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test(mcpwm): involve all mcpwm groups for critical tests

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This commit is contained in:
Chen Chen
2026-03-05 10:18:45 +08:00
parent 675aa0695c
commit b8cfb155a2
1 changed files with 169 additions and 154 deletions
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components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_gen.c
+169 -154
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@@ -231,63 +231,68 @@ TEST_CASE("mcpwm_generator_action_on_timer_event", "[mcpwm]")
};
TEST_ESP_OK(gpio_config(&gen_gpio_conf));
printf("create timer and operator\r\n");
mcpwm_timer_config_t timer_config = {
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 1000000,
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
.period_ticks = 1000,
};
mcpwm_timer_handle_t timer = NULL;
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
TEST_ESP_OK(mcpwm_timer_enable(timer));
for (int group_id = 0; group_id < MCPWM_LL_GET(GROUP_NUM); group_id++) {
printf("test MCPWM group %d/%d\r\n", group_id, MCPWM_LL_GET(GROUP_NUM));
mcpwm_operator_config_t oper_config = {
.group_id = 0,
};
mcpwm_oper_handle_t oper = NULL;
TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
printf("create timer and operator\r\n");
mcpwm_timer_config_t timer_config = {
.group_id = group_id,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 1000000,
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
.period_ticks = 1000,
};
mcpwm_timer_handle_t timer = NULL;
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
TEST_ESP_OK(mcpwm_timer_enable(timer));
printf("connect timer and operator\r\n");
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
mcpwm_operator_config_t oper_config = {
.group_id = group_id,
};
mcpwm_oper_handle_t oper = NULL;
TEST_ESP_OK(mcpwm_new_operator(&oper_config, &oper));
printf("create generator\r\n");
mcpwm_generator_config_t gen_config = {
.gen_gpio_num = generator_gpio,
};
mcpwm_gen_handle_t gen = NULL;
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
printf("connect timer and operator\r\n");
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
printf("set generator to output high on timer full\r\n");
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP)));
printf("start timer\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
vTaskDelay(pdMS_TO_TICKS(100));
printf("stop timer on full\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_FULL));
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
printf("create generator\r\n");
mcpwm_generator_config_t gen_config = {
.gen_gpio_num = generator_gpio,
};
mcpwm_gen_handle_t gen = NULL;
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
printf("set generator to output low on timer full\r\n");
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP)));
printf("start timer\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
vTaskDelay(pdMS_TO_TICKS(100));
printf("stop timer on full\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_FULL));
TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
printf("set generator to output high on timer full\r\n");
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP)));
printf("start timer\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
vTaskDelay(pdMS_TO_TICKS(100));
printf("stop timer on full\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_FULL));
TEST_ASSERT_EQUAL(1, gpio_get_level(generator_gpio));
printf("set generator to output low on timer full\r\n");
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP)));
printf("start timer\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
vTaskDelay(pdMS_TO_TICKS(100));
printf("stop timer on full\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_FULL));
TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
printf("delete timer, operator, generator for group %d\r\n", group_id);
TEST_ESP_OK(mcpwm_timer_disable(timer));
TEST_ESP_OK(mcpwm_del_generator(gen));
TEST_ESP_OK(mcpwm_del_operator(oper));
TEST_ESP_OK(mcpwm_del_timer(timer));
}
printf("delete timer, operator, generator\r\n");
TEST_ESP_OK(mcpwm_timer_disable(timer));
TEST_ESP_OK(mcpwm_del_generator(gen));
TEST_ESP_OK(mcpwm_del_operator(oper));
TEST_ESP_OK(mcpwm_del_timer(timer));
TEST_ESP_OK(gpio_reset_pin(generator_gpio));
}
@@ -305,12 +310,12 @@ static bool test_capture_callback(mcpwm_cap_channel_handle_t cap_channel, const
typedef void (*set_gen_actions_cb_t)(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb);
static void mcpwm_gen_action_test_template(uint32_t timer_resolution, uint32_t period, mcpwm_timer_count_mode_t count_mode,
static void mcpwm_gen_action_test_template(int group_id, uint32_t timer_resolution, uint32_t period, mcpwm_timer_count_mode_t count_mode,
uint32_t cmpa, uint32_t cmpb, int gpioa, int gpiob, set_gen_actions_cb_t set_generator_actions,
uint32_t *ret_capa, uint32_t *ret_capb)
{
mcpwm_timer_config_t timer_config = {
.group_id = 0,
.group_id = group_id,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.count_mode = count_mode,
.resolution_hz = timer_resolution,
@@ -320,7 +325,7 @@ static void mcpwm_gen_action_test_template(uint32_t timer_resolution, uint32_t p
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
mcpwm_operator_config_t operator_config = {
.group_id = 0,
.group_id = group_id,
};
mcpwm_oper_handle_t oper = NULL;
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
@@ -355,7 +360,7 @@ static void mcpwm_gen_action_test_template(uint32_t timer_resolution, uint32_t p
esp_clk_tree_src_get_freq_hz(MCPWM_CAPTURE_CLK_SRC_DEFAULT, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &clk_src_freq_hz);
mcpwm_capture_timer_config_t cap_timer_config = {
.clk_src = MCPWM_CAPTURE_CLK_SRC_DEFAULT,
.group_id = 0,
.group_id = group_id,
.resolution_hz = clk_src_freq_hz,
};
TEST_ESP_OK(mcpwm_new_capture_timer(&cap_timer_config, &cap_timer));
@@ -504,47 +509,52 @@ static void dual_edge_complementary(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t
TEST_CASE("mcpwm_generator_action_on_compare_event", "[mcpwm]")
{
uint32_t capa, capb;
printf("[Asymmetric, SingleEdge, ActiveHigh]\r\n");
// PWMA: high = [1->350], low = [351->499,0]
// PWMB: high = [1->200], low = [201->499,0]
mcpwm_gen_action_test_template(1000000, 500, MCPWM_TIMER_COUNT_MODE_UP, 350, 200, TEST_PWMA_GPIO, TEST_PWMB_GPIO, single_edge_active_high, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 150, capa);
TEST_ASSERT_UINT_WITHIN(2, 300, capb);
printf("[Asymmetric, SingleEdge, ActiveLow]\r\n");
// PWMA: low = [0->300], high = [301->499]
// PWMB: low = [0->150], high = [151->499]
mcpwm_gen_action_test_template(1000000, 500, MCPWM_TIMER_COUNT_MODE_UP, 300, 150, TEST_PWMA_GPIO, TEST_PWMB_GPIO, single_edge_active_low, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 200, capa);
TEST_ASSERT_UINT_WITHIN(2, 350, capb);
for (int group_id = 0; group_id < MCPWM_LL_GET(GROUP_NUM); group_id++) {
printf("test MCPWM group %d/%d\r\n", group_id, MCPWM_LL_GET(GROUP_NUM));
printf("[Asymmetric, PulsePlacement]\r\n");
// PWMA: low = [0->200], high = [201->400], low = [401->599]
// PWMB: high = [0->599], low = [0->599]
mcpwm_gen_action_test_template(1000000, 600, MCPWM_TIMER_COUNT_MODE_UP, 200, 400, TEST_PWMA_GPIO, TEST_PWMB_GPIO, pulse_placement, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 200, capa);
TEST_ASSERT_UINT_WITHIN(2, 600, capb);
printf("[Asymmetric, SingleEdge, ActiveHigh]\r\n");
// PWMA: high = [1->350], low = [351->499,0]
// PWMB: high = [1->200], low = [201->499,0]
mcpwm_gen_action_test_template(group_id, 1000000, 500, MCPWM_TIMER_COUNT_MODE_UP, 350, 200, TEST_PWMA_GPIO, TEST_PWMB_GPIO, single_edge_active_high, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 150, capa);
TEST_ASSERT_UINT_WITHIN(2, 300, capb);
printf("[Asymmetric, DualEdge, ActiveLow]\r\n");
// PWMA: low = [0->250], high = [251->599, 600->450], low = [451->1]
// PWMB: low = [0->599], low = [600->1]
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 250, 450, TEST_PWMA_GPIO, TEST_PWMB_GPIO, dual_edge_active_low_asym, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 500, capa);
TEST_ASSERT_UINT_WITHIN(2, 600, capb);
printf("[Asymmetric, SingleEdge, ActiveLow]\r\n");
// PWMA: low = [0->300], high = [301->499]
// PWMB: low = [0->150], high = [151->499]
mcpwm_gen_action_test_template(group_id, 1000000, 500, MCPWM_TIMER_COUNT_MODE_UP, 300, 150, TEST_PWMA_GPIO, TEST_PWMB_GPIO, single_edge_active_low, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 200, capa);
TEST_ASSERT_UINT_WITHIN(2, 350, capb);
printf("[Symmetric, DualEdge, ActiveLow]\r\n");
// PWMA: low = [0->400], high = [401->599, 600->400], low = [399->1]
// PWMB: low = [0->500], high = [501->599, 600->500], low = [499->1]
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 400, 500, TEST_PWMA_GPIO, TEST_PWMB_GPIO, dual_edge_active_low_sym, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 400, capa);
TEST_ASSERT_UINT_WITHIN(2, 200, capb);
printf("[Asymmetric, PulsePlacement]\r\n");
// PWMA: low = [0->200], high = [201->400], low = [401->599]
// PWMB: high = [0->599], low = [0->599]
mcpwm_gen_action_test_template(group_id, 1000000, 600, MCPWM_TIMER_COUNT_MODE_UP, 200, 400, TEST_PWMA_GPIO, TEST_PWMB_GPIO, pulse_placement, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 200, capa);
TEST_ASSERT_UINT_WITHIN(2, 600, capb);
printf("[Symmetric, DualEdge, Complementary]\r\n");
// PWMA: low = [0->350], high = [351->599, 600->350], low = [349->1]
// PWMB: low = [0->400], high = [401->599, 600->400], low = [399->1]
mcpwm_gen_action_test_template(1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 350, 400, TEST_PWMA_GPIO, TEST_PWMB_GPIO, dual_edge_complementary, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 500, capa);
TEST_ASSERT_UINT_WITHIN(2, 400, capb);
printf("[Asymmetric, DualEdge, ActiveLow]\r\n");
// PWMA: low = [0->250], high = [251->599, 600->450], low = [451->1]
// PWMB: low = [0->599], low = [600->1]
mcpwm_gen_action_test_template(group_id, 1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 250, 450, TEST_PWMA_GPIO, TEST_PWMB_GPIO, dual_edge_active_low_asym, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 500, capa);
TEST_ASSERT_UINT_WITHIN(2, 600, capb);
printf("[Symmetric, DualEdge, ActiveLow]\r\n");
// PWMA: low = [0->400], high = [401->599, 600->400], low = [399->1]
// PWMB: low = [0->500], high = [501->599, 600->500], low = [499->1]
mcpwm_gen_action_test_template(group_id, 1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 400, 500, TEST_PWMA_GPIO, TEST_PWMB_GPIO, dual_edge_active_low_sym, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 400, capa);
TEST_ASSERT_UINT_WITHIN(2, 200, capb);
printf("[Symmetric, DualEdge, Complementary]\r\n");
// PWMA: low = [0->350], high = [351->599, 600->350], low = [349->1]
// PWMB: low = [0->400], high = [401->599, 600->400], low = [399->1]
mcpwm_gen_action_test_template(group_id, 1000000, 1200, MCPWM_TIMER_COUNT_MODE_UP_DOWN, 350, 400, TEST_PWMA_GPIO, TEST_PWMB_GPIO, dual_edge_complementary, &capa, &capb);
TEST_ASSERT_UINT_WITHIN(2, 500, capa);
TEST_ASSERT_UINT_WITHIN(2, 400, capb);
}
}
typedef void (*set_dead_time_cb_t)(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb);
@@ -897,77 +907,82 @@ TEST_CASE("mcpwm_duty_empty_full", "[mcpwm]")
};
TEST_ESP_OK(gpio_config(&gen_gpio_conf));
mcpwm_timer_handle_t timer;
mcpwm_oper_handle_t oper;
mcpwm_cmpr_handle_t comparator;
mcpwm_gen_handle_t gen;
for (int group_id = 0; group_id < MCPWM_LL_GET(GROUP_NUM); group_id++) {
printf("test MCPWM group %d/%d\r\n", group_id, MCPWM_LL_GET(GROUP_NUM));
mcpwm_timer_config_t timer_config = {
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 1 * 1000 * 1000,
.period_ticks = 50, // 50us <-> 20KHz
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
};
mcpwm_operator_config_t operator_config = {
.group_id = 0,
};
mcpwm_comparator_config_t comparator_config = {
.flags.update_cmp_on_tep = true,
.flags.update_cmp_on_tez = true,
};
printf("install timer, operator and comparator\r\n");
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator));
mcpwm_timer_handle_t timer = NULL;
mcpwm_oper_handle_t oper = NULL;
mcpwm_cmpr_handle_t comparator = NULL;
mcpwm_gen_handle_t gen = NULL;
printf("connect MCPWM timer and operators\r\n");
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 0));
mcpwm_timer_config_t timer_config = {
.group_id = group_id,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 1 * 1000 * 1000,
.period_ticks = 50, // 50us <-> 20KHz
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
};
mcpwm_operator_config_t operator_config = {
.group_id = group_id,
};
mcpwm_comparator_config_t comparator_config = {
.flags.update_cmp_on_tep = true,
.flags.update_cmp_on_tez = true,
};
printf("install timer, operator and comparator\r\n");
TEST_ESP_OK(mcpwm_new_timer(&timer_config, &timer));
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
TEST_ESP_OK(mcpwm_new_comparator(oper, &comparator_config, &comparator));
printf("install MCPWM generator\r\n");
mcpwm_generator_config_t gen_config = {
.gen_gpio_num = gen_gpio_num,
};
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
printf("connect MCPWM timer and operators\r\n");
TEST_ESP_OK(mcpwm_operator_connect_timer(oper, timer));
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 0));
printf("set generator actions on timer and compare events\r\n");
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gen,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));
printf("install MCPWM generator\r\n");
mcpwm_generator_config_t gen_config = {
.gen_gpio_num = gen_gpio_num,
};
TEST_ESP_OK(mcpwm_new_generator(oper, &gen_config, &gen));
printf("start timer\r\n");
TEST_ESP_OK(mcpwm_timer_enable(timer));
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
printf("set generator actions on timer and compare events\r\n");
TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gen,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));
// check if the output is a const low level
for (int i = 0; i < 100; i++) {
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio_num));
esp_rom_delay_us(1);
printf("start timer\r\n");
TEST_ESP_OK(mcpwm_timer_enable(timer));
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
// check if the output is a const low level
for (int i = 0; i < 100; i++) {
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio_num));
esp_rom_delay_us(1);
}
// set the compare equals to the period
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 50));
vTaskDelay(pdMS_TO_TICKS(10));
// so the output should be a const high level
for (int i = 0; i < 100; i++) {
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio_num));
esp_rom_delay_us(1);
}
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 49));
vTaskDelay(pdMS_TO_TICKS(100));
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 1));
vTaskDelay(pdMS_TO_TICKS(100));
printf("uninstall timer, operator and comparator for group %d\r\n", group_id);
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
TEST_ESP_OK(mcpwm_timer_disable(timer));
TEST_ESP_OK(mcpwm_del_generator(gen));
TEST_ESP_OK(mcpwm_del_comparator(comparator));
TEST_ESP_OK(mcpwm_del_operator(oper));
TEST_ESP_OK(mcpwm_del_timer(timer));
}
// set the compare equals to the period
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 50));
vTaskDelay(pdMS_TO_TICKS(10));
// so the output should be a const high level
for (int i = 0; i < 100; i++) {
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio_num));
esp_rom_delay_us(1);
}
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 49));
vTaskDelay(pdMS_TO_TICKS(100));
TEST_ESP_OK(mcpwm_comparator_set_compare_value(comparator, 1));
vTaskDelay(pdMS_TO_TICKS(100));
printf("uninstall timer, operator and comparator\r\n");
TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_STOP_EMPTY));
TEST_ESP_OK(mcpwm_timer_disable(timer));
TEST_ESP_OK(mcpwm_del_generator(gen));
TEST_ESP_OK(mcpwm_del_comparator(comparator));
TEST_ESP_OK(mcpwm_del_operator(oper));
TEST_ESP_OK(mcpwm_del_timer(timer));
TEST_ESP_OK(gpio_reset_pin(gen_gpio_num));
}