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https://github.com/ArduPilot/ardupilot
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ArduPPM V2.2.66
- Added APM2 (ATmega32U2) support for using TX and RX status leds to indicate PWM and PPM traffic <RX><OFF> no pwm input detected <RX><TOGGLE> speed of toggle indicate how many channels are active <RX><ON> input lost (failsafe) <TX><OFF> ppm output not started <TX><FAST TOGGLE> normal PWM->PPM output or PPM passtrough failsafe <TX><SLOW TOGGLE> PPM passtrough
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John Arne Birkeland
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@ -1,11 +1,10 @@
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// Warning : Untested - Please use version 2.2.63 for field use.
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// -------------------------------------------------------------
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// PPM ENCODER V2.2.65 (25-09-2011)
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// PPM ENCODER V2.2.66 (15-03-2012)
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// -------------------------------------------------------------
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// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p)
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// and PhoneDrone (ATmega32u2)
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// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
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// PhoneDrone and APM2 (ATmega32u2)
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// By: John Arne Birkeland - 2011
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// By: John Arne Birkeland - 2012
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// APM v1.x adaptation and "difficult" receiver testing by Olivier ADLER
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// -------------------------------------------------------------
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// Changelog:
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@ -50,6 +49,11 @@
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// - Changed brownout detection and FailSafe handling to work with XXU2 chips
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// - Minor variable and define naming changes to enhance readability
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// 15-03-2012
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// V2.2.66 - Added APM2 (ATmega32U2) support for using TX and RX status leds to indicate PWM and PPM traffic
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// - <RX>: <OFF> = no pwm input detected, <TOGGLE> = speed of toggle indicate how many channel are active, <ON> = input lost (failsafe)
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// - <TX>: <OFF> = ppm output not started, <FAST TOGGLE> = normal PWM->PPM output or PPM passtrough failsafe, <SLOW TOGGLE> = PPM passtrough
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// -------------------------------------------------------------
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#ifndef _PPM_ENCODER_H_
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@ -219,7 +223,7 @@ const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
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};
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// -------------------------------------------------------------
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// AVR parameters for PhoneDrone PPM Encoder and future boards also using ATmega16-32u2
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// AVR parameters for PhoneDrone and APM2 boards using ATmega32u2
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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#define SERVO_DDR DDRB
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@ -347,6 +351,11 @@ void ppm_start( void )
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// Restore interrupt status and register flags
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SREG = SREG_tmp;
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Turn on TX led if PPM generator is active
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PORTD &= ~( 1<< PD5 );
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#endif
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}
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// ------------------------------------------------------------------------------
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@ -372,6 +381,11 @@ void ppm_stop( void )
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// Restore interrupt status and register flags
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SREG = SREG_tmp;
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Turn off TX led if PPM generator is off
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PORTD |= ( 1<< PD5 );
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#endif
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}
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// ------------------------------------------------------------------------------
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@ -387,7 +401,8 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
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{
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ppm[ i ] = failsafe_ppm[ i ];
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}
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}
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}
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// If we are in PPM passtrough mode and a input signal has been detected, or if chip has been reset from a brown_out then start the PPM generator.
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if( ( servo_input_mode == PPM_PASSTROUGH_MODE && servo_input_missing == false ) || brownout_reset )
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@ -395,13 +410,18 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
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// Start PPM generator
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ppm_start();
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brownout_reset = false;
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}
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}
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// Set missing receiver signal flag
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servo_input_missing = true;
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// Reset servo input error flag
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servo_input_errors = 0;
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Turn on RX led if failsafe has triggered after ppm generator i active
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if( ppm_generator_active ) PORTD &= ~( 1<< PD4 );
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#endif
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}
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// ------------------------------------------------------------------------------
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@ -413,8 +433,13 @@ 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[ SERVO_CHANNELS ] = { 0, 0, 0, 0, 0, 0, 0, 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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// Servo input pin storage
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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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@ -454,6 +479,16 @@ ISR( SERVO_INT_VECTOR )
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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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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Toggle TX LED at PPM passtrough
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if( ++led_delay > 128 ) // Toggle every 128th pulse
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{
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// Toggle TX led
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PIND |= ( 1<< PD5 );
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led_delay = 0;
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}
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#endif
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// Leave interrupt
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return;
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}
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@ -511,6 +546,8 @@ CHECK_PINS_LOOP: // Input servo pin check loop
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// Update ppm[..]
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ppm[ _ppm_channel ] = servo_width;
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}
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}
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@ -521,7 +558,7 @@ CHECK_PINS_NEXT:
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// Select next servo channel
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servo_channel++;
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// Check channel and process if needed
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if( servo_channel < SERVO_CHANNELS ) goto CHECK_PINS_LOOP;
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@ -531,6 +568,11 @@ CHECK_PINS_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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goto CHECK_PINS_NEXT;
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@ -555,6 +597,15 @@ CHECK_PINS_DONE:
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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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#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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}
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// ------------------------------------------------------------------------------
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@ -571,8 +622,15 @@ ISR( PPM_INT_VECTOR )
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PPM_COMPARE += ppm[ ppm_channel ];
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// Select the next ppm channel
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if( ++ppm_channel >= PPM_ARRAY_MAX ) ppm_channel = 0;
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if( ++ppm_channel >= PPM_ARRAY_MAX )
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{
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ppm_channel = 0;
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Blink TX LED when PPM generator has finished a pulse train
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PIND |= ( 1<< PD5 );
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#endif
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}
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}
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// ------------------------------------------------------------------------------
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@ -720,7 +778,6 @@ void ppm_encoder_init( void )
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// Enable servo input interrupt
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PCICR |= (1 << SERVO_INT_ENABLE);
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// PPM OUTPUT PIN
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// ------------------------------------------------------------------------------
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// Set PPM pin to output
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@ -737,6 +794,9 @@ void ppm_encoder_init( void )
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WDTCSR |= (1<<WDCE) | (1<<WDE );
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// Set 250 ms watchdog timeout and enable interrupt
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WDTCSR = (1<<WDIE) | (1<<WDP2);
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}
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// ------------------------------------------------------------------------------
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