pcnt-compensate-overflow-loss` for how to use this feature to compensate the overflow loss.
+-  :cpp:member:`pcnt_unit_config_t::intr_priority` sets the priority of the timer interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
+
+.. note::
+
+    Since all PCNT units share the same interrupt source, when installing multiple PCNT units make sure that the interrupt priority :cpp:member:`pcnt_unit_config_t::intr_priority` is the same for each unit.
 
 Unit allocation and initialization is done by calling a function :cpp:func:`pcnt_new_unit` with :cpp:type:`pcnt_unit_config_t` as an input parameter. The function will return a PCNT unit handle only when it runs correctly. Specifically, when there are no more free PCNT units in the pool (i.e. unit resources have been used up), then this function will return :c:macro:`ESP_ERR_NOT_FOUND` error. The total number of available PCNT units is recorded by :c:macro:`SOC_PCNT_UNITS_PER_GROUP` for reference.