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https://github.com/espressif/esp-idf.git
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238 lines
10 KiB
C
238 lines
10 KiB
C
/*
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* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include <stdint.h>
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "esp_err.h"
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#include "esp_intr_alloc.h"
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#include "esp_heap_caps.h"
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#include "esp_pm.h"
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#include "soc/soc_caps.h"
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#include "hal/mcpwm_hal.h"
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#include "hal/mcpwm_types.h"
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#include "driver/mcpwm_types.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#if CONFIG_MCPWM_ISR_IRAM_SAFE || CONFIG_MCPWM_CTRL_FUNC_IN_IRAM
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#define MCPWM_MEM_ALLOC_CAPS (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
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#else
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#define MCPWM_MEM_ALLOC_CAPS MALLOC_CAP_DEFAULT
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#endif
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#if CONFIG_MCPWM_ISR_IRAM_SAFE
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#define MCPWM_INTR_ALLOC_FLAG (ESP_INTR_FLAG_SHARED | ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM)
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#else
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#define MCPWM_INTR_ALLOC_FLAG (ESP_INTR_FLAG_SHARED | ESP_INTR_FLAG_INTRDISABLED)
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#endif
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#define MCPWM_ALLOW_INTR_PRIORITY_MASK ESP_INTR_FLAG_LOWMED
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#define MCPWM_PERIPH_CLOCK_PRE_SCALE (2)
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#define MCPWM_PM_LOCK_NAME_LEN_MAX 16
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typedef struct mcpwm_group_t mcpwm_group_t;
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typedef struct mcpwm_timer_t mcpwm_timer_t;
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typedef struct mcpwm_cap_timer_t mcpwm_cap_timer_t;
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typedef struct mcpwm_oper_t mcpwm_oper_t;
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typedef struct mcpwm_cmpr_t mcpwm_cmpr_t;
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typedef struct mcpwm_gen_t mcpwm_gen_t;
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typedef struct mcpwm_fault_t mcpwm_fault_t;
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typedef struct mcpwm_gpio_fault_t mcpwm_gpio_fault_t;
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typedef struct mcpwm_soft_fault_t mcpwm_soft_fault_t;
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typedef struct mcpwm_sync_t mcpwm_sync_t;
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typedef struct mcpwm_gpio_sync_src_t mcpwm_gpio_sync_src_t;
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typedef struct mcpwm_timer_sync_src_t mcpwm_timer_sync_src_t;
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typedef struct mcpwm_soft_sync_src_t mcpwm_soft_sync_src_t;
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typedef struct mcpwm_cap_channel_t mcpwm_cap_channel_t;
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struct mcpwm_group_t {
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int group_id; // group ID, index from 0
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int intr_priority; // MCPWM interrupt priority
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mcpwm_hal_context_t hal; // HAL instance is at group level
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portMUX_TYPE spinlock; // group level spinlock
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uint32_t resolution_hz; // MCPWM group clock resolution
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esp_pm_lock_handle_t pm_lock; // power management lock
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soc_module_clk_t clk_src; // peripheral source clock
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mcpwm_cap_timer_t *cap_timer; // mcpwm capture timers
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mcpwm_timer_t *timers[SOC_MCPWM_TIMERS_PER_GROUP]; // mcpwm timer array
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mcpwm_oper_t *operators[SOC_MCPWM_OPERATORS_PER_GROUP]; // mcpwm operator array
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mcpwm_gpio_fault_t *gpio_faults[SOC_MCPWM_GPIO_FAULTS_PER_GROUP]; // mcpwm fault detectors array
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mcpwm_gpio_sync_src_t *gpio_sync_srcs[SOC_MCPWM_GPIO_SYNCHROS_PER_GROUP]; // mcpwm gpio sync array
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#if CONFIG_PM_ENABLE
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char pm_lock_name[MCPWM_PM_LOCK_NAME_LEN_MAX]; // pm lock name
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#endif
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};
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typedef enum {
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MCPWM_TIMER_FSM_INIT,
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MCPWM_TIMER_FSM_ENABLE,
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} mcpwm_timer_fsm_t;
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struct mcpwm_timer_t {
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int timer_id; // timer ID, index from 0
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mcpwm_group_t *group; // which group the timer belongs to
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mcpwm_timer_fsm_t fsm; // driver FSM
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portMUX_TYPE spinlock; // spin lock
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intr_handle_t intr; // interrupt handle
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uint32_t resolution_hz; // resolution of the timer
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uint32_t peak_ticks; // peak ticks that the timer could reach to
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mcpwm_timer_sync_src_t *sync_src; // timer sync_src
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mcpwm_timer_count_mode_t count_mode; // count mode
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mcpwm_timer_event_cb_t on_full; // callback function when MCPWM timer counts to peak value
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mcpwm_timer_event_cb_t on_empty; // callback function when MCPWM timer counts to zero
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mcpwm_timer_event_cb_t on_stop; // callback function when MCPWM timer stops
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void *user_data; // user data which would be passed to the timer callbacks
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};
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struct mcpwm_oper_t {
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int oper_id; // operator ID, index from 0
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mcpwm_group_t *group; // which group the timer belongs to
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mcpwm_timer_t *timer; // which timer is connected to this operator
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portMUX_TYPE spinlock; // spin lock
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intr_handle_t intr; // interrupt handle
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mcpwm_gen_t *generators[SOC_MCPWM_GENERATORS_PER_OPERATOR]; // mcpwm generator array
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mcpwm_cmpr_t *comparators[SOC_MCPWM_COMPARATORS_PER_OPERATOR]; // mcpwm comparator array
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mcpwm_soft_fault_t *soft_fault; // mcpwm software fault
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mcpwm_operator_brake_mode_t brake_mode_on_soft_fault; // brake mode on software triggered fault
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mcpwm_operator_brake_mode_t brake_mode_on_gpio_fault[SOC_MCPWM_GPIO_FAULTS_PER_GROUP]; // brake mode on GPIO triggered faults
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uint32_t deadtime_resolution_hz; // resolution of deadtime submodule
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mcpwm_gen_t *posedge_delay_owner; // which generator owns the positive edge delay
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mcpwm_gen_t *negedge_delay_owner; // which generator owns the negative edge delay
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mcpwm_brake_event_cb_t on_brake_cbc; // callback function which would be invoked when mcpwm operator goes into trip zone
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mcpwm_brake_event_cb_t on_brake_ost; // callback function which would be invoked when mcpwm operator goes into trip zone
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void *user_data; // user data which would be passed to the trip zone callback
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};
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struct mcpwm_cmpr_t {
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int cmpr_id; // comparator ID, index from 0
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mcpwm_oper_t *oper; // which operator that the comparator resides in
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intr_handle_t intr; // interrupt handle
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portMUX_TYPE spinlock; // spin lock
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uint32_t compare_ticks; // compare value of this comparator
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mcpwm_compare_event_cb_t on_reach; // ISR callback function which would be invoked on timer counter reaches compare value
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void *user_data; // user data which would be passed to the comparator callbacks
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};
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struct mcpwm_gen_t {
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int gen_id; // generator ID, index from 0
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mcpwm_oper_t *oper; // which operator that the generator resides in
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int gen_gpio_num; // GPIO number used by the generator
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portMUX_TYPE spinlock; // spin lock
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};
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typedef enum {
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MCPWM_FAULT_TYPE_GPIO, // external GPIO fault
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MCPWM_FAULT_TYPE_SOFT, // software fault
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} mcpwm_fault_type_t;
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struct mcpwm_fault_t {
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mcpwm_group_t *group; // which group the fault belongs to
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mcpwm_fault_type_t type; // fault type
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esp_err_t (*del)(mcpwm_fault_t *fault);
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};
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struct mcpwm_gpio_fault_t {
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mcpwm_fault_t base; // base class
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int fault_id; // fault detector ID, index from 0
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int gpio_num; // GPIO number of fault detector
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intr_handle_t intr; // interrupt handle
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mcpwm_fault_event_cb_t on_fault_enter; // ISR callback function that would be invoked when fault signal got triggered
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mcpwm_fault_event_cb_t on_fault_exit; // ISR callback function that would be invoked when fault signal got clear
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void *user_data; // user data which would be passed to the isr_cb
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};
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struct mcpwm_soft_fault_t {
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mcpwm_fault_t base; // base class
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mcpwm_oper_t *oper; // the operator where the soft fault allocated from
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};
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typedef enum {
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MCPWM_SYNC_TYPE_TIMER, // sync event generated by MCPWM timer count event
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MCPWM_SYNC_TYPE_GPIO, // sync event generated by GPIO
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MCPWM_SYNC_TYPE_SOFT, // sync event generated by software
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} mcpwm_sync_src_type_t;
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struct mcpwm_sync_t {
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mcpwm_group_t *group; // which group the sync_src belongs to
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mcpwm_sync_src_type_t type; // sync_src type
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esp_err_t (*del)(mcpwm_sync_t *sync_src);
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};
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struct mcpwm_gpio_sync_src_t {
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mcpwm_sync_t base; // base class
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int sync_id; // sync signal ID
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int gpio_num; // GPIO number
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};
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struct mcpwm_timer_sync_src_t {
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mcpwm_sync_t base; // base class
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mcpwm_timer_t *timer; // timer handle, where this sync_src allocated from
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};
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typedef enum {
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MCPWM_SOFT_SYNC_FROM_NONE, // the software sync event generator has not been assigned
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MCPWM_SOFT_SYNC_FROM_TIMER, // the software sync event is generated by MCPWM timer
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MCPWM_SOFT_SYNC_FROM_CAP, // the software sync event is generated by MCPWM capture timer
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} mcpwm_soft_sync_source_t;
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struct mcpwm_soft_sync_src_t {
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mcpwm_sync_t base; // base class
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mcpwm_soft_sync_source_t soft_sync_from; // where the software sync event is generated by
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union {
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mcpwm_timer_t *timer; // soft sync is generated by which MCPWM timer
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mcpwm_cap_timer_t *cap_timer; // soft sync is generated by which MCPWM capture timer
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};
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};
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typedef enum {
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MCPWM_CAP_TIMER_FSM_INIT,
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MCPWM_CAP_TIMER_FSM_ENABLE,
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} mcpwm_cap_timer_fsm_t;
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typedef enum {
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MCPWM_CAP_CHAN_FSM_INIT,
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MCPWM_CAP_CHAN_FSM_ENABLE,
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} mcpwm_cap_channel_fsm_t;
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struct mcpwm_cap_timer_t {
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mcpwm_group_t *group; // which group the capture timer belongs to
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portMUX_TYPE spinlock; // spin lock, to prevent concurrently accessing capture timer level resources, including registers
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uint32_t resolution_hz; // resolution of capture timer
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mcpwm_cap_timer_fsm_t fsm; // driver FSM
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esp_pm_lock_handle_t pm_lock; // power management lock
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mcpwm_cap_channel_t *cap_channels[SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER]; // capture channel array
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};
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struct mcpwm_cap_channel_t {
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int cap_chan_id; // capture channel ID, index from 0
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mcpwm_cap_timer_t *cap_timer; // which capture timer that the channel resides in
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uint32_t prescale; // prescale of capture signal
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int gpio_num; // GPIO number used by the channel
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mcpwm_cap_channel_fsm_t fsm; // driver FSM
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intr_handle_t intr; // Interrupt handle
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mcpwm_capture_event_cb_t on_cap; // Callback function which would be invoked in capture interrupt routine
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void *user_data; // user data which would be passed to the capture callback
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struct {
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uint32_t reset_io_at_exit: 1; // Whether to reset the GPIO configuration when capture channel is deleted
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} flags;
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};
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mcpwm_group_t *mcpwm_acquire_group_handle(int group_id);
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void mcpwm_release_group_handle(mcpwm_group_t *group);
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esp_err_t mcpwm_check_intr_priority(mcpwm_group_t *group, int intr_priority);
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int mcpwm_get_intr_priority_flag(mcpwm_group_t *group);
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esp_err_t mcpwm_select_periph_clock(mcpwm_group_t *group, soc_module_clk_t clk_src);
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#ifdef __cplusplus
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}
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#endif
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