mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
0ce2683d81
Each MCPWM operator has two Trigger (named T0 and T1), and they can be routed to GPIO fault signal or timer sync event.Generator can be set up to perform different action on Trigger event. This commit add a trigger driver and a test for the driver.
1041 lines
46 KiB
C
1041 lines
46 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "unity.h"
|
|
#include "soc/soc_caps.h"
|
|
#include "driver/mcpwm_timer.h"
|
|
#include "driver/mcpwm_oper.h"
|
|
#include "driver/mcpwm_cmpr.h"
|
|
#include "driver/mcpwm_gen.h"
|
|
#include "driver/mcpwm_fault.h"
|
|
#include "driver/mcpwm_sync.h"
|
|
#include "driver/gpio.h"
|
|
|
|
TEST_CASE("mcpwm_generator_install_uninstall", "[mcpwm]")
|
|
{
|
|
mcpwm_operator_config_t oper_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
printf("create a MCPWM operator\r\n");
|
|
TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
|
|
|
|
printf("create MCPWM generators from that operator\r\n");
|
|
mcpwm_gen_handle_t gens[SOC_MCPWM_GENERATORS_PER_OPERATOR];
|
|
mcpwm_generator_config_t gen_config = {
|
|
.gen_gpio_num = 0,
|
|
};
|
|
for (int i = 0; i < SOC_MCPWM_GENERATORS_PER_OPERATOR; i++) {
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gens[i]));
|
|
}
|
|
TEST_ESP_ERR(ESP_ERR_NOT_FOUND, mcpwm_new_generator(oper, &gen_config, &gens[0]));
|
|
|
|
printf("delete generators and operator\r\n");
|
|
// can't delete operator if the generator is till in working
|
|
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_del_operator(oper));
|
|
for (int i = 0; i < SOC_MCPWM_GENERATORS_PER_OPERATOR; i++) {
|
|
TEST_ESP_OK(mcpwm_del_generator(gens[i]));
|
|
}
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_force_level_hold_on", "[mcpwm]")
|
|
{
|
|
// The operator can even work without the timer
|
|
printf("create operator and generator\r\n");
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
mcpwm_operator_config_t operator_config = {
|
|
.group_id = 0,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
|
|
|
|
mcpwm_gen_handle_t generator = NULL;
|
|
const int gen_gpio = 0;
|
|
mcpwm_generator_config_t generator_config = {
|
|
.gen_gpio_num = gen_gpio,
|
|
.flags.io_loop_back = true, // loop back for test
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator));
|
|
|
|
printf("add force level to the generator, hold on");
|
|
for (int i = 0; i < 10; i++) {
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 0, true));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 1, true));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
|
|
}
|
|
|
|
printf("remove the force level\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(generator, -1, true));
|
|
|
|
printf("delete generator and operator\r\n");
|
|
TEST_ESP_OK(mcpwm_del_generator(generator));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
}
|
|
|
|
// mcpwm_generator_set_force_level acts before the dead time module
|
|
// so the value output on the generator is a combined result
|
|
TEST_CASE("mcpwm_force_level_and_dead_time", "[mcpwm]")
|
|
{
|
|
printf("create operator and generators\r\n");
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
mcpwm_operator_config_t operator_config = {
|
|
.group_id = 0,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
|
|
|
|
mcpwm_gen_handle_t gen_a = NULL;
|
|
mcpwm_gen_handle_t gen_b = NULL;
|
|
const int gen_a_gpio = 0;
|
|
const int gen_b_gpio = 2;
|
|
mcpwm_generator_config_t generator_config = {
|
|
.gen_gpio_num = gen_a_gpio,
|
|
.flags.io_loop_back = true, // loop back for test
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &gen_a));
|
|
generator_config.gen_gpio_num = gen_b_gpio;
|
|
generator_config.flags.invert_pwm = true; // Inversion add to the GPIO matrix
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &gen_b));
|
|
|
|
mcpwm_dead_time_config_t dt_config = {
|
|
.posedge_delay_ticks = 5,
|
|
};
|
|
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(gen_a, gen_a, &dt_config));
|
|
dt_config = (mcpwm_dead_time_config_t) {
|
|
.negedge_delay_ticks = 5,
|
|
.flags.invert_output = true, // Inversion applied by the dead time module
|
|
};
|
|
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(gen_b, gen_b, &dt_config));
|
|
|
|
printf("add force level to the generator, hold on");
|
|
for (int i = 0; i < 10; i++) {
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(gen_b, 0, true));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_b_gpio));
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(gen_b, 1, true));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_b_gpio));
|
|
}
|
|
|
|
printf("delete generator and operator\r\n");
|
|
TEST_ESP_OK(mcpwm_del_generator(gen_a));
|
|
TEST_ESP_OK(mcpwm_del_generator(gen_b));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_force_level_recovery", "[mcpwm]")
|
|
{
|
|
printf("create mcpwm timer\r\n");
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
.resolution_hz = 1000000,
|
|
.period_ticks = 50000,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
TEST_ESP_OK(mcpwm_timer_enable(timer));
|
|
|
|
printf("create operator\r\n");
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
mcpwm_operator_config_t operator_config = {
|
|
.group_id = 0,
|
|
.flags.update_gen_action_on_tez = true,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
printf("create generator\r\n");
|
|
mcpwm_gen_handle_t generator = NULL;
|
|
const int gen_gpio = 0;
|
|
mcpwm_generator_config_t generator_config = {
|
|
.gen_gpio_num = gen_gpio,
|
|
.flags.io_loop_back = true, // loop back for test
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator));
|
|
|
|
printf("add force level to the generator, and recovery by events");
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 0, false));
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 1, false));
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
|
|
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 0, false));
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(generator,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
// generator should output high level on tez event, the previous force level should disappear
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
|
|
vTaskDelay(pdMS_TO_TICKS(200));
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
|
|
TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 1, false));
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(generator,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
|
|
// generator should output low level on tez event, the previous force level should disappear
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
|
|
vTaskDelay(pdMS_TO_TICKS(200));
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
|
|
printf("delete generator, operator and timer\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_disable(timer));
|
|
TEST_ESP_OK(mcpwm_del_generator(generator));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_action_on_timer_event", "[mcpwm]")
|
|
{
|
|
const int generator_gpio = 0;
|
|
printf("create timer and operator\r\n");
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = 1000000,
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
.period_ticks = 1000,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
TEST_ESP_OK(mcpwm_timer_enable(timer));
|
|
|
|
mcpwm_operator_config_t oper_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
|
|
|
|
printf("connect timer and operator\r\n");
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
printf("create generator\r\n");
|
|
mcpwm_generator_config_t gen_config = {
|
|
.gen_gpio_num = generator_gpio,
|
|
.flags.io_loop_back = 1, // so that we can read the GPIO value by GPIO driver
|
|
};
|
|
mcpwm_gen_handle_t gen = NULL;
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
|
|
|
|
printf("set generator to output high on timer full\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
|
|
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
|
|
printf("start timer\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
printf("stop timer on full\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_FULL));
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
|
|
|
|
printf("set generator to output low on timer full\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
|
|
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
|
|
printf("start timer\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
printf("stop timer on full\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_FULL));
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
|
|
|
|
printf("delete timer, operator, generator\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_disable(timer));
|
|
TEST_ESP_OK(mcpwm_del_generator(gen));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
typedef void (*set_gen_actions_cb_t)(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb);
|
|
|
|
static void mcpwm_gen_action_test_template(uint32_t timer_resolution, uint32_t period, mcpwm_timer_count_mode_t count_mode,
|
|
uint32_t cmpa, uint32_t cmpb, int gpioa, int gpiob, set_gen_actions_cb_t set_generator_actions)
|
|
{
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.count_mode = count_mode,
|
|
.resolution_hz = timer_resolution,
|
|
.period_ticks = period,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
|
|
mcpwm_operator_config_t operator_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
TEST_ESP_OK(mcpwm_timer_enable(timer));
|
|
|
|
mcpwm_cmpr_handle_t comparator_a = NULL;
|
|
mcpwm_cmpr_handle_t comparator_b = NULL;
|
|
mcpwm_comparator_config_t comparator_config = {
|
|
.flags.update_cmp_on_tez = true,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator_a));
|
|
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator_b));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator_a, cmpa));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator_b, cmpb));
|
|
|
|
mcpwm_gen_handle_t generator_a = NULL;
|
|
mcpwm_gen_handle_t generator_b = NULL;
|
|
mcpwm_generator_config_t generator_config = {
|
|
.gen_gpio_num = gpioa,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator_a));
|
|
generator_config.gen_gpio_num = gpiob;
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator_b));
|
|
|
|
set_generator_actions(generator_a, generator_b, comparator_a, comparator_b);
|
|
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
|
|
TEST_ESP_OK(mcpwm_timer_disable(timer));
|
|
TEST_ESP_OK(mcpwm_del_generator(generator_a));
|
|
TEST_ESP_OK(mcpwm_del_generator(generator_b));
|
|
TEST_ESP_OK(mcpwm_del_comparator(comparator_a));
|
|
TEST_ESP_OK(mcpwm_del_comparator(comparator_b));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
static void single_edge_active_high(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void single_edge_active_low(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH)));
|
|
}
|
|
|
|
static void pulse_placement(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE),
|
|
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
|
|
}
|
|
|
|
static void dual_edge_active_low_asym(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
|
|
}
|
|
|
|
static void dual_edge_active_low_sym(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
|
|
}
|
|
|
|
static void dual_edge_complementary(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
|
|
TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_HIGH),
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_action_on_compare_event", "[mcpwm]")
|
|
{
|
|
printf("[Asymmetric, SingleEdge, ActiveHigh]\r\n");
|
|
// PWMA: high = [1->350], low = [351->499,0]
|
|
// PWMB: high = [1->200], low = [201->499,0]
|
|
mcpwm_gen_action_test_template(1000000, 500, MCPWM_TIMER_COUNT_MODE_UP, 350, 200, 0, 2, single_edge_active_high);
|
|
|
|
printf("[Asymmetric, SingleEdge, ActiveLow]\r\n");
|
|
// PWMA: low = [0->300], high = [301->499]
|
|
// PWMB: low = [0->150], high = [151->499]
|
|
mcpwm_gen_action_test_template(1000000, 500, MCPWM_TIMER_COUNT_MODE_UP, 300, 150, 0, 2, single_edge_active_low);
|
|
|
|
printf("[Asymmetric, PulsePlacement]\r\n");
|
|
// PWMA: low = [0->200], high = [201->400], low = [401->599]
|
|
// PWMB: high = [0->599], low = [0->599]
|
|
mcpwm_gen_action_test_template(1000000, 600, MCPWM_TIMER_COUNT_MODE_UP, 200, 400, 0, 2, pulse_placement);
|
|
|
|
printf("[Asymmetric, DualEdge, ActiveLow]\r\n");
|
|
// PWMA: low = [0->250], high = [251->599, 600->450], low = [451->1]
|
|
// PWMB: low = [0->599], low = [600->1]
|
|
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 250, 450, 0, 2, dual_edge_active_low_asym);
|
|
|
|
printf("[Symmetric, DualEdge, ActiveLow]\r\n");
|
|
// PWMA: low = [0->400], high = [401->599, 600->400], low = [399->1]
|
|
// PWMB: low = [0->500], high = [501->599, 600->500], low = [499->1]
|
|
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 400, 500, 0, 2, dual_edge_active_low_sym);
|
|
|
|
printf("[Symmetric, DualEdge, Complementary]\r\n");
|
|
// PWMA: low = [0->350], high = [351->599, 600->350], low = [349->1]
|
|
// PWMB: low = [0->400], high = [401->599, 600->400], low = [399->1]
|
|
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 350, 400, 0, 2, dual_edge_complementary);
|
|
}
|
|
|
|
typedef void (*set_dead_time_cb_t)(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb);
|
|
|
|
static void mcpwm_deadtime_test_template(uint32_t timer_resolution, uint32_t period, uint32_t cmpa, uint32_t cmpb, int gpioa, int gpiob,
|
|
set_gen_actions_cb_t set_generator_actions, set_dead_time_cb_t set_dead_time)
|
|
{
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = timer_resolution,
|
|
.period_ticks = period,
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
|
|
mcpwm_operator_config_t operator_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
TEST_ESP_OK(mcpwm_timer_enable(timer));
|
|
|
|
mcpwm_cmpr_handle_t comparator_a = NULL;
|
|
mcpwm_cmpr_handle_t comparator_b = NULL;
|
|
mcpwm_comparator_config_t comparator_config = {
|
|
.flags.update_cmp_on_tez = true,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator_a));
|
|
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator_b));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator_a, cmpa));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator_b, cmpb));
|
|
|
|
mcpwm_gen_handle_t generator_a = NULL;
|
|
mcpwm_gen_handle_t generator_b = NULL;
|
|
mcpwm_generator_config_t generator_config = {
|
|
.gen_gpio_num = gpioa,
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator_a));
|
|
generator_config.gen_gpio_num = gpiob;
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &generator_b));
|
|
|
|
set_generator_actions(generator_a, generator_b, comparator_a, comparator_b);
|
|
set_dead_time(generator_a, generator_b);
|
|
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
|
|
TEST_ESP_OK(mcpwm_timer_disable(timer));
|
|
TEST_ESP_OK(mcpwm_del_generator(generator_a));
|
|
TEST_ESP_OK(mcpwm_del_generator(generator_b));
|
|
TEST_ESP_OK(mcpwm_del_comparator(comparator_a));
|
|
TEST_ESP_OK(mcpwm_del_comparator(comparator_b));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
static void ahc_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void ahc_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0
|
|
};
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
dead_time_config.negedge_delay_ticks = 100;
|
|
dead_time_config.flags.invert_output = true;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
|
|
}
|
|
|
|
static void alc_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void alc_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0,
|
|
.flags.invert_output = true
|
|
};
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
dead_time_config.negedge_delay_ticks = 100;
|
|
dead_time_config.flags.invert_output = false;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
|
|
}
|
|
|
|
static void ah_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void ah_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0,
|
|
};
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
dead_time_config.negedge_delay_ticks = 100;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
|
|
}
|
|
|
|
static void al_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void al_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0,
|
|
.flags.invert_output = true
|
|
};
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
dead_time_config.negedge_delay_ticks = 100;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
|
|
}
|
|
|
|
static void reda_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void reda_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 50,
|
|
.negedge_delay_ticks = 0,
|
|
};
|
|
// apply deadtime to generator_a
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
// bypass deadtime module for generator_b
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
|
|
}
|
|
|
|
static void fedb_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void fedb_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 0,
|
|
.negedge_delay_ticks = 0,
|
|
};
|
|
// generator_a bypass the deadtime module (no delay)
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
// apply dead time to generator_b
|
|
dead_time_config.negedge_delay_ticks = 50;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
|
|
|
|
}
|
|
|
|
static void redfedb_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
|
|
{
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
|
|
}
|
|
|
|
static void redfedb_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 0,
|
|
.negedge_delay_ticks = 0,
|
|
};
|
|
// generator_a bypass the deadtime module (no delay)
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
// apply dead time on both edge for generator_b
|
|
dead_time_config.negedge_delay_ticks = 50;
|
|
dead_time_config.posedge_delay_ticks = 50;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
|
|
}
|
|
|
|
static void invalid_reda_redb_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
|
|
{
|
|
mcpwm_dead_time_config_t dead_time_config = {
|
|
.posedge_delay_ticks = 10,
|
|
};
|
|
// generator_a adds delay on the posedge
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
// generator_b adds delay on the posedge as well, which is not allowed
|
|
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
|
|
// bypass the delay module for generator_a
|
|
dead_time_config.posedge_delay_ticks = 0;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
|
|
// now generator_b can add delay on the posedge
|
|
dead_time_config.posedge_delay_ticks = 10;
|
|
TEST_ESP_OK(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_deadtime_classical_configuration", "[mcpwm]")
|
|
{
|
|
printf("Active High Complementary\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 600, 200, 400, 0, 2, ahc_set_generator_actions, ahc_set_dead_time);
|
|
|
|
printf("Active Low Complementary\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 600, 200, 400, 0, 2, alc_set_generator_actions, alc_set_dead_time);
|
|
|
|
printf("Active High\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 600, 200, 400, 0, 2, ah_set_generator_actions, ah_set_dead_time);
|
|
|
|
printf("Active Low\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 600, 200, 400, 0, 2, al_set_generator_actions, al_set_dead_time);
|
|
|
|
printf("RED on A, Bypass B\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 500, 350, 350, 0, 2, reda_only_set_generator_actions, reda_only_set_dead_time);
|
|
|
|
printf("Bypass A, FED on B\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 500, 350, 350, 0, 2, fedb_only_set_generator_actions, fedb_only_set_dead_time);
|
|
|
|
printf("Bypass A, RED + FED on B\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 500, 350, 350, 0, 2, redfedb_only_set_generator_actions, redfedb_only_set_dead_time);
|
|
|
|
printf("Can't apply one delay module to multiple generators\r\n");
|
|
mcpwm_deadtime_test_template(1000000, 500, 350, 350, 0, 2, redfedb_only_set_generator_actions, invalid_reda_redb_set_dead_time);
|
|
}
|
|
|
|
TEST_CASE("mcpwm_duty_empty_full", "[mcpwm]")
|
|
{
|
|
const int gen_gpio_num = 0;
|
|
mcpwm_timer_handle_t timer;
|
|
mcpwm_oper_handle_t oper;
|
|
mcpwm_cmpr_handle_t comparator;
|
|
mcpwm_gen_handle_t gen;
|
|
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = 1 * 1000 * 1000,
|
|
.period_ticks = 50, // 50us <-> 20KHz
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
};
|
|
mcpwm_operator_config_t operator_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_comparator_config_t comparator_config = {
|
|
.flags.update_cmp_on_tep = true,
|
|
.flags.update_cmp_on_tez = true,
|
|
};
|
|
printf("install timer, operator and comparator\r\n");
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
|
|
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator));
|
|
|
|
printf("connect MCPWM timer and operators\r\n");
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 0));
|
|
|
|
printf("install MCPWM generator\r\n");
|
|
mcpwm_generator_config_t gen_config = {
|
|
.gen_gpio_num = gen_gpio_num,
|
|
.flags.io_loop_back = true, // we want to read the output level as well
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
|
|
|
|
printf("set generator actions on timer and compare events\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
|
|
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gen,
|
|
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));
|
|
|
|
printf("start timer\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_enable(timer));
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
|
|
|
|
// check if the output is a const low level
|
|
for (int i = 0; i < 100; i++) {
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio_num));
|
|
esp_rom_delay_us(1);
|
|
}
|
|
|
|
// set the compare equals to the period
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 50));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
// so the output should be a const high level
|
|
for (int i = 0; i < 100; i++) {
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio_num));
|
|
esp_rom_delay_us(1);
|
|
}
|
|
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 49));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 1));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
|
|
printf("uninstall timer, operator and comparator\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
|
|
TEST_ESP_OK(mcpwm_timer_disable(timer));
|
|
TEST_ESP_OK(mcpwm_del_generator(gen));
|
|
TEST_ESP_OK(mcpwm_del_comparator(comparator));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_action_on_fault_trigger_event", "[mcpwm]")
|
|
{
|
|
const int generator_gpio = 0;
|
|
const int fault_gpio_num[3] = {2, 4, 5};
|
|
printf("create timer and operator\r\n");
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = 1000000,
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
.period_ticks = 1000,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
|
|
mcpwm_operator_config_t oper_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
|
|
|
|
printf("connect timer and operator\r\n");
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
printf("install gpio faults trigger\r\n");
|
|
mcpwm_fault_handle_t gpio_faults[3];
|
|
mcpwm_gpio_fault_config_t gpio_fault_config = {
|
|
.group_id = 0,
|
|
.flags.active_level = 1,
|
|
.flags.pull_down = 1,
|
|
.flags.pull_up = 0,
|
|
.flags.io_loop_back = 1, // so that we can write the GPIO value by GPIO driver
|
|
};
|
|
for (int i = 0 ; i < 3; i++) {
|
|
gpio_fault_config.gpio_num = fault_gpio_num[i];
|
|
TEST_ESP_OK(mcpwm_new_gpio_fault(&gpio_fault_config, &gpio_faults[i]));
|
|
}
|
|
|
|
printf("create generator\r\n");
|
|
mcpwm_generator_config_t gen_config = {
|
|
.gen_gpio_num = generator_gpio,
|
|
.flags.io_loop_back = 1, // so that we can read the GPIO value by GPIO driver
|
|
};
|
|
mcpwm_gen_handle_t gen = NULL;
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
|
|
|
|
printf("set generator to output high on trigger0 and low on trigger1\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_fault_event(gen,
|
|
MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[0], MCPWM_GEN_ACTION_HIGH)));
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_fault_event(gen,
|
|
MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[1], MCPWM_GEN_ACTION_LOW)));
|
|
// no free trigger
|
|
TEST_ESP_ERR(ESP_ERR_NOT_FOUND, mcpwm_generator_set_action_on_fault_event(gen,
|
|
MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[2], MCPWM_GEN_ACTION_LOW)));
|
|
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
|
|
gpio_set_level(fault_gpio_num[0], 1);
|
|
gpio_set_level(fault_gpio_num[0], 0);
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
|
|
gpio_set_level(fault_gpio_num[1], 1);
|
|
gpio_set_level(fault_gpio_num[1], 0);
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
|
|
printf("delete falut trigger, operator, generator\r\n");
|
|
TEST_ESP_OK(mcpwm_del_fault(gpio_faults[0]));
|
|
TEST_ESP_OK(mcpwm_del_fault(gpio_faults[1]));
|
|
TEST_ESP_OK(mcpwm_del_fault(gpio_faults[2]));
|
|
TEST_ESP_OK(mcpwm_del_generator(gen));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_action_on_soft_sync_trigger_event", "[mcpwm]")
|
|
{
|
|
const int generator_gpio = 0;
|
|
printf("create timer and operator\r\n");
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = 1000000,
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
.period_ticks = 1000,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
|
|
mcpwm_operator_config_t oper_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
|
|
|
|
printf("connect timer and operator\r\n");
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
printf("install soft sync source trigger\r\n");
|
|
mcpwm_sync_handle_t soft_sync = NULL;
|
|
mcpwm_soft_sync_config_t soft_sync_config = {};
|
|
TEST_ESP_OK(mcpwm_new_soft_sync_src(&soft_sync_config, &soft_sync));
|
|
|
|
mcpwm_timer_sync_phase_config_t sync_phase_config = {
|
|
.count_value = 0,
|
|
.direction = MCPWM_TIMER_DIRECTION_UP,
|
|
.sync_src = soft_sync,
|
|
};
|
|
TEST_ESP_OK(mcpwm_timer_set_phase_on_sync(timer, &sync_phase_config));
|
|
|
|
printf("create generator\r\n");
|
|
mcpwm_generator_config_t gen_config = {
|
|
.gen_gpio_num = generator_gpio,
|
|
.flags.io_loop_back = 1, // so that we can read the GPIO value by GPIO driver
|
|
};
|
|
mcpwm_gen_handle_t gen = NULL;
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
|
|
|
|
printf("set generator to output high on soft sync trigger\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_sync_event(gen,
|
|
MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, soft_sync, MCPWM_GEN_ACTION_HIGH)));
|
|
|
|
//more than 1 sync is not supported
|
|
mcpwm_sync_handle_t invalid_soft_sync = NULL;
|
|
TEST_ESP_OK(mcpwm_new_soft_sync_src(&soft_sync_config, &invalid_soft_sync));
|
|
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_generator_set_action_on_sync_event(gen,
|
|
MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, invalid_soft_sync, MCPWM_GEN_ACTION_LOW)));
|
|
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
|
|
mcpwm_soft_sync_activate(soft_sync);
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
|
|
printf("delete soft sync trigger, timer, operator, generator\r\n");
|
|
TEST_ESP_OK(mcpwm_del_sync_src(soft_sync));
|
|
TEST_ESP_OK(mcpwm_del_sync_src(invalid_soft_sync));
|
|
TEST_ESP_OK(mcpwm_del_generator(gen));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_action_on_timer_sync_trigger_event", "[mcpwm]")
|
|
{
|
|
const int generator_gpio = 0;
|
|
printf("create timer and operator\r\n");
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = 1000000,
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
.period_ticks = 1000,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
|
|
mcpwm_operator_config_t oper_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
|
|
|
|
printf("connect timer and operator\r\n");
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
printf("install timer sync source trigger\r\n");
|
|
mcpwm_sync_handle_t timer_sync = NULL;
|
|
mcpwm_timer_sync_src_config_t timer_sync_config = {
|
|
.timer_event = MCPWM_TIMER_EVENT_EMPTY,
|
|
};
|
|
|
|
TEST_ESP_OK(mcpwm_new_timer_sync_src(timer, &timer_sync_config, &timer_sync));
|
|
|
|
mcpwm_timer_sync_phase_config_t sync_phase_config = {
|
|
.count_value = 0,
|
|
.direction = MCPWM_TIMER_DIRECTION_UP,
|
|
.sync_src = timer_sync,
|
|
};
|
|
TEST_ESP_OK(mcpwm_timer_set_phase_on_sync(timer, &sync_phase_config));
|
|
|
|
printf("create generator\r\n");
|
|
mcpwm_generator_config_t gen_config = {
|
|
.gen_gpio_num = generator_gpio,
|
|
.flags.io_loop_back = 1, // so that we can read the GPIO value by GPIO driver
|
|
};
|
|
mcpwm_gen_handle_t gen = NULL;
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
|
|
|
|
printf("set generator to output high on timer sync trigger\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_sync_event(gen,
|
|
MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, timer_sync, MCPWM_GEN_ACTION_HIGH)));
|
|
|
|
TEST_ESP_OK(mcpwm_timer_enable(timer));
|
|
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
|
|
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_STOP_FULL));
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
|
|
printf("delete timer sync trigger, timer, operator, generator\r\n");
|
|
TEST_ESP_OK(mcpwm_timer_disable(timer));
|
|
TEST_ESP_OK(mcpwm_del_sync_src(timer_sync));
|
|
TEST_ESP_OK(mcpwm_del_generator(gen));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|
|
|
|
TEST_CASE("mcpwm_generator_action_on_gpio_sync_trigger_event", "[mcpwm]")
|
|
{
|
|
const int generator_gpio = 0;
|
|
printf("create timer and operator\r\n");
|
|
mcpwm_timer_config_t timer_config = {
|
|
.group_id = 0,
|
|
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
|
.resolution_hz = 1000000,
|
|
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
|
.period_ticks = 1000,
|
|
};
|
|
mcpwm_timer_handle_t timer = NULL;
|
|
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
|
|
|
|
mcpwm_operator_config_t oper_config = {
|
|
.group_id = 0,
|
|
};
|
|
mcpwm_oper_handle_t oper = NULL;
|
|
TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
|
|
|
|
printf("connect timer and operator\r\n");
|
|
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
|
|
|
|
printf("install gpio sync source trigger\r\n");
|
|
mcpwm_sync_handle_t gpio_sync = NULL;
|
|
mcpwm_gpio_sync_src_config_t gpio_sync_config = {
|
|
.group_id = 0,
|
|
.gpio_num = 2,
|
|
.flags.io_loop_back = true, // so that we can use gpio driver to simulate the sync signal
|
|
.flags.pull_down = true, // internally pull down
|
|
};
|
|
TEST_ESP_OK(mcpwm_new_gpio_sync_src(&gpio_sync_config, &gpio_sync));
|
|
|
|
// put the GPIO into initial state
|
|
gpio_set_level(gpio_sync_config.gpio_num, 0);
|
|
|
|
mcpwm_timer_sync_phase_config_t sync_phase_config = {
|
|
.count_value = 0,
|
|
.direction = MCPWM_TIMER_DIRECTION_UP,
|
|
.sync_src = gpio_sync,
|
|
};
|
|
TEST_ESP_OK(mcpwm_timer_set_phase_on_sync(timer, &sync_phase_config));
|
|
|
|
printf("create generator\r\n");
|
|
mcpwm_generator_config_t gen_config = {
|
|
.gen_gpio_num = generator_gpio,
|
|
.flags.io_loop_back = 1, // so that we can read the GPIO value by GPIO driver
|
|
};
|
|
mcpwm_gen_handle_t gen = NULL;
|
|
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
|
|
|
|
printf("set generator to output high on gpio sync trigger\r\n");
|
|
TEST_ESP_OK(mcpwm_generator_set_action_on_sync_event(gen,
|
|
MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_sync, MCPWM_GEN_ACTION_HIGH)));
|
|
|
|
TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
|
|
gpio_set_level(gpio_sync_config.gpio_num, 1);
|
|
gpio_set_level(gpio_sync_config.gpio_num, 0);
|
|
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
|
|
vTaskDelay(pdMS_TO_TICKS(10));
|
|
|
|
printf("delete gpio sync trigger, timer, operator, generator\r\n");
|
|
TEST_ESP_OK(mcpwm_del_sync_src(gpio_sync));
|
|
TEST_ESP_OK(mcpwm_del_generator(gen));
|
|
TEST_ESP_OK(mcpwm_del_operator(oper));
|
|
TEST_ESP_OK(mcpwm_del_timer(timer));
|
|
}
|