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/*
* SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdlib.h>
#include <stdarg.h>
#include <sys/cdefs.h>
#include "sdkconfig.h"
#if CONFIG_MCPWM_ENABLE_DEBUG_LOG
// The local log level must be defined before including esp_log.h
// Set the maximum log level for this source file
#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
#endif
#include "freertos/FreeRTOS.h"
#include "esp_attr.h"
#include "esp_check.h"
#include "esp_err.h"
#include "esp_log.h"
#include "soc/soc_caps.h"
#include "soc/mcpwm_periph.h"
#include "hal/mcpwm_ll.h"
#include "hal/gpio_hal.h"
#include "driver/gpio.h"
#include "driver/mcpwm_gen.h"
#include "mcpwm_private.h"
#include "esp_private/esp_gpio_reserve.h"
#include "esp_private/gpio.h"
static const char *TAG = "mcpwm";
static esp_err_t mcpwm_generator_register_to_operator(mcpwm_gen_t *gen, mcpwm_oper_t *oper)
{
int gen_id = -1;
portENTER_CRITICAL(&oper->spinlock);
for (int i = 0; i < SOC_MCPWM_GENERATORS_PER_OPERATOR; i++) {
if (!oper->generators[i]) {
oper->generators[i] = gen;
gen_id = i;
break;
}
}
portEXIT_CRITICAL(&oper->spinlock);
ESP_RETURN_ON_FALSE(gen_id >= 0, ESP_ERR_NOT_FOUND, TAG, "no free generator in operator (%d,%d)", oper->group->group_id, oper->oper_id);
gen->gen_id = gen_id;
gen->oper = oper;
return ESP_OK;
}
static void mcpwm_generator_unregister_from_operator(mcpwm_gen_t *gen)
{
mcpwm_oper_t *oper = gen->oper;
int gen_id = gen->gen_id;
portENTER_CRITICAL(&oper->spinlock);
oper->generators[gen_id] = NULL;
portEXIT_CRITICAL(&oper->spinlock);
}
static esp_err_t mcpwm_generator_destroy(mcpwm_gen_t *gen)
{
if (gen->oper) {
mcpwm_generator_unregister_from_operator(gen);
}
free(gen);
return ESP_OK;
}
esp_err_t mcpwm_new_generator(mcpwm_oper_handle_t oper, const mcpwm_generator_config_t *config, mcpwm_gen_handle_t *ret_gen)
{
esp_err_t ret = ESP_OK;
mcpwm_gen_t *gen = NULL;
ESP_GOTO_ON_FALSE(oper && config && ret_gen, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
gen = heap_caps_calloc(1, sizeof(mcpwm_gen_t), MCPWM_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(gen, ESP_ERR_NO_MEM, err, TAG, "no mem for generator");
ESP_GOTO_ON_ERROR(mcpwm_generator_register_to_operator(gen, oper), err, TAG, "register generator failed");
mcpwm_group_t *group = oper->group;
mcpwm_hal_context_t *hal = &group->hal;
int oper_id = oper->oper_id;
int gen_id = gen->gen_id;
// reset generator
mcpwm_hal_generator_reset(hal, oper_id, gen_id);
gen->gen_gpio_num = -1; // gpio not initialized yet
// reserve the GPIO output path, because we don't expect another peripheral to signal to the same GPIO
uint64_t old_gpio_rsv_mask = esp_gpio_reserve(BIT64(config->gen_gpio_num));
// check if the GPIO is already used by others
if (old_gpio_rsv_mask & BIT64(config->gen_gpio_num)) {
ESP_LOGW(TAG, "GPIO %d is not usable, maybe conflict with others", config->gen_gpio_num);
}
// GPIO Matrix/MUX configuration
gpio_func_sel(config->gen_gpio_num, PIN_FUNC_GPIO);
// connect the signal to the GPIO by matrix, it will also enable the output path properly
esp_rom_gpio_connect_out_signal(config->gen_gpio_num,
mcpwm_periph_signals.groups[group->group_id].operators[oper_id].generators[gen_id].pwm_sig,
config->flags.invert_pwm, 0);
// deprecated, to be removed in in esp-idf v6.0
if (config->flags.io_loop_back) {
gpio_ll_input_enable(&GPIO, config->gen_gpio_num);
}
if (config->flags.io_od_mode) {
gpio_ll_od_enable(&GPIO, config->gen_gpio_num);
}
// fill in other generator members
gen->gen_gpio_num = config->gen_gpio_num;
gen->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
*ret_gen = gen;
ESP_LOGD(TAG, "new generator (%d,%d,%d) at %p, GPIO %d", group->group_id, oper_id, gen_id, gen, gen->gen_gpio_num);
return ESP_OK;
err:
if (gen) {
mcpwm_generator_destroy(gen);
}
return ret;
}
esp_err_t mcpwm_del_generator(mcpwm_gen_handle_t gen)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
ESP_LOGD(TAG, "del generator (%d,%d,%d)", group->group_id, oper->oper_id, gen->gen_id);
// disable GPIO output
if (gen->gen_gpio_num >= 0) {
gpio_output_disable(gen->gen_gpio_num);
esp_gpio_revoke(BIT64(gen->gen_gpio_num));
}
// recycle memory resource
ESP_RETURN_ON_ERROR(mcpwm_generator_destroy(gen), TAG, "destroy generator failed");
return ESP_OK;
}
esp_err_t mcpwm_generator_set_force_level(mcpwm_gen_handle_t gen, int level, bool hold_on)
{
ESP_RETURN_ON_FALSE(gen && level <= 1, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_hal_context_t *hal = &group->hal;
int oper_id = oper->oper_id;
int gen_id = gen->gen_id;
if (level < 0) { // to remove the force level
if (hold_on) {
mcpwm_ll_gen_disable_continue_force_action(hal->dev, oper_id, gen_id);
} else {
mcpwm_ll_gen_disable_noncontinue_force_action(hal->dev, oper_id, gen_id);
}
} else { // to enable the force output level
if (hold_on) {
mcpwm_ll_gen_set_continue_force_level(hal->dev, oper_id, gen_id, level);
} else {
mcpwm_ll_gen_set_noncontinue_force_level(hal->dev, oper_id, gen_id, level);
mcpwm_ll_gen_trigger_noncontinue_force_action(hal->dev, oper_id, gen_id);
}
}
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");
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");
mcpwm_gen_timer_event_action_t ev_act_itor = ev_act;
bool invalid_utep = false;
bool invalid_dtez = false;
va_list it;
va_start(it, ev_act);
while (ev_act_itor.event != MCPWM_TIMER_EVENT_INVALID) {
invalid_utep = (timer->count_mode == MCPWM_TIMER_COUNT_MODE_UP_DOWN) &&
(ev_act_itor.direction == MCPWM_TIMER_DIRECTION_UP) &&
(ev_act_itor.event == MCPWM_TIMER_EVENT_FULL);
invalid_dtez = (timer->count_mode == MCPWM_TIMER_COUNT_MODE_UP_DOWN) &&
(ev_act_itor.direction == MCPWM_TIMER_DIRECTION_DOWN) &&
(ev_act_itor.event == MCPWM_TIMER_EVENT_EMPTY);
if (invalid_utep || invalid_dtez) {
va_end(it);
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_itor.direction, ev_act_itor.event, ev_act_itor.action);
ev_act_itor = va_arg(it, mcpwm_gen_timer_event_action_t);
}
va_end(it);
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");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_gen_compare_event_action_t ev_act_itor = ev_act;
va_list it;
va_start(it, ev_act);
while (ev_act_itor.comparator) {
mcpwm_ll_generator_set_action_on_compare_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act_itor.direction, ev_act_itor.comparator->cmpr_id, ev_act_itor.action);
ev_act_itor = va_arg(it, mcpwm_gen_compare_event_action_t);
}
va_end(it);
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");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
mcpwm_gen_brake_event_action_t ev_act_itor = ev_act;
va_list it;
va_start(it, ev_act);
while (ev_act_itor.brake_mode != MCPWM_OPER_BRAKE_MODE_INVALID) {
mcpwm_ll_generator_set_action_on_brake_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act_itor.direction, ev_act_itor.brake_mode, ev_act_itor.action);
ev_act_itor = va_arg(it, mcpwm_gen_brake_event_action_t);
}
va_end(it);
return ESP_OK;
}
esp_err_t mcpwm_generator_set_action_on_fault_event(mcpwm_gen_handle_t gen, mcpwm_gen_fault_event_action_t ev_act)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_fault_t *fault = ev_act.fault;
ESP_RETURN_ON_FALSE(fault->type == MCPWM_FAULT_TYPE_GPIO, ESP_ERR_NOT_SUPPORTED, TAG, "not supported fault type");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
// check the remained triggers
int trigger_id = -1;
portENTER_CRITICAL(&oper->spinlock);
for (int i = 0; i < SOC_MCPWM_TRIGGERS_PER_OPERATOR; i++) {
if (oper->triggers[i] == MCPWM_TRIGGER_NO_ASSIGN) {
trigger_id = i;
oper->triggers[i] = MCPWM_TRIGGER_GPIO_FAULT;
break;
}
}
portEXIT_CRITICAL(&oper->spinlock);
ESP_RETURN_ON_FALSE(trigger_id >= 0, ESP_ERR_NOT_FOUND, TAG, "no free trigger in operator (%d,%d)", group->group_id, oper->oper_id);
mcpwm_gpio_fault_t *gpio_fault = __containerof(fault, mcpwm_gpio_fault_t, base);
mcpwm_ll_operator_set_trigger_from_gpio_fault(group->hal.dev, oper->oper_id, trigger_id, gpio_fault->fault_id);
mcpwm_ll_generator_set_action_on_trigger_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act.direction, trigger_id, ev_act.action);
return ESP_OK;
}
esp_err_t mcpwm_generator_set_action_on_sync_event(mcpwm_gen_handle_t gen, mcpwm_gen_sync_event_action_t ev_act)
{
ESP_RETURN_ON_FALSE(gen, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_oper_t *oper = gen->oper;
mcpwm_group_t *group = oper->group;
// check the remained triggers
int trigger_id = -1;
int trigger_sync_used = 0;
portENTER_CRITICAL(&oper->spinlock);
for (int i = 0; i < SOC_MCPWM_TRIGGERS_PER_OPERATOR; i++) {
if (oper->triggers[i] == MCPWM_TRIGGER_SYNC_EVENT) {
trigger_sync_used = 1;
break;
}
if (oper->triggers[i] == MCPWM_TRIGGER_NO_ASSIGN) {
trigger_id = i;
oper->triggers[i] = MCPWM_TRIGGER_SYNC_EVENT;
break;
}
}
portEXIT_CRITICAL(&oper->spinlock);
ESP_RETURN_ON_FALSE(!trigger_sync_used, ESP_ERR_INVALID_STATE, TAG, "only one sync supported");
ESP_RETURN_ON_FALSE(trigger_id >= 0, ESP_ERR_NOT_FOUND, TAG, "no free trigger in operator (%d,%d)", group->group_id, oper->oper_id);
mcpwm_ll_operator_set_trigger_from_sync(group->hal.dev, oper->oper_id, trigger_id);
mcpwm_ll_generator_set_action_on_trigger_event(group->hal.dev, oper->oper_id, gen->gen_id,
ev_act.direction, trigger_id, ev_act.action);
return ESP_OK;
}
esp_err_t mcpwm_generator_set_dead_time(mcpwm_gen_handle_t in_generator, mcpwm_gen_handle_t out_generator, const mcpwm_dead_time_config_t *config)
{
ESP_RETURN_ON_FALSE(in_generator && out_generator && config, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_FALSE(in_generator->oper == out_generator->oper, ESP_ERR_INVALID_ARG, TAG, "in/out generator are not derived from the same operator");
ESP_RETURN_ON_FALSE(config->negedge_delay_ticks < MCPWM_LL_MAX_DEAD_DELAY && config->posedge_delay_ticks < MCPWM_LL_MAX_DEAD_DELAY,
ESP_ERR_INVALID_ARG, TAG, "delay time out of range");
mcpwm_oper_t *oper = in_generator->oper;
mcpwm_group_t *group = oper->group;
mcpwm_hal_context_t *hal = &group->hal;
int oper_id = oper->oper_id;
// one delay module can only be used by one generator at a time
bool delay_module_conflict = false;
portENTER_CRITICAL(&oper->spinlock);
if (config->posedge_delay_ticks) {
if (oper->posedge_delay_owner && oper->posedge_delay_owner != in_generator) {
delay_module_conflict = true;
}
}
if (config->negedge_delay_ticks) {
if (oper->negedge_delay_owner && oper->negedge_delay_owner != in_generator) {
delay_module_conflict = true;
}
}
if (!delay_module_conflict) {
if (config->posedge_delay_ticks) {
// set owner if delay module is used
oper->posedge_delay_owner = in_generator;
} else if (oper->posedge_delay_owner == in_generator) {
// clear owner if delay module is previously used by in_generator, but now it is not used
oper->posedge_delay_owner = NULL;
}
if (config->negedge_delay_ticks) {
oper->negedge_delay_owner = in_generator;
} else if (oper->negedge_delay_owner == in_generator) {
oper->negedge_delay_owner = NULL;
}
}
portEXIT_CRITICAL(&oper->spinlock);
ESP_RETURN_ON_FALSE(!delay_module_conflict, ESP_ERR_INVALID_STATE, TAG, "delay module is in use by other generator");
// Note: to better understand the following code, you should read the deadtime module topology diagram in the TRM
// check if we want to bypass the deadtime module
bool bypass = (config->negedge_delay_ticks == 0) && (config->posedge_delay_ticks == 0);
// check is we want to delay on the both edge
bool delay_on_both_edge = config->posedge_delay_ticks && config->negedge_delay_ticks;
int out_path_id = -1;
if (bypass) {
// out path is same to the input path of generator
out_path_id = in_generator->gen_id;
} else if (config->negedge_delay_ticks) {
out_path_id = 1; // FED path
} else {
out_path_id = 0; // RED path
}
bool swap_path = out_path_id != out_generator->gen_id;
mcpwm_ll_deadtime_bypass_path(hal->dev, oper_id, out_path_id, bypass); // S0/1
if (!bypass) {
if (config->posedge_delay_ticks) {
mcpwm_ll_deadtime_red_select_generator(hal->dev, oper_id, in_generator->gen_id); // S4
} else {
mcpwm_ll_deadtime_fed_select_generator(hal->dev, oper_id, in_generator->gen_id); // S5
}
mcpwm_ll_deadtime_enable_deb(hal->dev, oper_id, delay_on_both_edge); // S8
mcpwm_ll_deadtime_invert_outpath(hal->dev, oper_id, out_path_id, config->flags.invert_output); // S2/3
mcpwm_ll_deadtime_swap_out_path(hal->dev, oper_id, out_generator->gen_id, swap_path); // S6/S7
}
// set delay time
if (config->posedge_delay_ticks) {
mcpwm_ll_deadtime_set_rising_delay(hal->dev, oper_id, config->posedge_delay_ticks);
}
if (config->negedge_delay_ticks) {
mcpwm_ll_deadtime_set_falling_delay(hal->dev, oper_id, config->negedge_delay_ticks);
}
if (delay_on_both_edge && in_generator->gen_id == 0 && oper->generators[1]) {
ESP_LOGW(TAG, "generator B will not function correctly. To set deadtime on both edges for one generator while bypassing the deadtime for the other, please set the deadtime for generator B only.");
}
ESP_LOGD(TAG, "operator (%d,%d) dead time (R:%"PRIu32",F:%"PRIu32"), topology code:%"PRIx32, group->group_id, oper_id,
config->posedge_delay_ticks, config->negedge_delay_ticks, mcpwm_ll_deadtime_get_switch_topology(hal->dev, oper_id));
return ESP_OK;
}
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