ardupilot/libraries/AP_HAL_ESP32/RCOutput.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Charles "Silvanosky" Villard and David "Buzz" Bussenschutt
*
*/
#pragma once
#include <AP_HAL/RCOutput.h>
#include "HAL_ESP32_Namespace.h"
#include "driver/mcpwm.h"
#define HAL_PARAM_DEFAULTS_PATH nullptr
#include <AP_HAL/Util.h>
namespace ESP32
{
class RCOutput : public AP_HAL::RCOutput
{
public:
RCOutput() {};
~RCOutput() {};
static RCOutput *from(AP_HAL::RCOutput *rcoutput)
{
return static_cast<RCOutput *>(rcoutput);
}
void init() override;
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
uint16_t get_freq(uint8_t chan) override;
void enable_ch(uint8_t chan) override;
void disable_ch(uint8_t chan) override;
void write(uint8_t chan, uint16_t period_us) override;
uint16_t read(uint8_t ch) override;
void read(uint16_t* period_us, uint8_t len) override;
void cork() override;
void push() override;
void set_default_rate(uint16_t rate_hz) override;
/*
force the safety switch on, disabling PWM output from the IO board
*/
bool force_safety_on() override;
/*
force the safety switch off, enabling PWM output from the IO board
*/
void force_safety_off() override;
/*
set PWM to send to a set of channels when the safety switch is
in the safe state
*/
void set_safety_pwm(uint32_t chmask, uint16_t period_us) ;
/*
get safety switch state, used by Util.cpp
*/
AP_HAL::Util::safety_state _safety_switch_state();
/*
set PWM to send to a set of channels if the FMU firmware dies
*/
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override;
/*
set safety mask for IOMCU
*/
void set_safety_mask(uint32_t mask)
{
safety_mask = mask;
}
void timer_tick() override;
private:
struct pwm_out {
int gpio_num;
mcpwm_unit_t unit_num;
mcpwm_timer_t timer_num;
mcpwm_io_signals_t io_signal;
mcpwm_operator_t op;
uint8_t chan;
};
void write_int(uint8_t chan, uint16_t period_us);
static pwm_out pwm_group_list[];
bool _corked;
uint16_t _pending[12]; //Max channel with 2 unit MCPWM
uint32_t _pending_mask;
uint16_t safe_pwm[16]; // pwm to use when safety is on
uint16_t _max_channels;
// safety switch state
AP_HAL::Util::safety_state safety_state;
uint32_t safety_update_ms;
uint8_t led_counter;
int8_t safety_button_counter;
uint8_t safety_press_count; // 0.1s units
// mask of channels to allow when safety on
uint32_t safety_mask;
// update safety switch and LED
void safety_update(void);
bool _initialized;
};
}