Merge branch 'feature/mcpwm_interrupt_priority' into 'master'
feat(MCPWM): Support set interrupt priority Closes IDF-7952 See merge request espressif/esp-idf!25364
This commit is contained in:
morris
@@ -65,6 +65,7 @@ MCPWM Timers
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You can allocate a MCPWM timer object by calling :cpp:func:`mcpwm_new_timer` function, with a configuration structure :cpp:type:`mcpwm_timer_config_t` as the parameter. The configuration structure is defined as:
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- :cpp:member:`mcpwm_timer_config_t::group_id` specifies the MCPWM group ID. The ID should belong to [0, :c:macro:`SOC_MCPWM_GROUPS` - 1] range. Please note, timers located in different groups are totally independent.
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- :cpp:member:`mcpwm_timer_config_t::intr_priority` sets the priority of the interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
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- :cpp:member:`mcpwm_timer_config_t::clk_src` sets the clock source of the timer.
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- :cpp:member:`mcpwm_timer_config_t::resolution_hz` sets the expected resolution of the timer. The driver internally will set a proper divider based on the clock source and the resolution.
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- :cpp:member:`mcpwm_timer_config_t::count_mode` sets the count mode of the timer.
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@@ -82,6 +83,7 @@ MCPWM Operators
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You can allocate a MCPWM operator object by calling :cpp:func:`mcpwm_new_operator` function, with a configuration structure :cpp:type:`mcpwm_operator_config_t` as the parameter. The configuration structure is defined as:
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- :cpp:member:`mcpwm_operator_config_t::group_id` specifies the MCPWM group ID. The ID should belong to [0, :c:macro:`SOC_MCPWM_GROUPS` - 1] range. Please note, operators located in different groups are totally independent.
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- :cpp:member:`mcpwm_operator_config_t::intr_priority` sets the priority of the interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
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- :cpp:member:`mcpwm_operator_config_t::update_gen_action_on_tez` sets whether to update the generator action when the timer counts to zero. Here and below, the timer refers to the one that is connected to the operator by :cpp:func:`mcpwm_operator_connect_timer`.
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- :cpp:member:`mcpwm_operator_config_t::update_gen_action_on_tep` sets whether to update the generator action when the timer counts to peak.
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- :cpp:member:`mcpwm_operator_config_t::update_gen_action_on_sync` sets whether to update the generator action when the timer takes a sync signal.
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@@ -98,6 +100,7 @@ MCPWM Comparators
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You can allocate a MCPWM comparator object by calling the :cpp:func:`mcpwm_new_comparator` function, with a MCPWM operator handle and configuration structure :cpp:type:`mcpwm_comparator_config_t` as the parameter. The operator handle is created by :cpp:func:`mcpwm_new_operator`. The configuration structure is defined as:
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- :cpp:member:`mcpwm_comparator_config_t::intr_priority` sets the priority of the interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
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- :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_tez` sets whether to update the compare threshold when the timer counts to zero.
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- :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_tep` sets whether to update the compare threshold when the timer counts to the peak.
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- :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_sync` sets whether to update the compare threshold when the timer takes a sync signal.
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@@ -129,6 +132,7 @@ There are two types of faults: A fault signal reflected from the GPIO and a faul
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To allocate a GPIO fault object, you can call the :cpp:func:`mcpwm_new_gpio_fault` function, with the configuration structure :cpp:type:`mcpwm_gpio_fault_config_t` as the parameter. The configuration structure is defined as:
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- :cpp:member:`mcpwm_gpio_fault_config_t::group_id` sets the MCPWM group ID. The ID should belong to [0, :c:macro:`SOC_MCPWM_GROUPS` - 1] range. Please note, GPIO faults located in different groups are totally independent, i.e., GPIO faults in group 0 can not be detected by the operator in group 1.
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- :cpp:member:`mcpwm_gpio_fault_config_t::intr_priority` sets the priority of the interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
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- :cpp:member:`mcpwm_gpio_fault_config_t::gpio_num` sets the GPIO number used by the fault.
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- :cpp:member:`mcpwm_gpio_fault_config_t::active_level` sets the active level of the fault signal.
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- :cpp:member:`mcpwm_gpio_fault_config_t::pull_up` and :cpp:member:`mcpwm_gpio_fault_config_t::pull_down` set whether to pull up and/or pull down the GPIO internally.
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@@ -184,6 +188,7 @@ The :cpp:func:`mcpwm_new_capture_timer` will return a pointer to the allocated c
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Next, to allocate a capture channel, you can call the :cpp:func:`mcpwm_new_capture_channel` function, with a capture timer handle and configuration structure :cpp:type:`mcpwm_capture_channel_config_t` as the parameter. The configuration structure is defined as:
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- :cpp:member:`mcpwm_capture_channel_config_t::intr_priority` sets the priority of the interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
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- :cpp:member:`mcpwm_capture_channel_config_t::gpio_num` sets the GPIO number used by the capture channel.
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- :cpp:member:`mcpwm_capture_channel_config_t::prescale` sets the prescaler of the input signal.
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- :cpp:member:`mcpwm_capture_channel_config_t::pos_edge` and :cpp:member:`mcpwm_capture_channel_config_t::neg_edge` set whether to capture on the positive and/or negative edge of the input signal.
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@@ -195,6 +200,15 @@ The :cpp:func:`mcpwm_new_capture_channel` will return a pointer to the allocated
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On the contrary, calling :cpp:func:`mcpwm_del_capture_channel` and :cpp:func:`mcpwm_del_capture_timer` will free the allocated capture channel and timer object accordingly.
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MCPWM interrupt priority
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~~~~~~~~~~~~~~~~~~~~~~~~
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MCPWM allows configuring interrupts separately for timer, operator, comparator, fault, and capture events. The interrupt priority is determined by the respective ``config_t::intr_priority``. Additionally, events within the same MCPWM group share a common interrupt source. When registering multiple interrupt events, the interrupt priorities need to remain consistent.
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.. note::
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When registering multiple interrupt events within an MCPWM group, the driver will use the interrupt priority of the first registered event as the MCPWM group's interrupt priority.
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.. _mcpwm-timer-operations-and-events:
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@@ -46,7 +46,7 @@ To install a PCNT unit, there's a configuration structure that needs to be given
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- :cpp:member:`pcnt_unit_config_t::low_limit` and :cpp:member:`pcnt_unit_config_t::high_limit` specify the range for the internal hardware counter. The counter will reset to zero automatically when it crosses either the high or low limit.
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- :cpp:member:`pcnt_unit_config_t::accum_count` sets whether to create an internal accumulator for the counter. This is helpful when you want to extend the counter's width, which by default is 16bit at most, defined in the hardware. See also :ref:`pcnt-compensate-overflow-loss` for how to use this feature to compensate the overflow loss.
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- :cpp:member:`pcnt_unit_config_t::intr_priority` sets the priority of the timer interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
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- :cpp:member:`pcnt_unit_config_t::intr_priority` sets the priority of the interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
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.. note::
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@@ -65,6 +65,7 @@ MCPWM 定时器
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调用 :cpp:func:`mcpwm_new_timer` 函数，以配置结构体 :cpp:type:`mcpwm_timer_config_t` 为参数，分配一个 MCPWM 定时器为对象。结构体定义为：
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- :cpp:member:`mcpwm_timer_config_t::group_id` 指定 MCPWM 组 ID，范围为 [0, :c:macro:`SOC_MCPWM_GROUPS` - 1]。需注意，位于不同组的定时器彼此独立。
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- :cpp:member:`mcpwm_timer_config_t::intr_priority` 设置中断的优先级。如果设置为 ``0``，则会分配一个默认优先级的中断，否则会使用指定的优先级。
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- :cpp:member:`mcpwm_timer_config_t::clk_src` 设置定时器的时钟源。
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- :cpp:member:`mcpwm_timer_config_t::resolution_hz` 设置定时器的预期分辨率。内部驱动将根据时钟源和分辨率设置合适的分频器。
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- :cpp:member:`mcpwm_timer_config_t::count_mode` 设置定时器的计数模式。
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@@ -82,6 +83,7 @@ MCPWM 操作器
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调用 :cpp:func:`mcpwm_new_operator` 函数，以配置结构体 :cpp:type:`mcpwm_operator_config_t` 为参数，分配一个 MCPWM 操作器为对象。结构体定义为：
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- :cpp:member:`mcpwm_operator_config_t::group_id` 指定 MCPWM 组 ID，范围为 [0, :c:macro:`SOC_MCPWM_GROUPS` - 1]。需注意，位于不同组的操作器彼此独立。
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- :cpp:member:`mcpwm_operator_config_t::intr_priority` 设置中断的优先级。如果设置为 ``0``，则会分配一个默认优先级的中断，否则会使用指定的优先级。
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- :cpp:member:`mcpwm_operator_config_t::update_gen_action_on_tez` 设置是否在定时器计数为零时更新生成器操作。此处及下文提到的定时器指通过 :cpp:func:`mcpwm_operator_connect_timer` 连接到操作器的定时器。
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- :cpp:member:`mcpwm_operator_config_t::update_gen_action_on_tep` 设置当定时器计数达到峰值时是否更新生成器操作。
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- :cpp:member:`mcpwm_operator_config_t::update_gen_action_on_sync` 设置当定时器接收同步信号时是否更新生成器操作。
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@@ -98,6 +100,7 @@ MCPWM 比较器
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调用 :cpp:func:`mcpwm_new_comparator` 函数，以一个 MCPWM 操作器句柄和配置结构体 :cpp:type:`mcpwm_comparator_config_t` 为参数，分配一个 MCPWM 比较器为对象。操作器句柄由 :cpp:func:`mcpwm_new_operator` 生成，结构体定义为：
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- :cpp:member:`mcpwm_comparator_config_t::intr_priority` 设置中断的优先级。如果设置为 ``0``，则会分配一个默认优先级的中断，否则会使用指定的优先级。
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- :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_tez` 设置当定时器计数为零时是否更新比较阈值。
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- :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_tep` 设置当定时器计数达到峰值时是否更新比较阈值。
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- :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_sync` 设置当定时器接收同步信号时是否更新比较阈值。
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@@ -129,6 +132,7 @@ MCPWM 故障分为两种类型：来自 GPIO 的故障信号和软件故障。
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调用 :cpp:func:`mcpwm_new_gpio_fault` 函数，以配置结构体 :cpp:type:`mcpwm_gpio_fault_config_t` 为参数，分配一个 GPIO 故障为对象。结构体定义为：
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- :cpp:member:`mcpwm_gpio_fault_config_t::group_id` 设置 MCPWM 组 ID，范围为 [0, :c:macro:`SOC_MCPWM_GROUPS` - 1]。需注意，位于不同组的 GPIO 故障彼此独立，也就是说，1 组的操作器无法检测到 0 组的 GPIO 故障。
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- :cpp:member:`mcpwm_gpio_fault_config_t::intr_priority` 设置中断的优先级。如果设置为 ``0``，则会分配一个默认优先级的中断，否则会使用指定的优先级。
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- :cpp:member:`mcpwm_gpio_fault_config_t::gpio_num` 设置故障所使用的 GPIO 编号。
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- :cpp:member:`mcpwm_gpio_fault_config_t::active_level` 设置故障信号的有效电平。
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- :cpp:member:`mcpwm_gpio_fault_config_t::pull_up` 和 :cpp:member:`mcpwm_gpio_fault_config_t::pull_down` 设置是否在内部拉高和/或拉低 GPIO。
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@@ -184,6 +188,7 @@ MCPWM 组有一个专用定时器，用于捕获特定事件发生时的时间
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接下来，可以调用 :cpp:func:`mcpwm_new_capture_channel` 函数，以一个捕获定时器句柄和配置结构体 :cpp:type:`mcpwm_capture_channel_config_t` 为参数，分配一个捕获通道。结构体定义为：
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- :cpp:member:`mcpwm_capture_channel_config_t::intr_priority` 设置中断的优先级。如果设置为 ``0``，则会分配一个默认优先级的中断，否则会使用指定的优先级。
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- :cpp:member:`mcpwm_capture_channel_config_t::gpio_num` 设置捕获通道使用的 GPIO 编号。
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- :cpp:member:`mcpwm_capture_channel_config_t::prescale` 设置输入信号的预分频器。
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- :cpp:member:`mcpwm_capture_channel_config_t::pos_edge` 和 :cpp:member:`mcpwm_capture_channel_config_t::neg_edge` 设置是否在输入信号的上升沿和/或下降沿捕获时间戳。
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@@ -195,6 +200,15 @@ MCPWM 组有一个专用定时器，用于捕获特定事件发生时的时间
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反之，调用 :cpp:func:`mcpwm_del_capture_channel` 和 :cpp:func:`mcpwm_del_capture_timer` 将释放已分配的捕获通道和定时器。
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MCPWM 中断优先级
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~~~~~~~~~~~~~~~~~~~~~~~~
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MCPWM 允许为 定时器、操作器、比较器、故障以及捕获事件分别配置中断，中断优先级由各自的 ``config_t::intr_priority`` 决定。且同一个 MCPWM 组中的事件共享同一个中断源。注册多个中断事件时，中断优先级需要保持一致。
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.. note::
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MCPWM 组注册多个中断事件时，驱动将以第一个事件的中断优先级作为 MCPWM 组的中断优先级。
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.. _mcpwm-timer-operations-and-events:
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