mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 02:18:29 -04:00
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
This commit is contained in:
John Arne Birkeland
parent
0c6a87db3f
commit
55055fca2b
@ -1,11 +1,10 @@
|
||||
// Warning : Untested - Please use version 2.2.63 for field use.
|
||||
// -------------------------------------------------------------
|
||||
// PPM ENCODER V2.2.65 (25-09-2011)
|
||||
// PPM ENCODER V2.2.66 (15-03-2012)
|
||||
// -------------------------------------------------------------
|
||||
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p)
|
||||
// and PhoneDrone (ATmega32u2)
|
||||
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
|
||||
// PhoneDrone and APM2 (ATmega32u2)
|
||||
|
||||
// By: John Arne Birkeland - 2011
|
||||
// By: John Arne Birkeland - 2012
|
||||
// APM v1.x adaptation and "difficult" receiver testing by Olivier ADLER
|
||||
// -------------------------------------------------------------
|
||||
// Changelog:
|
||||
@ -50,6 +49,11 @@
|
||||
// - Changed brownout detection and FailSafe handling to work with XXU2 chips
|
||||
// - Minor variable and define naming changes to enhance readability
|
||||
|
||||
// 15-03-2012
|
||||
// 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, <TOGGLE> = speed of toggle indicate how many channel are active, <ON> = input lost (failsafe)
|
||||
// - <TX>: <OFF> = ppm output not started, <FAST TOGGLE> = normal PWM->PPM output or PPM passtrough failsafe, <SLOW TOGGLE> = PPM passtrough
|
||||
|
||||
// -------------------------------------------------------------
|
||||
|
||||
#ifndef _PPM_ENCODER_H_
|
||||
@ -219,7 +223,7 @@ const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
|
||||
};
|
||||
// -------------------------------------------------------------
|
||||
|
||||
// AVR parameters for PhoneDrone PPM Encoder and future boards also using ATmega16-32u2
|
||||
// AVR parameters for PhoneDrone and APM2 boards using ATmega32u2
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
|
||||
#define SERVO_DDR DDRB
|
||||
@ -347,6 +351,11 @@ void ppm_start( void )
|
||||
|
||||
// Restore interrupt status and register flags
|
||||
SREG = SREG_tmp;
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Turn on TX led if PPM generator is active
|
||||
PORTD &= ~( 1<< PD5 );
|
||||
#endif
|
||||
}
|
||||
|
||||
// ------------------------------------------------------------------------------
|
||||
@ -372,6 +381,11 @@ void ppm_stop( void )
|
||||
|
||||
// Restore interrupt status and register flags
|
||||
SREG = SREG_tmp;
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Turn off TX led if PPM generator is off
|
||||
PORTD |= ( 1<< PD5 );
|
||||
#endif
|
||||
}
|
||||
|
||||
// ------------------------------------------------------------------------------
|
||||
@ -387,7 +401,8 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
|
||||
{
|
||||
ppm[ i ] = failsafe_ppm[ i ];
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 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.
|
||||
if( ( servo_input_mode == PPM_PASSTROUGH_MODE && servo_input_missing == false ) || brownout_reset )
|
||||
@ -395,13 +410,18 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
|
||||
// Start PPM generator
|
||||
ppm_start();
|
||||
brownout_reset = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Set missing receiver signal flag
|
||||
servo_input_missing = true;
|
||||
|
||||
// Reset servo input error flag
|
||||
servo_input_errors = 0;
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Turn on RX led if failsafe has triggered after ppm generator i active
|
||||
if( ppm_generator_active ) PORTD &= ~( 1<< PD4 );
|
||||
#endif
|
||||
}
|
||||
// ------------------------------------------------------------------------------
|
||||
|
||||
@ -414,7 +434,12 @@ ISR( SERVO_INT_VECTOR )
|
||||
// Servo pulse start timing
|
||||
static uint16_t servo_start[ SERVO_CHANNELS ] = { 0, 0, 0, 0, 0, 0, 0, 0 };
|
||||
|
||||
// Servo input pin storage
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Toggle LED delay
|
||||
static uint8_t led_delay = 0;
|
||||
#endif
|
||||
|
||||
// Servo input pin storage
|
||||
static uint8_t servo_pins_old = 0;
|
||||
|
||||
// Used to store current servo input pins
|
||||
@ -454,6 +479,16 @@ ISR( SERVO_INT_VECTOR )
|
||||
// Set servo input missing flag false to indicate that we have received servo input signals
|
||||
servo_input_missing = false;
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Toggle TX LED at PPM passtrough
|
||||
if( ++led_delay > 128 ) // Toggle every 128th pulse
|
||||
{
|
||||
// Toggle TX led
|
||||
PIND |= ( 1<< PD5 );
|
||||
led_delay = 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Leave interrupt
|
||||
return;
|
||||
}
|
||||
@ -511,6 +546,8 @@ CHECK_PINS_LOOP: // Input servo pin check loop
|
||||
|
||||
// Update ppm[..]
|
||||
ppm[ _ppm_channel ] = servo_width;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -532,6 +569,11 @@ CHECK_PINS_ERROR:
|
||||
// Used to indicate invalid servo input signals
|
||||
servo_input_errors++;
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Delay LED toggle
|
||||
led_delay = 0;
|
||||
#endif
|
||||
|
||||
goto CHECK_PINS_NEXT;
|
||||
|
||||
// All servo input pins has now been processed
|
||||
@ -555,6 +597,15 @@ CHECK_PINS_DONE:
|
||||
|
||||
// Clear interrupt event from already processed pin changes
|
||||
PCIFR |= (1 << SERVO_INT_CLEAR_FLAG);
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Toggle RX LED when finished receiving servo pulses
|
||||
if( ++led_delay > 64 ) // Toggle led every 64th time
|
||||
{
|
||||
PIND |= ( 1<< PD4 );
|
||||
led_delay = 0;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
// ------------------------------------------------------------------------------
|
||||
|
||||
@ -571,8 +622,15 @@ ISR( PPM_INT_VECTOR )
|
||||
PPM_COMPARE += ppm[ ppm_channel ];
|
||||
|
||||
// Select the next ppm channel
|
||||
if( ++ppm_channel >= PPM_ARRAY_MAX ) ppm_channel = 0;
|
||||
if( ++ppm_channel >= PPM_ARRAY_MAX )
|
||||
{
|
||||
ppm_channel = 0;
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Blink TX LED when PPM generator has finished a pulse train
|
||||
PIND |= ( 1<< PD5 );
|
||||
#endif
|
||||
}
|
||||
}
|
||||
// ------------------------------------------------------------------------------
|
||||
|
||||
@ -720,7 +778,6 @@ void ppm_encoder_init( void )
|
||||
// Enable servo input interrupt
|
||||
PCICR |= (1 << SERVO_INT_ENABLE);
|
||||
|
||||
|
||||
// PPM OUTPUT PIN
|
||||
// ------------------------------------------------------------------------------
|
||||
// Set PPM pin to output
|
||||
@ -737,6 +794,9 @@ void ppm_encoder_init( void )
|
||||
WDTCSR |= (1<<WDCE) | (1<<WDE );
|
||||
// Set 250 ms watchdog timeout and enable interrupt
|
||||
WDTCSR = (1<<WDIE) | (1<<WDP2);
|
||||
|
||||
|
||||
|
||||
}
|
||||
// ------------------------------------------------------------------------------
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user