AP_HAL_ESP32: RCOutput: add support for brushed PWM mode #28865
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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.
Avoid over-running the pending PWM and safe value PWM arrays in case future chip revisions come out with more channels.
Each of the six available timers now handles two consecutive PWM output channels. This also implements support for changing the group PWM frequency in a similar manner to the ChibiOS HAL.
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.
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This is needed to fly the Stampfly. It's a significant re-engineering from the in-master state and the brushed hack that was used previously (though I've now rebased my stampfly branch to include this for those who want to try).
I tried to match the (somewhat vague) semantics of the ChibiOS HAL with regards to groups and frequencies, and I tested that the PWM output in "normal" mode still doesn't work the same way on the Stampfly, but someone needs to test it more thoroughly.