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Merge pull request #6 from julianoes/ppm_encoder_fixes

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ArduPPM

Two new defines added:

_THROTTLE_LOW_FAILSAFE_INDICATION: Throttle low indication and thus APM fail-safe triggering when a single channel error is detected.

_THROTTLE_LOW_RECOVERY_POSSIBLE: Throttle low is reset when a disconnected channel comes back and full control regained.
This commit is contained in:
Craig Elder 2013-01-11 16:02:25 -08:00
commit 3e5330efc9
3 changed files with 83 additions and 11 deletions
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16
Tools/ArduPPM/ATMega328p/Encoder-PPM.c
View File

@ -1,5 +1,5 @@
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
// ArduPPM Version v0.9.87
// ArduPPM Version v0.9.89
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
// ARDUCOPTER 2 : PPM ENCODER for AT Mega 328p and APM v1.4 Boards
// By:John Arne Birkeland - 2011
@ -35,11 +35,13 @@
// 0.9.85 : Added brownout reset detection flag
// 0.9.86 : Added a #define to disable Radio Passthrough mode (hardware failsafe for Arduplane)
// 0.9.87 : #define correction for radio passthrough (was screwed up).
// 0.9.88 : LED fail-safe indication is on whenever throttle is low
// 0.9.89 : LED fail-safe change can be reverted with a define
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
// PREPROCESSOR DIRECTIVES
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
#include "..\Libraries\PPM_Encoder.h"
#include "../Libraries/PPM_Encoder.h"
#include <util/delay.h>
@ -283,7 +285,11 @@ int main(void)
// ------------------------------------------------------------------------------
while( 1 )
{
#if defined _THROTTLE_LOW_RECOVERY_POSSIBLE
if ( throttle_failsafe_force ) // We have an error
#else
if ( servo_error_condition || servo_input_missing ) // We have an error
#endif
{
blink_led ( 6 * LOOP_TIMER_10MS ); // Status LED very fast blink if invalid servo input or missing signal
}
@ -368,7 +374,11 @@ int main(void)
// ------------------------------------------------------------------------------
// Status LED control
// ------------------------------------------------------------------------------
if ( servo_error_condition || servo_input_missing ) // We have an error
#ifdef _THROTTLE_LOW_FAILSAFE_INDICATION
if ( throttle_failsafe_force ) // We have an error
#else
if ( servo_error_condition || servo_input_missing ) // We have an error
#endif
{
blink_led ( 6 * LOOP_TIMER_10MS ); // Status LED very fast blink if invalid servo input or missing signal
}

10
Tools/ArduPPM/ATMega32U2/Projects/arduino-usbserial/Descriptors.c
View File

@ -54,7 +54,7 @@
* number of device configurations. The descriptor is read out by the USB host when the enumeration
* process begins.
*/
USB_Descriptor_Device_t PROGMEM DeviceDescriptor =
const USB_Descriptor_Device_t PROGMEM DeviceDescriptor =
{
.Header = {.Size = sizeof(USB_Descriptor_Device_t), .Type = DTYPE_Device},
@ -91,7 +91,7 @@ USB_Descriptor_Device_t PROGMEM DeviceDescriptor =
* and endpoints. The descriptor is read out by the USB host during the enumeration process when selecting
* a configuration so that the host may correctly communicate with the USB device.
*/
USB_Descriptor_Configuration_t PROGMEM ConfigurationDescriptor =
const USB_Descriptor_Configuration_t PROGMEM ConfigurationDescriptor =
{
.Config =
{
@ -199,7 +199,7 @@ USB_Descriptor_Configuration_t PROGMEM ConfigurationDescriptor =
* the string descriptor with index 0 (the first index). It is actually an array of 16-bit integers, which indicate
* via the language ID table available at USB.org what languages the device supports for its string descriptors.
*/
USB_Descriptor_String_t PROGMEM LanguageString =
const USB_Descriptor_String_t PROGMEM LanguageString =
{
.Header = {.Size = USB_STRING_LEN(1), .Type = DTYPE_String},
@ -210,7 +210,7 @@ USB_Descriptor_String_t PROGMEM LanguageString =
* form, and is read out upon request by the host when the appropriate string ID is requested, listed in the Device
* Descriptor.
*/
USB_Descriptor_String_t PROGMEM ManufacturerString =
const USB_Descriptor_String_t PROGMEM ManufacturerString =
{
.Header = {.Size = USB_STRING_LEN(24), .Type = DTYPE_String},
@ -221,7 +221,7 @@ USB_Descriptor_String_t PROGMEM ManufacturerString =
* and is read out upon request by the host when the appropriate string ID is requested, listed in the Device
* Descriptor.
*/
USB_Descriptor_String_t PROGMEM ProductString =
const USB_Descriptor_String_t PROGMEM ProductString =
{
#if (ARDUINO_MODEL_PID == ARDUINO_UNO_PID)
.Header = {.Size = USB_STRING_LEN(11), .Type = DTYPE_String},

68
Tools/ArduPPM/Libraries/PPM_Encoder.h
View File

@ -1,5 +1,5 @@
// -------------------------------------------------------------
// ArduPPM (PPM Encoder) V2.3.13
// ArduPPM (PPM Encoder) V2.3.14
// -------------------------------------------------------------
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
// PhoneDrone and APM2.x (ATmega32u2)
@ -127,6 +127,16 @@
// V2.3.13 - Official release
// - Fail-safe vales changed back to normal fail-safe values. Use until APM code knows how to handle lost channel signal (800us)
// 10-01-2013
// V2.3.14pre - Internal test release
// - If one or more or all channel(s) are disconnected, throttle is set to fail-safe low (RTL)
// - If the misssing channel(s) are regained, throttle control is regained
// 11-01-2013
// V2.3.14 - temporary release for ArduCopter 2.9
// - fail-safe throttle low can be set with a define
// - recovery from error condition can also be set with a define
// -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_
@ -168,7 +178,7 @@
#endif
// Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string )
const char ver[15] = "ArduPPMv2.3.13";
const char ver[15] = "ArduPPMv2.3.14";
// -------------------------------------------------------------
// INPUT MODE
@ -189,6 +199,13 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
//#define _APM_FAILSAFE_ // Used to spesify APM 800us channel loss fail safe values, remove to use normal fail safe values (stand alone encoder board)
//#define _THROTTLE_LOW_FAILSAFE_INDICATION //if set, throttle is set to low when a single channel is lost
//#define _THROTTLE_LOW_RECOVERY_POSSIBLE //if set, throttle low recovers from being low when the single channel comes back, only makes sense together with _THROTTLE_LOW_FAILSAFE_INDICATION
#if defined _THROTTLE_LOW_RECOVERY_POSSIBLE && !defined _THROTTLE_LOW_FAILSAFE_INDICATION
#error failsafe recovery is only possible with throttle_low_failsafe_indication defined as well
#endif
// -------------------------------------------------------------
// SERVO LIMIT VALUES
// -------------------------------------------------------------
@ -322,6 +339,11 @@ volatile uint8_t ppm_timeout[ PPM_ARRAY_MAX ];
#define SERVO_INPUT_CONNECTED_VALUE 100
volatile uint8_t servo_input_connected[ PPM_ARRAY_MAX ];
#ifdef _THROTTLE_LOW_RECOVERY_POSSIBLE
// count the channels which have been once connected but then got disconnected
volatile uint8_t disconnected_channels;
#endif
// AVR parameters for PhoneDrone and APM2 boards using ATmega32u2
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
@ -413,6 +435,10 @@ volatile bool ppm_generator_active = false;
// Used to indicate a brownout restart
volatile bool brownout_reset = false;
#ifdef _THROTTLE_LOW_FAILSAFE_INDICATION
// Used to force throttle fail-safe mode (RTL)
volatile bool throttle_failsafe_force = false;
#endif
// ------------------------------------------------------------------------------
// PPM GENERATOR START - TOGGLE ON COMPARE INTERRUPT ENABLE
@ -655,8 +681,20 @@ CHECK_PINS_LOOP: // Input servo pin check loop
servo_input_connected[ ppm_channel ]++;
}
//Reset ppm single channel fail-safe timeout
//Reset ppm single channel fail-safe timeout
ppm_timeout[ ppm_channel ] = 0;
#ifdef _THROTTLE_LOW_FAILSAFE_INDICATION
// Check for forced throttle fail-safe
if( throttle_failsafe_force )
{
if( ppm_channel == 5 )
{
// Force throttle fail-safe
servo_width = PPM_THROTTLE_FAILSAFE;
}
}
#endif
#ifdef _AVERAGE_FILTER_
// Average filter to smooth input jitter
@ -754,6 +792,16 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
sei();
#if defined _THROTTLE_LOW_RECOVERY_POSSIBLE && defined _THROTTLE_LOW_FAILSAFE_INDICATION
// Count the channel that we have lost
if( servo_input_connected[ ppm_out_channel ] )
{
disconnected_channels++;
}
#elif defined _THROTTLE_LOW_FAILSAFE_INDICATION
throttle_failsafe_force = true;
#endif
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Turn on RX LED to indicate a fail-safe condition
PORTD &= ~(1 << PD4);
@ -777,6 +825,20 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
{
ppm_out_channel = 0;
#ifdef _THROTTLE_LOW_RECOVERY_POSSIBLE
// Did we lose one or more active servo input channel? If so force throttle fail-safe (RTL)
if( disconnected_channels > 0 )
{
throttle_failsafe_force = true;
}
else
{
throttle_failsafe_force = false;
}
disconnected_channels = 0;
#endif
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Blink TX LED when PPM generator has finished a pulse train
PIND |= ( 1<< PD5 );