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139 lines
3.3 KiB
139 lines
3.3 KiB
/* |
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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 and David "Buzz" Bussenschutt |
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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 "driver/mcpwm.h" |
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#define HAL_PARAM_DEFAULTS_PATH nullptr |
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#include <AP_HAL/Util.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 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(uint16_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_out { |
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int gpio_num; |
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mcpwm_unit_t unit_num; |
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mcpwm_timer_t timer_num; |
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mcpwm_io_signals_t io_signal; |
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mcpwm_operator_t op; |
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uint8_t chan; |
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}; |
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void write_int(uint8_t chan, uint16_t period_us); |
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static pwm_out pwm_group_list[]; |
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bool _corked; |
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uint16_t _pending[12]; //Max channel with 2 unit MCPWM |
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uint32_t _pending_mask; |
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uint16_t safe_pwm[16]; // pwm to use when safety is on |
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uint16_t _max_channels; |
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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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uint16_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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