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AP_HAL_ESP32: RCOutput: fix channel enable/disable

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Enabling/disabling the timer would apply the setting to whole groups of
channels. Fix to poke the comparator so that the setting only applies to
the particular channel.

Conveniently, though not necessarily intentionally, this avoids
truncating the output pulse and causing unexpected reactions from
servos. This also preserves the old behavior.
This commit is contained in:
Thomas Watson 2024-12-08 15:13:20 -06:00 committed by Andy Piper
parent 13f9ad8f8c
commit f6e01dbee9
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_HAL_ESP32/RCOutput.cpp
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@ -188,7 +188,9 @@ void RCOutput::enable_ch(uint8_t chan)
}
pwm_out &out = pwm_group_list[chan];
ESP_ERROR_CHECK(mcpwm_timer_start_stop(out.h_timer, MCPWM_TIMER_START_NO_STOP));
// set output to high when timer == 0 like normal
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(out.h_gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
}
void RCOutput::disable_ch(uint8_t chan)
@ -199,7 +201,10 @@ void RCOutput::disable_ch(uint8_t chan)
write(chan, 0);
pwm_out &out = pwm_group_list[chan];
ESP_ERROR_CHECK(mcpwm_timer_start_stop(out.h_timer, MCPWM_TIMER_STOP_EMPTY));
// set output to low when timer == 0, so the output is always low (after
// this cycle). conveniently avoids pulse truncation
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(out.h_gen,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
}
void RCOutput::write(uint8_t chan, uint16_t period_us)