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ArduPPM: Redundancy mode 

Base algorithm added for channel count auto detection in the decoder himself.
Replaced the #define for PPM_CHx_CHANNELS by PPM_CHx_MAX_CHANNELS.
Channel count #define was not needed anymore thanks to the channel count auto detection.
Channel detection post processing to do.
This commit is contained in:
Olivier ADLER 2012-10-15 22:48:39 +02:00
parent 5dd12bbe9d
commit 6b6e580a13
1 changed files with 72 additions and 44 deletions
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116
Tools/ArduPPM/Libraries/PPM_Encoder_v3.h
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@ -61,8 +61,8 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
// ------------------------------------------------------------- // -------------------------------------------------------------
#define SWITCHOVER_CHANNEL_A 9 // Receiver 1 PPM channel to force receiver 2. Use 0 for no switchover channel #define SWITCHOVER_CHANNEL_A 9 // Receiver 1 PPM channel to force receiver 2. Use 0 for no switchover channel
// Must be selected from 6 to 16. Preferabily from 9 to 16 so that APM can use // Must be choosed between 6 to 16. Preferabily from 9 to 16 so that APM can use
// channels 1 or 8. // channels 1 to 8.
#define SWITCHOVER_1_to_2_DELAY_MS 50 // Delay for switching to receiver 2 #define SWITCHOVER_1_to_2_DELAY_MS 50 // Delay for switching to receiver 2
@ -90,15 +90,15 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#ifdef PPM_CH1_STANDARD_EXTENDED #ifdef PPM_CH1_STANDARD_EXTENDED
// Number of input PPM channels // Max input PPM channels
#define PPM_CH1_CHANNELS 9 #define PPM_CH1_MAX_CHANNELS 9
// Frame period // Frame period
#define PPM_CH1_FRAME_PERIOD 22100 // frame period (microseconds) #define PPM_CH1_FRAME_PERIOD 22100 // frame period (microseconds)
#else #else
// Number of input PPM channels // Max input PPM channels
#define PPM_CH1_CHANNELS 8 #define PPM_CH1_MAX_CHANNELS 8
// Frame period // Frame period
#define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds) #define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds)
@ -117,15 +117,15 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
// PPM frame sync symbol minimum and maximum laps // PPM frame sync symbol minimum and maximum laps
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection #define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout #define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#endif #endif
#ifdef PPM_CH1_V2 (PPMv2 is a 50 Hz 16 channels mode, used initialy on Futaba and later on other manufacturers modules) #ifdef PPM_CH1_V2 (PPMv2 is a 50 Hz 16 channels mode, used initialy on Futaba and later on other manufacturers modules)
// Number of input PPM channels // Max input PPM channels
#define PPM_CH1_CHANNELS 16 #define PPM_CH1_MAX_CHANNELS 16
// Frame period // Frame period
#define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds) #define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds)
@ -142,15 +142,15 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200 #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
// PPM frame sync symbol minimum and maximum laps // PPM frame sync symbol minimum and maximum laps
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection #define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout #define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#endif #endif
#ifdef PPM_CH1_V3 (PPMv3 is a 40 Hz slower refresh frequency 16 channels mode to allow 16 channels with older transmitter modules) #ifdef PPM_CH1_V3 (PPMv3 is a 40 Hz slower refresh frequency 16 channels mode to allow 16 channels with older transmitter modules)
// Number of input PPM channels // Max input PPM channels
#define PPM_CH1_CHANNELS 16 #define PPM_CH1_MAX_CHANNELS 16
// Frame period // Frame period
#define PPM_CH1_FRAME_PERIOD 25000 // frame period (microseconds) #define PPM_CH1_FRAME_PERIOD 25000 // frame period (microseconds)
@ -167,8 +167,8 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
// PPM frame sync symbol minimum and maximum laps // PPM frame sync symbol minimum and maximum laps
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection #define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout #define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#endif #endif
@ -178,14 +178,14 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#ifdef PPM_CH2_STANDARD_EXTENDED #ifdef PPM_CH2_STANDARD_EXTENDED
// Number of input PPM channels // Max input PPM channels
#define PPM_CH2_CHANNELS 9 #define PPM_CH2_CHANNELS 9
// Frame period // Frame period
#define PPM_CH2_FRAME_PERIOD 22100 // frame period (microseconds) #define PPM_CH2_FRAME_PERIOD 22100 // frame period (microseconds)
#else #else
// Number of input PPM channels // Max input PPM channels
#define PPM_CH2_CHANNELS 8 #define PPM_CH2_CHANNELS 8
// Frame period // Frame period
#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds) #define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
@ -199,7 +199,6 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 900 #define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 900
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2100 #define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2100
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1500 #define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1500
#define PPM_CH1_FORCE_VAL_MIN 1800
// PPM channel pre pulse lenght // PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
@ -212,7 +211,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#ifdef PPM_CH2_V2 (PPMv2 is a 50 Hz 16 channels mode, used initialy on Futaba and later on other manufacturers modules) #ifdef PPM_CH2_V2 (PPMv2 is a 50 Hz 16 channels mode, used initialy on Futaba and later on other manufacturers modules)
// Number of input PPM channels // Max input PPM channels
#define PPM_CH2_CHANNELS 16 #define PPM_CH2_CHANNELS 16
// Frame period // Frame period
#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds) #define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
@ -224,7 +223,6 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 450 #define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 450
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1050 #define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1050
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 750 #define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 750
#define PPM_CH1_FORCE_VAL_MIN 900
// PPM channel pre pulse lenght // PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200 #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
@ -237,7 +235,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#ifdef PPM_CH2_V3 (PPMv3 is a 40 Hz slower refresh frequency 16 channels mode to allow 16 channels with older transmitter modules) #ifdef PPM_CH2_V3 (PPMv3 is a 40 Hz slower refresh frequency 16 channels mode to allow 16 channels with older transmitter modules)
// Number of input PPM channels // Max input PPM channels
#define PPM_CH2_CHANNELS 16 #define PPM_CH2_CHANNELS 16
// Frame period // Frame period
#define PPM_CH2_FRAME_PERIOD 25000 // frame period (microseconds) #define PPM_CH2_FRAME_PERIOD 25000 // frame period (microseconds)
@ -249,7 +247,6 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 750 #define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 750
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1350 #define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1350
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1050 #define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1050
#define PPM_CH1_FORCE_VAL_MIN 1260
// PPM channel pre pulse lenght // PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
@ -637,6 +634,19 @@ ISR( SERVO_INT_VECTOR )
// ch2 switchover flag // ch2 switchover flag
static bool switchover_ch2 = false; static bool switchover_ch2 = false;
// Channel count detection ready flag
static bool channel_count_ready_ch1 = false;
static bool channel_count_ready_ch2 = false;
// Channel count detected flag
static bool channel_count_detected_ch1 = false;
static bool channel_count_detected_ch2 = false;
// Detected Channel count
static uint8_t channel_count_ch1 = PPM_CH1_MAX_CHANNELS;
static uint8_t channel_count_ch2 = PPM_CH2_MAX_CHANNELS;
// ----------------------------------- // -----------------------------------
// PPM redundancy - decoder // PPM redundancy - decoder
// ----------------------------------- // -----------------------------------
@ -666,13 +676,33 @@ CHECK_LOOP: // Input PPM pins check loop
{ {
if(sync_ch1 == true) // Are we synchronized ? if(sync_ch1 == true) // Are we synchronized ?
{ {
//We could add a test here for channel pre pulse lenght check // Ckeck for sync symbol
if( ppm1_width[ ppm1_channel ] > PPM_CH1_MIN_SYNC_LENGHT ) || ( ppm1_width[ ppm1_channel ] < PPM_CH1_MAX_SYNC_LENGHT )
{
// Ckeck for channel count detected flag
if( channel_count_detected_ch1 == false ) // We do not have channel count detected yet
{
channel_count_ch1 = ppm1_channel; // Store PPM1 channel count
channel_count_ready_ch1 = true; // Set PPM1 channel count detection ready flag
}
else // Channel count has been detected
{
//We should not have a sync symbol here
sync_error_ch1 = true; // Set sync error flag
ppm1_channel = 0; // Reset PPM channel counter
}
}
else // We have a new channel start (after channel 1)
{
//Todo: We could add a test here for channel pre pulse lenght check
// Update channel counter
ppm1_channel++;
}
// We have a new channel start, update channel counter
ppm1_channel++;
} }
// If not yet synchronized check for sync symbol end // If not yet synchronized check for sync symbol
else if( ppm1_width > PPM_CH1_MIN_SYNC_LENGHT ) || ( ppm1_width < PPM_CH1_MAX_SYNC_LENGHT ) else if( ppm1_width[ ppm1_channel ] > PPM_CH1_MIN_SYNC_LENGHT ) || ( ppm1_width[ ppm1_channel ] < PPM_CH1_MAX_SYNC_LENGHT )
{ {
// We have a valid sync symbol // We have a valid sync symbol
sync_error_ch1 = false; // Reset sync error flag sync_error_ch1 = false; // Reset sync error flag
@ -683,6 +713,7 @@ CHECK_LOOP: // Input PPM pins check loop
else // We did not find a sync symbol else // We did not find a sync symbol
{ {
sync_error_ch1 = true; // Set sync error flag sync_error_ch1 = true; // Set sync error flag
ppm1_channel = 0; // Reset PPM channel counter
} }
} }
@ -692,29 +723,25 @@ CHECK_LOOP: // Input PPM pins check loop
if(sync_ch1 == true) // Are we synchronized ? if(sync_ch1 == true) // Are we synchronized ?
{ {
// Check if channel pulse lenght is valid // Check if channel pulse lenght is valid
if( ppm1_width > ( PPM_CH1_VAL_MAX - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) ) || ( ppm1_width < ( PPM_CH1_VAL_MIN - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) ) if( ppm1_width[ ppm1_channel ] > ( PPM_CH1_VAL_MAX - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) ) || ( ppm1_width[ ppm1_channel ] < ( PPM_CH1_VAL_MIN - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) )
{ {
// Reset channel error flag // Reset channel error flag
channel_error_ch1 = false; channel_error_ch1 = false;
// todo : copy of PPM1 input channel to PPM output if( ppm1_channel == channel_count_ch1 ) // Check for last channel
if( ppm1_channel = PPM_CH1_CHANNELS ) // Check for last channel
{ {
last_channel_ch1 = true; // We are at latest PPM channel
// Reset PPM channel count and sync flag last_channel_ch1 = true; // Set last channel flag
sync_ch1 = false; sync_ch1 = false; // Reset sync flag
ppm1_channel = 0; ppm1_channel = 0; // Reset PPM channel counter
} }
} }
else // We do not have a valid channel lenght else // We do not have a valid channel lenght
{ {
// Set channel error flag channel_error_ch1 = true; // Set channel error flag
channel_error_ch1 = true; sync_ch1 = false; // Reset sync flag
// Reset PPM channel count and sync flag ppm1_channel = 0; // Reset PPM channel counter
sync_ch1 = false;
ppm1_channel = 0;
} }
} }
@ -727,11 +754,12 @@ CHECK_LOOP: // Input PPM pins check loop
//---------------------------------------------------------------------------------------------------------------------- //----------------------------------------------------------------------------------------------------------------------
// Todo : Conversion to PPM output format // Todo : Conversion to PPM output format
// Todo : rework code from line 830 to end of redundancy mode // Todo : rework code from line 830 to end of redundancy mode
// Todo : channel count reliable auto detection - remove PPM standard extended frame format. // Todo : channel count auto detection : write post processing
// Todo : replace channel count defines with max channels count.
// Todo : sync between PPM input and output after switchover // Todo : sync between PPM input and output after switchover
// Todo : Add delay inside switchover algo // Todo : Add delay inside switchover algo
// Todo : Add LED code for APM 1.4 // Todo : Add LED code for APM 1.4
//---------------------------------------------------------------------------------------------------------------------- //----------------------------------------------------------------------------------------------------------------------
// ----------------------------------- // -----------------------------------