text: /**
   * To test PWM, use the PCNT to calculateit to judge it work right or not.
   * e.g: judge the start and stop.
   *      If started right, the PCNT will count the pulse.
   *      If stopped right, the PCNT will count no pulse.
   *
   *
   * test environment UT_T1_MCPWM:
   * 1. connect GPIO4 to GPIO5
   * 2. connect GPIO13 to GPIO12
   * 3. connect GPIO27 to GPIO14
   *
   * all of case separate different timer to test in case that one case cost too much time
   */
  #include <stdio.h>
  #include "esp_system.h"
  #include "driver/mcpwm.h"
  #include "driver/pcnt.h"
  #include "unity.h"
  #include "test_utils.h"
  #include "freertos/FreeRTOS.h"
  #include "freertos/task.h"
  #include "soc/mcpwm_periph.h"
  #include "freertos/queue.h"
  #include "esp_attr.h"
  #include "esp_log.h"
  #include "soc/rtc.h"
  #include "esp32/rom/ets_sys.h"
  
  #define GPIO_PWMA_OUT  4
  #define GPIO_PWMB_OUT  13
  #define GPIO_CAP_IN   27
  #define GPIO_SYNC_IN   27
  #define GPIO_FAULT_IN 27
  
  #define CAP_SIG_NUM 14
  #define SYN_SIG_NUM 14
  #define FAULT_SIG_NUM 14
  
  #define GPIO_PWMA_PCNT_INPUT 5
  #define GPIO_PWMB_PCNT_INPUT 12
  
  #define PCNT_CTRL_FLOATING_IO1 25
  #define PCNT_CTRL_FLOATING_IO2 26
  
  #define CAP0_INT_EN BIT(27)
  #define CAP1_INT_EN BIT(28)
  #define CAP2_INT_EN BIT(29)
  
  #define INITIAL_DUTY 10.0
  #define MCPWM_GPIO_INIT 0
  
  
  #define HIGHEST_LIMIT 10000
  #define LOWEST_LIMIT -10000
  
  static mcpwm_dev_t *MCPWM[2] = {&MCPWM0, &MCPWM1};
  
  static xQueueHandle cap_queue;
  static volatile int cap0_times = 0;
  static volatile int cap1_times = 0;
  static volatile int cap2_times = 0;
  
  typedef struct {
      uint32_t capture_signal;
      mcpwm_capture_signal_t sel_cap_signal;
  } capture;
  
  // universal settings of mcpwm
  static void mcpwm_basic_config(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer)
  {
      mcpwm_gpio_init(unit, mcpwm_a, GPIO_PWMA_OUT);
      mcpwm_gpio_init(unit, mcpwm_b, GPIO_PWMB_OUT);
      mcpwm_config_t pwm_config = {
          .frequency = 1000,
          .cmpr_a = 50.0,  //duty cycle of PWMxA = 50.0%
          .cmpr_b = 50.0,  //duty cycle of PWMxb = 50.0%
          .counter_mode = MCPWM_UP_COUNTER,
          .duty_mode = MCPWM_DUTY_MODE_0,
      };
      mcpwm_init(unit, timer, &pwm_config);
  }
  
  static void pcnt_init(int pulse_gpio_num, int ctrl_gpio_num)
  {
      pcnt_config_t pcnt_config = {
         .pulse_gpio_num = pulse_gpio_num,
         .ctrl_gpio_num = ctrl_gpio_num,
         .channel = PCNT_CHANNEL_0,
         .unit = PCNT_UNIT_0,
         .pos_mode = PCNT_COUNT_INC,
         .neg_mode = PCNT_COUNT_DIS,
         .lctrl_mode = PCNT_MODE_REVERSE,
         .hctrl_mode = PCNT_MODE_KEEP,
         .counter_h_lim = HIGHEST_LIMIT,
         .counter_l_lim = LOWEST_LIMIT,
     };
     TEST_ESP_OK(pcnt_unit_config(&pcnt_config));
  }
  
  // initialize the PCNT
  // PCNT is used to count the MCPWM pulse
  static int16_t pcnt_count(int pulse_gpio_num, int ctrl_gpio_num, int last_time)
  {
      pcnt_config_t pcnt_config = {
          .pulse_gpio_num = pulse_gpio_num,
          .ctrl_gpio_num = ctrl_gpio_num,
          .channel = PCNT_CHANNEL_0,
          .unit = PCNT_UNIT_0,
          .pos_mode = PCNT_COUNT_INC,
          .neg_mode = PCNT_COUNT_DIS,
          .lctrl_mode = PCNT_MODE_REVERSE,
          .hctrl_mode = PCNT_MODE_KEEP,
          .counter_h_lim = HIGHEST_LIMIT,
          .counter_l_lim = LOWEST_LIMIT,
      };
      TEST_ESP_OK(pcnt_unit_config(&pcnt_config));
      int16_t test_counter;
      TEST_ESP_OK(pcnt_counter_pause(PCNT_UNIT_0));
      TEST_ESP_OK(pcnt_counter_clear(PCNT_UNIT_0));
      TEST_ESP_OK(pcnt_counter_resume(PCNT_UNIT_0));
      TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter));
      printf("COUNT: %d\n", test_counter);
      vTaskDelay(last_time / portTICK_RATE_MS);
      TEST_ESP_OK(pcnt_get_counter_value(PCNT_UNIT_0, &test_counter));
      printf("COUNT: %d\n", test_counter);
      return test_counter;
  }
  
  // judge the counting value right or not in specific error
  static void judge_count_value(int allow_error ,int expect_freq)
  {
      int16_t countA, countB;
  
      countA = pcnt_count(GPIO_PWMA_PCNT_INPUT, PCNT_CTRL_FLOATING_IO1, 1000);
      countB = pcnt_count(GPIO_PWMB_PCNT_INPUT, PCNT_CTRL_FLOATING_IO2, 1000);
  
      TEST_ASSERT_INT16_WITHIN(allow_error, countA, expect_freq);
      TEST_ASSERT_INT16_WITHIN(allow_error, countB, expect_freq);
  }
  
  // test the duty configuration
  static void timer_duty_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer)
  {
      mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
      vTaskDelay(1000 / portTICK_RATE_MS); // stay this status for a while so that can view its waveform by logic anylyzer
  
      TEST_ESP_OK(mcpwm_set_duty(unit, timer, MCPWM_OPR_A, (INITIAL_DUTY * 1)));
      TEST_ESP_OK(mcpwm_set_duty(unit, timer, MCPWM_OPR_B, (INITIAL_DUTY * 2)));
  
      TEST_ASSERT_EQUAL_INT(mcpwm_get_duty(unit, timer, MCPWM_OPR_A), INITIAL_DUTY * 1);
      TEST_ASSERT_EQUAL_INT(mcpwm_get_duty(unit, timer, MCPWM_OPR_B), INITIAL_DUTY * 2);
      vTaskDelay(1000 / portTICK_RATE_MS);  // stay this status for a while so that can view its waveform by logic anylyzer
  
      mcpwm_set_duty(unit, timer, MCPWM_OPR_A, 55.5f);
      mcpwm_set_duty_type(unit, timer, MCPWM_OPR_A, MCPWM_DUTY_MODE_0);
      printf("mcpwm check = %f\n", mcpwm_get_duty(unit, timer, MCPWM_OPR_A));
  
      mcpwm_set_duty_in_us(unit, timer, MCPWM_OPR_B, 500);
      printf("mcpwm check = %f\n", mcpwm_get_duty(unit, timer, MCPWM_OPR_B));
      vTaskDelay(1000 / portTICK_RATE_MS);  // stay this status for a while so that can view its waveform by logic anylyzer
  }
  
  // test the start and stop function work or not
  static void start_stop_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer)
  {
      mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
      judge_count_value(2, 1000);
      TEST_ESP_OK(mcpwm_stop(unit, timer));
      vTaskDelay(10 / portTICK_RATE_MS); // wait for a while, stop totally
      judge_count_value(0, 0);
      TEST_ESP_OK(mcpwm_start(unit, timer));
      vTaskDelay(10 / portTICK_RATE_MS); // wait for a while, start totally
      judge_count_value(2, 1000);
  }
  
  // test the deadtime
  static void deadtime_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer)
  {
      mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
      mcpwm_deadtime_type_t deadtime_type[8] = {MCPWM_BYPASS_RED, MCPWM_BYPASS_FED, MCPWM_ACTIVE_HIGH_MODE,
              MCPWM_ACTIVE_LOW_MODE, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, MCPWM_ACTIVE_LOW_COMPLIMENT_MODE,
              MCPWM_ACTIVE_RED_FED_FROM_PWMXA, MCPWM_ACTIVE_RED_FED_FROM_PWMXB};
  
      for(int i=0; i<8; i++) {
          mcpwm_deadtime_enable(unit, timer, deadtime_type[i], 1000, 1000);
          vTaskDelay(1000 / portTICK_RATE_MS);
          mcpwm_deadtime_disable(unit, timer);
      }
  }
  
  /**
   * there are two kind of methods to set the carrier:
   * 1. by mcpwm_carrier_init
   * 2. by different single setting function
   */
  static void carrier_with_set_function_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
          mcpwm_carrier_out_ivt_t invert_or_not, uint8_t period, uint8_t duty, uint8_t os_width)
  {
      // no inversion and no one shot
      mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
      TEST_ESP_OK(mcpwm_carrier_enable(unit, timer));
      TEST_ESP_OK(mcpwm_carrier_set_period(unit, timer, period)); //carrier revolution
      TEST_ESP_OK(mcpwm_carrier_set_duty_cycle(unit, timer, duty)); // carrier duty
      judge_count_value(500, 50000/5.6);
  
      // with invert
      TEST_ESP_OK(mcpwm_carrier_output_invert(unit, timer, invert_or_not));
      vTaskDelay(2000 / portTICK_RATE_MS);
  }
  
  static void carrier_with_configuration_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
          mcpwm_carrier_os_t oneshot_or_not, mcpwm_carrier_out_ivt_t invert_or_not, uint8_t period, uint8_t duty, uint8_t os_width)
  {
      mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
  
      mcpwm_carrier_config_t chop_config;
      chop_config.carrier_period = period;         //carrier period = (period + 1)*800ns
      chop_config.carrier_duty = duty;           // carrier duty cycle, carrier_duty should be less then 8(increment every 12.5%).  carrier duty = (3)*12.5%
      chop_config.carrier_os_mode = oneshot_or_not; //If one shot mode is enabled then set pulse width, if disabled no need to set pulse width
      chop_config.pulse_width_in_os = os_width;      //pulse width of first pulse in one shot mode = (carrier period)*(pulse_width_in_os + 1), should be less then 16.first pulse width = (3 + 1)*carrier_period
      chop_config.carrier_ivt_mode = invert_or_not; //output signal inversion enable
      mcpwm_carrier_init(unit, timer, &chop_config);
  
      if(!oneshot_or_not) {
          // the pwm frequency is 1000
          // the carrrier duration in one second is 500ms
          // the carrier wave count is: 500ms/carrier_period = 500ms/(period + 1)*800ns
          //                                                 = 62500/(period + 1)
          judge_count_value(500, 62500/(period + 1));
      } else {
          judge_count_value(500, 40000/((period + 1)));  // (500-500*0.125*3)/((period + 1)*800)
      }
  
      TEST_ESP_OK(mcpwm_carrier_disable(unit, timer));
      judge_count_value(2, 1000);
  }
  
  static void get_action_level(mcpwm_fault_input_level_t input_sig, mcpwm_action_on_pwmxa_t action_a, mcpwm_action_on_pwmxb_t action_b, int freq, int allow_err)
  {
      if(action_a == MCPWM_NO_CHANGE_IN_MCPWMXA) {
          TEST_ASSERT_INT16_WITHIN(allow_err, pcnt_count(GPIO_PWMA_PCNT_INPUT, PCNT_CTRL_FLOATING_IO1, 1000), freq);
      } else if(action_a == MCPWM_FORCE_MCPWMXA_LOW) {
          TEST_ASSERT(gpio_get_level(GPIO_PWMA_PCNT_INPUT) == 0);
      } else if(action_a == MCPWM_FORCE_MCPWMXA_HIGH) {
          TEST_ASSERT(gpio_get_level(GPIO_PWMA_PCNT_INPUT) == 1);
      }else {
          int level =  gpio_get_level(GPIO_PWMA_PCNT_INPUT);
          vTaskDelay(100 / portTICK_RATE_MS);
          TEST_ASSERT(gpio_get_level(GPIO_PWMA_PCNT_INPUT) == level);
      }
  
      if(action_b == MCPWM_NO_CHANGE_IN_MCPWMXB) {
          TEST_ASSERT_INT16_WITHIN(allow_err, pcnt_count(GPIO_PWMB_PCNT_INPUT, PCNT_CTRL_FLOATING_IO1, 1000), freq);
      } else if(action_b == MCPWM_FORCE_MCPWMXB_LOW) {
          TEST_ASSERT(gpio_get_level(GPIO_PWMB_PCNT_INPUT) == 0);
      } else if(action_b == MCPWM_FORCE_MCPWMXB_HIGH) {
          TEST_ASSERT(gpio_get_level(GPIO_PWMB_PCNT_INPUT) == 1);
      }else {
          int level =  gpio_get_level(GPIO_PWMB_PCNT_INPUT);
          vTaskDelay(100 / portTICK_RATE_MS);
          TEST_ASSERT(gpio_get_level(GPIO_PWMB_PCNT_INPUT) == level);
      }
  }
  
  // test the fault event
  static void cycle_fault_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
          mcpwm_fault_signal_t fault_sig, mcpwm_fault_input_level_t input_sig, mcpwm_io_signals_t fault_io,
          mcpwm_action_on_pwmxa_t action_a, mcpwm_action_on_pwmxb_t action_b)
  {
      gpio_config_t gp;
      gp.intr_type = GPIO_INTR_DISABLE;
      gp.mode = GPIO_MODE_OUTPUT;
      gp.pin_bit_mask = (1 << FAULT_SIG_NUM);
      gpio_config(&gp); // gpio configure should be more previous than mcpwm configuration
      gpio_set_level(FAULT_SIG_NUM, !input_sig);
  
      pcnt_init(GPIO_PWMA_PCNT_INPUT, PCNT_CTRL_FLOATING_IO1);
      pcnt_init(GPIO_PWMB_PCNT_INPUT, PCNT_CTRL_FLOATING_IO2);
  
      mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
      mcpwm_gpio_init(unit, fault_io, GPIO_FAULT_IN);
  
      // cycle mode, it can be triggered more than once
      printf("cyc test:\n");
      gpio_set_level(FAULT_SIG_NUM, !input_sig);
      TEST_ESP_OK(mcpwm_fault_init(unit, input_sig, fault_sig));
      TEST_ESP_OK(mcpwm_fault_set_cyc_mode(unit, timer, fault_sig, action_a, action_b));
      vTaskDelay(1000 / portTICK_RATE_MS);
      gpio_set_level(FAULT_SIG_NUM, input_sig); // trigger the fault event
      vTaskDelay(1000 / portTICK_RATE_MS);
      get_action_level(input_sig, action_a, action_b, 1000, 5);
      TEST_ESP_OK(mcpwm_fault_deinit(unit, fault_sig));
  }
  
  static void oneshot_fault_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
          mcpwm_fault_signal_t fault_sig, mcpwm_fault_input_level_t input_sig, mcpwm_io_signals_t fault_io,
          mcpwm_action_on_pwmxa_t action_a, mcpwm_action_on_pwmxb_t action_b)
  {
      gpio_config_t gp;
      gp.intr_type = GPIO_INTR_DISABLE;
      gp.mode = GPIO_MODE_OUTPUT;
      gp.pin_bit_mask = (1 << FAULT_SIG_NUM);
      gpio_config(&gp); // gpio configure should be more previous than mcpwm configuration
      gpio_set_level(FAULT_SIG_NUM, !input_sig);
  
      pcnt_init(GPIO_PWMA_PCNT_INPUT, PCNT_CTRL_FLOATING_IO1);
      pcnt_init(GPIO_PWMB_PCNT_INPUT, PCNT_CTRL_FLOATING_IO2);
  
      mcpwm_basic_config(unit, mcpwm_a, mcpwm_b, timer);
      mcpwm_gpio_init(unit, fault_io, GPIO_FAULT_IN);
  
      // one shot mode, it just can be triggered once
      TEST_ESP_OK(mcpwm_fault_init(unit, input_sig, fault_sig));
      TEST_ESP_OK(mcpwm_fault_set_oneshot_mode(unit, timer, fault_sig, action_a, action_b));
      vTaskDelay(1000 / portTICK_RATE_MS);
      // trigger it
      gpio_set_level(FAULT_SIG_NUM, input_sig);
      vTaskDelay(1000 / portTICK_RATE_MS);
      get_action_level(input_sig, action_a, action_b, 1000, 5);
      TEST_ESP_OK(mcpwm_fault_deinit(unit, fault_sig));
  }
  
  // test the sync event
  static void sync_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_timer_t timer,
          mcpwm_sync_signal_t sync_sig, mcpwm_io_signals_t sync_io)
  {
      gpio_config_t gp;
      gp.intr_type = GPIO_INTR_DISABLE;
      gp.mode = GPIO_MODE_OUTPUT;
      gp.pin_bit_mask = (1 << SYN_SIG_NUM);
      gpio_config(&gp);
      gpio_set_level(SYN_SIG_NUM, 0);
  
      mcpwm_gpio_init(unit, mcpwm_a, GPIO_PWMA_OUT);
      mcpwm_gpio_init(unit, mcpwm_b, GPIO_PWMB_OUT);
      mcpwm_gpio_init(unit, sync_io, GPIO_SYNC_IN);
      mcpwm_config_t pwm_config = {
          .frequency = 1000,
          .cmpr_a = 50.0,  //duty cycle of PWMxA = 50.0%
          .cmpr_b = 50.0,  //duty cycle of PWMxb = 50.0%
          .counter_mode = MCPWM_UP_COUNTER,
          .duty_mode = MCPWM_DUTY_MODE_0,
      };
      mcpwm_init(unit, timer, &pwm_config);
      gpio_pulldown_en(GPIO_SYNC_IN);
  
      mcpwm_sync_enable(unit, timer, sync_sig, 200);
      gpio_set_level(SYN_SIG_NUM, 1);
      vTaskDelay(2000 / portTICK_RATE_MS);
      mcpwm_sync_disable(unit, timer);
      vTaskDelay(2000 / portTICK_RATE_MS);
  }
  
  /**
   * use interruption to test the capture event
   * there are two kinds of methods to trigger the capture event:
   * 1. high level trigger
   * 2. low level trigger
   */
  static volatile int flag = 0;
  
  // once capture event happens, will show it
  static void disp_captured_signal(void *arg)
  {
  
      uint32_t *current_cap_value = (uint32_t *)malloc(sizeof(uint32_t) * CAP_SIG_NUM);
      uint32_t *previous_cap_value = (uint32_t *)malloc(sizeof(uint32_t) * CAP_SIG_NUM);
      capture evt;
      for (int i=0; i<1000; i++) {
          xQueueReceive(cap_queue, &evt, portMAX_DELAY);
          if (evt.sel_cap_signal == MCPWM_SELECT_CAP0) {
              current_cap_value[0] = evt.capture_signal - previous_cap_value[0];
              previous_cap_value[0] = evt.capture_signal;
              current_cap_value[0] = (current_cap_value[0] / 10000) * (10000000000 / rtc_clk_apb_freq_get());
              printf("CAP0 : %d us\n", current_cap_value[0]);
              cap0_times++;
          }
          if (evt.sel_cap_signal == MCPWM_SELECT_CAP1) {
              current_cap_value[1] = evt.capture_signal - previous_cap_value[1];
              previous_cap_value[1] = evt.capture_signal;
              current_cap_value[1] = (current_cap_value[1] / 10000) * (10000000000 / rtc_clk_apb_freq_get());
              printf("CAP1 : %d us\n", current_cap_value[1]);
              cap1_times++;
          }
          if (evt.sel_cap_signal == MCPWM_SELECT_CAP2) {
              current_cap_value[2] = evt.capture_signal -  previous_cap_value[2];
              previous_cap_value[2] = evt.capture_signal;
              current_cap_value[2] = (current_cap_value[2] / 10000) * (10000000000 / rtc_clk_apb_freq_get());
              printf("CAP2 : %d us\n", current_cap_value[2]);
              cap2_times++;
          }
      }
      free(current_cap_value);
      free(previous_cap_value);
      vTaskDelete(NULL);
  }
  
  // mcpwm event
  static void IRAM_ATTR isr_handler(void *arg)
  {
  	mcpwm_unit_t unit = (mcpwm_unit_t)arg;
      uint32_t mcpwm_intr_status;
      capture evt;
      mcpwm_intr_status = MCPWM[unit]->int_st.val; //Read interrupt status
      if (mcpwm_intr_status & CAP0_INT_EN) { //Check for interrupt on rising edge on CAP0 signal
          evt.capture_signal = mcpwm_capture_signal_get_value(unit, MCPWM_SELECT_CAP0); //get capture signal counter value
          evt.sel_cap_signal = MCPWM_SELECT_CAP0;
          xQueueSendFromISR(cap_queue, &evt, NULL);
      }
      if (mcpwm_intr_status & CAP1_INT_EN) { //Check for interrupt on rising edge on CAP0 signal
          evt.capture_signal = mcpwm_capture_signal_get_value(unit, MCPWM_SELECT_CAP1); //get capture signal counter value
          evt.sel_cap_signal = MCPWM_SELECT_CAP1;
          xQueueSendFromISR(cap_queue, &evt, NULL);
      }
      if (mcpwm_intr_status & CAP2_INT_EN) { //Check for interrupt on rising edge on CAP0 signal
          evt.capture_signal = mcpwm_capture_signal_get_value(unit, MCPWM_SELECT_CAP2); //get capture signal counter value
          evt.sel_cap_signal = MCPWM_SELECT_CAP2;
          xQueueSendFromISR(cap_queue, &evt, NULL);
      }
      MCPWM[unit]->int_clr.val = mcpwm_intr_status;
  }
  
  // the produce the capture triggering signal to trigger the capture event
  static void gpio_test_signal(void *arg)
  {
  
      printf("intializing test signal...\n");
      gpio_config_t gp;
      gp.intr_type = GPIO_INTR_DISABLE;
      gp.mode = GPIO_MODE_OUTPUT;
      gp.pin_bit_mask = 1<<CAP_SIG_NUM;
      gpio_config(&gp);
      for (int i=0; i<1000; i++) {
          //here the period of test signal is 20ms
          gpio_set_level(CAP_SIG_NUM, 1); //Set high
          vTaskDelay(10);             //delay of 10ms
          gpio_set_level(CAP_SIG_NUM, 0); //Set low
          vTaskDelay(10);         //delay of 10ms
      }
      flag = 1;
      vTaskDelete(NULL);
  }
  
  // capture event test function
  static void capture_test(mcpwm_unit_t unit, mcpwm_io_signals_t mcpwm_a, mcpwm_io_signals_t mcpwm_b, mcpwm_io_signals_t cap_io, mcpwm_timer_t timer,
          mcpwm_capture_signal_t cap_sig, mcpwm_capture_on_edge_t cap_edge)
  {
  	// initialize the capture times
      cap0_times = 0;
      cap1_times = 0;
      cap2_times = 0;
  
      mcpwm_gpio_init(unit, cap_io, GPIO_CAP_IN);
  
      cap_queue = xQueueCreate(1, sizeof(capture));
      xTaskCreate(disp_captured_signal, "mcpwm_config", 4096, (void *)unit, 5, NULL);
      xTaskCreate(gpio_test_signal, "gpio_test_signal", 4096, NULL, 5, NULL);
      mcpwm_capture_enable(unit, cap_sig, cap_edge, 0);
      MCPWM[unit]->int_ena.val = CAP0_INT_EN | CAP1_INT_EN | CAP2_INT_EN;  //Enable interrupt on  CAP0, CAP1 and CAP2 signal
      mcpwm_isr_register(unit, isr_handler, (void *)unit, ESP_INTR_FLAG_IRAM, NULL);
  
      while(flag != 1) {
          vTaskDelay(10 / portTICK_RATE_MS);
      }
      if(cap_sig == MCPWM_SELECT_CAP0) {
      	TEST_ASSERT(1000 == cap0_times);
      } else if(cap_sig == MCPWM_SELECT_CAP1) {
      	TEST_ASSERT(1000 == cap1_times);
      }else {
      	TEST_ASSERT(1000 == cap2_times);
      }
      flag = 0; // set flag to 0 that it can be used in other case
      mcpwm_capture_disable(unit, cap_sig);
  }
  
  /**
   *  duty test:
   *  1. mcpwm_set_duty
   *  2. mcpwm_get_duty
   *
   *  This case's phenomenon should be viewed by logic analyzer
   *  so set it ignore
   */
  TEST_CASE("MCPWM timer0 duty test and each timer works or not test(logic analyzer)", "[mcpwm][ignore]")
  {
      timer_duty_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
      timer_duty_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
  }
  
  TEST_CASE("MCPWM timer1 duty test and each timer works or not test(logic analyzer)", "[mcpwm][ignore]")
  {
      timer_duty_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
      timer_duty_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
  }
  TEST_CASE("MCPWM timer2 duty test and each timer works or not test(logic analyzer)", "[mcpwm][ignore]")
  {
      timer_duty_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
      timer_duty_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
  }
  
  // the deadtime configuration test
  // use the logic analyzer to make sure it goes right
  TEST_CASE("MCPWM timer0 deadtime configuration(logic analyzer)", "[mcpwm][ignore]")
  {
      deadtime_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
      deadtime_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
  }
  
  TEST_CASE("MCPWM timer1 deadtime configuration(logic analyzer)", "[mcpwm][ignore]")
  {
      deadtime_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
      deadtime_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
  }
  
  TEST_CASE("MCPWM timer2 deadtime configuration(logic analyzer)", "[mcpwm][ignore]")
  {
      deadtime_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
      deadtime_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
  }
  
  TEST_CASE("MCPWM timer0 start and stop test", "[mcpwm][test_env=UT_T1_MCPWM]")
  {
      start_stop_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
      start_stop_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0);
  }
  
  // mcpwm start and stop test
  TEST_CASE("MCPWM timer1 start and stop test", "[mcpwm][test_env=UT_T1_MCPWM]")
  {
      start_stop_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
      start_stop_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1);
  }
  
  TEST_CASE("MCPWM timer2 start and stop test", "[mcpwm][test_env=UT_T1_MCPWM]")
  {
      start_stop_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
      start_stop_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2);
  }
  
  TEST_CASE("MCPWM timer0 carrier test with set function", "[mcpwm][test_env=UT_T1_MCPWM]")
  {
      carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
              MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
      carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
              MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
      carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
              MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
              carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
              MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
  }
  
  TEST_CASE("MCPWM timer1 carrier test with set function", "[mcpwm][test_env=UT_T1_MCPWM]")
  {
      carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
              MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
      carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
              MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
      carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
              MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
      carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
              MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
  }
  
  TEST_CASE("MCPWM timer2 carrier test with set function", "[mcpwm][test_env=UT_T1_MCPWM]")
  {
      carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
              MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
      carrier_with_set_function_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
              MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
      carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
              MCPWM_CARRIER_OUT_IVT_DIS, 6, 3, 3);
      carrier_with_set_function_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
              MCPWM_CARRIER_OUT_IVT_EN, 6, 3, 3);
  }
  
  TEST_CASE("MCPWM timer0 carrier test with configuration function", "[mcpwm][test_env=UT_T1_MCPWM][timeout=120]")
  {
      mcpwm_carrier_os_t oneshot[2] = {MCPWM_ONESHOT_MODE_DIS, MCPWM_ONESHOT_MODE_EN};
      mcpwm_carrier_out_ivt_t invert[2] = {MCPWM_CARRIER_OUT_IVT_DIS, MCPWM_CARRIER_OUT_IVT_EN};
      for(int i=0; i<2; i++){
          for(int j=0; j<2; j++) {
              printf("i=%d, j=%d\n", i, j);
              carrier_with_configuration_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
                      oneshot[i], invert[j], 6, 3, 3);
              carrier_with_configuration_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
                      oneshot[i], invert[j], 6, 3, 3);
          }
      }
  }
  
  TEST_CASE("MCPWM timer1 carrier test with configuration function", "[mcpwm][test_env=UT_T1_MCPWM][timeout=120]")
  {
      mcpwm_carrier_os_t oneshot[2] = {MCPWM_ONESHOT_MODE_DIS, MCPWM_ONESHOT_MODE_EN};
      mcpwm_carrier_out_ivt_t invert[2] = {MCPWM_CARRIER_OUT_IVT_DIS, MCPWM_CARRIER_OUT_IVT_EN};
      for(int i=0; i<2; i++){
          for(int j=0; j<2; j++) {
              carrier_with_configuration_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
                      oneshot[i], invert[j], 6, 3, 3);
              carrier_with_configuration_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
                      oneshot[i], invert[j], 6, 3, 3);
          }
      }
  }
  
  TEST_CASE("MCPWM timer2 carrier test with configuration function", "[mcpwm][test_env=UT_T1_MCPWM][timeout=120]")
  {
      mcpwm_carrier_os_t oneshot[2] = {MCPWM_ONESHOT_MODE_DIS, MCPWM_ONESHOT_MODE_EN};
      mcpwm_carrier_out_ivt_t invert[2] = {MCPWM_CARRIER_OUT_IVT_DIS, MCPWM_CARRIER_OUT_IVT_EN};
      for(int i=0; i<2; i++){
          for(int j=0; j<2; j++) {
              carrier_with_configuration_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
                      oneshot[i], invert[j], 6, 3, 3);
              carrier_with_configuration_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
                      oneshot[i], invert[j], 6, 3, 3);
          }
      }
  }
  
  /**
   * Fault event:
   * Just support high level triggering
   * There are two types fault event:
   * 1. one-shot: it just can be triggered once, its effect is forever and it will never be changed although the fault signal change
   * 2. cycle: it can be triggered more than once, it will changed just as the fault signal changes. If set it triggered by high level,
   *           when the fault signal is high level, the event will be triggered. But the event will disappear as the fault signal disappears
   */
  
  TEST_CASE("MCPWM timer0 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180]")
  {
      // API just supports the high level trigger now, so comment it
  //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
      mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
      mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
  
      for(int i=0; i<4; i++){
          for(int j=0; j<4; j++) {
              printf("i=%d, j=%d\n",i, j);
              cycle_fault_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
                      MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
                      action_a[i], action_b[j]);
              cycle_fault_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
                      MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
                      action_a[i], action_b[j]);
          }
      }
  }
  
  TEST_CASE("MCPWM timer1 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180]")
  {
      // API just supports the high level trigger now, so comment it
  //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
      mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
      mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
  
      for(int i=0; i<4; i++){
          for(int j=0; j<4; j++) {
          	cycle_fault_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
                      MCPWM_SELECT_F1, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_1,
                      action_a[i], action_b[j]);
          	cycle_fault_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
                      MCPWM_SELECT_F1, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_1,
                      action_a[i], action_b[j]);
          }
      }
  }
  
  TEST_CASE("MCPWM timer2 cycle fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=180][ignore]")
  {
  //    API just supports the high level trigger now, so comment it
  //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
      mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
      mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
  
      for(int i=0; i<4; i++){
          for(int j=0; j<4; j++) {
          	cycle_fault_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
                      MCPWM_SELECT_F2, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_2,
                      action_a[i], action_b[j]);
          	cycle_fault_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
                      MCPWM_SELECT_F2, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_2,
                      action_a[i], action_b[j]);
          }
      }
  }
  
  // to debug the "mcpwm_fault_deinit" case. The "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_HIGH" scenario can work right
  // however, the mcpwm_fault_deinit can not release the status after "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_LOW" scenario
  TEST_CASE("MCPWM timer0 one shot fault test single", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
  {
      // API just supports the high level trigger now, so comment it
  //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
      mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
      mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
  
      oneshot_fault_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
      		MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
  			action_a[0], action_b[2]);
  }
  
  // the mcpwm_fault_deinit can not release the status after "MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXB_LOW" scenario
  // set it ignore
  // same as the case "MCPWM timer1 one shot fault test" and case "MCPWM timer2 one shot fault test"
  TEST_CASE("MCPWM timer0 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
  {
      // API just supports the high level trigger now, so comment it
  //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
      mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
      mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
  
      for(int i=0; i<4; i++){
          for(int j=0; j<4; j++) {
              printf("i=%d, j=%d\n",i, j);
              oneshot_fault_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
                      MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
                      action_a[i], action_b[j]);
              oneshot_fault_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0,
                      MCPWM_SELECT_F0, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_0,
                      action_a[i], action_b[j]);
          }
      }
  }
  
  TEST_CASE("MCPWM timer1 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
  {
      // API just supports the high level trigger now, so comment it
  //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
      mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
      mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
  
      for(int i=0; i<4; i++){
          for(int j=0; j<4; j++) {
          	oneshot_fault_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
                      MCPWM_SELECT_F1, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_1,
                      action_a[i], action_b[j]);
          	oneshot_fault_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1,
                      MCPWM_SELECT_F1, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_1,
                      action_a[i], action_b[j]);
          }
      }
  }
  
  TEST_CASE("MCPWM timer2 one shot fault test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60][ignore]")
  {
  //    API just supports the high level trigger now, so comment it
  //    mcpwm_fault_input_level_t fault_input[2] = {MCPWM_LOW_LEVEL_TGR, MCPWM_HIGH_LEVEL_TGR};
      mcpwm_action_on_pwmxa_t action_a[4] = {MCPWM_NO_CHANGE_IN_MCPWMXA, MCPWM_FORCE_MCPWMXA_LOW, MCPWM_FORCE_MCPWMXA_HIGH, MCPWM_TOG_MCPWMXA};
      mcpwm_action_on_pwmxb_t action_b[4] = {MCPWM_NO_CHANGE_IN_MCPWMXB, MCPWM_FORCE_MCPWMXB_LOW, MCPWM_FORCE_MCPWMXB_HIGH, MCPWM_TOG_MCPWMXB};
  
      for(int i=0; i<4; i++){
          for(int j=0; j<4; j++) {
          	oneshot_fault_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
                      MCPWM_SELECT_F2, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_2,
                      action_a[i], action_b[j]);
          	oneshot_fault_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2,
                      MCPWM_SELECT_F2, MCPWM_HIGH_LEVEL_TGR, MCPWM_FAULT_2,
                      action_a[i], action_b[j]);
          }
      }
  }
  
  // need to view its phenomenon in logic analyzer
  // set it ignore
  TEST_CASE("MCPWM timer0 sync test(logic analyzer)", "[mcpwm][ignore]")
  {
      sync_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, MCPWM_SELECT_SYNC0, MCPWM_SYNC_0);
      TEST_ESP_OK(mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_0)); // make sure can view the next sync signal clearly
      vTaskDelay(1000 / portTICK_RATE_MS);
      TEST_ESP_OK(mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_0));
      sync_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, MCPWM_SELECT_SYNC0, MCPWM_SYNC_0);
  }
  
  // need to view its phenomenon in logic analyzer
  // set it ignore
  TEST_CASE("MCPWM timer1 sync test(logic analyzer)", "[mcpwm][ignore]")
  {
      sync_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_TIMER_1, MCPWM_SELECT_SYNC1, MCPWM_SYNC_1);
      TEST_ESP_OK(mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_1)); // make sure can view the next sync signal clearly
      vTaskDelay(1000 / portTICK_RATE_MS);
      TEST_ESP_OK(mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_1));
      sync_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1, MCPWM_SELECT_SYNC1, MCPWM_SYNC_1);
  }
  
  // need to view its phenomenon in logic analyzer
  // set it ignore
  TEST_CASE("MCPWM timer2 sync test(logic analyzer)", "[mcpwm][ignore]")
  {
      sync_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_TIMER_2, MCPWM_SELECT_SYNC2, MCPWM_SYNC_2);
      TEST_ESP_OK(mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_2)); // make sure can view the next sync signal clearly
      vTaskDelay(1000 / portTICK_RATE_MS);
      TEST_ESP_OK(mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_2));
      sync_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_TIMER_2, MCPWM_SELECT_SYNC2, MCPWM_SYNC_2);
  }
  
  TEST_CASE("MCPWM unit0, timer0 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
  {
      capture_test(MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_CAP_0, MCPWM_TIMER_0, MCPWM_SELECT_CAP0, MCPWM_POS_EDGE);
  }
  
  TEST_CASE("MCPWM uni0, timer1 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
  {
      capture_test(MCPWM_UNIT_0, MCPWM1A, MCPWM1B, MCPWM_CAP_1, MCPWM_TIMER_1, MCPWM_SELECT_CAP1, MCPWM_POS_EDGE);
  }
  
  TEST_CASE("MCPWM unit0, timer2 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
  {
  
      capture_test(MCPWM_UNIT_0, MCPWM2A, MCPWM2B, MCPWM_CAP_2, MCPWM_TIMER_2, MCPWM_SELECT_CAP2, MCPWM_POS_EDGE);
  }
  
  TEST_CASE("MCPWM unit1, timer0 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
  {
      capture_test(MCPWM_UNIT_1, MCPWM0A, MCPWM0B, MCPWM_CAP_0, MCPWM_TIMER_0, MCPWM_SELECT_CAP0, MCPWM_NEG_EDGE);
  }
  
  TEST_CASE("MCPWM unit1, timer1 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
  {
      capture_test(MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_CAP_1, MCPWM_TIMER_1, MCPWM_SELECT_CAP1, MCPWM_POS_EDGE);
  }
  
  TEST_CASE("MCPWM unit1, timer2 capture test", "[mcpwm][test_env=UT_T1_MCPWM][timeout=60]")
  {
      capture_test(MCPWM_UNIT_1, MCPWM2A, MCPWM2B, MCPWM_CAP_2, MCPWM_TIMER_2, MCPWM_SELECT_CAP2, MCPWM_POS_EDGE);
  }
  
  