Merge branch 'feature/mcpwm_trigger_driver' into 'master'

feature(MCPWM): Add MCPWM trigger driver Closes IDF-3613 See merge request espressif/esp-idf!24829
espressif · Jul 25, 2023 · ed36b91 · ed36b91
2 parents 6bc9a39 + 5ab7559
commit ed36b91
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Showing 11 changed files with 466 additions and 17 deletions.
diff --git a/components/driver/mcpwm/include/driver/mcpwm_gen.h b/components/driver/mcpwm/include/driver/mcpwm_gen.h
@@ -205,6 +205,62 @@ esp_err_t mcpwm_generator_set_action_on_brake_event(mcpwm_gen_handle_t generator
  */
 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
+ */
+typedef struct {
+    mcpwm_timer_direction_t direction;       /*!< Timer direction */
+    mcpwm_fault_handle_t fault;              /*!< Which fault as the trigger. Only support GPIO fault */
+    mcpwm_generator_action_t action;         /*!< Generator action should perform */
+} mcpwm_gen_fault_event_action_t;
+
+/**
+ * @brief Help macros to construct a mcpwm_gen_fault_event_action_t entry
+ */
+#define MCPWM_GEN_FAULT_EVENT_ACTION(dir, flt, act) \
+    (mcpwm_gen_fault_event_action_t) { .direction = dir, .fault = flt, .action = act }
+
+/**
+ * @brief Set generator action on MCPWM Fault event
+ *
+ * @param[in] generator MCPWM generator handle, allocated by `mcpwm_new_generator()`
+ * @param[in] ev_act MCPWM trigger event action, can be constructed by `MCPWM_GEN_FAULT_EVENT_ACTION` helper macro
+ * @return
+ *      - ESP_OK: Set generator action successfully
+ *      - ESP_ERR_INVALID_ARG: Set generator action failed because of invalid argument
+ *      - ESP_FAIL: Set generator action failed because of other error
+ */
+esp_err_t mcpwm_generator_set_action_on_fault_event(mcpwm_gen_handle_t generator, mcpwm_gen_fault_event_action_t ev_act);
+
+/**
+ * @brief Generator action on specific sync event
+ */
+typedef struct {
+    mcpwm_timer_direction_t direction;       /*!< Timer direction */
+    mcpwm_sync_handle_t sync;                /*!< Which sync as the trigger*/
+    mcpwm_generator_action_t action;         /*!< Generator action should perform */
+} mcpwm_gen_sync_event_action_t;
+
+/**
+ * @brief Help macros to construct a mcpwm_gen_sync_event_action_t entry
+ */
+#define MCPWM_GEN_SYNC_EVENT_ACTION(dir, syn, act) \
+    (mcpwm_gen_sync_event_action_t) { .direction = dir, .sync = syn, .action = act }
+
+/**
+ * @brief Set generator action on MCPWM Sync event
+ *
+ * @note The trigger only support one sync action, regardless of the kinds. Should not call this function more than once.
+ *
+ * @param[in] generator MCPWM generator handle, allocated by `mcpwm_new_generator()`
+ * @param[in] ev_act MCPWM trigger event action, can be constructed by `MCPWM_GEN_SYNC_EVENT_ACTION` helper macro
+ * @return
+ *      - ESP_OK: Set generator action successfully
+ *      - ESP_ERR_INVALID_ARG: Set generator action failed because of invalid argument
+ *      - ESP_FAIL: Set generator action failed because of other error
+ */
+esp_err_t mcpwm_generator_set_action_on_sync_event(mcpwm_gen_handle_t generator, mcpwm_gen_sync_event_action_t ev_act);
+
 /**
  * @brief MCPWM dead time configuration structure
  */

diff --git a/components/driver/mcpwm/mcpwm_gen.c b/components/driver/mcpwm/mcpwm_gen.c
@@ -258,6 +258,60 @@ esp_err_t mcpwm_generator_set_actions_on_brake_event(mcpwm_gen_handle_t gen, mcp
     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");
+    mcpwm_fault_t *fault = ev_act.fault;
+    ESP_RETURN_ON_FALSE(fault->type == MCPWM_FAULT_TYPE_GPIO, ESP_ERR_NOT_SUPPORTED, TAG, "not supported fault type");
+    mcpwm_oper_t *oper = gen->oper;
+    mcpwm_group_t *group = oper->group;
+    // check the remained triggers
+    int trigger_id = -1;
+    portENTER_CRITICAL(&oper->spinlock);
+    for (int i = 0; i < SOC_MCPWM_TRIGGERS_PER_OPERATOR; i++) {
+        if (oper->triggers[i] == MCPWM_TRIGGER_NO_ASSIGN) {
+            trigger_id = i;
+            oper->triggers[i] = MCPWM_TRIGGER_GPIO_FAULT;
+            break;
+        }
+    }
+    portEXIT_CRITICAL(&oper->spinlock);
+    ESP_RETURN_ON_FALSE(trigger_id >= 0, ESP_ERR_NOT_FOUND, TAG, "no free trigger in operator (%d,%d)", group->group_id, oper->oper_id);
+    mcpwm_gpio_fault_t *gpio_fault = __containerof(fault, mcpwm_gpio_fault_t, base);
+    mcpwm_ll_operator_set_trigger_from_gpio_fault(group->hal.dev, oper->oper_id, trigger_id, gpio_fault->fault_id);
+    mcpwm_ll_generator_set_action_on_trigger_event(group->hal.dev, oper->oper_id, gen->gen_id,
+            ev_act.direction, trigger_id, ev_act.action);
+    return ESP_OK;
+}
+
+esp_err_t mcpwm_generator_set_action_on_sync_event(mcpwm_gen_handle_t gen, mcpwm_gen_sync_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;
+    // check the remained triggers
+    int trigger_id = -1;
+    int trigger_sync_used = 0;
+    portENTER_CRITICAL(&oper->spinlock);
+    for (int i = 0; i < SOC_MCPWM_TRIGGERS_PER_OPERATOR; i++) {
+        if (oper->triggers[i] == MCPWM_TRIGGER_SYNC_EVENT) {
+            trigger_sync_used = 1;
+            break;
+        } else if (oper->triggers[i] == MCPWM_TRIGGER_NO_ASSIGN) {
+            trigger_id = i;
+            oper->triggers[i] = MCPWM_TRIGGER_SYNC_EVENT;
+            break;
+        }
+    }
+    portEXIT_CRITICAL(&oper->spinlock);
+    ESP_RETURN_ON_FALSE(!trigger_sync_used, ESP_ERR_INVALID_STATE, TAG, "only one sync supported");
+    ESP_RETURN_ON_FALSE(trigger_id >= 0, ESP_ERR_NOT_FOUND, TAG, "no free trigger in operator (%d,%d)", group->group_id, oper->oper_id);
+    mcpwm_ll_operator_set_trigger_from_sync(group->hal.dev, oper->oper_id, trigger_id);
+    mcpwm_ll_generator_set_action_on_trigger_event(group->hal.dev, oper->oper_id, gen->gen_id,
+            ev_act.direction, trigger_id, ev_act.action);
+    return ESP_OK;
+}
+
 esp_err_t mcpwm_generator_set_dead_time(mcpwm_gen_handle_t in_generator, mcpwm_gen_handle_t out_generator, const mcpwm_dead_time_config_t *config)
 {
     ESP_RETURN_ON_FALSE(in_generator && out_generator && config, ESP_ERR_INVALID_ARG, TAG, "invalid argument");

diff --git a/components/driver/mcpwm/mcpwm_private.h b/components/driver/mcpwm/mcpwm_private.h
@@ -90,6 +90,12 @@ struct mcpwm_timer_t {
     void *user_data;                     // user data which would be passed to the timer callbacks
 };
 
+typedef enum {
+    MCPWM_TRIGGER_NO_ASSIGN,    //default trigger source
+    MCPWM_TRIGGER_GPIO_FAULT,   //trigger assigned to gpio fault
+    MCPWM_TRIGGER_SYNC_EVENT,   //trigger assigned to sync event
+} mcpwm_trigger_source_t;
+
 struct mcpwm_oper_t {
     int oper_id;           // operator ID, index from 0
     mcpwm_group_t *group;  // which group the timer belongs to
@@ -98,6 +104,7 @@ struct mcpwm_oper_t {
     intr_handle_t intr;    // interrupt handle
     mcpwm_gen_t *generators[SOC_MCPWM_GENERATORS_PER_OPERATOR];    // mcpwm generator array
     mcpwm_cmpr_t *comparators[SOC_MCPWM_COMPARATORS_PER_OPERATOR]; // mcpwm comparator array
+    mcpwm_trigger_source_t triggers[SOC_MCPWM_TRIGGERS_PER_OPERATOR];                 // mcpwm trigger array, can be either a fault or a sync
     mcpwm_soft_fault_t *soft_fault;                                // mcpwm software fault
     mcpwm_operator_brake_mode_t brake_mode_on_soft_fault;          // brake mode on software triggered fault
     mcpwm_operator_brake_mode_t brake_mode_on_gpio_fault[SOC_MCPWM_GPIO_FAULTS_PER_GROUP]; // brake mode on GPIO triggered faults