ESP32 S3 MCPWM/PCNT Support

README.md

@@ -129,6 +129,12 @@ Comments to pin sharing:
 * supports up to four stepper motors using Step/Direction/Enable Control (Direction and Enable is optional)
 * Steppers' command queue depth: 32
 
+### ESP32S3
+
+* allows up to 200000 generated steps per second ?
+* supports up to four stepper motors using Step/Direction/Enable Control (Direction and Enable is optional)
+* Steppers' command queue depth: 32
+
 ### Atmel SAM Due
 
 * allows up to 50000 generated steps per second
@@ -268,6 +274,10 @@ As of now, allocation of steppers on esp32 are: first all 6 mcpwm/pcnt drivers a
 
 This stepper driver uses rmt module.
 
+### ESP32S3
+
+This stepper driver uses mcpwm/pcnt modules. Can drive up to 4 motors. Tested with 2 motors.
+
 ### ESP32C3/ESP32-MINI-1
 
 Compatibility with ESP32-C3: Not supported currently. The rmt module has more changes compared to esp32/esp32s2

src/StepperISR_esp32.cpp

@@ -137,6 +137,7 @@ void fas_init_engine(FastAccelStepperEngine *engine, uint8_t cpu_core) {
 }
 
 #if defined(SUPPORT_ESP32_PULSE_COUNTER)
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
 uint32_t sig_idx[8] = {PCNT_SIG_CH0_IN0_IDX, PCNT_SIG_CH0_IN1_IDX,
                        PCNT_SIG_CH0_IN2_IDX, PCNT_SIG_CH0_IN3_IDX,
                        PCNT_SIG_CH0_IN4_IDX, PCNT_SIG_CH0_IN5_IDX,
@@ -145,7 +146,12 @@ uint32_t ctrl_idx[8] = {PCNT_CTRL_CH0_IN0_IDX, PCNT_CTRL_CH0_IN1_IDX,
                         PCNT_CTRL_CH0_IN2_IDX, PCNT_CTRL_CH0_IN3_IDX,
                         PCNT_CTRL_CH0_IN4_IDX, PCNT_CTRL_CH0_IN5_IDX,
                         PCNT_CTRL_CH0_IN6_IDX, PCNT_CTRL_CH0_IN7_IDX};
-
+#else
+uint32_t sig_idx[8] = {PCNT_SIG_CH0_IN0_IDX, PCNT_SIG_CH0_IN1_IDX,
+                       PCNT_SIG_CH0_IN2_IDX};
+uint32_t ctrl_idx[8] = {PCNT_CTRL_CH0_IN0_IDX, PCNT_CTRL_CH0_IN1_IDX,
+                        PCNT_CTRL_CH0_IN2_IDX};
+#endif
 bool _esp32_attachToPulseCounter(uint8_t pcnt_unit, FastAccelStepper *stepper,
                                  int16_t low_value, int16_t high_value) {
   // TODO: Check if free pulse counter
@@ -175,8 +181,13 @@ bool _esp32_attachToPulseCounter(uint8_t pcnt_unit, FastAccelStepper *stepper,
   cfg.channel = PCNT_CHANNEL_0;
   pcnt_unit_config(&cfg);
 
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
   PCNT.conf_unit[cfg.unit].conf0.thr_h_lim_en = 0;
   PCNT.conf_unit[cfg.unit].conf0.thr_l_lim_en = 0;
+#else
+  PCNT.conf_unit[cfg.unit].conf0.thr_h_lim_en_un = 0;
+  PCNT.conf_unit[cfg.unit].conf0.thr_l_lim_en_un = 0;
+#endif
 
   stepper->detachFromPin();
   stepper->reAttachToPin();
@@ -198,7 +209,11 @@ int16_t _esp32_readPulseCounter(uint8_t pcnt_unit) {
   // Serial.println(' ');
   // Serial.println(PCNT.cnt_unit[PCNT_UNIT_0].cnt_val);
   // Serial.println(PCNT.conf_unit[PCNT_UNIT_0].conf2.cnt_h_lim);
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
   return PCNT.cnt_unit[(pcnt_unit_t)pcnt_unit].cnt_val;
+#else
+  return PCNT.cnt_unit[(pcnt_unit_t)pcnt_unit].pulse_cnt_un;
+#endif
 }
 #endif
 #endif

src/StepperISR_esp32_mcpwm_pcnt.cpp

@@ -55,6 +55,7 @@ static struct mapping_s channel2mapping[NUM_QUEUES] = {
       cmpr_tea_int_ena : MCPWM_OP2_TEA_INT_ENA,
       cmpr_tea_int_raw : MCPWM_OP2_TEA_INT_RAW
     },
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
     {
       mcpwm_unit : MCPWM_UNIT_1,
       timer : 0,
@@ -85,6 +86,7 @@ static struct mapping_s channel2mapping[NUM_QUEUES] = {
       cmpr_tea_int_ena : MCPWM_OP2_TEA_INT_ENA,
       cmpr_tea_int_raw : MCPWM_OP2_TEA_INT_RAW
     },
+#endif
 };
 
 static void IRAM_ATTR prepare_for_next_command(
@@ -95,7 +97,11 @@ static void IRAM_ATTR prepare_for_next_command(
         (const struct mapping_s *)queue->driver_data;
     pcnt_unit_t pcnt_unit = mapping->pcnt_unit;
     // is updated only on zero
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
     PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim = next_steps;
+#else
+    PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim_un = next_steps;
+#endif
   }
 }
 
@@ -150,7 +156,11 @@ static void IRAM_ATTR apply_command(StepperQueue *queue,
     mcpwm->int_ena.val |= mapping->cmpr_tea_int_ena;
   } else {
     bool disable_mcpwm_interrupt = true;
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
     if (PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim != steps) {
+#else
+    if (PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim_un != steps) {
+#endif
       // For fast pulses, eventually the ISR is late. So take the current pulse
       // count into consideration.
       //
@@ -161,11 +171,19 @@ static void IRAM_ATTR apply_command(StepperQueue *queue,
       // available yet 		3 pulses
       //
       // Read counter
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
       uint16_t val1 = steps - PCNT.cnt_unit[pcnt_unit].cnt_val;
+#else
+      uint16_t val1 = steps - PCNT.cnt_unit[pcnt_unit].pulse_cnt_un;
+#endif
       // Clear flag for l-->h transition
       mcpwm->int_clr.val = mapping->cmpr_tea_int_clr;
       // Read counter again
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
       uint16_t val2 = steps - PCNT.cnt_unit[pcnt_unit].cnt_val;
+#else
+      uint16_t val2 = steps - PCNT.cnt_unit[pcnt_unit].pulse_cnt_un;
+#endif
       // If no pulse arrives between val1 and val2:
       //		val2 == val1
       // If pulse arrives between val1 and int_clr:
@@ -179,17 +197,29 @@ static void IRAM_ATTR apply_command(StepperQueue *queue,
       }
 
       // is updated only on zero
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
       PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim = val2;
+#else
+      PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim_un = val2;
+#endif
       // force take over
       isr_pcnt_counter_clear(pcnt_unit);
       // Check, if pulse has come in
       if ((mcpwm->int_raw.val & mapping->cmpr_tea_int_raw) != 0) {
         // Pulse has come in
         // Check if the pulse has been counted or not
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
         if (PCNT.cnt_unit[pcnt_unit].cnt_val == 0) {
+#else
+        if (PCNT.cnt_unit[pcnt_unit].pulse_cnt_un == 0) {
+#endif
           // pulse hasn't been counted, so adjust the limit
           // is updated only on zero
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
           PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim = val2 - 1;
+#else
+          PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim_un = val2 - 1;
+#endif
           // force take over
           isr_pcnt_counter_clear(pcnt_unit);
 
@@ -344,9 +374,16 @@ void StepperQueue::init_mcpwm_pcnt(uint8_t channel_num, uint8_t step_pin) {
   cfg.channel = PCNT_CHANNEL_0;
   pcnt_unit_config(&cfg);
 
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
   PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim = 1;
   PCNT.conf_unit[pcnt_unit].conf0.thr_h_lim_en = 1;
   PCNT.conf_unit[pcnt_unit].conf0.thr_l_lim_en = 0;
+#else
+  PCNT.conf_unit[pcnt_unit].conf2.cnt_h_lim_un = 1;
+  PCNT.conf_unit[pcnt_unit].conf0.thr_h_lim_en_un = 1;
+  PCNT.conf_unit[pcnt_unit].conf0.thr_l_lim_en_un = 0;
+#endif
+
 
   pcnt_counter_clear(pcnt_unit);
   pcnt_counter_resume(pcnt_unit);
@@ -528,7 +565,12 @@ bool StepperQueue::isReadyForCommands_mcpwm_pcnt() {
 }
 uint16_t StepperQueue::_getPerformedPulses_mcpwm_pcnt() {
   const struct mapping_s *mapping = (const struct mapping_s *)driver_data;
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
   return PCNT.cnt_unit[mapping->pcnt_unit].cnt_val;
+#else
+  return PCNT.cnt_unit[mapping->pcnt_unit].pulse_cnt_un;
+#endif
+
 }
 
 #endif

src/common.h

@@ -128,6 +128,27 @@ struct queue_end_s {
 #define QUEUES_RMT 4
 #define FAS_RMT_MEM(channel) ((uint32_t *)RMTMEM.chan[channel].data32)
 
+//==========================================================================
+//
+// ESP32 derivate - ESP32S3 - NOT SUPPORTED
+//
+//==========================================================================
+#elif CONFIG_IDF_TARGET_ESP32S3
+#define SUPPORT_ESP32_MCPWM_PCNT
+#include <driver/mcpwm.h>
+#include <driver/pcnt.h>
+#include <soc/mcpwm_reg.h>
+#include <soc/mcpwm_struct.h>
+#include <soc/pcnt_reg.h>
+#include <soc/pcnt_struct.h>
+
+#include <driver/rmt.h>
+#define QUEUES_MCPWM_PCNT 4
+#define QUEUES_RMT 0
+
+// have support for pulse counter
+#define SUPPORT_ESP32_PULSE_COUNTER
+
 //==========================================================================
 //
 // ESP32 derivate - ESP32C3 - NOT SUPPORTED