Espressif ESP32 Technical Reference Manual page 422

16 Motor Control PWM (PWM)
16.3.1.4 Fault Detection Submodule
Configuration parameters:
• Enable fault event generation and configure the polarity of fault event generation for every fault signal
• Generate fault event interrupts
16.3.1.5 Capture Submodule
Configuration parameters:
• Select the edge polarity and prescaling of the capture input.
• Set up a software-triggered capture.
• Configure the capture timer's sync trigger and sync phase.
• Software syncs the capture timer.
16.3.2 PWM Timer Submodule
Each MCPWM module has three PWM timer submodules. Any of them can determine the necessary event
timing for any of the three PWM operator submodules. Built-in synchronization logic allows multiple PWM timer
submodules, in one or more MCPWM modules, to work together as a system, when using synchronization
signals from the GPIO matrix.
16.3.2.1 Configurations of the PWM Timer Submodule
Users can configure the following functions of the PWM timer submodule:
• Control how often events occur by specifying the PWM timer frequency or period.
Espressif Systems
Figure 16-5. Fault Detection Submodule
Figure 16-6. Capture Submodule
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ESP32 TRM (Version 5.2)