Merge branch 'feat/mcpwm_hal_fixes_v4.0' into 'release/v4.0'

mcpwm: add HAL layer support (fix part, backport v4.0)

See merge request espressif/esp-idf!7105

components/driver/mcpwm.c

@@ -75,7 +75,7 @@ esp_err_t mcpwm_gpio_init(mcpwm_unit_t mcpwm_num, mcpwm_io_signals_t io_signal,
             MCPWM_CHECK((GPIO_IS_VALID_OUTPUT_GPIO(gpio_num)), MCPWM_GPIO_ERROR, ESP_ERR_INVALID_ARG);
             gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT);
             gpio_matrix_out(gpio_num, PWM1_OUT0A_IDX + io_signal, 0, 0);
-        } else if (io_signal >= MCPWM_SYNC_0 && io_signal < MCPWM_FAULT_2) {
+        } else if (io_signal >= MCPWM_SYNC_0 && io_signal <= MCPWM_FAULT_2) {
             gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
             gpio_matrix_in(gpio_num, PWM1_SYNC0_IN_IDX + io_signal - OFFSET_FOR_GPIO_IDX_1, 0);
         } else {
@@ -621,6 +621,9 @@ esp_err_t mcpwm_fault_set_oneshot_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t tim
     MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
     MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
     portENTER_CRITICAL(&mcpwm_spinlock);
+    //clear the ost triggered status
+    MCPWM[mcpwm_num]->channel[timer_num].tz_cfg1.clr_ost = 1;
+    MCPWM[mcpwm_num]->channel[timer_num].tz_cfg1.clr_ost = 0;
     if (fault_sig == MCPWM_SELECT_F0) {
         MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f0_ost = 1;
         MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f0_cbc = 0;
@@ -652,6 +655,9 @@ esp_err_t mcpwm_capture_enable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t ca
 {
     MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
     portENTER_CRITICAL(&mcpwm_spinlock);
+    //We have to do this here, since there is no standalone init function
+    //without enabling any PWM channels.
+    MCPWM[mcpwm_num]->clk_cfg.prescale = MCPWM_CLK_PRESCL;
     MCPWM[mcpwm_num]->cap_timer_cfg.timer_en = 1;
     MCPWM[mcpwm_num]->cap_cfg_ch[cap_sig].en = 1;
     MCPWM[mcpwm_num]->cap_cfg_ch[cap_sig].mode = (1 << cap_edge);

components/driver/test/test_pwm.c

@@ -313,10 +313,10 @@ static void oneshot_fault_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mc
     // one shot mode, it just can be triggered once
     TEST_ESP_OK(mcpwm_fault_init(unit, input_sig, fault_sig));
     TEST_ESP_OK(mcpwm_fault_set_oneshot_mode(unit, timer, fault_sig, action_a, action_b));
-    vTaskDelay(1000 / portTICK_RATE_MS);
+    vTaskDelay(10/ portTICK_RATE_MS);
     // trigger it
     gpio_set_level(FAULT_SIG_NUM, input_sig);
-    vTaskDelay(1000 / portTICK_RATE_MS);
+    vTaskDelay(10/ portTICK_RATE_MS);
     get_action_level(input_sig, action_a, action_b, 1000, 5);
     TEST_ESP_OK(mcpwm_fault_deinit(unit, fault_sig));
 }
@@ -665,7 +665,7 @@ TEST_CASE("MCPWM timer1 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeou
     }
 }
 
-TEST_CASE("MCPWM timer2 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180][ignore]")
+TEST_CASE("MCPWM timer2 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180]")
 {
 //    API just supports the high level trigger now, so comment it
 //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
@@ -684,24 +684,7 @@ TEST_CASE("MCPWM timer2 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeou
     }
 }
 
-// to debug the "mcpwm_fault_deinit" case. The "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_HIGH" scenario can work right
-// however, the mcpwm_fault_deinit can not release the status after "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_LOW" scenario
-TEST_CASE("MCPWM timer0 one shot fault test single", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
-{
-    // API just supports the high level trigger now, so comment it
-//    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
-    mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
-    mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
-
-    oneshot_fault_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
-    		MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
-			action_a[0], action_b[2]);
-}
-
-// the mcpwm_fault_deinit can not release the status after "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_LOW" scenario
-// set it ignore
-// same as the case "MCPWM timer1 one shot fault test" and case "MCPWM timer2 one shot fault test"
-TEST_CASE("MCPWM timer0 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
+TEST_CASE("MCPWM timer0 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
 {
     // API just supports the high level trigger now, so comment it
 //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
@@ -721,7 +704,7 @@ TEST_CASE("MCPWM timer0 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][tim
     }
 }
 
-TEST_CASE("MCPWM timer1 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
+TEST_CASE("MCPWM timer1 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
 {
     // API just supports the high level trigger now, so comment it
 //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
@@ -740,7 +723,7 @@ TEST_CASE("MCPWM timer1 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][tim
     }
 }
 
-TEST_CASE("MCPWM timer2 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
+TEST_CASE("MCPWM timer2 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
 {
 //    API just supports the high level trigger now, so comment it
 //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};

tools/ci/config/target-test.yml

@@ -331,6 +331,7 @@ UT_022:
 
 UT_023:
   extends: .unit_test_template
+  parallel: 2
   tags:
     - ESP32_IDF
     - UT_T1_MCPWM