mirror of https://github.com/ArduPilot/ardupilot
ArduPPM : Redundancy mode
#define modifications for sync symbol detection and center pwm value correction
This commit is contained in:
Olivier ADLER
parent
210148a432
commit
dbdf028cae
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@ -10,7 +10,7 @@
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//
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// 12-10-2012
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// V3.0.0 - Added dual input PPM redundancy mode with auto switchover. This is mainly for dual PPM receivers setup.
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// This mode Can be used as well if a PPM conversion is needed (Futaba 16 channels 760us mode to APM mode)
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//
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// -------------------------------------------------------------
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// Not for production - Work in progress
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@ -73,13 +73,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define CHANNEL_COUNT_DETECTION_THRESHOLD 10 // Valid frames detected before channel count validation
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// 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
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// PPM input frame mode receiver 1
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// -------------------------------------------------------------
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#define PPM_CH1_STANDARD // Standard PPM : 1500 us +/- 600 us - 8 channels - 20 ms frame period
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//#define PPM_CH1_STANDARD_EXTENDED // Hitec 9 channels hardware : 1500 us +/- 600 us - 9 channels - 22.1 ms slower frame period
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//#define PPM_CH1_V2 // PPMv2 used initialy at Futaba - 760 us +/- 300 us - 16 Channels - normal 20 ms frame period
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//#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
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#define PPM_CH1_STANDARD // Standard PPM : 1520 us +/- 600 us - 8 channels - 20 ms frame period
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//#define PPM_CH1_STANDARD_EXTENDED // 9 channels : 1520 us +/- 600 us - 9 channels - 22.1 ms slower frame period
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//#define PPM_CH1_V2 // PPMv2 : 760 us +/- 300 us - 16 Channels - normal 20 ms frame period
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//#define PPM_CH1_V3 // PPMv3 16 channels with long sync symbol : 1050 us +/- 300 us - 25 ms frame period
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// PPM input frame mode receiver 2
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// -------------------------------------------------------------
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@ -88,80 +87,75 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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//#define PPM_CH2_V2
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//#define PPM_CH2_V3
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// PPM input frame definitions receiver 1
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// PPM1 input : frame formats definitions
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// -------------------------------------------------------------
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#if defined (PPM_CH1_STANDARD) || defined (PPM_CH1_STANDARD_EXTENDED)
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#ifdef PPM_CH1_STANDARD_EXTENDED
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// Max input PPM channels
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 9
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// Frame period
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#define PPM_CH1_FRAME_PERIOD 22100 // frame period (microseconds)
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#define PPM_CH1_FRAME_PERIOD 22120 // frame period (microseconds)
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#else
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// Max input PPM channels
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 8
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// Frame period
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#define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds)
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#endif
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// Negative Shift
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//#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)
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// PPM channels minimum and maximum values
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#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 900
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2100
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1500
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// PPM channels limits
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#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 920
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2120
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1520
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#define PPM_CH1_FORCE_VAL_MIN 1800
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol minimum and maximum laps
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// PPM frame sync symbol limits
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#endif
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#ifdef PPM_CH1_V2 (PPMv2 is a 50 Hz 16 channels mode, used initialy on Futaba and later on other manufacturers modules)
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#ifdef PPM_CH1_V2 (PPMv2 is a 50 Hz 16 channels mode)
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// Max input PPM channels
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 16
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// Frame period
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#define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds)
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// Negative Shift
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//#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)
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// PPM channels minimum and maximum values
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#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 450
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1050
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 750
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// PPM channels limits
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#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 460
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1060
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 760
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#define PPM_CH1_FORCE_VAL_MIN 900
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
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// PPM frame sync symbol minimum and maximum laps
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// PPM frame sync symbol limits
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#endif
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#ifdef PPM_CH1_V3 (PPMv3 is a 40 Hz slower refresh frequency 16 channels mode to allow 16 channels with older transmitter modules)
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#ifdef PPM_CH1_V3 (PPMv3 is a 40 Hz slower refresh rate 16 channels mode)
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// Max input PPM channels
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 16
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// Frame period
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#define PPM_CH1_FRAME_PERIOD 25000 // frame period (microseconds)
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// Negative Shift
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//#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)
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// PPM channels minimum and maximum values
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// PPM channels limits
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#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 750
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1350
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1050
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@ -170,84 +164,79 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol minimum and maximum laps
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// PPM frame sync symbol limits
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
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#endif
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// PPM input frame definitions receiver 2
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// PPM2 input : frame format definitions
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// -------------------------------------------------------------
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#if defined (PPM_CH2_STANDARD) || defined (PPM_CH2_STANDARD_EXTENDED)
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#ifdef PPM_CH2_STANDARD_EXTENDED
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// Max input PPM channels
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#define PPM_CH2_CHANNELS 9
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 9
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// Frame period
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#define PPM_CH2_FRAME_PERIOD 22100 // frame period (microseconds)
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#define PPM_CH2_FRAME_PERIOD 22120 // frame period (microseconds)
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#else
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// Max input PPM channels
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#define PPM_CH2_CHANNELS 8
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 8
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// Frame period
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#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
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#endif
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// Negative Shift
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//#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)
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// PPM channels minimum and maximum values
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#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 900
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2100
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1500
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// PPM channels limits
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#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 920
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2120
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1520
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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// PPM frame sync symbol limits
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#endif
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#ifdef PPM_CH2_V2 (PPMv2 is a 50 Hz 16 channels mode, used initialy on Futaba and later on other manufacturers modules)
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#ifdef PPM_CH2_V2 (PPMv2 is a 50 Hz 16 channels mode)
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// Max input PPM channels
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#define PPM_CH2_CHANNELS 16
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 16
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// Frame period
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#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
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// Negative Shift
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//#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)
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// PPM channels minimum and maximum values
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#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 450
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1050
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 750
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// PPM channels limits
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#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 460
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1060
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 760
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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// PPM sync symbol limits
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#endif
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#ifdef PPM_CH2_V3 (PPMv3 is a 40 Hz slower refresh frequency 16 channels mode to allow 16 channels with older transmitter modules)
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#ifdef PPM_CH2_V3 (PPMv3 is a 40 Hz slower refresh rate 16 channels mode)
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// Max input PPM channels
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#define PPM_CH2_CHANNELS 16
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 16
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// Frame period
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#define PPM_CH2_FRAME_PERIOD 25000 // frame period (microseconds)
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// Negative Shift
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//#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)
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// PPM channels minimum and maximum values
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// PPM channels limits
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#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 750
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1350
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1050
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@ -255,9 +244,9 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// PPM channel pre pulse lenght
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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// PPM sync symbol limits
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#endif
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@ -270,10 +259,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PWM_CHANNELS 8
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// PWM channels minimum values
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#define PWM_VAL_MIN TICKS_FOR_ONE_US * 900 - PPM_PRE_PULSE
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#define PWM_VAL_MIN TICKS_FOR_ONE_US * 920 - PPM_PRE_PULSE
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// PWM channels maximum values
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#define PWM_VAL_MAX TICKS_FOR_ONE_US * 2100 - PPM_PRE_PULSE
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#define PWM_VAL_MAX TICKS_FOR_ONE_US * 2120 - PPM_PRE_PULSE
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// PWM input filters
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// Using both filters is not recommended and may reduce servo input resolution
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@ -292,10 +281,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_PRE_PULSE TICKS_FOR_ONE_US * 400
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// PPM channels center positions
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#define PPM_VAL_CENTER TICKS_FOR_ONE_US * 1500 - PPM_PRE_PULSE
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#define PPM_VAL_CENTER TICKS_FOR_ONE_US * 1520 - PPM_PRE_PULSE
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// PPM period 18.5ms - 26.5ms (54hz - 37Hz)
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#define PPM_PERIOD TICKS_FOR_ONE_US * ( 22500 - ( PPM_CHANNELS * 1500 ) )
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#define PPM_PERIOD TICKS_FOR_ONE_US * ( 22500 - ( PPM_CHANNELS * 1520 ) )
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// Size of ppm[..] data array
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#define PPM_ARRAY_MAX PPM_CHANNELS * 2 + 2
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@ -308,7 +297,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_THROTTLE_DEFAULT TICKS_FOR_ONE_US * 1100 - PPM_PRE_PULSE
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// Throttle during failsafe
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#define PPM_THROTTLE_FAILSAFE TICKS_FOR_ONE_US * 900 - PPM_PRE_PULSE
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#define PPM_THROTTLE_FAILSAFE TICKS_FOR_ONE_US * 920 - PPM_PRE_PULSE
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// CH5 power on values (mode selection channel)
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#define PPM_CH5_MODE_4 TICKS_FOR_ONE_US * 1555 - PPM_PRE_PULSE
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