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mcpwm.h
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mcpwm.h
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// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef _DRIVER_MCPWM_H_
#define _DRIVER_MCPWM_H_
#include "soc/soc_caps.h"
#ifndef SOC_MCPWM_SUPPORTED
#error MCPWM is not supported in this chip target
#endif
#include "esp_err.h"
#include "soc/soc.h"
#include "driver/gpio.h"
#include "driver/periph_ctrl.h"
#include "esp_intr_alloc.h"
#include "hal/mcpwm_types.h"
#include "soc/mcpwm_caps.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief IO signals for the MCPWM
*
* - 6 MCPWM output pins that generate PWM signals
* - 3 MCPWM fault input pins to detect faults like overcurrent, overvoltage, etc.
* - 3 MCPWM sync input pins to synchronize MCPWM outputs signals
* - 3 MCPWM capture input pins to gather feedback from controlled motors, using e.g. hall sensors
*/
typedef enum {
MCPWM0A = 0, /*!<PWM0A output pin*/
MCPWM0B, /*!<PWM0B output pin*/
MCPWM1A, /*!<PWM1A output pin*/
MCPWM1B, /*!<PWM1B output pin*/
MCPWM2A, /*!<PWM2A output pin*/
MCPWM2B, /*!<PWM2B output pin*/
MCPWM_SYNC_0, /*!<SYNC0 input pin*/
MCPWM_SYNC_1, /*!<SYNC1 input pin*/
MCPWM_SYNC_2, /*!<SYNC2 input pin*/
MCPWM_FAULT_0, /*!<FAULT0 input pin*/
MCPWM_FAULT_1, /*!<FAULT1 input pin*/
MCPWM_FAULT_2, /*!<FAULT2 input pin*/
MCPWM_CAP_0 = 84, /*!<CAP0 input pin*/
MCPWM_CAP_1, /*!<CAP1 input pin*/
MCPWM_CAP_2, /*!<CAP2 input pin*/
} mcpwm_io_signals_t;
/**
* @brief MCPWM pin number for
*
*/
typedef struct {
int mcpwm0a_out_num; /*!<MCPWM0A out pin*/
int mcpwm0b_out_num; /*!<MCPWM0A out pin*/
int mcpwm1a_out_num; /*!<MCPWM0A out pin*/
int mcpwm1b_out_num; /*!<MCPWM0A out pin*/
int mcpwm2a_out_num; /*!<MCPWM0A out pin*/
int mcpwm2b_out_num; /*!<MCPWM0A out pin*/
int mcpwm_sync0_in_num; /*!<SYNC0 in pin*/
int mcpwm_sync1_in_num; /*!<SYNC1 in pin*/
int mcpwm_sync2_in_num; /*!<SYNC2 in pin*/
int mcpwm_fault0_in_num; /*!<FAULT0 in pin*/
int mcpwm_fault1_in_num; /*!<FAULT1 in pin*/
int mcpwm_fault2_in_num; /*!<FAULT2 in pin*/
int mcpwm_cap0_in_num; /*!<CAP0 in pin*/
int mcpwm_cap1_in_num; /*!<CAP1 in pin*/
int mcpwm_cap2_in_num; /*!<CAP2 in pin*/
} mcpwm_pin_config_t;
/**
* @brief Select MCPWM unit
*/
typedef enum {
MCPWM_UNIT_0 = 0, /*!<MCPWM unit0 selected*/
MCPWM_UNIT_1, /*!<MCPWM unit1 selected*/
MCPWM_UNIT_MAX, /*!<Num of MCPWM units on ESP32*/
} mcpwm_unit_t;
_Static_assert(MCPWM_UNIT_MAX == SOC_MCPWM_PERIPH_NUM, "MCPWM unit number not equal to chip capabilities");
/**
* @brief Select MCPWM timer
*/
typedef enum {
MCPWM_TIMER_0 = 0, /*!<Select MCPWM timer0*/
MCPWM_TIMER_1, /*!<Select MCPWM timer1*/
MCPWM_TIMER_2, /*!<Select MCPWM timer2*/
MCPWM_TIMER_MAX, /*!<Num of MCPWM timers on ESP32*/
} mcpwm_timer_t;
/**
* @brief Select MCPWM operator
*/
typedef enum {
MCPWM_GEN_A = 0, /*!<Select MCPWMXA, where 'X' is operator number*/
MCPWM_GEN_B, /*!<Select MCPWMXB, where 'X' is operator number*/
MCPWM_GEN_MAX, /*!<Num of generators to each operator of MCPWM*/
} mcpwm_generator_t;
//definitions and macros to be back-compatible before IDFv4.1
#define MCPWM_OPR_A MCPWM_GEN_A ///< @deprecated
#define MCPWM_OPR_B MCPWM_GEN_B ///< @deprecated
#define MCPWM_OPR_MAX MCPWM_GEN_MAX ///< @deprecated
typedef mcpwm_generator_t mcpwm_operator_t; ///< @deprecated
/**
* @brief MCPWM carrier oneshot mode, in this mode the width of the first pulse of carrier can be programmed
*/
typedef enum {
MCPWM_ONESHOT_MODE_DIS = 0, /*!<Enable oneshot mode*/
MCPWM_ONESHOT_MODE_EN, /*!<Disable oneshot mode*/
} mcpwm_carrier_os_t;
/**
* @brief MCPWM carrier output inversion, high frequency carrier signal active with MCPWM signal is high
*/
typedef enum {
MCPWM_CARRIER_OUT_IVT_DIS = 0, /*!<Enable carrier output inversion*/
MCPWM_CARRIER_OUT_IVT_EN, /*!<Disable carrier output inversion*/
} mcpwm_carrier_out_ivt_t;
/**
* @brief MCPWM select fault signal input
*/
typedef enum {
MCPWM_SELECT_F0 = 0, /*!<Select F0 as input*/
MCPWM_SELECT_F1, /*!<Select F1 as input*/
MCPWM_SELECT_F2, /*!<Select F2 as input*/
} mcpwm_fault_signal_t;
/**
* @brief MCPWM select triggering level of fault signal
*/
typedef enum {
MCPWM_LOW_LEVEL_TGR = 0, /*!<Fault condition occurs when fault input signal goes from high to low, currently not supported*/
MCPWM_HIGH_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes low to high*/
} mcpwm_fault_input_level_t;
/// @deprecated MCPWM select action to be taken on MCPWMXA when fault occurs
typedef mcpwm_output_action_t mcpwm_action_on_pwmxa_t;
#define MCPWM_NO_CHANGE_IN_MCPWMXA MCPWM_ACTION_NO_CHANGE /*!< @deprecated No change in MCPWMXA output*/
#define MCPWM_FORCE_MCPWMXA_LOW MCPWM_ACTION_FORCE_LOW /*!< @deprecated Make MCPWMXA output low*/
#define MCPWM_FORCE_MCPWMXA_HIGH MCPWM_ACTION_FORCE_HIGH /*!< @deprecated Make MCPWMXA output high*/
#define MCPWM_TOG_MCPWMXA MCPWM_ACTION_TOGGLE /*!< @deprecated Make MCPWMXA output toggle*/
/// @deprecated MCPWM select action to be taken on MCPWMXB when fault occurs
typedef mcpwm_output_action_t mcpwm_action_on_pwmxb_t;
#define MCPWM_NO_CHANGE_IN_MCPWMXB MCPWM_ACTION_NO_CHANGE /*!< @deprecated No change in MCPWMXB output*/
#define MCPWM_FORCE_MCPWMXB_LOW MCPWM_ACTION_FORCE_LOW /*!< @deprecated Make MCPWMXB output low*/
#define MCPWM_FORCE_MCPWMXB_HIGH MCPWM_ACTION_FORCE_HIGH /*!< @deprecated Make MCPWMXB output high*/
#define MCPWM_TOG_MCPWMXB MCPWM_ACTION_TOGGLE /*!< @deprecated Make MCPWMXB output toggle*/
/**
* @brief MCPWM select capture signal input
*/
typedef enum {
MCPWM_SELECT_CAP0 = 0, /*!<Select CAP0 as input*/
MCPWM_SELECT_CAP1, /*!<Select CAP1 as input*/
MCPWM_SELECT_CAP2, /*!<Select CAP2 as input*/
} mcpwm_capture_signal_t;
/**
* @brief MCPWM config structure
*/
typedef struct {
uint32_t frequency; /*!<Set frequency of MCPWM in Hz*/
float cmpr_a; /*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
float cmpr_b; /*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
mcpwm_duty_type_t duty_mode; /*!<Set type of duty cycle*/
mcpwm_counter_type_t counter_mode; /*!<Set type of MCPWM counter*/
} mcpwm_config_t;
/**
* @brief MCPWM config carrier structure
*/
typedef struct {
uint8_t carrier_period; /*!<Set carrier period = (carrier_period + 1)*800ns, carrier_period should be < 16*/
uint8_t carrier_duty; /*!<Set carrier duty cycle, carrier_duty should be less than 8 (increment every 12.5%)*/
uint8_t pulse_width_in_os; /*!<Set pulse width of first pulse in one shot mode = (carrier period)*(pulse_width_in_os + 1), should be less then 16*/
mcpwm_carrier_os_t carrier_os_mode; /*!<Enable or disable carrier oneshot mode*/
mcpwm_carrier_out_ivt_t carrier_ivt_mode; /*!<Invert output of carrier*/
} mcpwm_carrier_config_t;
/**
* @brief This function initializes each gpio signal for MCPWM
* @note
* This function initializes one gpio at a time.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param io_signal set MCPWM signals, each MCPWM unit has 6 output(MCPWMXA, MCPWMXB) and 9 input(SYNC_X, FAULT_X, CAP_X)
* 'X' is timer_num(0-2)
* @param gpio_num set this to configure gpio for MCPWM, if you want to use gpio16, gpio_num = 16
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_gpio_init(mcpwm_unit_t mcpwm_num, mcpwm_io_signals_t io_signal, int gpio_num);
/**
* @brief Initialize MCPWM gpio structure
* @note
* This function can be used to initialize more then one gpio at a time.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param mcpwm_pin MCPWM pin structure
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_pin(mcpwm_unit_t mcpwm_num, const mcpwm_pin_config_t *mcpwm_pin);
/**
* @brief Initialize MCPWM parameters
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers.
* @param mcpwm_conf configure structure mcpwm_config_t
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_init( mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_config_t *mcpwm_conf);
/**
* @brief Set frequency(in Hz) of MCPWM timer
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param frequency set the frequency in Hz of each timer
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint32_t frequency);
/**
* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB)
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param gen set the generator(MCPWMXA/MCPWMXB), 'X' is operator number selected
* @param duty set duty cycle in %(i.e for 62.3% duty cycle, duty = 62.3) of each operator
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, float duty);
/**
* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB) in us
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
* @param duty_in_us set duty value in microseconds of each operator
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, uint32_t duty_in_us);
/**
* @brief Set duty either active high or active low(out of phase/inverted)
* @note
* Call this function every time after mcpwm_set_signal_high or mcpwm_set_signal_low to resume with previously set duty cycle
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
* @param duty_type set active low or active high duty type
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, mcpwm_duty_type_t duty_type);
/**
* @brief Get frequency of timer
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
*
* @return
* - frequency of timer
*/
uint32_t mcpwm_get_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Get duty cycle of each operator
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
*
* @return
* - duty cycle in % of each operator(56.7 means duty is 56.7%)
*/
float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t gen);
/**
* @brief Use this function to set MCPWM signal high
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param gen set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen);
/**
* @brief Use this function to set MCPWM signal low
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param gen set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen);
/**
* @brief Start MCPWM signal on timer 'x'
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_start(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Start MCPWM signal on timer 'x'
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Initialize carrier configuration
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param carrier_conf configure structure mcpwm_carrier_config_t
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_carrier_config_t *carrier_conf);
/**
* @brief Enable MCPWM carrier submodule, for respective timer
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Disable MCPWM carrier submodule, for respective timer
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Set period of carrier
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param carrier_period set the carrier period of each timer, carrier period = (carrier_period + 1)*800ns
* (carrier_period <= 15)
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_set_period(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t carrier_period);
/**
* @brief Set duty_cycle of carrier
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param carrier_duty set duty_cycle of carrier , carrier duty cycle = carrier_duty*12.5%
* (chop_duty <= 7)
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_set_duty_cycle(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t carrier_duty);
/**
* @brief Enable and set width of first pulse in carrier oneshot mode
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param pulse_width set pulse width of first pulse in oneshot mode, width = (carrier period)*(pulse_width +1)
* (pulse_width <= 15)
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_oneshot_mode_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t pulse_width);
/**
* @brief Disable oneshot mode, width of first pulse = carrier period
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_oneshot_mode_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Enable or disable carrier output inversion
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param carrier_ivt_mode enable or disable carrier output inversion
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_output_invert(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num,
mcpwm_carrier_out_ivt_t carrier_ivt_mode);
/**
* @brief Enable and initialize deadtime for each MCPWM timer
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param dt_mode set deadtime mode
* @param red set rising edge delay = red*100ns
* @param fed set rising edge delay = fed*100ns
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_deadtime_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_deadtime_type_t dt_mode,
uint32_t red, uint32_t fed);
/**
* @brief Disable deadtime on MCPWM timer
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_deadtime_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Initialize fault submodule, currently low level triggering is not supported
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param intput_level set fault signal level, which will cause fault to occur
* @param fault_sig set the fault pin, which needs to be enabled
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_fault_init(mcpwm_unit_t mcpwm_num, mcpwm_fault_input_level_t intput_level, mcpwm_fault_signal_t fault_sig);
/**
* @brief Set oneshot mode on fault detection, once fault occur in oneshot mode reset is required to resume MCPWM signals
* @note
* currently low level triggering is not supported
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param fault_sig set the fault pin, which needs to be enabled for oneshot mode
* @param action_on_pwmxa action to be taken on MCPWMXA when fault occurs, either no change or high or low or toggle
* @param action_on_pwmxb action to be taken on MCPWMXB when fault occurs, either no change or high or low or toggle
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_fault_set_oneshot_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig,
mcpwm_output_action_t action_on_pwmxa, mcpwm_output_action_t action_on_pwmxb);
/**
* @brief Set cycle-by-cycle mode on fault detection, once fault occur in cyc mode MCPWM signal resumes as soon as fault signal becomes inactive
* @note
* currently low level triggering is not supported
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param fault_sig set the fault pin, which needs to be enabled for cyc mode
* @param action_on_pwmxa action to be taken on MCPWMXA when fault occurs, either no change or high or low or toggle
* @param action_on_pwmxb action to be taken on MCPWMXB when fault occurs, either no change or high or low or toggle
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_fault_set_cyc_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig,
mcpwm_output_action_t action_on_pwmxa, mcpwm_output_action_t action_on_pwmxb);
/**
* @brief Disable fault signal
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param fault_sig fault pin, which needs to be disabled
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_fault_deinit(mcpwm_unit_t mcpwm_num, mcpwm_fault_signal_t fault_sig);
/**
* @brief Initialize capture submodule
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_edge set capture edge, BIT(0) - negative edge, BIT(1) - positive edge
* @param cap_sig capture pin, which needs to be enabled
* @param num_of_pulse count time between rising/falling edge between 2 *(pulses mentioned), counter uses APB_CLK
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_capture_enable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig, mcpwm_capture_on_edge_t cap_edge,
uint32_t num_of_pulse);
/**
* @brief Disable capture signal
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_sig capture pin, which needs to be disabled
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_capture_disable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig);
/**
* @brief Get capture value
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_sig capture pin on which value is to be measured
*
* @return
* Captured value
*/
uint32_t mcpwm_capture_signal_get_value(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig);
/**
* @brief Get edge of capture signal
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_sig capture pin of whose edge is to be determined
*
* @return
* Capture signal edge: 1 - positive edge, 2 - negtive edge
*/
uint32_t mcpwm_capture_signal_get_edge(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig);
/**
* @brief Initialize sync submodule
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
* @param sync_sig set the synchronization pin, which needs to be enabled
* @param phase_val phase value in 1/1000 (for 86.7%, phase_val = 867) which timer moves to on sync signal
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_sync_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_sync_signal_t sync_sig,
uint32_t phase_val);
/**
* @brief Disable sync submodule on given timer
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_sync_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Register MCPWM interrupt handler, the handler is an ISR.
* the handler will be attached to the same CPU core that this function is running on.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param fn interrupt handler function.
* @param arg user-supplied argument passed to the handler function.
* @param intr_alloc_flags flags used to allocate the interrupt. One or multiple (ORred)
* ESP_INTR_FLAG_* values. see esp_intr_alloc.h for more info.
* @param handle pointer to return handle. If non-NULL, a handle for the interrupt will
* be returned here.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Function pointer error.
*/
esp_err_t mcpwm_isr_register(mcpwm_unit_t mcpwm_num, void (*fn)(void *), void *arg, int intr_alloc_flags, intr_handle_t *handle);
#ifdef __cplusplus
}
#endif
#endif /*_DRIVER_MCPWM_H_*/