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

Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/index.rst

@@ -99,6 +99,22 @@ You can check that the sensor is working by using the ``bmp180`` application::
     Pressure value = 91526
     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
 --------
 

Documentation/platforms/risc-v/esp32c6/index.rst

@@ -152,7 +152,7 @@ I2S              No
 Int. Temp.       No
 LED              No
 LED_PWM          Yes
-MCPWM            No
+MCPWM            Yes (Capture)
 Pulse Counter    No
 RMT              No
 RNG              No

arch/risc-v/src/common/espressif/Kconfig

@@ -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
 		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
 
 menu "Wi-Fi Configuration"
@@ -1273,6 +1281,70 @@ config ESPRESSIF_I2CTIMEOMS
 	default 500
 
 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"
 	depends on ESPRESSIF_HR_TIMER

arch/risc-v/src/common/espressif/Make.defs

@@ -114,6 +114,10 @@ ifeq ($(CONFIG_ESP_WIRELESS),y)
 	endif
 endif
 
+ifeq ($(CONFIG_ESP_MCPWM),y)
+	CHIP_CSRCS += esp_mcpwm.c
+endif
+
 #############################################################################
 # Espressif HAL for 3rd Party Platforms
 #############################################################################

arch/risc-v/src/common/espressif/esp_mcpwm.h

@@ -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 */

arch/risc-v/src/esp32c6/hal_esp32c6.mk

@@ -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)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)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_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)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)mcpwm_periph.c
 
 ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
   CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)nuttx$(DELIM)src$(DELIM)bootloader_banner_wrap.c

arch/risc-v/src/esp32h2/hal_esp32h2.mk

@@ -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_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)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)uart_hal.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)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)mcpwm_periph.c
 
 ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
   CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)nuttx$(DELIM)src$(DELIM)bootloader_banner_wrap.c

boards/risc-v/esp32c6/common/include/esp_board_mcpwm.h

@@ -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 */

boards/risc-v/esp32c6/common/src/Make.defs

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

boards/risc-v/esp32c6/common/src/esp_board_mcpwm.c

@@ -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;
+}

boards/risc-v/esp32c6/esp32c6-devkitc/configs/capture/defconfig

@@ -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

boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c

@@ -85,6 +85,10 @@
 #  include "esp_board_spislavedev.h"
 #endif
 
+#ifdef CONFIG_ESP_MCPWM
+#  include "esp_board_mcpwm.h"
+#endif
+
 #include "esp32c6-devkitc.h"
 
 /****************************************************************************
@@ -322,6 +326,14 @@ int esp_bringup(void)
     }
 #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
    * at least enough succeeded to bring-up NSH with perhaps reduced
    * capabilities.

boards/risc-v/esp32h2/common/include/esp_board_mcpwm.h

@@ -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 */

boards/risc-v/esp32h2/common/src/Make.defs

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

boards/risc-v/esp32h2/common/src/esp_board_mcpwm.c

@@ -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;
+}

boards/risc-v/esp32h2/esp32h2-devkit/configs/capture/defconfig

@@ -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

boards/risc-v/esp32h2/esp32h2-devkit/src/esp32h2_bringup.c

@@ -77,6 +77,10 @@
 #  include "esp_board_spislavedev.h"
 #endif
 
+#ifdef CONFIG_ESP_MCPWM
+#  include "esp_board_mcpwm.h"
+#endif
+
 #include "esp32h2-devkit.h"
 
 /****************************************************************************
@@ -289,6 +293,14 @@ int esp_bringup(void)
     }
 #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
    * at least enough succeeded to bring-up NSH with perhaps reduced
    * capabilities.