mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-21 23:33:57 -04:00
ArduPPM: Redundancy mode
Work in progress adding a channel pre pulse lengt #define for each PPM mode dual channels PPM input capture interrupt algorithm
This commit is contained in:
Olivier ADLER
parent
240b0b43fd
commit
1ce9e5107f
@ -17,14 +17,10 @@
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#define _PPM_ENCODER_H_
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#include <avr/io.h>
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// -------------------------------------------------------------
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <util/delay.h>
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#ifndef F_CPU
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#define F_CPU 16000000UL
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#endif
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@ -52,10 +48,10 @@
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// INPUT MODE (by jumper selection)
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// -------------------------------------------------------------
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#define JUMPER_SELECT_MODE 0 // Default - PPM passtrough mode selected if channel 2&3 shorted. Normal servo input (pwm) if not shorted.
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#define JUMPER_SELECT_MODE 0 // Default - PPM passtrough mode selected if input pins 2&3 shorted. Normal servo input (pwm) if not shorted.
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#define SERVO_PWM_MODE 1 // Normal 8 channel servo (pwm) input
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#define PPM_PASSTROUGH_MODE 2 // PPM signal passtrough on channel 1
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#define PPM_REDUNDANCY_MODE 3 // PPM redundancy on channels 1 and 2
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#define PPM_REDUNDANCY_MODE 3 // PPM redundancy on channels 1 and 2 if input pins 3&4 shorted
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#define SPEKTRUM_MODE 4 // Spektrum satelitte on channel 1 (reserved but not implemented yet)
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volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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@ -76,9 +72,9 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// PPM input frame mode receiver 1
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// -------------------------------------------------------------
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#define PPM_CH1_STANDARD
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//#define PPM_CH1_STANDARD_EXTENDED
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//#define PPM_CH1_V2
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//#define PPM_CH1_V3
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//#define PPM_CH1_STANDARD_EXTENDED // used on Hitec 9 channels hardware
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//#define PPM_CH1_V2 // used initialy on Futaba hardware to allow more than 8 channels
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//#define PPM_CH1_V3 // used on old hardware to allow for 16 channels with long framesync symbol
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// PPM input frame mode receiver 2
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// -------------------------------------------------------------
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@ -115,9 +111,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2100
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1500
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH1_MIN_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#endif
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@ -136,9 +135,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1050
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 750
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH1_MIN_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#endif
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@ -157,9 +159,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1300
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1050
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH1_MIN_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#endif
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@ -191,9 +196,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2100
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1500
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#endif
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@ -212,9 +220,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1050
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 750
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#endif
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@ -233,15 +244,16 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1300
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1050
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#endif
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// -------------------------------------------------------------
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// SERVO PWM MODE input settings
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// -------------------------------------------------------------
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@ -297,7 +309,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// PPM output frame variables
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// -------------------------------------------------------------
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// Data array for storing ppm (8 channels) pulse widths.
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// Data array for storing output PPM (8 channels) pulse widths.
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volatile uint16_t ppm[ PPM_ARRAY_MAX ] =
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{
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@ -310,7 +322,7 @@ volatile uint16_t ppm[ PPM_ARRAY_MAX ] =
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 4
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PPM_PRE_PULSE,
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PPM_CH5_MODE_4, // Channel 5
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PPM_CH5_MODE_4, // Channel 5 (flight mode)
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 6
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PPM_PRE_PULSE,
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@ -321,7 +333,7 @@ volatile uint16_t ppm[ PPM_ARRAY_MAX ] =
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PPM_PERIOD
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};
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// SERVO FAILSAFE VALUES
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// Output PPM FAILSAFE values
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const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
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{
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@ -554,27 +566,199 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
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// ------------------------------------------------------------------------------
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ISR( SERVO_INT_VECTOR )
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{
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// Servo pulse start timing
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static uint16_t servo_start[ PWM_CHANNELS ] = { 0, 0, 0, 0, 0, 0, 0, 0 };
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// To store current servo input pins
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uint8_t servo_pins;
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// Servo input pin storage
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static uint8_t servo_pins_old = 0;
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// PPM1 pulse start time
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static uint16_t ppm1_start[ 16 ] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
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// PPM2 pulse start time
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static uint16_t ppm2_start[ 16 ] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
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// PWM Mode pulse start time
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static uint16_t servo_start[ servo_channel ] = { 0, 0, 0, 0, 0, 0, 0, 0 };
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// Frame sync flag
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static bool sync_ch1 = false;
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static bool sync_ch2 = false;
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// Missing throttle signal failsafe
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static uint8_t throttle_timeout = 0;
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Toggle LED delay
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static uint8_t led_delay = 0;
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#endif
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// Missing throttle signal failsafe
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static uint8_t throttle_timeout = 0;
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// Servo input pin storage
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static uint8_t servo_pins_old = 0;
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// Used to store current servo input pins
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uint8_t servo_pins;
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// Read current servo pulse change time
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// Read current servo timer
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uint16_t servo_time = SERVO_TIMER_CNT;
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// ------------------------------------------------------------------------------
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// PPM redundancy mode
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// ------------------------------------------------------------------------------
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if( servo_input_mode == PPM_REDUNDANCY_MODE )
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{
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CHECK_START: // Start of PPM inputs check
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// Store current PPM inputs pins
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servo_pins = SERVO_INPUT;
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// Calculate servo input pin change mask
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uint8_t servo_change = servo_pins ^ servo_pins_old;
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// Set initial PPM channels
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uint8_t ppm1_channel = 0; // Channel 0 = sync symbol
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uint8_t ppm2_channel = 0; // Channel 0 = sync symbol
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CHECK_LOOP: // Input PPM pins check loop
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// Check if we have a pin change on PPM channel 1
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if( servo_change & 1 )
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{
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// Check for elapsed time since last check
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uint16_t ppm1_width = servo_time - ppm1_start[ ppm1_channel ];
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// Check if we've got a high level (raising edge, channel start or sync symbol end)
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if( servo_pins & 1 )
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{
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if(sync_ch1 == true) // Are we synchronized ?
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{
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//We could add a test here for channel pre pulse lenght validity
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// We have a new channel start, update channel counter
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ppm1_channel++;
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}
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// If not yet synchronized check for sync symbol end
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else if( ppm1_width > PPM_CH1_MIN_SYNC_LENGHT ) || ( ppm1_width < PPM_CH1_MAX_SYNC_LENGHT )
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{
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// We have a valid sync symbol
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sync_ch1 = true; // Enable sync flag
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ppm1_channel = 1; // Set PPM1 channel counter to first channel
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}
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}
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else
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// We've got a low level (falling edge, channel end or sync symbol start)
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{
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if(sync_ch1 == true) // Are we synchronized ?
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{
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// Check if channel pulse lenght is valid
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if( ppm1_width > ( PPM_CH1_VAL_MAX - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) ) || ( ppm1_width < ( PPM_CH1_VAL_MIN - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) )
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{
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if( ppm1_channel <= PPM_CH1_CHANNELS ) // Check for channel count validity
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{
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// propose copy of PPM1 input channel to PPM output
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}
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else // We do not have a valid channel count
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{
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// Reset PPM channel count and sync flag
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sync_ch1 = false;
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ppm1_channel = 0;
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}
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}
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else // We do not have a valid channel lenght
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{
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// Reset PPM channel count and sync flag
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sync_ch1 = false;
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ppm1_channel = 0;
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}
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}
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}
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ppm1_start[ ppm1_channel ] = servo_time; // Update start time for PPM1 input
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}
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// Todo : duplicate code for PPM channel 2
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// Todo : rework code to end of redundancy mode
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// Todo : try to sync between input and output PPM
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// Todo : switchover algorythm
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UPDATE_PPM_OUTPUT: // Update PPM output according to frame validity
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// Update PPM output channel from PPM input 1
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ppm[ ppm1_channel ] = ppm1_width;
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// Update PPM output channel from PPM input 2
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ppm[ ppm2_channel ] = ppm2_width;
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//Reset throttle failsafe timeout
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if( ppm1_channel == 5 ) throttle_timeout = 0;
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if( ppm2_channel == 5 ) throttle_timeout = 0;
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CHECK_ERROR:
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// Used to indicate invalid servo input signals
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servo_input_errors++;
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Delay LED toggle
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led_delay = 0;
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#endif
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CHECK_DONE:
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// Reset Watchdog Timer
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wdt_reset();
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// Set servo input missing flag false to indicate that we have received servo input signals
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servo_input_missing = false;
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// Store current servo input pins for next check
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servo_pins_old = servo_pins;
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// Start PPM generator if not already running
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if( ppm_generator_active == false ) ppm_start();
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Toggle RX LED when finished receiving servo pulses
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if( ++led_delay > 64 ) // Toggle led every 64th time
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{
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PIND |= ( 1<< PD4 );
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led_delay = 0;
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}
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#endif
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// Throttle failsafe
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if( throttle_timeout++ >= 128 )
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{
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// Reset throttle timeout
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throttle_timeout = 0;
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// Set throttle failsafe value
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ppm[ 5 ] = PPM_THROTTLE_FAILSAFE;
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}
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//Has servo input changed while processing pins, if so we need to re-check pins
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if( servo_pins != SERVO_INPUT ) goto CHECK_START;
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// Clear interrupt event from already processed pin changes
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PCIFR |= (1 << SERVO_INT_CLEAR_FLAG);
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// Leave interrupt
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return;
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}
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// ------------------------------------------------------------------------------
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// PPM redundancy mode END
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// ------------------------------------------------------------------------------
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// ------------------------------------------------------------------------------
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// PPM passtrough mode ( signal passtrough from channel 1 to ppm output pin)
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// ------------------------------------------------------------------------------
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if( servo_input_mode == PPM_PASSTROUGH_MODE )
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@ -617,12 +801,13 @@ ISR( SERVO_INT_VECTOR )
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// Leave interrupt
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return;
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}
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}
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// ------------------------------------------------------------------------------
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// PWM MODE (8 channels inputs)
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// ------------------------------------------------------------------------------
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CHECK_PINS_START: // Start of servo input check
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CHECK_PINS_START: // Start of servo input check
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// Store current servo input pins
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servo_pins = SERVO_INPUT;
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@ -634,7 +819,7 @@ ISR( SERVO_INT_VECTOR )
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uint8_t servo_pin = 1;
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uint8_t servo_channel = 0;
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CHECK_PINS_LOOP: // Input servo pin check loop
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CHECK_PINS_LOOP: // Input servo pin check loop
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// Check for pin change on current servo channel
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if( servo_change & servo_pin )
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@ -679,7 +864,7 @@ ISR( SERVO_INT_VECTOR )
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}
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}
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CHECK_PINS_NEXT:
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CHECK_PINS_NEXT:
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// Select next servo pin
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servo_pin <<= 1;
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@ -692,7 +877,7 @@ ISR( SERVO_INT_VECTOR )
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goto CHECK_PINS_DONE;
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CHECK_PINS_ERROR:
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CHECK_PINS_ERROR:
|
||||
|
||||
// Used to indicate invalid servo input signals
|
||||
servo_input_errors++;
|
||||
@ -706,7 +891,7 @@ ISR( SERVO_INT_VECTOR )
|
||||
|
||||
// All servo input pins has now been processed
|
||||
|
||||
CHECK_PINS_DONE:
|
||||
CHECK_PINS_DONE:
|
||||
|
||||
// Reset Watchdog Timer
|
||||
wdt_reset();
|
||||
@ -746,9 +931,9 @@ ISR( SERVO_INT_VECTOR )
|
||||
PCIFR |= (1 << SERVO_INT_CLEAR_FLAG);
|
||||
}
|
||||
|
||||
// ------------------------------------------------------------------------------
|
||||
// PWM MODE END
|
||||
// ------------------------------------------------------------------------------
|
||||
// ------------------------------------------------------------------------------
|
||||
// PWM MODE END
|
||||
// ------------------------------------------------------------------------------
|
||||
|
||||
|
||||
// ------------------------------------------------------------------------------
|
||||
@ -835,7 +1020,7 @@ void ppm_encoder_init( void )
|
||||
#endif
|
||||
|
||||
|
||||
// USE JUMPER TO CHECK FOR INPUT MODE (pin 2&3 or 3&4 shorted)
|
||||
// USE JUMPER TO CHECK FOR INPUT MODE (pins 2&3 or 3&4 shorted)
|
||||
// ------------------------------------------------------------------------------
|
||||
if( servo_input_mode == JUMPER_SELECT_MODE )
|
||||
{
|
||||
@ -900,33 +1085,37 @@ void ppm_encoder_init( void )
|
||||
SERVO_DDR = 0;
|
||||
SERVO_PORT |= 0xFF;
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// on 32U2 set PD0 to be an output, and clear the bit. This tells
|
||||
// the 2560 that USB is connected. The USB connection event fires
|
||||
// later to set the right value
|
||||
DDRD |= 1;
|
||||
if (usb_connected) {
|
||||
PORTD &= ~1;
|
||||
} else {
|
||||
PORTD |= 1;
|
||||
}
|
||||
#endif
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// on 32U2 set PD0 to be an output, and clear the bit. This tells
|
||||
// the 2560 that USB is connected. The USB connection event fires
|
||||
// later to set the right value
|
||||
DDRD |= 1;
|
||||
if (usb_connected) {
|
||||
PORTD &= ~1;
|
||||
} else {
|
||||
PORTD |= 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
// SERVO/PPM INPUT - PIN CHANGE INTERRUPT
|
||||
// ------------------------------------------------------------------------------
|
||||
if( servo_input_mode == SERVO_PWM_MODE )
|
||||
{
|
||||
// Set servo input interrupt pin mask to all 8 servo input channels
|
||||
SERVO_INT_MASK = 0xFF;
|
||||
SERVO_INT_MASK = 0b11111111;
|
||||
}
|
||||
|
||||
if( servo_input_mode == PPM_PASSTROUGH_MODE )
|
||||
{
|
||||
// Set servo input interrupt pin mask to servo input channel 1
|
||||
SERVO_INT_MASK = 0x01;
|
||||
SERVO_INT_MASK = 0b00000001;
|
||||
}
|
||||
|
||||
// Enable servo input interrupt
|
||||
if( servo_input_mode == PPM_REDUNDANCY_MODE )
|
||||
{
|
||||
// Set servo input interrupt pin mask to servo input channel 1 and 2
|
||||
SERVO_INT_MASK = 0b00000011;
|
||||
}
|
||||
// Enable servo input interrupt
|
||||
PCICR |= (1 << SERVO_INT_ENABLE);
|
||||
|
||||
// PPM OUTPUT PIN
|
||||
|
||||
Loading…
Reference in New Issue
Block a user