mirror of https://github.com/ArduPilot/ardupilot
129 lines
7.2 KiB
C
129 lines
7.2 KiB
C
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/*********************************************************************************************************
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Title : header file for the rc ppm encoder (servo2ppm_settings.h)
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Author: Chris Efstathiou
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E-mail: hendrix at vivodinet dot gr
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Homepage: ........................
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Date: 03/Aug/2009
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Compiler: AVR-GCC with AVR-AS
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MCU type: ATmega168
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Comments: This software is FREE. Use it at your own risk.
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*********************************************************************************************************/
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#ifndef SERVO2PPM_SETTINGS_H
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#define SERVO2PPM_SETTINGS_H
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/********************************************************************************************************/
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/* USER CONFIGURATION BLOCK START */
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/********************************************************************************************************/
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/*
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The cpu frequency is defined in the makefile, the below definition is used only if the cpu frequency
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is not defined in the makefile.
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*/
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#ifndef F_CPU
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#define F_CPU 8000000UL /* CPU CLOCK FREQUENCY */
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#endif
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/*
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Those values are the failsafe servo values and the values for the non used channels
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If for example you leave unconnected channel 7, the servo pulse of channel 7 in the PPM train
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will be the failsafe value set below as "RC_FAILSAFE_CHANNEL_7" thus 1000 microseconds.
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*/
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#define RC_FAILSAFE_CHANNEL_1 1500UL
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#define RC_FAILSAFE_CHANNEL_2 1500UL
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#define RC_FAILSAFE_CHANNEL_3 1000UL
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#define RC_FAILSAFE_CHANNEL_4 1500UL
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#define RC_FAILSAFE_CHANNEL_5 1000UL
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#define RC_FAILSAFE_CHANNEL_6 1000UL
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#define RC_FAILSAFE_CHANNEL_7 1000UL
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#define RC_FAILSAFE_CHANNEL_8 1000UL
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/*
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When signal is lost 1= ppm waveform remain on with failsafe values, 0= ppm waveform is off
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For use with Paparazzi use "0", the autopilot has it's own failsafe values when PPM signal is lost.
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The above failsafe values will kick in only if the servo inputs are lost which cannot happen with
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a receiver with dsp processing that provides "hold" or "failsafe" features.
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If the receiver only provides "hold" on the last good servo signals received it is not suitable
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for use with the Paparazzi autopilot as it will prohibit the autopilot entering the "AUTO2" or "HOME" mode.
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If you use a receiver with failsafe ability then remember to set the failsafe value of the receiver
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to 2000 microseconds for the "MODE" channel so the autopilot can go to "AUTO2" or "HOME" mode when the receiver
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loose the tx signal. The servo signals on receivers like PCM, IPD and any receiver with servo hold AND failsafe
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will not stop outputing servo pulses thus the encoder will never stop producing a PPM pulse train
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except if the throttle channel is used as an indication by setting the "RC_LOST_CHANNEL" to a value above 0.
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If you use the throttle channel as an indication that the TX signal is lost then:
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RC_USE_FAILSAFE set to 0 means that the ppm output will be shut down and if you set
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RC_USE_FAILSAFE to 1 the ppm output will NOT shut down but it will now output the failsafe values
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defined above.
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*/
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#define RC_USE_FAILSAFE 1
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/*
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The channel number (1,2,3...7,8) that will be used as a receiver ready indicator.
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If set above 0 then this channel should be always connected otherwise
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the PPM output will not be enabled as the ppm encoder will wait for ever for this channel
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to produce a valid servo pulse.
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If 0 then the first connected channel going from channel 1 to 8 will be used, in other words
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which ever connected channel comes on first it will indicate that the receiver is operational.
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The detection of all connected channels is independent of this setting, this channel
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is used as an indication that the receiver is up and running only.
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Valid only if greater than 0.
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*/
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#define RC_RX_READY_CHANNEL 0 /* 0 = No channel will be exclusively checked. */
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/*
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The default value for the rc signal lost indicator channel and it's threshold value in microseconds .
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If the value is above 1500 microseconds then when the signal lost indicator channel servo pulse exceeds
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RC_LOST_THRESHOLD then the ppm output will be shut down.
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If the value is below 1500 microseconds then when the signal lost indicator channel servo pulse gets lower than
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RC_LOST_THRESHOLD then the ppm output will be shut down.
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If the RC_USE_FAILSAFE is set to 1 then the ppm output will not stop producing pulses but now
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the ppm wavetrain will contain the failsafe values defined in the beginning of this file.
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Valid only if RC_LOST_CHANNEL > 0
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*/
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#define RC_LOST_CHANNEL 3 /* Defaul is the throttle channel. You can use any channel. */
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#define RC_LOST_THRESHOLD 2025 /* Any value below 1300 or above 1700 microseconds. */
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#define RC_PPM_GEN_CHANNELS 8 /* How many channels the PPM output frame will have. */
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#define RC_PPM_OUTPUT_TYPE 0 /* 1 = POSITIVE PULSE, 0= NEGATIVE PULSE */
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#define RC_MUX_CHANNEL 8 /*Jordi: Channel that will control the MUX */
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#define RC_MUX_REVERSE 0 /*Jordi: Inverted the MUX output (NOT), 0 = normal, 1 = Rev*/
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#define RC_MUX_MIN 0 /*Jordi: the min point */
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#define RC_MUX_MAX 1250 /*Jordi: the max point */
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/*
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0 = the reset period is constant but the total PPM frame period is varying.
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1 = the reset period is varying but the total PPM frame period is constant (always 23,5 ms for example).
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*/
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#define RC_CONSTANT_PPM_FRAME_TIME 0
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/********************************************************************************************************/
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/*
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D A N G E R
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The below settings are good for almost every situation and probably you don't need to change them.
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Be carefull because you can cause a lot of problems if you change anything without knowing
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exactly what you are doing.
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*/
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#define RC_SERVO_MIN_PW 800UL /* in microseconds */
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#define RC_SERVO_CENTER_PW 1500UL /* in microseconds */
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#define RC_SERVO_MAX_PW 2200UL /* in microseconds */
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#define RC_PPM_CHANNEL_SYNC_PW 300UL /* the width of the PPM channel sync pulse in microseconds. */
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#define RC_PPM_RESET_PW 0UL /* Min reset time in microseconds(ie. 7500UL), 0=AUTO */
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#define RC_PPM_FRAME_LENGTH_MS 0UL /* Max PPM frame period in microseconds(ie. 23500UL), 0=AUTO */
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#define RC_MAX_TIMEOUT 30000UL /* in microseconds, max ~65000 @ 8 mHZ, ~32000 @ 16 Mhz */
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#define RC_MAX_BAD_PPM_FRAMES 4 /* Max consecutive bad servo pulse samples before failsafe */
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#define RC_LED_FREQUENCY 5UL /* In Hertz, not accurate, min=1, max=you will get a warning */
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#define RC_THROTTLE_CH_OFFSET_PW 25 /* in microseconds. */
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/********************************************************************************************************/
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/* USER CONFIGURATION BLOCK END */
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/********************************************************************************************************/
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#endif //#ifndef SERVO2PPM_SETTINGS_H
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