mirror of https://github.com/ArduPilot/ardupilot
ArduPPM: Redundancy mode
Dual input PPM decoder rework flags for frame and channel error control decoder algorithm rework
This commit is contained in:
Olivier ADLER
parent
4f0fae5436
commit
ddef15b095
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@ -50,9 +50,9 @@
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#define JUMPER_SELECT_MODE 0 // Default - PPM passtrough mode selected if input pins 2&3 shorted. Normal servo input (pwm) if not shorted.
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#define SERVO_PWM_MODE 1 // Normal 8 channel servo (pwm) input
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#define PPM_PASSTROUGH_MODE 2 // PPM signal passtrough on channel 1
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#define PPM_PASSTROUGH_MODE 2 // PPM signal passtrough on channel 1 if input pins 2&3 shorted
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#define PPM_REDUNDANCY_MODE 3 // PPM redundancy on channels 1 and 2 if input pins 3&4 shorted
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#define SPEKTRUM_MODE 4 // Spektrum satelitte on channel 1 (reserved but not implemented yet)
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#define SPEKTRUM_MODE 4 // Spektrum satelitte on channel 1 (reserved - not yet implemented)
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volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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@ -63,18 +63,17 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define SWITCHOVER_CHANNEL_A 8 // Receiver 1 PPM channel to force receiver 2. Use 0 for no switchover channel
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#define SWITCHOVER_CHANNEL_B 16 // Alternative receiver 1 PPM channel to force receiver 2. Use 0 for no switchover channel
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#define RECEIVER_1_FRAME_FORMAT 0 // 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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#define RECEIVER_2_FRAME_FORMAT 0 // See manual for details
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#define SWITCHOVER_1_to_2_DELAY_MS 50 // Delay for switching to receiver 2
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#define SWITCHOVER_2_to_1_DELAY_MS 200 // Delay for switching back to receiver 1
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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
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//#define PPM_CH1_STANDARD_EXTENDED // used on Hitec 9 channels hardware
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//#define PPM_CH1_V2 // used initialy on Futaba hardware to allow more than 8 channels
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//#define PPM_CH1_V3 // used on old hardware to allow for 16 channels with long framesync symbol
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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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// PPM input frame mode receiver 2
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// -------------------------------------------------------------
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@ -155,8 +154,8 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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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 * 800
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1300
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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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// PPM channel pre pulse lenght
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@ -240,8 +239,8 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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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 * 800
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1300
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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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// PPM channel pre pulse lenght
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@ -584,6 +583,19 @@ ISR( SERVO_INT_VECTOR )
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// Frame sync flag
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static bool sync_ch1 = false;
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static bool sync_ch2 = false;
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// Last channels flags
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static bool last_channel_ch1 = false;
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static bool last_channel_ch2 = false;
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// Channel error flags
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static bool channel_error_ch1 = true;
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static bool channel_error_ch2 = true;
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// Sync error flags
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static bool sync_error_ch1 = true;
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static bool sync_error_ch2 = true;
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// Missing throttle signal failsafe
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static uint8_t throttle_timeout = 0;
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@ -616,8 +628,7 @@ CHECK_START: // Start of PPM inputs check
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// Set initial PPM channels
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uint8_t ppm1_channel = 0; // Channel 0 = sync symbol
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uint8_t ppm2_channel = 0; // Channel 0 = sync symbol
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CHECK_LOOP: // Input PPM pins check loop
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// Check if we have a pin change on PPM channel 1
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@ -631,7 +642,7 @@ CHECK_LOOP: // Input PPM pins check loop
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{
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if(sync_ch1 == true) // Are we synchronized ?
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{
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//We could add a test here for channel pre pulse lenght validity
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//We could add a test here for channel pre pulse lenght check
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// We have a new channel start, update channel counter
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ppm1_channel++;
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@ -640,8 +651,14 @@ CHECK_LOOP: // Input PPM pins check loop
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else if( ppm1_width > PPM_CH1_MIN_SYNC_LENGHT ) || ( ppm1_width < PPM_CH1_MAX_SYNC_LENGHT )
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{
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// We have a valid sync symbol
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sync_ch1 = true; // Enable sync flag
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ppm1_channel = 1; // Set PPM1 channel counter to first channel
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sync_error_ch1 = false; // Reset sync error flag
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sync_ch1 = true; // Set sync flag
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last_channel_ch1 = false; // Reset last channel flag
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ppm1_channel = 1; // Set PPM1 channel counter to first channel
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}
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else // We did not find a sync symbol
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{
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sync_error_ch1 = true; // Set sync error flag
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}
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}
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@ -653,20 +670,24 @@ CHECK_LOOP: // Input PPM pins check loop
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// Check if channel pulse lenght is valid
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if( ppm1_width > ( PPM_CH1_VAL_MAX - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) ) || ( ppm1_width < ( PPM_CH1_VAL_MIN - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) )
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{
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if( ppm1_channel <= PPM_CH1_CHANNELS ) // Check for channel count validity
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{
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// propose copy of PPM1 input channel to PPM output
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// Reset channel error flag
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channel_error_ch1 = false;
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}
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else // We do not have a valid channel count
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// todo : copy of PPM1 input channel to PPM output
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if( ppm1_channel = PPM_CH1_CHANNELS ) // Check for last channel
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{
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last_channel_ch1 = true;
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// Reset PPM channel count and sync flag
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sync_ch1 = false;
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ppm1_channel = 0;
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}
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}
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else // We do not have a valid channel lenght
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{
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// Set channel error flag
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channel_error_ch1 = true;
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// Reset PPM channel count and sync flag
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sync_ch1 = false;
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ppm1_channel = 0;
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@ -677,34 +698,31 @@ CHECK_LOOP: // Input PPM pins check loop
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}
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ppm1_start[ ppm1_channel ] = servo_time; // Update start time for PPM1 input
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}
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// Todo : duplicate code for PPM channel 2
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// Todo : rework code to end of redundancy mode
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// Todo : try to sync between input and output PPM
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// Todo : switchover algorythm
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//----------------------------------------------------------------------------------------------------------------------
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// Todo : duplicate decoder code for PPM channel 2
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// Todo : Conversion to PPM output format
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// Todo : rework code from here to end of redundancy mode
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// Todo : channel count auto detection
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// Todo : try to sync between PPM input and output after switchover
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// Todo : switchover
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//----------------------------------------------------------------------------------------------------------------------
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UPDATE_PPM_OUTPUT: // Update PPM output according to frame validity
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// Update PPM output channel from PPM input 1
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ppm[ ppm1_channel ] = ppm1_width;
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// ppm[ ppm1_channel ] = ppm1_width;
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// Update PPM output channel from PPM input 2
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ppm[ ppm2_channel ] = ppm2_width;
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// ppm[ ppm2_channel ] = ppm2_width;
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//Reset throttle failsafe timeout
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if( ppm1_channel == 5 ) throttle_timeout = 0;
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if( ppm2_channel == 5 ) throttle_timeout = 0;
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//if( ppm2_channel == 5 ) throttle_timeout = 0;
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CHECK_ERROR:
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// Used to indicate invalid servo input signals
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servo_input_errors++;
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Delay LED toggle
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led_delay = 0;
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