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ArduPPM 0.9.86 update : 

#define to allow Radio Passthrough mode disabling on APM v1.4 (hardware failsafe for Arduplane)
This is to allow for safe use of CH8 with Arducopter.
This commit is contained in:
Olivier ADLER 2011-11-21 02:22:36 +01:00
parent a8522dd1b0
commit a816d2ae4a
1 changed files with 12 additions and 5 deletions
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17
Tools/ArduPPM/ATMega328p/Encoder-PPM.c
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@ -1,5 +1,5 @@
// ------------------------------------------------------------------------------------------------------------------------------------------------------------ // ------------------------------------------------------------------------------------------------------------------------------------------------------------
// ARDUCODER Version v0.9.85 // ArduPPM Version v0.9.86
// ------------------------------------------------------------------------------------------------------------------------------------------------------------ // ------------------------------------------------------------------------------------------------------------------------------------------------------------
// ARDUCOPTER 2 : PPM ENCODER for AT Mega 328p and APM v1.4 Boards // ARDUCOPTER 2 : PPM ENCODER for AT Mega 328p and APM v1.4 Boards
// By:John Arne Birkeland - 2011 // By:John Arne Birkeland - 2011
@ -33,6 +33,7 @@
// 0.9.83 : Implemented PPM passtrough failsafe // 0.9.83 : Implemented PPM passtrough failsafe
// 0.9.84 : Corrected pin and port names in Encoder-PPM.c according to #define for Mega32U2 compatibility // 0.9.84 : Corrected pin and port names in Encoder-PPM.c according to #define for Mega32U2 compatibility
// 0.9.85 : Added brownout reset detection flag // 0.9.85 : Added brownout reset detection flag
// 0.9.86 : Added a #define to disable Radio Passthrough mode (hardware failsafe for Arduplane)
// ------------------------------------------------------------------------------------------------------------------------------------------------------------ // ------------------------------------------------------------------------------------------------------------------------------------------------------------
// PREPROCESSOR DIRECTIVES // PREPROCESSOR DIRECTIVES
// ------------------------------------------------------------------------------------------------------------------------------------------------------------ // ------------------------------------------------------------------------------------------------------------------------------------------------------------
@ -41,10 +42,11 @@
#include <util/delay.h> #include <util/delay.h>
#define ERROR_THRESHOLD 1 // Number of servo input errors before alerting #define ERROR_THRESHOLD 2 // Number of servo input errors before alerting
#define ERROR_DETECTION_WINDOW 3000 * LOOP_TIMER_10MS // Detection window for error detection (default to 30s) #define ERROR_DETECTION_WINDOW 3000 * LOOP_TIMER_10MS // Detection window for error detection (default to 30s)
#define ERROR_CONDITION_DELAY 500 * LOOP_TIMER_10MS // Servo error condition LED delay (LED blinking duration) #define ERROR_CONDITION_DELAY 500 * LOOP_TIMER_10MS // Servo error condition LED delay (LED blinking duration)
#define PASSTHROUGH_MODE ENABLED // Set it to "DISABLED" to remove radio passthrough mode (hardware failsafe for Arduplane)
#define PASSTHROUGH_CHANNEL 8 * 2 // Channel for passthrough mode selection #define PASSTHROUGH_CHANNEL 8 * 2 // Channel for passthrough mode selection
#define PASSTHROUGH_CHANNEL_OFF_US ONE_US * 1600 - PPM_PRE_PULSE // Passthrough off threshold #define PASSTHROUGH_CHANNEL_OFF_US ONE_US * 1600 - PPM_PRE_PULSE // Passthrough off threshold
#define PASSTHROUGH_CHANNEL_ON_US ONE_US * 1800 - PPM_PRE_PULSE // Passthrough on threshold #define PASSTHROUGH_CHANNEL_ON_US ONE_US * 1800 - PPM_PRE_PULSE // Passthrough on threshold
@ -87,8 +89,6 @@ int main(void)
// LOCAL VARIABLES // LOCAL VARIABLES
// ------------------------------------------------------------------------------------------------------------------------------------------------------------ // ------------------------------------------------------------------------------------------------------------------------------------------------------------
bool init = true; // We are inside init sequence bool init = true; // We are inside init sequence
int8_t mux_check = 0;
uint16_t mux_ppm = 500;
bool mux_passthrough = false; // Mux passthrough mode status Flag : passthrough is off bool mux_passthrough = false; // Mux passthrough mode status Flag : passthrough is off
uint16_t led_acceleration; // Led acceleration based on throttle stick position uint16_t led_acceleration; // Led acceleration based on throttle stick position
bool servo_error_condition = false; // Servo signal error condition bool servo_error_condition = false; // Servo signal error condition
@ -96,8 +96,14 @@ int main(void)
static uint16_t servo_error_detection_timer=0; // Servo error detection timer static uint16_t servo_error_detection_timer=0; // Servo error detection timer
static uint16_t servo_error_condition_timer=0; // Servo error condition timer static uint16_t servo_error_condition_timer=0; // Servo error condition timer
static uint16_t blink_led_timer = 0; // Blink led timer static uint16_t blink_led_timer = 0; // Blink led timer
#if PASSTHROUGH_MODE == ENABLED
static uint8_t mux_timer = 0; // Mux timer static uint8_t mux_timer = 0; // Mux timer
static uint8_t mux_counter = 0; // Mux counter static uint8_t mux_counter = 0; // Mux counter
static int8_t mux_check = 0;
static uint16_t mux_ppm = 500;
#endif
static uint16_t led_code_timer = 0; // Blink Code Timer static uint16_t led_code_timer = 0; // Blink Code Timer
static uint8_t led_code_symbol = 0; // Blink Code current symbol static uint8_t led_code_symbol = 0; // Blink Code current symbol
@ -308,6 +314,7 @@ int main(void)
PWM_LOOP: // SERVO_PWM_MODE PWM_LOOP: // SERVO_PWM_MODE
while( 1 ) while( 1 )
{ {
#if PASSTHROUGH_MODE == ENABLED
// ------------------------------------------------------------------------------ // ------------------------------------------------------------------------------
// Radio passthrough control (mux chip A/B control) // Radio passthrough control (mux chip A/B control)
// ------------------------------------------------------------------------------ // ------------------------------------------------------------------------------
@ -355,7 +362,7 @@ int main(void)
} }
#endif
// ------------------------------------------------------------------------------ // ------------------------------------------------------------------------------
// Status LED control // Status LED control