Merge branch 'bugfix/allow_compare_equal_period' into 'master'

mcpwm: allow compare equals to period

See merge request espressif/esp-idf!20514

components/driver/mcpwm/mcpwm_cmpr.c

@@ -129,7 +129,7 @@ esp_err_t mcpwm_comparator_set_compare_value(mcpwm_cmpr_handle_t cmpr, uint32_t
     mcpwm_group_t *group = oper->group;
     mcpwm_timer_t *timer = oper->timer;
     ESP_RETURN_ON_FALSE_ISR(timer, ESP_ERR_INVALID_STATE, TAG, "timer and operator are not connected");
-    ESP_RETURN_ON_FALSE_ISR(cmp_ticks < timer->peak_ticks, ESP_ERR_INVALID_ARG, TAG, "compare value out of range");
+    ESP_RETURN_ON_FALSE_ISR(cmp_ticks <= timer->peak_ticks, ESP_ERR_INVALID_ARG, TAG, "compare value out of range");
 
     portENTER_CRITICAL_SAFE(&cmpr->spinlock);
     mcpwm_ll_operator_set_compare_value(group->hal.dev, oper->oper_id, cmpr->cmpr_id, cmp_ticks);

components/driver/test_apps/mcpwm/main/test_mcpwm_gen.c

@@ -644,3 +644,82 @@ TEST_CASE("mcpwm_generator_deadtime_classical_configuration", "[mcpwm]")
     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);
 }
+
+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_actions_on_timer_event(gen,
+                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH),
+                MCPWM_GEN_TIMER_EVENT_ACTION_END()));
+    TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gen,
+                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW),
+                MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+
+    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));
+}