mirror of
https://github.com/espressif/esp-idf.git
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94 lines
3.5 KiB
C
94 lines
3.5 KiB
C
/*
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* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "unity.h"
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#include "driver/mcpwm_fault.h"
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#include "driver/mcpwm_oper.h"
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#include "driver/gpio.h"
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TEST_CASE("mcpwm_fault_install_uninstall", "[mcpwm]")
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{
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printf("install and uninstall gpio faults\r\n");
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mcpwm_gpio_fault_config_t gpio_fault_config = {
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.gpio_num = 0,
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};
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int total_gpio_faults = SOC_MCPWM_GPIO_FAULTS_PER_GROUP * SOC_MCPWM_GROUPS;
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mcpwm_fault_handle_t gpio_faults[total_gpio_faults];
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int fault_itor = 0;
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for (int i = 0; i < SOC_MCPWM_GROUPS; i++) {
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gpio_fault_config.group_id = i;
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for (int j = 0; j < SOC_MCPWM_GPIO_FAULTS_PER_GROUP; j++) {
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TEST_ESP_OK(mcpwm_new_gpio_fault(&gpio_fault_config, &gpio_faults[fault_itor++]));
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}
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TEST_ESP_ERR(ESP_ERR_NOT_FOUND, mcpwm_new_gpio_fault(&gpio_fault_config, &gpio_faults[0]));
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}
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for (int i = 0; i < total_gpio_faults; i++) {
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TEST_ESP_OK(mcpwm_del_fault(gpio_faults[i]));
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}
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printf("install and uninstall software fault\r\n");
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mcpwm_soft_fault_config_t soft_fault_config = {};
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mcpwm_fault_handle_t soft_fault = NULL;
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TEST_ESP_OK(mcpwm_new_soft_fault(&soft_fault_config, &soft_fault));
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TEST_ESP_OK(mcpwm_del_fault(soft_fault));
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}
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static bool IRAM_ATTR test_fault_enter_callback(mcpwm_fault_handle_t detector, const mcpwm_fault_event_data_t *status, void *user_data)
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{
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TaskHandle_t task_handle = (TaskHandle_t)user_data;
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BaseType_t high_task_wakeup = pdFALSE;
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esp_rom_printf("fault found\r\n");
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vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
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return high_task_wakeup == pdTRUE;
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}
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static bool IRAM_ATTR test_fault_exit_callback(mcpwm_fault_handle_t detector, const mcpwm_fault_event_data_t *status, void *user_data)
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{
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TaskHandle_t task_handle = (TaskHandle_t)user_data;
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BaseType_t high_task_wakeup = pdFALSE;
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esp_rom_printf("fault relieved\r\n");
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vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
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return high_task_wakeup == pdTRUE;
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}
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TEST_CASE("mcpwm_gpio_fault_event_callbacks", "[mcpwm]")
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{
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printf("create gpio fault\r\n");
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const int fault_gpio = 0;
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mcpwm_fault_handle_t fault = NULL;
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mcpwm_gpio_fault_config_t gpio_fault_config = {
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.group_id = 0,
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.gpio_num = fault_gpio,
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.flags.active_level = true, // active on high level
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.flags.pull_down = true,
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.flags.io_loop_back = true, // for debug, so that we can use gpio_set_level to mimic a fault source
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};
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TEST_ESP_OK(mcpwm_new_gpio_fault(&gpio_fault_config, &fault));
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// put fault GPIO into a safe state
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gpio_set_level(fault_gpio, 0);
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printf("register callback for the gpio fault\r\n");
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mcpwm_fault_event_callbacks_t cbs = {
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.on_fault_enter = test_fault_enter_callback,
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.on_fault_exit = test_fault_exit_callback,
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};
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TaskHandle_t task_to_notify = xTaskGetCurrentTaskHandle();
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TEST_ESP_OK(mcpwm_fault_register_event_callbacks(fault, &cbs, task_to_notify));
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TEST_ASSERT_EQUAL(0, ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(1000)));
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printf("trigget a fault event\r\n");
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gpio_set_level(fault_gpio, 1);
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TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(10)));
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printf("remove the fault source\r\n");
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gpio_set_level(fault_gpio, 0);
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TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(10)));
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TEST_ESP_OK(mcpwm_del_fault(fault));
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}
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