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AP_HAL_ESP32: support for Safety Switch

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modified RCOutout.cpp to read specified pin for safety switch and light
the LED on another specified pin
This commit is contained in:
radityankn 2023-07-30 04:00:26 +07:00 committed by Andrew Tridgell
parent 1c9a44c33e
commit 119f822583
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_HAL_ESP32/RCOutput.cpp
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@ -312,9 +312,9 @@ void RCOutput::safety_update(void)
}
#ifdef HAL_GPIO_PIN_SAFETY_IN
//TODO replace palReadLine
// handle safety button
bool safety_pressed = palReadLine(HAL_GPIO_PIN_SAFETY_IN);
gpio_set_direction((gpio_num_t)HAL_GPIO_PIN_SAFETY_IN, GPIO_MODE_INPUT);
gpio_set_pull_mode((gpio_num_t)HAL_GPIO_PIN_SAFETY_IN, GPIO_PULLDOWN_ONLY);
bool safety_pressed = gpio_get_level((gpio_num_t)HAL_GPIO_PIN_SAFETY_IN);
if (safety_pressed) {
AP_BoardConfig *brdconfig = AP_BoardConfig::get_singleton();
if (safety_press_count < 255) {
@ -335,10 +335,10 @@ void RCOutput::safety_update(void)
#ifdef HAL_GPIO_PIN_LED_SAFETY
led_counter = (led_counter+1) % 16;
const uint16_t led_pattern = safety_state==AP_HAL::Util::SAFETY_DISARMED?0x5500:0xFFFF;
palWriteLine(HAL_GPIO_PIN_LED_SAFETY, (led_pattern & (1U << led_counter))?0:1);
//TODO replace palReadwrite
gpio_set_level((gpio_num_t)HAL_GPIO_PIN_LED_SAFETY, (led_pattern & (1U << led_counter))?0:1);
#endif
}
}
/*
set PWM to send to a set of channels if the FMU firmware dies