esp-idf/components/driver/test_apps/mcpwm/main/test_mcpwm_fault.c

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/*
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* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
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*
* SPDX-License-Identifier: Apache-2.0
*/
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "unity.h"
#include "driver/mcpwm_fault.h"
#include "driver/mcpwm_oper.h"
#include "driver/gpio.h"
TEST_CASE("mcpwm_fault_install_uninstall", "[mcpwm]")
{
printf("install and uninstall gpio faults\r\n");
mcpwm_gpio_fault_config_t gpio_fault_config = {
.gpio_num = 0,
};
int total_gpio_faults = SOC_MCPWM_GPIO_FAULTS_PER_GROUP * SOC_MCPWM_GROUPS;
mcpwm_fault_handle_t gpio_faults[total_gpio_faults];
int fault_itor = 0;
for (int i = 0; i < SOC_MCPWM_GROUPS; i++) {
gpio_fault_config.group_id = i;
for (int j = 0; j < SOC_MCPWM_GPIO_FAULTS_PER_GROUP; j++) {
TEST_ESP_OK(mcpwm_new_gpio_fault(&gpio_fault_config, &gpio_faults[fault_itor++]));
}
TEST_ESP_ERR(ESP_ERR_NOT_FOUND, mcpwm_new_gpio_fault(&gpio_fault_config, &gpio_faults[0]));
}
for (int i = 0; i < total_gpio_faults; i++) {
TEST_ESP_OK(mcpwm_del_fault(gpio_faults[i]));
}
printf("install and uninstall software fault\r\n");
mcpwm_soft_fault_config_t soft_fault_config = {};
mcpwm_fault_handle_t soft_fault = NULL;
TEST_ESP_OK(mcpwm_new_soft_fault(&soft_fault_config, &soft_fault));
TEST_ESP_OK(mcpwm_del_fault(soft_fault));
}
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static bool IRAM_ATTR test_fault_enter_callback(mcpwm_fault_handle_t detector, const mcpwm_fault_event_data_t *status, void *user_data)
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{
TaskHandle_t task_handle = (TaskHandle_t)user_data;
BaseType_t high_task_wakeup = pdFALSE;
esp_rom_printf("fault found\r\n");
vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
return high_task_wakeup == pdTRUE;
}
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static bool IRAM_ATTR test_fault_exit_callback(mcpwm_fault_handle_t detector, const mcpwm_fault_event_data_t *status, void *user_data)
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{
TaskHandle_t task_handle = (TaskHandle_t)user_data;
BaseType_t high_task_wakeup = pdFALSE;
esp_rom_printf("fault relieved\r\n");
vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
return high_task_wakeup == pdTRUE;
}
TEST_CASE("mcpwm_gpio_fault_event_callbacks", "[mcpwm]")
{
printf("create 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,
.flags.active_level = true, // active on high level
.flags.pull_down = true,
.flags.io_loop_back = true, // for debug, so that we can use gpio_set_level to mimic a fault source
};
TEST_ESP_OK(mcpwm_new_gpio_fault(&gpio_fault_config, &fault));
// put fault GPIO into a safe state
gpio_set_level(fault_gpio, 0);
printf("register callback for the gpio fault\r\n");
mcpwm_fault_event_callbacks_t cbs = {
.on_fault_enter = test_fault_enter_callback,
.on_fault_exit = test_fault_exit_callback,
};
TaskHandle_t task_to_notify = xTaskGetCurrentTaskHandle();
TEST_ESP_OK(mcpwm_fault_register_event_callbacks(fault, &cbs, task_to_notify));
TEST_ASSERT_EQUAL(0, ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(1000)));
printf("trigget a fault event\r\n");
gpio_set_level(fault_gpio, 1);
TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(10)));
printf("remove the fault source\r\n");
gpio_set_level(fault_gpio, 0);
TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(10)));
TEST_ESP_OK(mcpwm_del_fault(fault));
}