Port to ESP32

main/rcsignal.c

@@ -0,0 +1,202 @@
+/**
+ * @file rcsignal.c
+ * @brief RC PWM signal reading implementation using edge capture
+ */
+
+#include "rcsignal.h"
+#include "driver/gpio.h"
+#include "esp_timer.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include <string.h>
+
+static const char *TAG = "RCSIGNAL";
+
+#define MAX_MODES 14
+#define PULSE_THRESHOLD_US 1500
+#define SIGNAL_TIMEOUT_MS 100
+
+static struct
+{
+    int8_t gpio_pin;
+    volatile uint32_t pulse_width_us;
+    volatile int64_t last_edge_time;
+    volatile int64_t pulse_start_time;
+    volatile bool last_level;
+    volatile bool signal_active;
+    volatile bool pull_detected;
+    uint8_t current_mode;
+    rcsignal_mode_change_callback_t callback;
+    bool initialized;
+    TaskHandle_t monitor_task;
+} rcsignal = {
+    .gpio_pin = -1,
+    .pulse_width_us = 0,
+    .last_edge_time = 0,
+    .pulse_start_time = 0,
+    .last_level = false,
+    .signal_active = false,
+    .pull_detected = false,
+    .current_mode = 0,
+    .callback = NULL,
+    .initialized = false,
+    .monitor_task = NULL,
+};
+
+static void IRAM_ATTR gpio_isr_handler(void *arg)
+{
+    int64_t now = esp_timer_get_time();
+    bool level = gpio_get_level(rcsignal.gpio_pin);
+
+    if (level && !rcsignal.last_level)
+    {
+        // Rising edge - start of pulse
+        rcsignal.pulse_start_time = now;
+    }
+    else if (!level && rcsignal.last_level)
+    {
+        // Falling edge - end of pulse
+        if (rcsignal.pulse_start_time > 0)
+        {
+            rcsignal.pulse_width_us = (uint32_t)(now - rcsignal.pulse_start_time);
+            rcsignal.last_edge_time = now;
+            rcsignal.signal_active = true;
+        }
+    }
+
+    rcsignal.last_level = level;
+}
+
+static void monitor_task(void *arg)
+{
+    uint32_t last_pulse_width = 0;
+
+    while (1)
+    {
+        vTaskDelay(pdMS_TO_TICKS(10));
+
+        // Check for signal timeout
+        int64_t now = esp_timer_get_time();
+        if (rcsignal.signal_active && (now - rcsignal.last_edge_time) > (SIGNAL_TIMEOUT_MS * 1000))
+        {
+            rcsignal.signal_active = false;
+            rcsignal.pulse_width_us = 0;
+        }
+
+        // Detect mode change (rising edge on PWM signal > 1500us)
+        if (rcsignal.pulse_width_us != last_pulse_width)
+        {
+            last_pulse_width = rcsignal.pulse_width_us;
+
+            if (rcsignal.pulse_width_us < PULSE_THRESHOLD_US)
+            {
+                rcsignal.pull_detected = true;
+            }
+
+            if (rcsignal.pulse_width_us > PULSE_THRESHOLD_US && rcsignal.pull_detected)
+            {
+                // Mode change detected
+                rcsignal.pull_detected = false;
+                rcsignal.current_mode = (rcsignal.current_mode + 1) % MAX_MODES;
+
+                ESP_LOGI(TAG, "Mode changed to: %d (pulse: %lu us)",
+                         rcsignal.current_mode, rcsignal.pulse_width_us);
+
+                if (rcsignal.callback)
+                {
+                    rcsignal.callback(rcsignal.current_mode);
+                }
+            }
+        }
+    }
+}
+
+esp_err_t rcsignal_init(int8_t pin)
+{
+    if (pin < 0)
+    {
+        ESP_LOGI(TAG, "RC signal disabled (no pin configured)");
+        return ESP_OK;
+    }
+
+    rcsignal.gpio_pin = pin;
+
+    // Configure GPIO
+    gpio_config_t io_conf = {
+        .pin_bit_mask = (1ULL << pin),
+        .mode = GPIO_MODE_INPUT,
+        .pull_up_en = GPIO_PULLUP_ENABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_ANYEDGE,
+    };
+    ESP_ERROR_CHECK(gpio_config(&io_conf));
+
+    // Install ISR service
+    ESP_ERROR_CHECK(gpio_install_isr_service(0));
+    ESP_ERROR_CHECK(gpio_isr_handler_add(pin, gpio_isr_handler, NULL));
+
+    // Create monitor task
+    BaseType_t ret = xTaskCreate(monitor_task, "rcsignal_monitor", 2048, NULL, 5, &rcsignal.monitor_task);
+    if (ret != pdPASS)
+    {
+        gpio_isr_handler_remove(pin);
+        gpio_uninstall_isr_service();
+        return ESP_FAIL;
+    }
+
+    rcsignal.initialized = true;
+    ESP_LOGI(TAG, "RC signal initialized on GPIO%d", pin);
+
+    return ESP_OK;
+}
+
+void rcsignal_deinit(void)
+{
+    if (!rcsignal.initialized)
+        return;
+
+    if (rcsignal.monitor_task)
+    {
+        vTaskDelete(rcsignal.monitor_task);
+        rcsignal.monitor_task = NULL;
+    }
+
+    if (rcsignal.gpio_pin >= 0)
+    {
+        gpio_isr_handler_remove(rcsignal.gpio_pin);
+    }
+
+    rcsignal.initialized = false;
+}
+
+void rcsignal_register_callback(rcsignal_mode_change_callback_t callback)
+{
+    rcsignal.callback = callback;
+}
+
+uint32_t rcsignal_get_pulse_width(void)
+{
+    return rcsignal.pulse_width_us;
+}
+
+bool rcsignal_is_active(void)
+{
+    return rcsignal.signal_active;
+}
+
+void rcsignal_trigger_mode_change(void)
+{
+    rcsignal.current_mode = (rcsignal.current_mode + 1) % MAX_MODES;
+    ESP_LOGI(TAG, "Manual mode change to: %d", rcsignal.current_mode);
+
+    if (rcsignal.callback)
+    {
+        rcsignal.callback(rcsignal.current_mode);
+    }
+}
+
+uint8_t rcsignal_get_current_mode(void)
+{
+    return rcsignal.current_mode;
+}