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Merge branch 'feature/mcpwm_non_varg_version_api' into 'master'
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mcpwm: support non-vararg version of generator functions

Closes IDFGH-9046

See merge request espressif/esp-idf!21872
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@suda-morris
suda-morris committed Jan 9, 2023
2 parents e72905e + 592673b commit dba66c1
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Showing 9 changed files with 261 additions and 247 deletions.
51 changes: 47 additions & 4 deletions components/driver/include/driver/mcpwm_gen.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
Expand Down Expand Up @@ -88,7 +88,22 @@ typedef struct {
(mcpwm_gen_timer_event_action_t) { .event = MCPWM_TIMER_EVENT_INVALID }

/**
* @brief Set generator actions on different MCPWM timer events
* @brief Set generator action on MCPWM timer event
*
* @param[in] gen MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM timer event action, can be constructed by `MCPWM_GEN_TIMER_EVENT_ACTION` helper macro
* @return
* - ESP_OK: Set generator action successfully
* - ESP_ERR_INVALID_ARG: Set generator action failed because of invalid argument
* - ESP_ERR_INVALID_STATE: Set generator action failed because of timer is not connected to operator
* - ESP_FAIL: Set generator action failed because of other error
*/
esp_err_t mcpwm_generator_set_action_on_timer_event(mcpwm_gen_handle_t gen, mcpwm_gen_timer_event_action_t ev_act);

/**
* @brief Set generator actions on multiple MCPWM timer events
*
* @note This is an aggregation version of `mcpwm_generator_set_action_on_timer_event`, which allows user to set multiple actions in one call.
*
* @param[in] gen MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM timer event action list, must be terminated by `MCPWM_GEN_TIMER_EVENT_ACTION_END()`
Expand Down Expand Up @@ -118,7 +133,21 @@ typedef struct {
(mcpwm_gen_compare_event_action_t) { .comparator = NULL }

/**
* @brief Set generator actions on different MCPWM compare events
* @brief Set generator action on MCPWM compare event
*
* @param[in] generator MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM compare event action, can be constructed by `MCPWM_GEN_COMPARE_EVENT_ACTION` helper macro
* @return
* - ESP_OK: Set generator action successfully
* - ESP_ERR_INVALID_ARG: Set generator action failed because of invalid argument
* - ESP_FAIL: Set generator action failed because of other error
*/
esp_err_t mcpwm_generator_set_action_on_compare_event(mcpwm_gen_handle_t generator, mcpwm_gen_compare_event_action_t ev_act);

/**
* @brief Set generator actions on multiple MCPWM compare events
*
* @note This is an aggregation version of `mcpwm_generator_set_action_on_compare_event`, which allows user to set multiple actions in one call.
*
* @param[in] generator MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM compare event action list, must be terminated by `MCPWM_GEN_COMPARE_EVENT_ACTION_END()`
Expand Down Expand Up @@ -147,7 +176,21 @@ typedef struct {
(mcpwm_gen_brake_event_action_t) { .brake_mode = MCPWM_OPER_BRAKE_MODE_INVALID }

/**
* @brief Set generator actions on different MCPWM brake events
* @brief Set generator action on MCPWM brake event
*
* @param[in] generator MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM brake event action, can be constructed by `MCPWM_GEN_BRAKE_EVENT_ACTION` helper macro
* @return
* - ESP_OK: Set generator action successfully
* - ESP_ERR_INVALID_ARG: Set generator action failed because of invalid argument
* - ESP_FAIL: Set generator action failed because of other error
*/
esp_err_t mcpwm_generator_set_action_on_brake_event(mcpwm_gen_handle_t generator, mcpwm_gen_brake_event_action_t ev_act);

/**
* @brief Set generator actions on multiple MCPWM brake events
*
* @note This is an aggregation version of `mcpwm_generator_set_action_on_brake_event`, which allows user to set multiple actions in one call.
*
* @param[in] generator MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] ev_act MCPWM brake event action list, must be terminated by `MCPWM_GEN_BRAKE_EVENT_ACTION_END()`
Expand Down
46 changes: 45 additions & 1 deletion components/driver/mcpwm/mcpwm_gen.c
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
Expand Down Expand Up @@ -148,6 +148,28 @@ esp_err_t mcpwm_generator_set_force_level(mcpwm_gen_handle_t gen, int level, boo
return ESP_OK;
}

esp_err_t mcpwm_generator_set_action_on_timer_event(mcpwm_gen_handle_t gen, mcpwm_gen_timer_event_action_t ev_act)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_FALSE(ev_act.event != MCPWM_TIMER_EVENT_INVALID, ESP_ERR_INVALID_ARG, TAG, "invalid event");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_timer_t *timer = oper->timer;
ESP_RETURN_ON_FALSE(timer, ESP_ERR_INVALID_STATE, TAG, "no timer is connected to the operator");
bool invalid_utep = (timer->count_mode == MCPWM_TIMER_COUNT_MODE_UP_DOWN) &&
(ev_act.direction == MCPWM_TIMER_DIRECTION_UP) &&
(ev_act.event == MCPWM_TIMER_EVENT_FULL);
bool invalid_dtez = (timer->count_mode == MCPWM_TIMER_COUNT_MODE_UP_DOWN) &&
(ev_act.direction == MCPWM_TIMER_DIRECTION_DOWN) &&
(ev_act.event == MCPWM_TIMER_EVENT_EMPTY);
if (invalid_utep || invalid_dtez) {
ESP_RETURN_ON_FALSE(false, ESP_ERR_INVALID_ARG, TAG, "UTEP and DTEZ can't be reached under MCPWM_TIMER_COUNT_MODE_UP_DOWN mode");
}
mcpwm_ll_generator_set_action_on_timer_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act.direction, ev_act.event, ev_act.action);
return ESP_OK;
}

esp_err_t mcpwm_generator_set_actions_on_timer_event(mcpwm_gen_handle_t gen, mcpwm_gen_timer_event_action_t ev_act, ...)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
Expand Down Expand Up @@ -179,6 +201,17 @@ esp_err_t mcpwm_generator_set_actions_on_timer_event(mcpwm_gen_handle_t gen, mcp
return ESP_OK;
}

esp_err_t mcpwm_generator_set_action_on_compare_event(mcpwm_gen_handle_t gen, mcpwm_gen_compare_event_action_t ev_act)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_FALSE(ev_act.comparator, ESP_ERR_INVALID_ARG, TAG, "invalid comparator");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_ll_generator_set_action_on_compare_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act.direction, ev_act.comparator->cmpr_id, ev_act.action);
return ESP_OK;
}

esp_err_t mcpwm_generator_set_actions_on_compare_event(mcpwm_gen_handle_t gen, mcpwm_gen_compare_event_action_t ev_act, ...)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
Expand All @@ -196,6 +229,17 @@ esp_err_t mcpwm_generator_set_actions_on_compare_event(mcpwm_gen_handle_t gen, m
return ESP_OK;
}

esp_err_t mcpwm_generator_set_action_on_brake_event(mcpwm_gen_handle_t gen, mcpwm_gen_brake_event_action_t ev_act)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_FALSE(ev_act.brake_mode != MCPWM_OPER_BRAKE_MODE_INVALID, ESP_ERR_INVALID_ARG, TAG, "invalid brake mode");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_ll_generator_set_action_on_brake_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act.direction, ev_act.brake_mode, ev_act.action);
return ESP_OK;
}

esp_err_t mcpwm_generator_set_actions_on_brake_event(mcpwm_gen_handle_t gen, mcpwm_gen_brake_event_action_t ev_act, ...)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
Expand Down
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