Merge branch 'feature/mcpwm_interrupt_priority' into 'master'

feat(MCPWM): Support set interrupt priority

Closes IDF-7952

See merge request espressif/esp-idf!25364

docs/en/api-reference/peripherals/mcpwm.rst

@@ -65,6 +65,7 @@ MCPWM Timers
 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:
 
 - :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.
+- :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.
 - :cpp:member:`mcpwm_timer_config_t::clk_src` sets the clock source of the timer.
 - :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.
 - :cpp:member:`mcpwm_timer_config_t::count_mode` sets the count mode of the timer.
@@ -82,6 +83,7 @@ MCPWM Operators
 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:
 
 - :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.
+- :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.
 - :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`.
 - :cpp:member:`mcpwm_operator_config_t::update_gen_action_on_tep` sets whether to update the generator action when the timer counts to peak.
 - :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.
@@ -98,6 +100,7 @@ MCPWM Comparators
 
 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:
 
+- :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.
 - :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_tez` sets whether to update the compare threshold when the timer counts to zero.
 - :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_tep` sets whether to update the compare threshold when the timer counts to the peak.
 - :cpp:member:`mcpwm_comparator_config_t::update_cmp_on_sync` sets whether to update the compare threshold when the timer takes a sync signal.
@@ -129,6 +132,7 @@ There are two types of faults: A fault signal reflected from the GPIO and a faul
 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:
 
 - :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.
+- :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.
 - :cpp:member:`mcpwm_gpio_fault_config_t::gpio_num` sets the GPIO number used by the fault.
 - :cpp:member:`mcpwm_gpio_fault_config_t::active_level` sets the active level of the fault signal.
 - :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.
@@ -184,6 +188,7 @@ The :cpp:func:`mcpwm_new_capture_timer` will return a pointer to the allocated c
 
 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:
 
+- :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.
 - :cpp:member:`mcpwm_capture_channel_config_t::gpio_num` sets the GPIO number used by the capture channel.
 - :cpp:member:`mcpwm_capture_channel_config_t::prescale` sets the prescaler of the input signal.
 - :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.
@@ -195,6 +200,15 @@ The :cpp:func:`mcpwm_new_capture_channel` will return a pointer to the allocated
 
 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.
 
+MCPWM interrupt priority
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+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.
+
+.. note::
+
+    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.
+
 
 .. _mcpwm-timer-operations-and-events:
 

docs/en/api-reference/peripherals/pcnt.rst

@@ -46,7 +46,7 @@ To install a PCNT unit, there's a configuration structure that needs to be given
 
 -  :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.
 -  :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.
--  :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.
+-  :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.
 
 .. note::