/** * this case is used for test PCNT * prepare job for test environment UT_T1_PCNT: * We use internal signals instead of external wiring, but please keep the following IO connections, or connect nothing to prevent the signal from being disturbed. * 1. prepare one ESP-WROOM-32 board and connect it to PC. * 2. connect GPIO21 with GPIO4 * 3. GPIO5 connect to 3.3v * 4. GPIO19 connect to GND * 5. logic analyzer will help too if possible * * the GPIO18 is the pulse producer, the GPIO4 is the input GPIO */ #include #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "freertos/queue.h" #include "soc/soc_caps.h" #if SOC_PCNT_SUPPORTED #include "driver/periph_ctrl.h" #include "driver/gpio.h" #include "driver/pcnt.h" #include "driver/ledc.h" #include "esp_attr.h" #include "esp_log.h" #include "soc/gpio_periph.h" #include "unity.h" #include "esp_rom_gpio.h" #define PULSE_IO 21 #define PCNT_INPUT_IO 4 #define PCNT_CTRL_VCC_IO 5 #define PCNT_CTRL_GND_IO 2 #define HIGHEST_LIMIT 10 #define LOWEST_LIMIT 0 #define MAX_THRESHOLD 5 #define MIN_THRESHOLD 0 #define PCNT_CTRL_HIGH_LEVEL 1 #define PCNT_CTRL_LOW_LEVEL 0 static xQueueHandle pcnt_evt_queue = NULL; typedef struct { int zero_times; int h_limit; int l_limit; int h_threshold; int l_threshold; int filter_time; } event_times; static void pcnt_test_io_config(int ctrl_level) { // Connect internal signals using IO matrix. gpio_set_direction(PULSE_IO, GPIO_MODE_INPUT_OUTPUT); esp_rom_gpio_connect_out_signal(PULSE_IO, LEDC_LS_SIG_OUT1_IDX, 0, 0); // LEDC_TIMER_1, LEDC_LOW_SPEED_MODE esp_rom_gpio_connect_in_signal(PULSE_IO, PCNT_SIG_CH0_IN0_IDX, 0); // PCNT_UNIT_0, PCNT_CHANNEL_0 esp_rom_gpio_connect_in_signal(ctrl_level ? GPIO_MATRIX_CONST_ONE_INPUT: GPIO_MATRIX_CONST_ZERO_INPUT, PCNT_CTRL_CH0_IN0_IDX, 0); // PCNT_UNIT_0, PCNT_CHANNEL_0 } /* use LEDC to produce pulse for PCNT * the frequency of LEDC is 1000, so every second will get 1000 count values * the PCNT count the LEDC pulse * */ static void produce_pulse(void) { ledc_timer_config_t ledc_timer = { .speed_mode = LEDC_LOW_SPEED_MODE, .timer_num = LEDC_TIMER_1, .duty_resolution = LEDC_TIMER_10_BIT, .freq_hz = 1, .clk_cfg = LEDC_AUTO_CLK, }; ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer)); ledc_channel_config_t ledc_channel = { .speed_mode = LEDC_LOW_SPEED_MODE, .channel = LEDC_CHANNEL_1, .timer_sel = LEDC_TIMER_1, .intr_type = LEDC_INTR_DISABLE, .gpio_num = PULSE_IO, .duty = 100, .hpoint = 0, }; ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel)); } static void IRAM_ATTR pcnt_intr_handler(void *arg) { uint32_t intr_status = PCNT.int_st.val; int i; uint32_t status; BaseType_t port_status = pdFALSE; for (i = 0; i < PCNT_UNIT_MAX; i++) { if (intr_status & (BIT(i))) { status = PCNT.status_unit[i].val; PCNT.int_clr.val = BIT(i); xQueueSendFromISR(pcnt_evt_queue, &status, &port_status); if (port_status == pdTRUE) { portYIELD_FROM_ISR(); } } } } static void event_calculate(event_times* event) { int16_t test_counter = 0; int times = 0; BaseType_t port_status; uint32_t status = 0; while (times < 10) { port_status = xQueueReceive(pcnt_evt_queue, &status, 1000 / portTICK_PERIOD_MS); if (port_status == pdTRUE) { event->filter_time++; TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("Current counter value :%d\n", test_counter); if (status & PCNT_EVT_THRES_1) { printf("THRES1 EVT\n"); event->h_threshold++; } if (status & PCNT_EVT_THRES_0) { printf("THRES0 EVT\n"); event->l_threshold++; } if (status & PCNT_EVT_L_LIM) { printf("L_LIM EVT\n"); event->l_limit++; } if (status & PCNT_EVT_H_LIM) { printf("H_LIM EVT\n"); event->h_limit++; } if (status & PCNT_EVT_ZERO) { printf("ZERO EVT\n"); event->zero_times++; } } else { TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("Current counter value :%d\n", test_counter); } times++; } printf("%d, %d, %d, %d, %d, %d\n", event->h_threshold, event->l_threshold, event->l_limit, event->h_limit, event->zero_times, event->filter_time); } /* * There exist 2 kind of counting methods: positive and negative counting method * 1. when control IO is high level, PCNT is positive counting mode * 2. when control IO is low level, PCNT is positive negative mode * the positive method standard is as below: * ---------------------------------------------------------------------------------- * POS_ MODE | LCTRL_ MODE | HCTRL_ MODE | sig l→h when ctrl=0 | sig l→h when ctrl=1 * NEG_ MODE | | | | * =================================================================================== * 1 (inc) | 0 (-) | 0 (-) | Inc ctr | Inc ctr * 2 (dec) | 0 (-) | 0 (-) | Dec ctr | Dec ctr * 0 (-) | x | x | No action | No action * 1 (inc) | 0 (-) | 1 (inv) | Inc ctr | Dec ctr * 1 (inc) | 1 (inv) | 0 (-) | Dec ctr | Inc ctr * 2 (dec) | 0 (-) | 1 (inv) | Dec ctr | Inc ctr * 1 (inc) | 0 (-) | 2 (dis) | Inc ctr | No action * 1 (inc) | 2 (dis) | 0 (-) | No action | Inc ctr * ----------------------------------------------------------------------------------- * */ static void count_mode_test(gpio_num_t ctl_io) { int16_t test_counter; //produce pulse, 100HZ ledc_timer_config_t ledc_timer = { .speed_mode = LEDC_LOW_SPEED_MODE, .timer_num = LEDC_TIMER_1, .duty_resolution = LEDC_TIMER_10_BIT, .freq_hz = 100, .clk_cfg = LEDC_AUTO_CLK, }; ledc_timer_config(&ledc_timer); ledc_channel_config_t ledc_channel = { .speed_mode = LEDC_LOW_SPEED_MODE, .channel = LEDC_CHANNEL_1, .timer_sel = LEDC_TIMER_1, .intr_type = LEDC_INTR_DISABLE, .gpio_num = PULSE_IO, .duty = 100, .hpoint = 0, }; ledc_channel_config(&ledc_channel); pcnt_config_t pcnt_config = { .pulse_gpio_num = PCNT_INPUT_IO, .ctrl_gpio_num = ctl_io, .channel = PCNT_CHANNEL_0, .unit = PCNT_UNIT_0, .pos_mode = PCNT_COUNT_INC, .neg_mode = PCNT_COUNT_DIS, .lctrl_mode = PCNT_MODE_REVERSE, .hctrl_mode = PCNT_MODE_KEEP, .counter_h_lim = 101, .counter_l_lim = -101, }; TEST_ESP_OK(pcnt_unit_config(&pcnt_config)); pcnt_test_io_config((ctl_io == PCNT_CTRL_VCC_IO) ? PCNT_CTRL_HIGH_LEVEL : PCNT_CTRL_LOW_LEVEL); int16_t result1[8] = {100, -100, 0, -100, 100, 100, 0, 100}; int16_t result2[8] = {100, -100, 0, 100, -100, -100, 100, 0}; int16_t *result; if (ctl_io == PCNT_CTRL_VCC_IO) { result = result1; } else { result = result2; } // 1, 0, 0, 0 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_mode(PCNT_UNIT_0, PCNT_CHANNEL_0, PCNT_COUNT_INC, PCNT_COUNT_DIS, PCNT_MODE_KEEP, PCNT_MODE_KEEP)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("value: %d\n", test_counter); TEST_ASSERT_INT16_WITHIN(1, test_counter, result[0]); //2, 0, 0, 0 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_mode(PCNT_UNIT_0, PCNT_CHANNEL_0, PCNT_COUNT_DEC, PCNT_COUNT_DIS, PCNT_MODE_KEEP, PCNT_MODE_KEEP)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("value: %d\n", test_counter); TEST_ASSERT_INT16_WITHIN(1, test_counter, result[1]); //0,0,0,0 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_mode(PCNT_UNIT_0, PCNT_CHANNEL_0, PCNT_COUNT_DIS, PCNT_COUNT_DIS, PCNT_MODE_KEEP, PCNT_MODE_KEEP)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("value: %d\n", test_counter); TEST_ASSERT_INT16_WITHIN(1, test_counter, result[2]); //1,0,1,0 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_mode(PCNT_UNIT_0, PCNT_CHANNEL_0, PCNT_COUNT_INC, PCNT_COUNT_DIS, PCNT_MODE_REVERSE, PCNT_MODE_KEEP)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("value: %d\n", test_counter); TEST_ASSERT_INT16_WITHIN(1, test_counter, result[3]); //1,0,0,1 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_mode(PCNT_UNIT_0, PCNT_CHANNEL_0, PCNT_COUNT_INC, PCNT_COUNT_DIS, PCNT_MODE_KEEP, PCNT_MODE_REVERSE)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("value: %d\n", test_counter); TEST_ASSERT_INT16_WITHIN(1, test_counter, result[4]); //2,0,0,1 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_mode(PCNT_UNIT_0, PCNT_CHANNEL_0, PCNT_COUNT_DEC, PCNT_COUNT_DIS, PCNT_MODE_REVERSE, PCNT_MODE_KEEP)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("value: %d\n", test_counter); TEST_ASSERT_INT16_WITHIN(1, test_counter, result[5]); //1,0,2,0 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_mode(PCNT_UNIT_0, PCNT_CHANNEL_0, PCNT_COUNT_INC, PCNT_COUNT_DIS, PCNT_MODE_DISABLE, PCNT_MODE_KEEP)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("value: %d\n", test_counter); TEST_ASSERT_INT16_WITHIN(1, test_counter, result[6]); //1,0,0,2 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_mode(PCNT_UNIT_0, PCNT_CHANNEL_0, PCNT_COUNT_INC, PCNT_COUNT_DIS, PCNT_MODE_KEEP, PCNT_MODE_DISABLE)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("value: %d\n", test_counter); TEST_ASSERT_INT16_WITHIN(1, test_counter, result[7]); } // test PCNT basic configuration TEST_CASE("PCNT test config", "[pcnt]") { pcnt_config_t pcnt_config = { .pulse_gpio_num = PCNT_INPUT_IO, .ctrl_gpio_num = PCNT_CTRL_VCC_IO, .channel = PCNT_CHANNEL_0, .unit = PCNT_UNIT_0, .pos_mode = PCNT_COUNT_INC, .neg_mode = PCNT_COUNT_DIS, .lctrl_mode = PCNT_MODE_REVERSE, .hctrl_mode = PCNT_MODE_KEEP, .counter_h_lim = 100, .counter_l_lim = 0, }; // basic configuration pcnt_config_t temp_pcnt_config = pcnt_config; TEST_ESP_OK(pcnt_unit_config(&pcnt_config)); // test PCNT_UNIT_MAX units, from 0-(PCNT_UNIT_MAX-1) pcnt_config = temp_pcnt_config; pcnt_config.unit = PCNT_UNIT_MAX; TEST_ASSERT_NOT_NULL((void *)pcnt_unit_config(&pcnt_config)); for (int i = 0; i < PCNT_UNIT_MAX; i++) { pcnt_config.unit = i; TEST_ESP_OK(pcnt_unit_config(&pcnt_config)); } // test channels pcnt_config = temp_pcnt_config; pcnt_config.channel = PCNT_CHANNEL_MAX; TEST_ASSERT_NOT_NULL((void *)pcnt_unit_config(&pcnt_config)); pcnt_config = temp_pcnt_config; pcnt_config.pulse_gpio_num = -1; TEST_ESP_OK(pcnt_unit_config(&pcnt_config)); pcnt_config = temp_pcnt_config; pcnt_config.pulse_gpio_num = GPIO_NUM_MAX + 1; TEST_ASSERT_NOT_NULL((void *)pcnt_unit_config(&pcnt_config)); // test pulse_gpio_num and ctrl_gpio_num is the same pcnt_config = temp_pcnt_config; pcnt_config.pulse_gpio_num = PCNT_INPUT_IO; pcnt_config.ctrl_gpio_num = PCNT_INPUT_IO; TEST_ASSERT_NOT_NULL((void *)pcnt_unit_config(&pcnt_config)); pcnt_config = temp_pcnt_config; pcnt_config.pos_mode = PCNT_COUNT_MAX; TEST_ASSERT_NOT_NULL((void *)pcnt_unit_config(&pcnt_config)); pcnt_config = temp_pcnt_config; pcnt_config.hctrl_mode = PCNT_MODE_MAX; TEST_ASSERT_NOT_NULL((void *)pcnt_unit_config(&pcnt_config)); pcnt_config = temp_pcnt_config; pcnt_config.lctrl_mode = PCNT_MODE_MAX; TEST_ASSERT_NOT_NULL((void *)pcnt_unit_config(&pcnt_config)); } /* PCNT basic property: * 1. pause counter * 2. resume counter * 3. clear counter * 4. check the counter value*/ TEST_CASE("PCNT basic function test", "[pcnt]") { int16_t test_counter; int16_t time = 0; int clear_count = 0; int resume_count = 0; int temp_value = 0; pcnt_config_t pcnt_config = { .pulse_gpio_num = PCNT_INPUT_IO, .ctrl_gpio_num = PCNT_CTRL_VCC_IO, .channel = PCNT_CHANNEL_0, .unit = PCNT_UNIT_0, .pos_mode = PCNT_COUNT_INC, .neg_mode = PCNT_COUNT_DIS, .lctrl_mode = PCNT_MODE_REVERSE, .hctrl_mode = PCNT_MODE_KEEP, .counter_h_lim = 10, .counter_l_lim = -10, }; TEST_ESP_OK(pcnt_unit_config(&pcnt_config)); // use LEDC to produce the pulse, then the PCNT to count it produce_pulse(); pcnt_test_io_config(PCNT_CTRL_HIGH_LEVEL); // initialize first, the initail value should be 0 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); TEST_ASSERT_EQUAL_INT16(test_counter, 0); // resume the PCNT TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); TEST_ASSERT_EQUAL_INT16(test_counter, 0); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); TEST_ASSERT_EQUAL_INT16(test_counter, 0); //count now while (time != 10) { vTaskDelay(1001 / portTICK_RATE_MS); // in case of can't wait to get counter(edge effect) TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("COUNT: %d\n", test_counter); TEST_ASSERT_NOT_EQUAL(test_counter, temp_value); temp_value = test_counter; if (test_counter == 5 || test_counter == -5) { //test clear TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); TEST_ASSERT_EQUAL_INT16(test_counter, 0); clear_count++; } if (test_counter == 0) { //test pause TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("PAUSE: %d\n", test_counter); TEST_ASSERT_EQUAL_INT16(test_counter, 0); // test resume TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); vTaskDelay(1000 / portTICK_RATE_MS); TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter)); printf("RESUME: %d\n", test_counter); TEST_ASSERT_EQUAL_INT16(test_counter, 1); resume_count++; } time++; } TEST_ASSERT_EQUAL_INT16(clear_count, 2); TEST_ASSERT_EQUAL_INT16(resume_count, 2); } /** * there are 4 situations will be tested: * 1. set event to interrupt triggered * 2. disable interrupt to stop triggering interrupt * 3. enable interrupt to interrupt triggered again * 4. disable event to stop triggering interrupt * * PCNT interrupt type: * 1. PCNT_EVT_THRES_1 * 2. PCNT_EVT_THRES_0 * 3. PCNT_EVT_ZERO * 4. PCNT_EVT_H_LIM * 5. PCNT_EVT_L_LIM * */ TEST_CASE("PCNT interrupt method test(control IO is high)", "[pcnt][timeout=120]") { pcnt_config_t config = { .pulse_gpio_num = PCNT_INPUT_IO, .ctrl_gpio_num = PCNT_CTRL_VCC_IO, .channel = PCNT_CHANNEL_0, .unit = PCNT_UNIT_0, .pos_mode = PCNT_COUNT_INC, .neg_mode = PCNT_COUNT_DIS, .lctrl_mode = PCNT_MODE_REVERSE, .hctrl_mode = PCNT_MODE_KEEP, .counter_h_lim = 5, .counter_l_lim = 0, }; TEST_ESP_OK(pcnt_unit_config(&config)); produce_pulse(); pcnt_test_io_config(PCNT_CTRL_HIGH_LEVEL); event_times event = { .zero_times = 0, .h_limit = 0, .l_limit = 0, .h_threshold = 0, .l_threshold = 0, .filter_time = 0, }; //interrupt set TEST_ESP_OK(pcnt_set_filter_value(PCNT_UNIT_0, 2)); TEST_ESP_OK(pcnt_filter_enable(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_event_value(PCNT_UNIT_0, PCNT_EVT_THRES_1, 4)); // when arrive to max threshold trigger TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_THRES_1)); TEST_ESP_OK(pcnt_set_event_value(PCNT_UNIT_0, PCNT_EVT_THRES_0, 1)); // when arrive to minimum threshold trigger TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_THRES_0)); TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_ZERO)); TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_H_LIM)); // when arrive to max limit trigger TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_L_LIM)); // when arrive to minimum limit trigger // initialize first, the initail value should be 0 TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); pcnt_evt_queue = xQueueCreate(10, sizeof(uint32_t)); pcnt_isr_handle_t pcnt_isr_service; TEST_ESP_OK(pcnt_isr_register(pcnt_intr_handler, NULL, 0, &pcnt_isr_service)); TEST_ESP_OK(pcnt_intr_enable(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); // test event event_calculate(&event); TEST_ASSERT_INT_WITHIN(2, event.h_threshold, 2); TEST_ASSERT_INT_WITHIN(2, event.l_threshold, 2); TEST_ASSERT(event.l_limit == 0); TEST_ASSERT_INT_WITHIN(2, event.h_limit, 2); TEST_ASSERT_INT_WITHIN(2, event.zero_times, 2); TEST_ASSERT_INT_WITHIN(3, event.filter_time, 4); // test interrupt disable TEST_ESP_OK(pcnt_intr_disable(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); // for the original control io disable interrupt status event_calculate(&event); TEST_ASSERT_INT_WITHIN(2, event.h_threshold, 2); TEST_ASSERT_INT_WITHIN(2, event.l_threshold, 2); TEST_ASSERT(event.l_limit == 0); TEST_ASSERT_INT_WITHIN(2, event.h_limit, 2); TEST_ASSERT_INT_WITHIN(2, event.zero_times, 2); TEST_ASSERT_INT_WITHIN(3, event.filter_time, 4); // enable the intr TEST_ESP_OK(pcnt_intr_enable(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); event_calculate(&event); TEST_ASSERT_INT_WITHIN(2, event.h_threshold, 4); TEST_ASSERT_INT_WITHIN(2, event.l_threshold, 4); TEST_ASSERT(event.l_limit == 0); TEST_ASSERT_INT_WITHIN(2, event.h_limit, 4); TEST_ASSERT_INT_WITHIN(2, event.zero_times, 4); TEST_ASSERT_INT_WITHIN(3, event.filter_time, 10); // disable part of events TEST_ESP_OK(pcnt_event_disable(PCNT_UNIT_0, PCNT_EVT_ZERO)); TEST_ESP_OK(pcnt_event_disable(PCNT_UNIT_0, PCNT_EVT_L_LIM)); TEST_ESP_OK(pcnt_event_disable(PCNT_UNIT_0, PCNT_EVT_THRES_0)); event_calculate(&event); TEST_ASSERT_INT_WITHIN(2, event.h_threshold, 5); TEST_ASSERT_INT_WITHIN(2, event.l_threshold, 4); TEST_ASSERT(event.l_limit == 0); TEST_ASSERT_INT_WITHIN(3, event.h_limit, 6); TEST_ASSERT_INT_WITHIN(2, event.zero_times, 4); TEST_ASSERT_INT_WITHIN(3, event.filter_time, 14); // Because this test uses its own ISR, we need to release it with `pcnt_isr_unregister` instead of `pcnt_isr_service_uninstall` TEST_ESP_OK(pcnt_isr_unregister(pcnt_isr_service)); vQueueDelete(pcnt_evt_queue); } TEST_CASE("PCNT interrupt method test(control IO is low)", "[pcnt][timeout=120]") { pcnt_config_t config = { .pulse_gpio_num = PCNT_INPUT_IO, .ctrl_gpio_num = PCNT_CTRL_GND_IO, .channel = PCNT_CHANNEL_0, .unit = PCNT_UNIT_0, .pos_mode = PCNT_COUNT_INC, .neg_mode = PCNT_COUNT_DIS, .lctrl_mode = PCNT_MODE_REVERSE, .hctrl_mode = PCNT_MODE_KEEP, .counter_h_lim = 0, .counter_l_lim = -5, }; TEST_ESP_OK(pcnt_unit_config(&config)); produce_pulse(); pcnt_test_io_config(PCNT_CTRL_LOW_LEVEL); event_times event = { .zero_times = 0, .h_limit = 0, .l_limit = 0, .h_threshold = 0, .l_threshold = 0, .filter_time = 0, }; //interrupt set TEST_ESP_OK(pcnt_set_filter_value(PCNT_UNIT_0, 2)); TEST_ESP_OK(pcnt_filter_enable(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_set_event_value(PCNT_UNIT_0, PCNT_EVT_THRES_1, -4)); // when arrive to max threshold trigger TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_THRES_1)); TEST_ESP_OK(pcnt_set_event_value(PCNT_UNIT_0, PCNT_EVT_THRES_0, 0)); // when arrive to minimum threshold trigger TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_THRES_0)); TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_ZERO)); TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_H_LIM)); // when arrive to max limit trigger TEST_ESP_OK(pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_L_LIM)); // when arrive to minimum limit trigger // to initialize for PCNT TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); pcnt_evt_queue = xQueueCreate(10, sizeof(uint32_t)); pcnt_isr_handle_t pcnt_isr_service; TEST_ESP_OK(pcnt_isr_register(pcnt_intr_handler, NULL, 0, &pcnt_isr_service)); TEST_ESP_OK(pcnt_intr_enable(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); // test event event_calculate(&event); TEST_ASSERT_INT_WITHIN(2, event.h_threshold, 1); TEST_ASSERT_INT_WITHIN(2, event.l_threshold, 1); TEST_ASSERT_INT_WITHIN(2, event.l_limit, 1); TEST_ASSERT_INT_WITHIN(2, event.h_limit, 0); TEST_ASSERT_INT_WITHIN(2, event.zero_times, 1); TEST_ASSERT_INT_WITHIN(2, event.filter_time, 2); // test interrupt disable TEST_ESP_OK(pcnt_intr_disable(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); // for the original control io disable interrupt status event_calculate(&event); TEST_ASSERT_INT_WITHIN(2, event.h_threshold, 1); TEST_ASSERT_INT_WITHIN(2, event.l_threshold, 1); TEST_ASSERT_INT_WITHIN(2, event.l_limit, 1); TEST_ASSERT_INT_WITHIN(2, event.h_limit, 0); TEST_ASSERT_INT_WITHIN(2, event.zero_times, 1); TEST_ASSERT_INT_WITHIN(2, event.filter_time, 2); // enable the intr pcnt_unit_config(&config); pcnt_test_io_config(PCNT_CTRL_LOW_LEVEL); TEST_ESP_OK(pcnt_intr_enable(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0)); TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0)); event_calculate(&event); TEST_ASSERT_INT_WITHIN(2, event.h_threshold, 2); TEST_ASSERT_INT_WITHIN(2, event.l_threshold, 3); TEST_ASSERT_INT_WITHIN(2, event.l_limit, 2); TEST_ASSERT_INT_WITHIN(2, event.h_limit, 0); TEST_ASSERT_INT_WITHIN(2, event.zero_times, 2); TEST_ASSERT_INT_WITHIN(2, event.filter_time, 6); // disable part of events TEST_ESP_OK(pcnt_event_disable(PCNT_UNIT_0, PCNT_EVT_ZERO)); TEST_ESP_OK(pcnt_event_disable(PCNT_UNIT_0, PCNT_EVT_L_LIM)); TEST_ESP_OK(pcnt_event_disable(PCNT_UNIT_0, PCNT_EVT_THRES_0)); event_calculate(&event); TEST_ASSERT_INT_WITHIN(2, event.h_threshold, 4); TEST_ASSERT_INT_WITHIN(2, event.l_threshold, 3); TEST_ASSERT_INT_WITHIN(2, event.l_limit, 2); TEST_ASSERT_INT_WITHIN(2, event.h_limit, 0); TEST_ASSERT_INT_WITHIN(2, event.zero_times, 2); TEST_ASSERT_INT_WITHIN(2, event.filter_time, 8); // Because this test uses its own ISR, we need to release it with `pcnt_isr_unregister` instead of `pcnt_isr_service_uninstall` TEST_ESP_OK(pcnt_isr_unregister(pcnt_isr_service)); vQueueDelete(pcnt_evt_queue); } TEST_CASE("PCNT counting mode test", "[pcnt]") { printf("PCNT mode test for positive count\n"); count_mode_test(PCNT_CTRL_VCC_IO); printf("PCNT mode test for negative count\n"); count_mode_test(PCNT_CTRL_GND_IO); } #endif // #if SOC_PCNT_SUPPORTED