Reimplement DRIVER_MCPWM_PCNT on ESP32S3

[dronus]

On newer ESP32 Frameworks ("idf5", "idf6") DRIVER_MCPWM_PCNT is not available - I guess that is because the used interface is deprecated in the Framework now.

Without DRIVER_MCPWM_PCNT queues we can only drive 4 motors in total however. Using both DRIVER_MCPWM_PCNT and RMT drivers would allow for 8 again.

So maybe DRIVER_MCPWM_PCNT can be implemented on top of the new interface?

[gin66]

Two more motors will be available using the two I2S-modules of the ESP32S3 in the upcoming v1.0.0
Just uploaded.

the MCPWM/PCNT-combo: due to espressif changes this is now like developing a new driver. Not on my todo-list. Volunteers welcome.

[gin66]

with some ai-help, the mcpwm/pcnt for espidf5.3 seems to work. only tested for esp32 though

[dronus]

with some ai-help, the mcpwm/pcnt for espidf5.3 seems to work. only tested for esp32 though

Does that mean, that just adapting the calls to match the newer IDF make it work somehow? May be worth a try, yes.

With older IDF, this driver is still working, but I was experiencing occasional hangups ( the motors on the PCNT channels where reporting the same position forever with the motor keep on going in some slow speed, most likely the last applied one).

[gin66]

sounds like the pcnt interrupts were blocked and without those interrupts, mcpwm is not controlled by the driver anymore.

For the hangups, do you know which sw version and esp-variant were in use ?

In general I prefer rmt over the mcpwm/pcnt combos, because the timing requirements for the pcnt interrupts are quite high.