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arch/risc-v: add support for capture driver on ESP32C6 and ESP32H2.

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This commit is contained in:
Filipe Cavalcanti 2024-07-03 09:38:49 -03:00 committed by Alan Carvalho de Assis
parent 3e4a16d851
commit 0c63840b18
18 changed files with 1376 additions and 1 deletions
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16
Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/index.rst
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@ -99,6 +99,22 @@ You can check that the sensor is working by using the ``bmp180`` application::
Pressure value = 91526 Pressure value = 91526
Pressure value = 91525 Pressure value = 91525
capture
--------
The capture configuration enables the capture driver and the capture example, allowing
the user to measure duty cycle and frequency of a signal. Default pin is GPIO 18 with
an internal pull-up resistor enabled. When connecting a 50 Hz pulse with 50% duty cycle,
the following output is expected:
nsh> cap
cap_main: Hardware initialized. Opening the capture device: /dev/capture0
cap_main: Number of samples: 0
pwm duty cycle: 50 %
pwm frequence: 50 Hz
pwm duty cycle: 50 %
pwm frequence: 50 Hz
coremark coremark
-------- --------

2
Documentation/platforms/risc-v/esp32c6/index.rst
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@ -152,7 +152,7 @@ I2S No
Int. Temp. No Int. Temp. No
LED No LED No
LED_PWM Yes LED_PWM Yes
MCPWM No MCPWM Yes (Capture)
Pulse Counter No Pulse Counter No
RMT No RMT No
RNG No RNG No

72
arch/risc-v/src/common/espressif/Kconfig
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@ -473,6 +473,14 @@ config ESP_COEX_SW_COEXIST_ENABLE
If only Bluetooth is used, it is recommended to disable this option to reduce binary file If only Bluetooth is used, it is recommended to disable this option to reduce binary file
size. size.
config ESP_MCPWM
bool "Motor Control PWM (MCPWM)"
default n
depends on ESPRESSIF_ESP32C6 || ESPRESSIF_ESP32H2
---help---
Enable support for timer capture and motor control using
the Motor Control PWM peripheral.
endmenu # Peripheral Support endmenu # Peripheral Support
menu "Wi-Fi Configuration" menu "Wi-Fi Configuration"
@ -1273,6 +1281,70 @@ config ESPRESSIF_I2CTIMEOMS
default 500 default 500
endmenu # I2C configuration endmenu # I2C configuration
menu "MCPWM Configuration"
depends on ESP_MCPWM
config ESP_MCPWM_CAPTURE
bool "MCPWM Capture Submodule"
depends on ESP_MCPWM
select CAPTURE
default n
---help---
Enables the use of the MCPWM capture submodule.
if ESP_MCPWM_CAPTURE
config ESP_MCPWM_CAPTURE_CH0
bool "Capture Channel 0"
default n
---help---
Enables capture on channel 0.
if ESP_MCPWM_CAPTURE_CH0
config ESP_MCPWM_CAPTURE_CH0_GPIO
int "GPIO Pin"
default 18
---help---
GPIO pin assigned to capture channel 0.
endif # ESP_MCPWM_CAPTURE_CH0
config ESP_MCPWM_CAPTURE_CH1
bool "Capture Channel 1"
default n
---help---
Enables capture on channel 1.
if ESP_MCPWM_CAPTURE_CH1
config ESP_MCPWM_CAPTURE_CH1_GPIO
int "GPIO Pin"
default 19
---help---
GPIO pin assigned to capture channel 1.
endif # ESP_MCPWM_CAPTURE_CH1
config ESP_MCPWM_CAPTURE_CH2
bool "Capture Channel 2"
default n
---help---
Enables capture on channel 2.
if ESP_MCPWM_CAPTURE_CH2
config ESP_MCPWM_CAPTURE_CH2_GPIO
int "GPIO Pin"
default 20
---help---
GPIO pin assigned to capture channel 2.
endif # ESP_MCPWM_CAPTURE_CH2
endif # ESP_MCPWM_CAPTURE
endmenu # MCPWM Configuration
menu "High Resolution Timer" menu "High Resolution Timer"
depends on ESPRESSIF_HR_TIMER depends on ESPRESSIF_HR_TIMER

4
arch/risc-v/src/common/espressif/Make.defs
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@ -114,6 +114,10 @@ ifeq ($(CONFIG_ESP_WIRELESS),y)
endif endif
endif endif
ifeq ($(CONFIG_ESP_MCPWM),y)
CHIP_CSRCS += esp_mcpwm.c
endif
############################################################################# #############################################################################
# Espressif HAL for 3rd Party Platforms # Espressif HAL for 3rd Party Platforms
############################################################################# #############################################################################

691
arch/risc-v/src/common/espressif/esp_mcpwm.c Normal file
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@ -0,0 +1,691 @@
/****************************************************************************
* arch/risc-v/src/common/espressif/esp_mcpwm.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <inttypes.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <nuttx/spinlock.h>
#include <nuttx/timers/capture.h>
#include "esp_gpio.h"
#include "esp_irq.h"
#include "esp_attr.h"
#include "hal/mcpwm_hal.h"
#include "hal/mcpwm_ll.h"
#include "soc/mcpwm_periph.h"
#include "periph_ctrl.h"
#include "hal/clk_tree_hal.h"
#include "esp_clk_tree.h"
#ifdef CONFIG_ESP_MCPWM
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_ARCH_CHIP_ESP32H2
# define MCPWM_DEV_CLK_SOURCE MCPWM_TIMER_CLK_SRC_PLL96M
#else
# define MCPWM_DEV_CLK_SOURCE SOC_MOD_CLK_PLL_F160M
#endif
#define MCPWM_DEV_CLK_PRESCALE 4
#define MCPWM_CAPTURE_DEFAULT_GROUP 0
/****************************************************************************
* Private Types
****************************************************************************/
struct mcpwm_dev_common_s
{
mcpwm_hal_init_config_t group;
mcpwm_hal_context_t hal;
spinlock_t mcpwm_spinlock;
bool initialized; /* MCPWM peripheral and HAL has been initialized */
bool capture_initialized; /* Capture submodule has been initialized */
int group_prescale;
};
#ifdef CONFIG_ESP_MCPWM_CAPTURE
/* Capture event data. The 'last_' value is used to calculate frequency */
struct mcpwm_capture_event_data_s
{
uint32_t pos_edge_count;
uint32_t neg_edge_count;
uint32_t last_pos_edge_count;
};
enum mcpwm_capture_channel_e
{
MCPWM_CAP_CHANNEL_0, /* MCPWM capture channel number 0 */
MCPWM_CAP_CHANNEL_1, /* MCPWM capture channel number 1 */
MCPWM_CAP_CHANNEL_2, /* MCPWM capture channel number 2 */
MCPWM_CAP_CHANNEL_MAX /* Number of MCPWM capture channels */
};
/* Lowe-half data structure for a capture channel */
struct mcpwm_cap_channel_lowerhalf_s
{
/* The following block is part of the upper-half device struct */
const struct cap_ops_s *ops;
/* The following is private to the ESP MCPWM driver */
struct mcpwm_dev_common_s *common;
struct mcpwm_capture_event_data_s *data;
int channel_id;
int gpio_pin;
uint32_t clock;
uint32_t freq;
uint8_t duty;
uint8_t isr_count;
bool ready;
bool enabled;
};
#endif
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static void esp_mcpwm_group_start(void);
#ifdef CONFIG_ESP_MCPWM_CAPTURE
static int esp_mcpwm_capture_set_gpio(
struct mcpwm_cap_channel_lowerhalf_s *lower);
static int esp_mcpwm_capture_isr_register(int (*fn)(int, void *, void *),
void *arg);
static int IRAM_ATTR mcpwm_capture_driver_isr_default(int irq, void *context,
void *arg);
/* Lower half methods required by capture driver */
static int esp_capture_start(struct cap_lowerhalf_s *lower);
static int esp_capture_stop(struct cap_lowerhalf_s *lower);
static int esp_capture_getduty(struct cap_lowerhalf_s *lower,
uint8_t *duty);
static int esp_capture_getfreq(struct cap_lowerhalf_s *lower,
uint32_t *freq);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static struct mcpwm_dev_common_s mcpwm_common =
{
.group.group_id = MCPWM_CAPTURE_DEFAULT_GROUP,
.initialized = false,
.capture_initialized = false,
.group_prescale = MCPWM_DEV_CLK_PRESCALE,
};
#ifdef CONFIG_ESP_MCPWM_CAPTURE
/* Lower half methods required by the capture driver */
static const struct cap_ops_s mcpwm_cap_ops =
{
.start = esp_capture_start,
.stop = esp_capture_stop,
.getduty = esp_capture_getduty,
.getfreq = esp_capture_getfreq,
};
/* Data structures for the available capture channels */
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
static struct mcpwm_capture_event_data_s event_data_ch0;
static struct mcpwm_cap_channel_lowerhalf_s mcpwm_cap_ch0_lowerhalf =
{
.ops = &mcpwm_cap_ops,
.common = &mcpwm_common,
.data = &event_data_ch0,
.channel_id = MCPWM_CAP_CHANNEL_0,
.ready = false,
};
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
static struct mcpwm_capture_event_data_s event_data_ch1;
static struct mcpwm_cap_channel_lowerhalf_s mcpwm_cap_ch1_lowerhalf =
{
.ops = &mcpwm_cap_ops,
.common = &mcpwm_common,
.data = &event_data_ch1,
.channel_id = MCPWM_CAP_CHANNEL_1,
.ready = false,
};
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
static struct mcpwm_capture_event_data_s event_data_ch2;
static struct mcpwm_cap_channel_lowerhalf_s mcpwm_cap_ch2_lowerhalf =
{
.ops = &mcpwm_cap_ops,
.common = &mcpwm_common,
.data = &event_data_ch2,
.channel_id = MCPWM_CAP_CHANNEL_2,
.ready = false,
};
#endif
#endif /* CONFIG_ESP_MCPWM_CAPTURE */
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: esp_capture_start
*
* Description:
* This function is a requirement of the upper-half driver. When called,
* enables the capture channel, interruption routine, sets the positive
* edge to trigger this interrupt and resets the frequency and duty
* values. The positive edge is always the first expected.
*
* Input Parameters:
* lower - Pointer to the capture channel lower-half data structure.
*
* Returned Value:
* Returns OK on success.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
static int esp_capture_start(struct cap_lowerhalf_s *lower)
{
struct mcpwm_cap_channel_lowerhalf_s *priv = (
struct mcpwm_cap_channel_lowerhalf_s *)lower;
DEBUGASSERT(priv != NULL);
mcpwm_hal_context_t *hal = &priv->common->hal;
/* Enable channel and interruption for rising edge */
mcpwm_ll_capture_enable_channel(hal->dev, priv->channel_id, true);
mcpwm_ll_intr_enable(hal->dev,
MCPWM_LL_EVENT_CAPTURE(priv->channel_id),
true);
mcpwm_ll_intr_clear_status(hal->dev,
MCPWM_LL_EVENT_CAPTURE(priv->channel_id));
mcpwm_ll_capture_enable_posedge(hal->dev, priv->channel_id, true);
mcpwm_ll_capture_enable_negedge(hal->dev, priv->channel_id, false);
/* Reset values of interest */
priv->freq = 0;
priv->duty = 0;
priv->isr_count = 0;
priv->enabled = true;
priv->ready = false;
cpinfo("Channel enabled: %d\n", priv->channel_id);
return OK;
}
#endif
/****************************************************************************
* Name: esp_capture_stop
*
* Description:
* This function is a requirement of the upper-half driver. When called,
* disables the capture channel and the interrupt routine associated.
*
* Input Parameters:
* lower - Pointer to the capture channel lower-half data structure.
*
* Returned Value:
* Returns OK on success.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
static int esp_capture_stop(struct cap_lowerhalf_s *lower)
{
struct mcpwm_cap_channel_lowerhalf_s *priv = (
struct mcpwm_cap_channel_lowerhalf_s *)lower;
DEBUGASSERT(priv != NULL);
mcpwm_hal_context_t *hal = &priv->common->hal;
/* Disable channel and interrupts */
mcpwm_ll_capture_enable_channel(hal->dev, priv->channel_id, false);
mcpwm_ll_intr_enable(hal->dev,
MCPWM_LL_EVENT_CAPTURE(priv->channel_id),
false);
priv->enabled = false;
cpinfo("Channel disabled: %d\n", priv->channel_id);
return OK;
}
#endif
/****************************************************************************
* Name: esp_capture_getduty
*
* Description:
* This function is a requirement of the upper-half driver. Returns
* the last calculated duty cycle value.
*
* Input Parameters:
* lower - Pointer to the capture channel lower-half data structure.
* duty - uint8_t pointer where the duty cycle value is written.
*
* Returned Value:
* Returns OK on success.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
static int esp_capture_getduty(struct cap_lowerhalf_s *lower,
uint8_t *duty)
{
struct mcpwm_cap_channel_lowerhalf_s *priv = (
struct mcpwm_cap_channel_lowerhalf_s *)lower;
DEBUGASSERT(priv != NULL);
*duty = priv->duty;
cpinfo("Get duty called from channel %d\n", priv->channel_id);
return OK;
}
#endif
/****************************************************************************
* Name: esp_capture_getfreq
*
* Description:
* This function is a requirement of the upper-half driver. Returns
* the last calculated frequency value.
*
* Input Parameters:
* lower - Pointer to the capture channel lower-half data structure.
* duty - uint8_t pointer where the frequency value is written.
*
* Returned Value:
* Returns OK on success.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
static int esp_capture_getfreq(struct cap_lowerhalf_s *lower,
uint32_t *freq)
{
struct mcpwm_cap_channel_lowerhalf_s *priv = (
struct mcpwm_cap_channel_lowerhalf_s *)lower;
DEBUGASSERT(priv != NULL);
*freq = priv->freq;
cpinfo("Get freq called from channel %d\n", priv->channel_id);
return OK;
}
#endif
/****************************************************************************
* Name: esp_mcpwm_group_start
*
* Description:
* Initializes the MCPWM0 module, MCPWM HAL.
* Should be called only once.
*
* Input Parameters:
* None.
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp_mcpwm_group_start(void)
{
mcpwm_hal_context_t *hal = &mcpwm_common.hal;
/* HAL and MCPWM Initialization */
periph_module_enable(PERIPH_MCPWM0_MODULE);
mcpwm_hal_init(hal, &mcpwm_common.group);
mcpwm_hal_timer_reset(hal, 0);
mcpwm_ll_group_set_clock_source(hal->dev, MCPWM_DEV_CLK_SOURCE);
mcpwm_ll_group_set_clock_prescale(hal->dev, 4);
mcpwm_ll_group_enable_clock(hal->dev, true);
mcpwm_common.initialized = true;
}
/****************************************************************************
* Name: esp_mcpwm_capture_set_gpio
*
* Description:
* Configures the lower-half GPIO pin to be used as a capture input.
*
* Input Parameters:
* lower - Pointer to the capture channel lower-half data structure.
*
* Returned Value:
* OK on success, otherwise a negated errno value is returned on
* any failure.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
static int esp_mcpwm_capture_set_gpio(
struct mcpwm_cap_channel_lowerhalf_s *lower)
{
mcpwm_hal_context_t *hal = &lower->common->hal;
int ret;
ret = esp_configgpio(lower->gpio_pin, INPUT | PULLUP);
if (ret < 0)
{
cperr("Failed configuring GPIO pin\n");
return ret;
}
esp_gpio_matrix_in(lower->gpio_pin,
mcpwm_periph_signals.groups[0].captures[lower->channel_id].cap_sig,
false);
cpinfo("GPIO: %d configured for channel %d\n", lower->gpio_pin,
lower->channel_id);
return ret;
}
#endif
/****************************************************************************
* Name: esp_mcpwm_capture_isr_register
*
* Description:
* Registers a callback function for a channel interrupt request.
*
* Input Parameters:
* fn - Pointer to ISR function that is to be called.
* arg - Pointer to arguments passed to said function.
*
* Returned Value:
* OK on success, otherwise a negated errno value is returned on
* any failure.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
static int esp_mcpwm_capture_isr_register(int (*fn)(int, void *, void *),
void *arg)
{
int cpuint;
int ret;
cpuint = esp_setup_irq(mcpwm_periph_signals.groups[0].irq_id,
ESP_IRQ_PRIORITY_DEFAULT,
ESP_IRQ_TRIGGER_LEVEL);
if (cpuint < 0)
{
cperr("Failed to allocate a CPU interrupt.\n");
return -ENOMEM;
}
ret = irq_attach(ESP_IRQ_MCPWM0,
mcpwm_capture_driver_isr_default,
&mcpwm_common);
if (ret < 0)
{
cperr("Couldn't attach IRQ to handler.\n");
esp_teardown_irq(mcpwm_periph_signals.groups[0].irq_id, cpuint);
return ret;
}
up_enable_irq(ESP_IRQ_MCPWM0);
return ret;
}
#endif
/****************************************************************************
* Name: mcpwm_capture_driver_isr_default
*
* Description:
* Default function called when a capture interrupt occurs.
* It reads the capture timer value and the interrupt edge. When positive
* edge triggered the interrupt, the current capture value is stored and
* the interrupt edge is modified to falling edge.
* When the negative edge triggers the interrupt, the timer count
* difference is calculated and the high time period is obtained.
*
* Two pulses are required to properly calculate the frequency.
*
* Input Parameters:
* irq - The interrupt request number.
* context - Pointer to the interrupt context.
* arg - Pointer to the argument to be passed to the ISR.
*
* Returned Value:
* OK on success, otherwise a negated errno value is returned on
* any failure.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
static int IRAM_ATTR mcpwm_capture_driver_isr_default(int irq, void *context,
void *arg)
{
struct mcpwm_dev_common_s *common = (struct mcpwm_dev_common_s *)arg;
struct mcpwm_cap_channel_lowerhalf_s *lower = NULL;
struct mcpwm_capture_event_data_s *data = NULL;
irqstate_t flags;
uint32_t cap_value;
uint32_t status;
mcpwm_capture_edge_t cap_edge;
flags = spin_lock_irqsave(common->mcpwm_spinlock);
status = mcpwm_ll_intr_get_status(common->hal.dev);
if (status & MCPWM_LL_EVENT_CAPTURE(MCPWM_CAP_CHANNEL_0))
{
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
lower = &mcpwm_cap_ch0_lowerhalf;
#endif
}
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
else if (status & MCPWM_LL_EVENT_CAPTURE(MCPWM_CAP_CHANNEL_1))
{
lower = &mcpwm_cap_ch1_lowerhalf;
}
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
else if (status & MCPWM_LL_EVENT_CAPTURE(MCPWM_CAP_CHANNEL_2))
{
lower = &mcpwm_cap_ch2_lowerhalf;
}
#endif
else
{
return -ERANGE;
}
mcpwm_ll_intr_clear_status(common->hal.dev,
status &
MCPWM_LL_EVENT_CAPTURE(lower->channel_id));
/* At least 4 interrupts are required on a channel before a
* frequency measurement can be executed, otherwise you can
* obtain negative values.
*/
if (lower->isr_count < 4)
{
lower->isr_count++;
}
if (!lower->ready && (lower->isr_count >= 4))
{
cpinfo("Channel %d ready\n", lower->channel_id);
lower->ready = true;
}
data = lower->data;
cap_value = mcpwm_ll_capture_get_value(common->hal.dev,
lower->channel_id);
cap_edge = mcpwm_ll_capture_get_edge(common->hal.dev,
lower->channel_id);
if (cap_edge == MCPWM_CAP_EDGE_POS)
{
data->last_pos_edge_count = data->pos_edge_count;
data->pos_edge_count = cap_value;
data->neg_edge_count = data->pos_edge_count;
mcpwm_ll_capture_enable_negedge(common->hal.dev,
lower->channel_id,
true);
mcpwm_ll_capture_enable_posedge(common->hal.dev,
lower->channel_id,
false);
}
else
{
data->neg_edge_count = cap_value;
if (lower->ready)
{
uint32_t high_time = data->neg_edge_count - data->pos_edge_count;
uint32_t period = data->pos_edge_count - data->last_pos_edge_count;
if (period != 0)
{
lower->freq = lower->clock / period;
lower->duty = 100 * high_time / period;
}
}
mcpwm_ll_capture_enable_negedge(common->hal.dev,
lower->channel_id,
false);
mcpwm_ll_capture_enable_posedge(common->hal.dev,
lower->channel_id,
true);
}
spin_unlock_irqrestore(common->mcpwm_spinlock, flags);
return OK;
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: esp_mcpwm_capture_initialize
*
* Description:
* This function initializes the specified MCPWM peripheral and the capture
* submodule with the provided configuration.
*
* Input Parameters:
* channel - Channel to be initialized [0-3].
* pin - GPIO pin assigned to this channel.
*
* Returned Value:
* On success, this function returns a valid pointer to the Capture device
* structure. If the initialization fails, it returns NULL.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
struct cap_lowerhalf_s *esp_mcpwm_capture_initialize(int channel, int pin)
{
struct mcpwm_cap_channel_lowerhalf_s *lower = NULL;
uint32_t group_clock;
/* Single time initialization for the entire MCPWM Peripheral
* and MCPWM Capture group.
*/
if (!mcpwm_common.initialized)
{
esp_mcpwm_group_start();
}
if (!mcpwm_common.capture_initialized)
{
mcpwm_ll_capture_enable_timer(mcpwm_common.hal.dev, true);
esp_mcpwm_capture_isr_register(mcpwm_capture_driver_isr_default,
&mcpwm_common);
mcpwm_common.capture_initialized = true;
}
switch (channel)
{
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
case MCPWM_CAP_CHANNEL_0:
lower = &mcpwm_cap_ch0_lowerhalf;
break;
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
case MCPWM_CAP_CHANNEL_1:
lower = &mcpwm_cap_ch1_lowerhalf;
break;
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
case MCPWM_CAP_CHANNEL_2:
lower = &mcpwm_cap_ch2_lowerhalf;
break;
#endif
default:
cperr("Invalid channel selection: %d\n", channel);
return NULL;
}
esp_clk_tree_src_get_freq_hz(MCPWM_DEV_CLK_SOURCE,
ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED,
&group_clock);
/* Set the clock to be used when calculating frequency */
lower->gpio_pin = pin;
lower->clock = group_clock / MCPWM_DEV_CLK_PRESCALE;
/* Configure GPIO pin */
esp_mcpwm_capture_set_gpio(lower);
return (struct cap_lowerhalf_s *)lower;
}
#endif
#endif /* CONFIG_ESP_MCPWM */

86
arch/risc-v/src/common/espressif/esp_mcpwm.h Normal file
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@ -0,0 +1,86 @@
/****************************************************************************
* arch/risc-v/src/common/espressif/esp_mcpwm.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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 __ARCH_RISCV_SRC_COMMON_ESPRESSIF_ESP_MCPWM_H
#define __ARCH_RISCV_SRC_COMMON_ESPRESSIF_ESP_MCPWM_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#ifdef CONFIG_ESP_MCPWM
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: esp_mcpwm_capture_initialize
*
* Description:
* This function initializes the MCPWM peripheral and the capture
* submodule with the provided configuration.
*
* Input Parameters:
* channel - Channel to be initialized [0-3].
* pin - GPIO pin assigned to this channel.
*
* Returned Value:
* On success, this function returns a valid pointer to the Capture device
* structure. If the initialization fails, it returns NULL.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
struct cap_lowerhalf_s *esp_mcpwm_capture_initialize(int channel, int pin);
#endif
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_ESP_MCPWM */
#endif /* __ARCH_RISCV_SRC_COMMON_ESPRESSIF_ESP_MCPWM_CAPTURE_H */

2
arch/risc-v/src/esp32c6/hal_esp32c6.mk
View File

@ -136,6 +136,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)cache_hal.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)cache_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mpu_hal.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mpu_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mmu_hal.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mmu_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mcpwm_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal_iram.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal_iram.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)wdt_hal_iram.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)wdt_hal_iram.c
@ -152,6 +153,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)i2c_periph.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)i2c_periph.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)mcpwm_periph.c
ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y) ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)nuttx$(DELIM)src$(DELIM)bootloader_banner_wrap.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)nuttx$(DELIM)src$(DELIM)bootloader_banner_wrap.c

2
arch/risc-v/src/esp32h2/hal_esp32h2.mk
View File

@ -118,6 +118,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal_iram.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal_iram.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mpu_hal.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mpu_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mcpwm_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mmu_hal.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mmu_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal_iram.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal_iram.c
@ -135,6 +136,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)i2c_periph.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)i2c_periph.c
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)mcpwm_periph.c
ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y) ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)nuttx$(DELIM)src$(DELIM)bootloader_banner_wrap.c CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)nuttx$(DELIM)src$(DELIM)bootloader_banner_wrap.c

70
boards/risc-v/esp32c6/common/include/esp_board_mcpwm.h Normal file
View File

@ -0,0 +1,70 @@
/****************************************************************************
* boards/risc-v/esp32c6/common/include/esp_board_mcpwm.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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 __BOARDS_RISCV_ESP32C6_COMMON_INCLUDE_ESP_BOARD_MCPWM_H
#define __BOARDS_RISCV_ESP32C6_COMMON_INCLUDE_ESP_BOARD_MCPWM_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
/****************************************************************************
* Name: board_capture_initialize
*
* Description:
* Initialize and register the capture driver using the MCPWM peripheral.
*
* Input Parameters:
* None.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int board_capture_initialize(void);
#endif /* CONFIG_ESP_MCPWM_CAPTURE */
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __BOARDS_RISCV_ESP32C6_COMMON_INCLUDE_ESP_BOARD_MCPWM_H */

4
boards/risc-v/esp32c6/common/src/Make.defs
View File

@ -60,6 +60,10 @@ ifeq ($(CONFIG_SENSORS_BMP180),y)
CSRCS += esp_board_bmp180.c CSRCS += esp_board_bmp180.c
endif endif
ifeq ($(CONFIG_ESP_MCPWM),y)
CSRCS += esp_board_mcpwm.c
endif
DEPPATH += --dep-path src DEPPATH += --dep-path src
VPATH += :src VPATH += :src
CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src

114
boards/risc-v/esp32c6/common/src/esp_board_mcpwm.c Normal file
View File

@ -0,0 +1,114 @@
/****************************************************************************
* boards/risc-v/esp32c6/common/src/esp_board_mcpwm.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/board.h>
#include <nuttx/timers/capture.h>
#include <arch/board/board.h>
#include "espressif/esp_mcpwm.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_capture_initialize
*
* Description:
* Initialize MCPWM Capture submodule and register the capture device.
*
* Input Parameters:
* None.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int board_capture_initialize(void)
{
int ret;
struct cap_lowerhalf_s *cap;
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
cap = esp_mcpwm_capture_initialize(0, CONFIG_ESP_MCPWM_CAPTURE_CH0_GPIO);
if (cap == NULL)
{
syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH0\n");
return -ENODEV;
}
ret = cap_register("/dev/capture0", cap);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
return ret;
}
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
cap = esp_mcpwm_capture_initialize(1, CONFIG_ESP_MCPWM_CAPTURE_CH1_GPIO);
if (cap == NULL)
{
syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH1\n");
return -ENODEV;
}
ret = cap_register("/dev/capture1", cap);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
return ret;
}
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
cap = esp_mcpwm_capture_initialize(2, CONFIG_ESP_MCPWM_CAPTURE_CH2_GPIO);
if (cap == NULL)
{
syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH2\n");
return -ENODEV;
}
ret = cap_register("/dev/capture2", cap);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
return ret;
}
#endif
return OK;
}

51
boards/risc-v/esp32c6/esp32c6-devkitc/configs/capture/defconfig Normal file
View File

@ -0,0 +1,51 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="risc-v"
CONFIG_ARCH_BOARD="esp32c6-devkitc"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32C6_DEVKITC=y
CONFIG_ARCH_CHIP="esp32c6"
CONFIG_ARCH_CHIP_ESP32C6=y
CONFIG_ARCH_CHIP_ESP32C6WROOM1=y
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_RISCV=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=15000
CONFIG_BUILTIN=y
CONFIG_DEV_ZERO=y
CONFIG_ESPRESSIF_ESP32C6=y
CONFIG_ESP_MCPWM=y
CONFIG_ESP_MCPWM_CAPTURE=y
CONFIG_ESP_MCPWM_CAPTURE_CH0=y
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_NSH_STRERROR=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_BACKTRACE=y
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=29
CONFIG_START_MONTH=11
CONFIG_START_YEAR=2019
CONFIG_SYSTEM_DUMPSTACK=y
CONFIG_SYSTEM_NSH=y
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_UART0_SERIAL_CONSOLE=y

12
boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c
View File

@ -85,6 +85,10 @@
# include "esp_board_spislavedev.h" # include "esp_board_spislavedev.h"
#endif #endif
#ifdef CONFIG_ESP_MCPWM
# include "esp_board_mcpwm.h"
#endif
#include "esp32c6-devkitc.h" #include "esp32c6-devkitc.h"
/**************************************************************************** /****************************************************************************
@ -322,6 +326,14 @@ int esp_bringup(void)
} }
#endif /* CONFIG_ESPRESSIF_LEDC */ #endif /* CONFIG_ESPRESSIF_LEDC */
#ifdef CONFIG_ESP_MCPWM_CAPTURE
ret = board_capture_initialize();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_capture_initialize failed: %d\n", ret);
}
#endif
/* If we got here then perhaps not all initialization was successful, but /* If we got here then perhaps not all initialization was successful, but
* at least enough succeeded to bring-up NSH with perhaps reduced * at least enough succeeded to bring-up NSH with perhaps reduced
* capabilities. * capabilities.

70
boards/risc-v/esp32h2/common/include/esp_board_mcpwm.h Normal file
View File

@ -0,0 +1,70 @@
/****************************************************************************
* boards/risc-v/esp32h2/common/include/esp_board_mcpwm.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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 __BOARDS_RISCV_ESP32H2_COMMON_INCLUDE_ESP_BOARD_MCPWM_H
#define __BOARDS_RISCV_ESP32H2_COMMON_INCLUDE_ESP_BOARD_MCPWM_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
/****************************************************************************
* Name: board_capture_initialize
*
* Description:
* Initialize and register the capture driver using the MCPWM peripheral.
*
* Input Parameters:
* None.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int board_capture_initialize(void);
#endif /* CONFIG_ESP_MCPWM_CAPTURE */
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __BOARDS_RISCV_ESP32H2_COMMON_INCLUDE_ESP_BOARD_MCPWM_H */

4
boards/risc-v/esp32h2/common/src/Make.defs
View File

@ -56,6 +56,10 @@ ifeq ($(CONFIG_SENSORS_BMP180),y)
CSRCS += esp_board_bmp180.c CSRCS += esp_board_bmp180.c
endif endif
ifeq ($(CONFIG_ESP_MCPWM),y)
CSRCS += esp_board_mcpwm.c
endif
DEPPATH += --dep-path src DEPPATH += --dep-path src
VPATH += :src VPATH += :src
CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src

114
boards/risc-v/esp32h2/common/src/esp_board_mcpwm.c Normal file
View File

@ -0,0 +1,114 @@
/****************************************************************************
* boards/risc-v/esp32h2/common/src/esp_board_mcpwm.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/board.h>
#include <nuttx/timers/capture.h>
#include <arch/board/board.h>
#include "espressif/esp_mcpwm.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_capture_initialize
*
* Description:
* Initialize MCPWM Capture submodule and register the capture device.
*
* Input Parameters:
* None.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int board_capture_initialize(void)
{
int ret;
struct cap_lowerhalf_s *cap;
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
cap = esp_mcpwm_capture_initialize(0, CONFIG_ESP_MCPWM_CAPTURE_CH0_GPIO);
if (cap == NULL)
{
syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH0\n");
return -ENODEV;
}
ret = cap_register("/dev/capture0", cap);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
return ret;
}
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
cap = esp_mcpwm_capture_initialize(1, CONFIG_ESP_MCPWM_CAPTURE_CH1_GPIO);
if (cap == NULL)
{
syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH1\n");
return -ENODEV;
}
ret = cap_register("/dev/capture1", cap);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
return ret;
}
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
cap = esp_mcpwm_capture_initialize(2, CONFIG_ESP_MCPWM_CAPTURE_CH2_GPIO);
if (cap == NULL)
{
syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH2\n");
return -ENODEV;
}
ret = cap_register("/dev/capture2", cap);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
return ret;
}
#endif
return OK;
}

51
boards/risc-v/esp32h2/esp32h2-devkit/configs/capture/defconfig Normal file
View File

@ -0,0 +1,51 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="risc-v"
CONFIG_ARCH_BOARD="esp32h2-devkit"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32H2_DEVKIT=y
CONFIG_ARCH_CHIP="esp32h2"
CONFIG_ARCH_CHIP_ESP32H2=y
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_RISCV=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=15000
CONFIG_BUILTIN=y
CONFIG_DEV_ZERO=y
CONFIG_ESPRESSIF_ESP32H2=y
CONFIG_ESP_MCPWM=y
CONFIG_ESP_MCPWM_CAPTURE=y
CONFIG_ESP_MCPWM_CAPTURE_CH0=y
CONFIG_ESP_MCPWM_CAPTURE_CH0_GPIO=12
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_NSH_STRERROR=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_BACKTRACE=y
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=29
CONFIG_START_MONTH=11
CONFIG_START_YEAR=2019
CONFIG_SYSTEM_DUMPSTACK=y
CONFIG_SYSTEM_NSH=y
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_UART0_SERIAL_CONSOLE=y

12
boards/risc-v/esp32h2/esp32h2-devkit/src/esp32h2_bringup.c
View File

@ -77,6 +77,10 @@
# include "esp_board_spislavedev.h" # include "esp_board_spislavedev.h"
#endif #endif
#ifdef CONFIG_ESP_MCPWM
# include "esp_board_mcpwm.h"
#endif
#include "esp32h2-devkit.h" #include "esp32h2-devkit.h"
/**************************************************************************** /****************************************************************************
@ -289,6 +293,14 @@ int esp_bringup(void)
} }
#endif /* CONFIG_ESPRESSIF_LEDC */ #endif /* CONFIG_ESPRESSIF_LEDC */
#ifdef CONFIG_ESP_MCPWM_CAPTURE
ret = board_capture_initialize();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_capture_initialize failed: %d\n", ret);
}
#endif
/* If we got here then perhaps not all initialization was successful, but /* If we got here then perhaps not all initialization was successful, but
* at least enough succeeded to bring-up NSH with perhaps reduced * at least enough succeeded to bring-up NSH with perhaps reduced
* capabilities. * capabilities.