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ArduPPM : Redundancy mode 

#define modifications for sync symbol detection and center pwm value correction
This commit is contained in:
Olivier ADLER 2012-10-29 22:00:42 +01:00
parent 210148a432
commit dbdf028cae
1 changed files with 71 additions and 82 deletions
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153
Tools/ArduPPM/Libraries/PPM_Encoder_v3.h
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@ -10,7 +10,7 @@
// //
// 12-10-2012 // 12-10-2012
// V3.0.0 - Added dual input PPM redundancy mode with auto switchover. This is mainly for dual PPM receivers setup. // V3.0.0 - Added dual input PPM redundancy mode with auto switchover. This is mainly for dual PPM receivers setup.
// This mode Can be used as well if a PPM conversion is needed (Futaba 16 channels 760us mode to APM mode) //
// ------------------------------------------------------------- // -------------------------------------------------------------
// Not for production - Work in progress // Not for production - Work in progress
@ -73,13 +73,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define CHANNEL_COUNT_DETECTION_THRESHOLD 10 // Valid frames detected before channel count validation #define CHANNEL_COUNT_DETECTION_THRESHOLD 10 // Valid frames detected before channel count validation
// 0 for standard PPM, 1 for PPMv2 (Futaba 760 us 16 Channels), 2 for PPMv3 (Jeti 1050 us 16 channels), 3 for Hitec 9 channels
// PPM input frame mode receiver 1 // PPM input frame mode receiver 1
// ------------------------------------------------------------- // -------------------------------------------------------------
#define PPM_CH1_STANDARD // Standard PPM : 1500 us +/- 600 us - 8 channels - 20 ms frame period #define PPM_CH1_STANDARD // Standard PPM : 1520 us +/- 600 us - 8 channels - 20 ms frame period
//#define PPM_CH1_STANDARD_EXTENDED // Hitec 9 channels hardware : 1500 us +/- 600 us - 9 channels - 22.1 ms slower frame period //#define PPM_CH1_STANDARD_EXTENDED // 9 channels : 1520 us +/- 600 us - 9 channels - 22.1 ms slower frame period
//#define PPM_CH1_V2 // PPMv2 used initialy at Futaba - 760 us +/- 300 us - 16 Channels - normal 20 ms frame period //#define PPM_CH1_V2 // PPMv2 : 760 us +/- 300 us - 16 Channels - normal 20 ms frame period
//#define PPM_CH1_V3 // PPMv3 to allow for 16 channels with long sync symbol for hardware compatibility : 1050 us +/- 300 us - 25 ms frame period //#define PPM_CH1_V3 // PPMv3 16 channels with long sync symbol : 1050 us +/- 300 us - 25 ms frame period
// PPM input frame mode receiver 2 // PPM input frame mode receiver 2
// ------------------------------------------------------------- // -------------------------------------------------------------
@ -88,80 +87,75 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
//#define PPM_CH2_V2 //#define PPM_CH2_V2
//#define PPM_CH2_V3 //#define PPM_CH2_V3
// PPM input frame definitions receiver 1 // PPM1 input : frame formats definitions
// ------------------------------------------------------------- // -------------------------------------------------------------
#if defined (PPM_CH1_STANDARD) || defined (PPM_CH1_STANDARD_EXTENDED) #if defined (PPM_CH1_STANDARD) || defined (PPM_CH1_STANDARD_EXTENDED)
#ifdef PPM_CH1_STANDARD_EXTENDED #ifdef PPM_CH1_STANDARD_EXTENDED
// Max input PPM channels // PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_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 22120 // frame period (microseconds)
#else #else
// Max input PPM channels // PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_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)
#endif #endif
// Negative Shift // PPM channels limits
//#define SHIFT_CH1_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part) #define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 920
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2120
// PPM channels minimum and maximum values #define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1520
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 900
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2100
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1500
#define PPM_CH1_FORCE_VAL_MIN 1800 #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
// PPM frame sync symbol minimum and maximum laps // PPM frame sync symbol limits
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_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_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout #define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_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)
// Max input PPM channels // PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_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)
// Negative Shift // PPM channels limits
//#define SHIFT_CH1_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part) #define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 460
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1060
// PPM channels minimum and maximum values #define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 760
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 450
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1050
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 750
#define PPM_CH1_FORCE_VAL_MIN 900 #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
// PPM frame sync symbol minimum and maximum laps // PPM frame sync symbol limits
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_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_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout #define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_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 rate 16 channels mode)
// Max input PPM channels // PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_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)
// Negative Shift // PPM channels limits
//#define SHIFT_CH1_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part)
// PPM channels minimum and maximum values
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 750 #define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 750
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1350 #define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1350
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1050 #define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1050
@ -170,84 +164,79 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
// PPM channel pre pulse lenght // PPM channel pre pulse lenght
#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 limits
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_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_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout #define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#endif #endif
// PPM input frame definitions receiver 2 // PPM2 input : frame format definitions
// ------------------------------------------------------------- // -------------------------------------------------------------
#if defined (PPM_CH2_STANDARD) || defined (PPM_CH2_STANDARD_EXTENDED) #if defined (PPM_CH2_STANDARD) || defined (PPM_CH2_STANDARD_EXTENDED)
#ifdef PPM_CH2_STANDARD_EXTENDED #ifdef PPM_CH2_STANDARD_EXTENDED
// Max input PPM channels // PPM channel count limits
#define PPM_CH2_CHANNELS 9 #define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 9
// Frame period // Frame period
#define PPM_CH2_FRAME_PERIOD 22100 // frame period (microseconds) #define PPM_CH2_FRAME_PERIOD 22120 // frame period (microseconds)
#else #else
// Max input PPM channels // PPM channel count limits
#define PPM_CH2_CHANNELS 8 #define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 8
// Frame period // Frame period
#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds) #define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
#endif #endif
// Negative Shift // PPM channels limits
//#define SHIFT_CH2_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part) #define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 920
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2120
// PPM channels minimum and maximum values #define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1520
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 900
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2100
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1500
// PPM channel pre pulse lenght // PPM channel pre pulse lenght
#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 limits
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection #define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout #define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
#endif #endif
#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)
// Max input PPM channels // PPM channel count limits
#define PPM_CH2_CHANNELS 16 #define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 16
// Frame period // Frame period
#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds) #define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
// Negative Shift // PPM channels limits
//#define SHIFT_CH2_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part) #define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 460
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1060
// PPM channels minimum and maximum values #define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 760
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 450
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1050
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 750
// PPM channel pre pulse lenght // PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200 #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
// PPM frame sync symbol minimum and maximum laps // PPM sync symbol limits
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection #define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout #define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
#endif #endif
#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 rate 16 channels mode)
// Max input PPM channels // PPM channel count limits
#define PPM_CH2_CHANNELS 16 #define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 16
// Frame period // Frame period
#define PPM_CH2_FRAME_PERIOD 25000 // frame period (microseconds) #define PPM_CH2_FRAME_PERIOD 25000 // frame period (microseconds)
// Negative Shift // PPM channels limits
//#define SHIFT_CH2_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part)
// PPM channels minimum and maximum values
#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
@ -255,9 +244,9 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
// PPM channel pre pulse lenght // PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
// PPM frame sync symbol minimum and maximum laps // PPM sync symbol limits
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection #define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout #define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
#endif #endif
@ -270,10 +259,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PWM_CHANNELS 8 #define PWM_CHANNELS 8
// PWM channels minimum values // PWM channels minimum values
#define PWM_VAL_MIN TICKS_FOR_ONE_US * 900 - PPM_PRE_PULSE #define PWM_VAL_MIN TICKS_FOR_ONE_US * 920 - PPM_PRE_PULSE
// PWM channels maximum values // PWM channels maximum values
#define PWM_VAL_MAX TICKS_FOR_ONE_US * 2100 - PPM_PRE_PULSE #define PWM_VAL_MAX TICKS_FOR_ONE_US * 2120 - PPM_PRE_PULSE
// PWM input filters // PWM input filters
// Using both filters is not recommended and may reduce servo input resolution // Using both filters is not recommended and may reduce servo input resolution
@ -292,10 +281,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_PRE_PULSE TICKS_FOR_ONE_US * 400 #define PPM_PRE_PULSE TICKS_FOR_ONE_US * 400
// PPM channels center positions // PPM channels center positions
#define PPM_VAL_CENTER TICKS_FOR_ONE_US * 1500 - PPM_PRE_PULSE #define PPM_VAL_CENTER TICKS_FOR_ONE_US * 1520 - PPM_PRE_PULSE
// PPM period 18.5ms - 26.5ms (54hz - 37Hz) // PPM period 18.5ms - 26.5ms (54hz - 37Hz)
#define PPM_PERIOD TICKS_FOR_ONE_US * ( 22500 - ( PPM_CHANNELS * 1500 ) ) #define PPM_PERIOD TICKS_FOR_ONE_US * ( 22500 - ( PPM_CHANNELS * 1520 ) )
// Size of ppm[..] data array // Size of ppm[..] data array
#define PPM_ARRAY_MAX PPM_CHANNELS * 2 + 2 #define PPM_ARRAY_MAX PPM_CHANNELS * 2 + 2
@ -308,7 +297,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_THROTTLE_DEFAULT TICKS_FOR_ONE_US * 1100 - PPM_PRE_PULSE #define PPM_THROTTLE_DEFAULT TICKS_FOR_ONE_US * 1100 - PPM_PRE_PULSE
// Throttle during failsafe // Throttle during failsafe
#define PPM_THROTTLE_FAILSAFE TICKS_FOR_ONE_US * 900 - PPM_PRE_PULSE #define PPM_THROTTLE_FAILSAFE TICKS_FOR_ONE_US * 920 - PPM_PRE_PULSE
// CH5 power on values (mode selection channel) // CH5 power on values (mode selection channel)
#define PPM_CH5_MODE_4 TICKS_FOR_ONE_US * 1555 - PPM_PRE_PULSE #define PPM_CH5_MODE_4 TICKS_FOR_ONE_US * 1555 - PPM_PRE_PULSE