MCPWM Driver Implementation by Alex3404 · Pull Request #5344 · esp-rs/esp-hal

Alex3404 · 2026-04-10T16:00:53Z

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Submission Checklist 📝

I have updated existing examples or added new ones (if applicable).
I have used cargo xtask fmt-packages command to ensure that all changed code is formatted correctly.
My changes were added to the CHANGELOG.md in the proper section.
I have added necessary changes to user code to the latest Migration Guide.
My changes are in accordance to the esp-rs developer guidelines

Extra:

I have read the CONTRIBUTING.md guide and followed its instructions.

Pull Request Details 📖

Description

I have added support for the capture channels, capture timer, sync events, and some interrupt events for the MCPWM driver. My motivation behind this was that I needed an MCPWM driver for my project, and I wasn't willing to convert my project to esp-idf.

Testing

I have tested the drivers on an ESP32-S3

I have used pulse generators for generating sync events, and verified accurate timing through an oscilloscope.
Using a pulse generator for verifying capture channel handles events properly
Used it in my own project for a triac dimming for measuring us pulse widths of zero crosses, and generating phase shifted gate pulses.

I will be testing these for any issures on my esp32-s3

Cargo was updated to use the new updated pac that I needed to create. Cargo.toml can be reverted once the pac is in the main branch.

Finished the sync implementation time to test the code!

Forgot to compile with unstable so last commit contained uncompilable code. This compiles with no warnings.

Lastest PAC version

…pecifly set config

github-actions · 2026-04-10T16:01:06Z

New commits in main has made this PR unmergable. Please resolve the conflicts.

Copilot

Pull request overview

This PR expands the esp-hal MCPWM driver to support additional MCPWM functionality (capture channels + capture timer, sync sources/lines and timer sync-out chaining, plus more interrupt/event handling), and updates device metadata with new MCPWM capability cfgs.

Changes:

Add MCPWM capture support (capture timer + capture channels) and new sync abstractions (sync lines + timer sync-out as a sync source).
Introduce MCPWM interrupt/event plumbing (timer events, capture events) with a shared per-instance State.
Update device metadata / generated cfg lists with new soc_has_mcpwm_* capability symbols.

Reviewed changes

Copilot reviewed 12 out of 12 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
esp-metadata/devices/esp32s3.toml	Adds MCPWM capability symbol(s) and reformats metadata.
esp-metadata/devices/esp32h2.toml	Adds MCPWM capability symbols and reformats metadata.
esp-metadata/devices/esp32c6.toml	Adds MCPWM capability symbols and reformats metadata.
esp-metadata/devices/esp32c5.toml	Adds MCPWM capability symbols and reformats metadata.
esp-metadata-generated/src/_build_script_utils.rs	Emits/validates new `soc_has_mcpwm_*` cfgs for build scripts and `check-cfg`.
esp-hal/src/mcpwm/mod.rs	Refactors MCPWM instance plumbing; adds capture/sync fields and interrupt/event infrastructure; updates docs.
esp-hal/src/mcpwm/timer.rs	Adds sync-in/out configuration, timer events/interrupt helpers, and new timer config fields.
esp-hal/src/mcpwm/operator.rs	Adapts operators/pins to new MCPWM `Instance` abstraction and register access patterns.
esp-hal/src/mcpwm/sync.rs	New sync module: `SyncLine`, `SyncOut`, and a sealed `SyncSource` abstraction.
esp-hal/src/mcpwm/capture.rs	New capture module: capture timer + capture channels + configuration + interrupt helpers.
esp-hal/Cargo.toml	Re-formats and alters dependencies (notably PAC dependency sources/paths).
build_all.ps1	Adds a helper script to build `esp-hal` for multiple chips.

Perfer to use cargo xtask check-packages esp-hal instead

Copilot

Pull request overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated 16 comments.

Comments suppressed due to low confidence (1)

esp-hal/Cargo.toml:313

This PR removes the psram feature definition, but the codebase still uses #[cfg(feature = "psram")] (e.g., in esp-hal/src/lib.rs and esp-hal/src/psram/*) and the build script checks cfg!(feature = "psram"). Please restore the psram feature (and its docs/CI feature matrices) or update the codebase to the new intended feature flag, otherwise PSRAM support becomes impossible to enable.

#! ### Unstable APIs
#! Unstable APIs are drivers and features that are not yet ready for general use.
#! They may be incomplete, have bugs, or be subject to change without notice.
#! Unstable APIs are not covered by semver guarantees.

## Enables APIs that are not stable and thus come with no stability guarantees.
## Never enable this feature in a library crate using esp-hal.
unstable = [
    "dep:digest",

github-actions · 2026-04-10T20:00:00Z

New commits in main has made this PR unmergable. Please resolve the conflicts.

Copilot

Pull request overview

Copilot reviewed 13 out of 13 changed files in this pull request and generated 8 comments.

Clarified MCPWM changes regarding Timer methods and configurations.

Copilot

Pull request overview

Copilot reviewed 13 out of 13 changed files in this pull request and generated 4 comments.

Keeping the int_ena state in a variable is not needed as modify is much better suited.

Copilot

Pull request overview

Copilot reviewed 13 out of 13 changed files in this pull request and generated 4 comments.

Added the specific supported configs for mcpwm, as well as added for_each_mcpwm macro for the Instance, and public api

Removed mcpwm_swsync_can_propagate since the device.mcpwm generates the configs

Copilot

Pull request overview

Copilot reviewed 22 out of 22 changed files in this pull request and generated 2 comments.

Copilot

Pull request overview

Copilot reviewed 22 out of 22 changed files in this pull request and generated 1 comment.

Added an additional check to make sure the sync range provided by the timer config is valid. As well as updated some of the formatting of comments. Renamed functions to better follow the developer guidelines.

Alex3404 added 16 commits March 28, 2026 12:34

Added capture channel and capture timer

5b402d2

I will be testing these for any issures on my esp32-s3

Update mod.rs

01f878e

Capture update

74bfcad

Cargo was updated to use the new updated pac that I needed to create. Cargo.toml can be reverted once the pac is in the main branch.

Updated timer sync configurations

ce58b75

Finished sync implementation

e580a8a

Finished the sync implementation time to test the code!

Fixed uncompilable code

cf94429

Forgot to compile with unstable so last commit contained uncompilable code. This compiles with no warnings.

Update Cargo.toml

7387a28

Lastest PAC version

Update sync.rs

47058eb

Interrupt Handler

848a5e8

Updated documentation added some new feactures

0c92475

More changes

ddd7bb2

Updateded esp-metadata for mcpwm capabilities.

dd42b2b

Changes

e1954c2

Allowing timer to have a default config to allow starting without a s…

1c48e3a

…pecifly set config

Added some nice public api types

7536da6

Comments and updating capture API names

43a6172

Copilot AI review requested due to automatic review settings April 10, 2026 16:00

github-actions Bot added the merge-conflict Merge conflict detected. Automatically added/removed by CI. label Apr 10, 2026

Copilot started reviewing on behalf of Alex3404 April 10, 2026 16:01 View session

bugadani reviewed Apr 10, 2026

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Comment thread esp-metadata/devices/esp32s3.toml Outdated

bugadani reviewed Apr 10, 2026

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Comment thread build_all.ps1 Outdated

bugadani reviewed Apr 10, 2026

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Comment thread esp-hal/src/mcpwm/mod.rs Outdated

Copilot AI reviewed Apr 10, 2026

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Alex3404 added 3 commits April 10, 2026 10:13

Delete build_all.ps1

c2fa021

Perfer to use cargo xtask check-packages esp-hal instead

Fixed formatting, typos, comment docs

a2aaa6b

Merge branch 'main' of https://github.com/Alex3404/esp-hal-mcpwm-cap

7143a91

Copilot AI review requested due to automatic review settings April 10, 2026 17:33

Copilot started reviewing on behalf of Alex3404 April 10, 2026 17:34 View session

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Alex3404 added 2 commits April 10, 2026 12:18

Update order of device.temp_sensor

d6d474b

Fixed typos, updated docs, fixed BlockGuard.

acf6119

Copilot AI review requested due to automatic review settings April 10, 2026 19:59

github-actions Bot added the merge-conflict Merge conflict detected. Automatically added/removed by CI. label Apr 10, 2026

Copilot started reviewing on behalf of Alex3404 April 10, 2026 20:00 View session

Copilot AI reviewed Apr 10, 2026

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Alex3404 added 2 commits April 10, 2026 14:05

Remove unexpected_cfgs lint configuration

3d30753

Add warning for unexpected_cfgs lint in Cargo.toml

b8abff4

Copilot AI review requested due to automatic review settings April 10, 2026 20:06

Copilot started reviewing on behalf of Alex3404 April 10, 2026 20:06 View session

Update MCPWM Timer method descriptions

2b9cfd9

Clarified MCPWM changes regarding Timer methods and configurations.

Copilot AI reviewed Apr 10, 2026

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Comment thread esp-hal/src/mcpwm/mod.rs Outdated

Comment thread esp-hal/src/mcpwm/mod.rs Outdated

Comment thread esp-hal/src/mcpwm/mod.rs Outdated

Comment thread esp-hal/Cargo.toml Outdated

Updated doc for timer

51ffc32

bugadani reviewed Apr 10, 2026

View reviewed changes

Comment thread esp-metadata/devices/esp32c5.toml Outdated

Removed PWM::State

c8f3da7

Keeping the int_ena state in a variable is not needed as modify is much better suited.

Copilot AI review requested due to automatic review settings April 10, 2026 21:22

Copilot started reviewing on behalf of Alex3404 April 10, 2026 21:23 View session

Copilot AI reviewed Apr 10, 2026

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Comment thread esp-hal/src/mcpwm/mod.rs

Comment thread esp-hal/src/mcpwm/timer.rs Outdated

Comment thread esp-hal/src/mcpwm/capture.rs Outdated

Comment thread esp-hal/CHANGELOG.md Outdated

Alex3404 added 2 commits April 10, 2026 16:07

Update cargo.toml, and docs

2a5c92d

Added device.mcpwm configurations to esp-metadata

6a53807

Added the specific supported configs for mcpwm, as well as added for_each_mcpwm macro for the Instance, and public api

Copilot AI review requested due to automatic review settings April 10, 2026 23:08

Copilot started reviewing on behalf of Alex3404 April 10, 2026 23:08 View session

Whoops forgot to remove for esp32s3 chip

df1c237

Removed mcpwm_swsync_can_propagate since the device.mcpwm generates the configs

Copilot AI reviewed Apr 10, 2026

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Comment thread esp-hal/src/mcpwm/mod.rs Outdated

Comment thread esp-hal/src/mcpwm/mod.rs Outdated

Fixed typos and referencing wrong peripheral

99c9974

Copilot AI review requested due to automatic review settings April 10, 2026 23:17

Copilot started reviewing on behalf of Alex3404 April 10, 2026 23:17 View session

Copilot AI reviewed Apr 10, 2026

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Comment thread esp-hal/src/mcpwm/timer.rs

Additional Checks for Illegal HW States

a852e89

Added an additional check to make sure the sync range provided by the timer config is valid. As well as updated some of the formatting of comments. Renamed functions to better follow the developer guidelines.

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Alex3404 commented Apr 10, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Thank you for your contribution!

Submission Checklist 📝

Extra:

Pull Request Details 📖

Description

Testing

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Alex3404 commented Apr 10, 2026 •

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