mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
f62f1cdeab
Also adds some infrastructure for changing PWM group mode, though this is likely the complete set that can be supported with the ESP32 PWM peripheral.
160 lines
4.0 KiB
C++
160 lines
4.0 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Charles "Silvanosky" Villard, David "Buzz" Bussenschutt,
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* Andrey "ARg" Romanov, and Thomas "tpw_rules" Watson'
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*
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*/
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#pragma once
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#include <AP_HAL/RCOutput.h>
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#include "HAL_ESP32_Namespace.h"
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#include <AP_HAL/Util.h>
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#include "driver/gpio.h"
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#include "driver/mcpwm_prelude.h"
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namespace ESP32
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{
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class RCOutput : public AP_HAL::RCOutput
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{
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public:
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RCOutput() {};
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~RCOutput() {};
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static RCOutput *from(AP_HAL::RCOutput *rcoutput)
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{
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return static_cast<RCOutput *>(rcoutput);
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}
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t chan) override;
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void enable_ch(uint8_t chan) override;
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void disable_ch(uint8_t chan) override;
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void write(uint8_t chan, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t* period_us, uint8_t len) override;
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void set_output_mode(uint32_t mask, const enum output_mode mode) override;
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void cork() override;
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void push() override;
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void set_default_rate(uint16_t rate_hz) override;
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/*
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force the safety switch on, disabling PWM output from the IO board
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*/
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bool force_safety_on() override;
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/*
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force the safety switch off, enabling PWM output from the IO board
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*/
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void force_safety_off() override;
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/*
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set PWM to send to a set of channels when the safety switch is
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in the safe state
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*/
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void set_safety_pwm(uint32_t chmask, uint16_t period_us) ;
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/*
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get safety switch state, used by Util.cpp
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*/
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AP_HAL::Util::safety_state _safety_switch_state();
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/*
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set PWM to send to a set of channels if the FMU firmware dies
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*/
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void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override;
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/*
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set safety mask for IOMCU
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*/
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void set_safety_mask(uint32_t mask)
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{
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safety_mask = mask;
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}
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void timer_tick() override;
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private:
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struct pwm_group {
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// SDK objects for the group
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uint8_t mcpwm_group_id;
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mcpwm_timer_handle_t h_timer;
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mcpwm_oper_handle_t h_oper;
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uint32_t rc_frequency; // frequency in Hz
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uint32_t ch_mask; // mask of channels in this group
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enum output_mode current_mode; // output mode (none, normal, brushed)
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};
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struct pwm_chan {
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// SDK objects for the channel
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mcpwm_cmpr_handle_t h_cmpr;
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mcpwm_gen_handle_t h_gen;
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pwm_group *group; // associated group
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uint8_t gpio_num; // associated GPIO number (always defined)
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int value; // output value in microseconds
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};
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uint32_t fast_channel_mask;
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uint32_t constrain_freq(pwm_group &group);
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void set_group_mode(pwm_group &group);
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void write_int(uint8_t chan, uint16_t period_us);
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static pwm_group pwm_group_list[];
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static pwm_chan pwm_chan_list[];
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bool _corked;
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uint32_t _pending_mask;
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uint16_t _pending[12];
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uint16_t safe_pwm[12]; // pwm to use when safety is on
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// safety switch state
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AP_HAL::Util::safety_state safety_state;
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uint32_t safety_update_ms;
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uint8_t led_counter;
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int8_t safety_button_counter;
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uint8_t safety_press_count; // 0.1s units
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// mask of channels to allow when safety on
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uint32_t safety_mask;
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// update safety switch and LED
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void safety_update(void);
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bool _initialized;
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};
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}
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