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feat(pcnt): support step_notify on esp32h2 eco5

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This commit is contained in:
Chen Jichang
2024-12-09 19:05:04 +08:00
parent a0a85db5f5
commit 3779757cd3
7 changed files with 260 additions and 136 deletions
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260
components/esp_driver_pcnt/test_apps/pulse_cnt/main/test_pulse_cnt.c
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@@ -14,6 +14,7 @@
#include "soc/soc_caps.h"
#include "esp_attr.h"
#include "test_pulse_cnt_board.h"
#include "hal/pcnt_ll.h"
TEST_CASE("pcnt_unit_install_uninstall", "[pcnt]")
{
@@ -677,145 +678,148 @@ TEST_CASE("pcnt overflow accumulation", "[pcnt]")
#if SOC_PCNT_SUPPORT_STEP_NOTIFY
TEST_CASE("pcnt_step_notify_event", "[pcnt]")
{
test_gpio_init_for_simulation(TEST_PCNT_GPIO_A);
test_gpio_init_for_simulation(TEST_PCNT_GPIO_B);
if (pcnt_ll_is_step_notify_supported(0)) { // for ESP32H2, only support in chip version v1.2 and above
test_gpio_init_for_simulation(TEST_PCNT_GPIO_A);
test_gpio_init_for_simulation(TEST_PCNT_GPIO_B);
pcnt_unit_config_t unit_config = {
.low_limit = -100,
.high_limit = 100,
.flags = {
.en_step_notify_down = true,
},
};
pcnt_unit_config_t unit_config = {
.low_limit = -100,
.high_limit = 100,
.flags = {
.en_step_notify_down = true,
},
};
printf("install pcnt unit\r\n");
pcnt_unit_handle_t unit = NULL;
TEST_ESP_OK(pcnt_new_unit(&unit_config, &unit));
pcnt_glitch_filter_config_t filter_config = {
.max_glitch_ns = 1000,
};
TEST_ESP_OK(pcnt_unit_set_glitch_filter(unit, &filter_config));
printf("install pcnt unit\r\n");
pcnt_unit_handle_t unit = NULL;
TEST_ESP_OK(pcnt_new_unit(&unit_config, &unit));
pcnt_glitch_filter_config_t filter_config = {
.max_glitch_ns = 1000,
};
TEST_ESP_OK(pcnt_unit_set_glitch_filter(unit, &filter_config));
printf("install two pcnt channels with different edge/level action\r\n");
pcnt_chan_config_t channel_config = {
.edge_gpio_num = TEST_PCNT_GPIO_A,
.level_gpio_num = TEST_PCNT_GPIO_B,
};
pcnt_channel_handle_t channelA = NULL;
TEST_ESP_OK(pcnt_new_channel(unit, &channel_config, &channelA));
TEST_ESP_OK(pcnt_channel_set_edge_action(channelA, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE));
TEST_ESP_OK(pcnt_channel_set_level_action(channelA, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE));
// switch edge gpio and level gpio, the assign to another channel in the same unit
pcnt_channel_handle_t channelB = NULL;
channel_config.edge_gpio_num = TEST_PCNT_GPIO_B;
channel_config.level_gpio_num = TEST_PCNT_GPIO_A;
TEST_ESP_OK(pcnt_new_channel(unit, &channel_config, &channelB));
TEST_ESP_OK(pcnt_channel_set_edge_action(channelB, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_DECREASE));
TEST_ESP_OK(pcnt_channel_set_level_action(channelB, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE));
printf("install two pcnt channels with different edge/level action\r\n");
pcnt_chan_config_t channel_config = {
.edge_gpio_num = TEST_PCNT_GPIO_A,
.level_gpio_num = TEST_PCNT_GPIO_B,
};
pcnt_channel_handle_t channelA = NULL;
TEST_ESP_OK(pcnt_new_channel(unit, &channel_config, &channelA));
TEST_ESP_OK(pcnt_channel_set_edge_action(channelA, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE));
TEST_ESP_OK(pcnt_channel_set_level_action(channelA, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE));
// switch edge gpio and level gpio, the assign to another channel in the same unit
pcnt_channel_handle_t channelB = NULL;
channel_config.edge_gpio_num = TEST_PCNT_GPIO_B;
channel_config.level_gpio_num = TEST_PCNT_GPIO_A;
TEST_ESP_OK(pcnt_new_channel(unit, &channel_config, &channelB));
TEST_ESP_OK(pcnt_channel_set_edge_action(channelB, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_DECREASE));
TEST_ESP_OK(pcnt_channel_set_level_action(channelB, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE));
// ensure the simulation signal in a stable state
TEST_ESP_OK(gpio_set_level(TEST_PCNT_GPIO_A, 1));
TEST_ESP_OK(gpio_set_level(TEST_PCNT_GPIO_B, 1));
// ensure the simulation signal in a stable state
TEST_ESP_OK(gpio_set_level(TEST_PCNT_GPIO_A, 1));
TEST_ESP_OK(gpio_set_level(TEST_PCNT_GPIO_B, 1));
pcnt_event_callbacks_t cbs = {
.on_reach = test_pcnt_quadrature_reach_watch_point,
};
test_pcnt_quadrature_context_t user_data = {
.index = 0,
.triggered_watch_values = {0},
};
TEST_ESP_OK(pcnt_unit_register_event_callbacks(unit, &cbs, &user_data));
pcnt_event_callbacks_t cbs = {
.on_reach = test_pcnt_quadrature_reach_watch_point,
};
test_pcnt_quadrature_context_t user_data = {
.index = 0,
.triggered_watch_values = {0},
};
TEST_ESP_OK(pcnt_unit_register_event_callbacks(unit, &cbs, &user_data));
printf("add watch step and point\r\n");
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, pcnt_unit_add_watch_step(unit, 0));
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, pcnt_unit_add_watch_step(unit, 20));
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, pcnt_unit_add_watch_step(unit, -120));
TEST_ESP_OK(pcnt_unit_add_watch_step(unit, -25));
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_STATE, pcnt_unit_add_watch_step(unit, -100));
TEST_ESP_OK(pcnt_unit_add_watch_point(unit, -100));
TEST_ESP_OK(pcnt_unit_add_watch_point(unit, 0));
TEST_ESP_OK(pcnt_unit_add_watch_point(unit, -50));
TEST_ESP_OK(pcnt_unit_add_watch_point(unit, 11));
printf("add watch step and point\r\n");
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, pcnt_unit_add_watch_step(unit, 0));
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, pcnt_unit_add_watch_step(unit, 20));
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, pcnt_unit_add_watch_step(unit, -120));
TEST_ESP_OK(pcnt_unit_add_watch_step(unit, -25));
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_STATE, pcnt_unit_add_watch_step(unit, -100));
TEST_ESP_OK(pcnt_unit_add_watch_point(unit, -100));
TEST_ESP_OK(pcnt_unit_add_watch_point(unit, 0));
TEST_ESP_OK(pcnt_unit_add_watch_point(unit, -50));
TEST_ESP_OK(pcnt_unit_add_watch_point(unit, 11));
TEST_ESP_OK(pcnt_unit_enable(unit));
TEST_ESP_OK(pcnt_unit_start(unit));
TEST_ESP_OK(pcnt_unit_enable(unit));
TEST_ESP_OK(pcnt_unit_start(unit));
printf("simulating quadrature signals and count down\r\n");
test_gpio_simulate_quadrature_signals(TEST_PCNT_GPIO_A, TEST_PCNT_GPIO_B, 25); // 25*(-4) = -100 -> 0
printf("simulating quadrature signals and count down\r\n");
test_gpio_simulate_quadrature_signals(TEST_PCNT_GPIO_A, TEST_PCNT_GPIO_B, 25); // 25*(-4) = -100 -> 0
int count_value;
TEST_ESP_OK(pcnt_unit_get_count(unit, &count_value));
printf("counter stopped at %d\r\n", count_value);
int count_value;
TEST_ESP_OK(pcnt_unit_get_count(unit, &count_value));
printf("counter stopped at %d\r\n", count_value);
for (int i = 0 ; i < user_data.index; i++) {
printf("%d:%d\r\n", i, user_data.triggered_watch_values[i]);
for (int i = 0 ; i < user_data.index; i++) {
printf("%d:%d\r\n", i, user_data.triggered_watch_values[i]);
}
TEST_ASSERT_EQUAL(0, count_value);
TEST_ASSERT_EQUAL(5, user_data.index);
TEST_ASSERT_EQUAL(-25, user_data.triggered_watch_values[0]); // step point (-25*1)
TEST_ASSERT_EQUAL(-50, user_data.triggered_watch_values[1]); // step point && watch point
TEST_ASSERT_EQUAL(-75, user_data.triggered_watch_values[2]); // step point (-25*3)
TEST_ASSERT_EQUAL(-100, user_data.triggered_watch_values[3]);// step point && watch point
TEST_ASSERT_EQUAL(0, user_data.triggered_watch_values[4]); // watch point (overflow zero cross)
printf("simulating quadrature signals and count up\r\n");
user_data.index = 0;
test_gpio_simulate_quadrature_signals(TEST_PCNT_GPIO_B, TEST_PCNT_GPIO_A, 3); // 0+3*4 = 12
TEST_ESP_OK(pcnt_unit_get_count(unit, &count_value));
printf("counter stopped at %d\r\n", count_value);
for (int i = 0 ; i < user_data.index; i++) {
printf("%d:%d\r\n", i, user_data.triggered_watch_values[i]);
}
TEST_ASSERT_EQUAL(12, count_value);
TEST_ASSERT_EQUAL(1, user_data.index);
TEST_ASSERT_EQUAL(11, user_data.triggered_watch_values[0]); // watch point
printf("simulating quadrature signals and count down again\r\n");
user_data.index = 0;
test_gpio_simulate_quadrature_signals(TEST_PCNT_GPIO_A, TEST_PCNT_GPIO_B, 13); // 12-13*4 = -40
TEST_ESP_OK(pcnt_unit_get_count(unit, &count_value));
printf("counter stopped at %d\r\n", count_value);
for (int i = 0 ; i < user_data.index; i++) {
printf("%d:%d\r\n", i, user_data.triggered_watch_values[i]);
}
TEST_ASSERT_EQUAL(-40, count_value);
TEST_ASSERT_EQUAL(3, user_data.index);
TEST_ASSERT_EQUAL(11, user_data.triggered_watch_values[0]); // watch point
TEST_ASSERT_EQUAL(0, user_data.triggered_watch_values[1]); // watch point (zero cross)
TEST_ASSERT_EQUAL(-25, user_data.triggered_watch_values[2]);// step point (-25*1)
// before change step interval, the next step point should be -25-25=-50
printf("change step interval\r\n");
TEST_ESP_OK(pcnt_unit_remove_watch_step(unit));
TEST_ESP_OK(pcnt_unit_add_watch_step(unit, -20));
// but after change, the next step point is -25-20=-45 (-25 is the last active step point)
printf("simulating quadrature signals and count down\r\n");
user_data.index = 0;
test_gpio_simulate_quadrature_signals(TEST_PCNT_GPIO_A, TEST_PCNT_GPIO_B, 20); // -40+20*(-4) = -120 -> -20
TEST_ESP_OK(pcnt_unit_get_count(unit, &count_value));
printf("counter stopped at %d\r\n", count_value);
for (int i = 0 ; i < user_data.index; i++) {
printf("%d:%d\r\n", i, user_data.triggered_watch_values[i]);
}
TEST_ASSERT_EQUAL(-20, count_value);
TEST_ASSERT_EQUAL(7, user_data.index);
TEST_ASSERT_EQUAL(-45, user_data.triggered_watch_values[0]); // watch step
TEST_ASSERT_EQUAL(-50, user_data.triggered_watch_values[1]); // watch point
TEST_ASSERT_EQUAL(-65, user_data.triggered_watch_values[2]); // step point (-45-20)
TEST_ASSERT_EQUAL(-85, user_data.triggered_watch_values[3]); // step point (-65-20)
TEST_ASSERT_EQUAL(-100, user_data.triggered_watch_values[4]);// step && watch point
TEST_ASSERT_EQUAL(0, user_data.triggered_watch_values[5]); // watch point (overflow)
TEST_ASSERT_EQUAL(-20, user_data.triggered_watch_values[6]); // step point (0-20)
printf("remove step_notify and uninstall channels\r\n");
TEST_ESP_OK(pcnt_unit_remove_watch_step(unit));
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_STATE, pcnt_unit_remove_watch_step(unit));
TEST_ESP_OK(pcnt_del_channel(channelA));
TEST_ESP_OK(pcnt_del_channel(channelB));
TEST_ESP_OK(pcnt_unit_stop(unit));
TEST_ESP_OK(pcnt_unit_disable(unit));
TEST_ESP_OK(pcnt_del_unit(unit));
}
TEST_ASSERT_EQUAL(0, count_value);
TEST_ASSERT_EQUAL(5, user_data.index);
TEST_ASSERT_EQUAL(-25, user_data.triggered_watch_values[0]); // step point (-25*1)
TEST_ASSERT_EQUAL(-50, user_data.triggered_watch_values[1]); // step point && watch point
TEST_ASSERT_EQUAL(-75, user_data.triggered_watch_values[2]); // step point (-25*3)
TEST_ASSERT_EQUAL(-100, user_data.triggered_watch_values[3]);// step point && watch point
TEST_ASSERT_EQUAL(0, user_data.triggered_watch_values[4]); // watch point (overflow zero cross)
printf("simulating quadrature signals and count up\r\n");
user_data.index = 0;
test_gpio_simulate_quadrature_signals(TEST_PCNT_GPIO_B, TEST_PCNT_GPIO_A, 3); // 0+3*4 = 12
TEST_ESP_OK(pcnt_unit_get_count(unit, &count_value));
printf("counter stopped at %d\r\n", count_value);
for (int i = 0 ; i < user_data.index; i++) {
printf("%d:%d\r\n", i, user_data.triggered_watch_values[i]);
}
TEST_ASSERT_EQUAL(12, count_value);
TEST_ASSERT_EQUAL(1, user_data.index);
TEST_ASSERT_EQUAL(11, user_data.triggered_watch_values[0]); // watch point
printf("simulating quadrature signals and count down again\r\n");
user_data.index = 0;
test_gpio_simulate_quadrature_signals(TEST_PCNT_GPIO_A, TEST_PCNT_GPIO_B, 13); // 12-13*4 = -40
TEST_ESP_OK(pcnt_unit_get_count(unit, &count_value));
printf("counter stopped at %d\r\n", count_value);
for (int i = 0 ; i < user_data.index; i++) {
printf("%d:%d\r\n", i, user_data.triggered_watch_values[i]);
}
TEST_ASSERT_EQUAL(-40, count_value);
TEST_ASSERT_EQUAL(3, user_data.index);
TEST_ASSERT_EQUAL(11, user_data.triggered_watch_values[0]); // watch point
TEST_ASSERT_EQUAL(0, user_data.triggered_watch_values[1]); // watch point (zero cross)
TEST_ASSERT_EQUAL(-25, user_data.triggered_watch_values[2]);// step point (-25*1)
// before change step interval, the next step point should be -25-25=-50
printf("change step interval\r\n");
TEST_ESP_OK(pcnt_unit_remove_watch_step(unit));
TEST_ESP_OK(pcnt_unit_add_watch_step(unit, -20));
// but after change, the next step point is -25-20=-45 (-25 is the last active step point)
printf("simulating quadrature signals and count down\r\n");
user_data.index = 0;
test_gpio_simulate_quadrature_signals(TEST_PCNT_GPIO_A, TEST_PCNT_GPIO_B, 20); // -40+20*(-4) = -120 -> -20
TEST_ESP_OK(pcnt_unit_get_count(unit, &count_value));
printf("counter stopped at %d\r\n", count_value);
for (int i = 0 ; i < user_data.index; i++) {
printf("%d:%d\r\n", i, user_data.triggered_watch_values[i]);
}
TEST_ASSERT_EQUAL(-20, count_value);
TEST_ASSERT_EQUAL(7, user_data.index);
TEST_ASSERT_EQUAL(-45, user_data.triggered_watch_values[0]); // watch step
TEST_ASSERT_EQUAL(-50, user_data.triggered_watch_values[1]); // watch point
TEST_ASSERT_EQUAL(-65, user_data.triggered_watch_values[2]); // step point (-45-20)
TEST_ASSERT_EQUAL(-85, user_data.triggered_watch_values[3]); // step point (-65-20)
TEST_ASSERT_EQUAL(-100, user_data.triggered_watch_values[4]);// step && watch point
TEST_ASSERT_EQUAL(0, user_data.triggered_watch_values[5]); // watch point (overflow)
TEST_ASSERT_EQUAL(-20, user_data.triggered_watch_values[6]); // step point (0-20)
printf("remove step_notify and uninstall channels\r\n");
TEST_ESP_OK(pcnt_unit_remove_watch_step(unit));
TEST_ASSERT_EQUAL(ESP_ERR_INVALID_STATE, pcnt_unit_remove_watch_step(unit));
TEST_ESP_OK(pcnt_del_channel(channelA));
TEST_ESP_OK(pcnt_del_channel(channelB));
TEST_ESP_OK(pcnt_unit_stop(unit));
TEST_ESP_OK(pcnt_unit_disable(unit));
TEST_ESP_OK(pcnt_del_unit(unit));
}
#endif // SOC_PCNT_SUPPORT_STEP_NOTIFY