Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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 2012-10-14 01:10:52 +02:00
parent 4f0fae5436
commit ddef15b095
1 changed files with 57 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

88
Tools/ArduPPM/Libraries/PPM_Encoder_v3.h
View File

@ -50,9 +50,9 @@
#define JUMPER_SELECT_MODE 0 // Default - PPM passtrough mode selected if input pins 2&3 shorted. Normal servo input (pwm) if not shorted.
#define SERVO_PWM_MODE 1 // Normal 8 channel servo (pwm) input
#define PPM_PASSTROUGH_MODE 2 // PPM signal passtrough on channel 1
#define PPM_PASSTROUGH_MODE 2 // PPM signal passtrough on channel 1 if input pins 2&3 shorted
#define PPM_REDUNDANCY_MODE 3 // PPM redundancy on channels 1 and 2 if input pins 3&4 shorted
#define SPEKTRUM_MODE 4 // Spektrum satelitte on channel 1 (reserved but not implemented yet)
#define SPEKTRUM_MODE 4 // Spektrum satelitte on channel 1 (reserved - not yet implemented)
volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
@ -63,18 +63,17 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define SWITCHOVER_CHANNEL_A 8 // Receiver 1 PPM channel to force receiver 2. Use 0 for no switchover channel
#define SWITCHOVER_CHANNEL_B 16 // Alternative receiver 1 PPM channel to force receiver 2. Use 0 for no switchover channel
#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
#define RECEIVER_2_FRAME_FORMAT 0 // See manual for details
#define SWITCHOVER_1_to_2_DELAY_MS 50 // Delay for switching to receiver 2
#define SWITCHOVER_2_to_1_DELAY_MS 200 // Delay for switching back to receiver 1
// 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
// -------------------------------------------------------------
#define PPM_CH1_STANDARD
//#define PPM_CH1_STANDARD_EXTENDED // used on Hitec 9 channels hardware
//#define PPM_CH1_V2 // used initialy on Futaba hardware to allow more than 8 channels
//#define PPM_CH1_V3 // used on old hardware to allow for 16 channels with long framesync symbol
#define PPM_CH1_STANDARD // Standard PPM : 1500 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_V2 // PPMv2 used initialy at Futaba - 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
// PPM input frame mode receiver 2
// -------------------------------------------------------------
@ -155,8 +154,8 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
//#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 * 800
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1300
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 750
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1350
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1050
// PPM channel pre pulse lenght
@ -240,8 +239,8 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
//#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 * 800
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1300
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 750
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1350
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1050
// PPM channel pre pulse lenght
@ -585,6 +584,19 @@ ISR( SERVO_INT_VECTOR )
static bool sync_ch1 = false;
static bool sync_ch2 = false;
// Last channels flags
static bool last_channel_ch1 = false;
static bool last_channel_ch2 = false;
// Channel error flags
static bool channel_error_ch1 = true;
static bool channel_error_ch2 = true;
// Sync error flags
static bool sync_error_ch1 = true;
static bool sync_error_ch2 = true;
// Missing throttle signal failsafe
static uint8_t throttle_timeout = 0;
@ -617,7 +629,6 @@ CHECK_START: // Start of PPM inputs check
uint8_t ppm1_channel = 0; // Channel 0 = sync symbol
uint8_t ppm2_channel = 0; // Channel 0 = sync symbol
CHECK_LOOP: // Input PPM pins check loop
// Check if we have a pin change on PPM channel 1
@ -631,7 +642,7 @@ CHECK_LOOP: // Input PPM pins check loop
{
if(sync_ch1 == true) // Are we synchronized ?
{
//We could add a test here for channel pre pulse lenght validity
//We could add a test here for channel pre pulse lenght check
// We have a new channel start, update channel counter
ppm1_channel++;
@ -640,9 +651,15 @@ CHECK_LOOP: // Input PPM pins check loop
else if( ppm1_width > PPM_CH1_MIN_SYNC_LENGHT ) || ( ppm1_width < PPM_CH1_MAX_SYNC_LENGHT )
{
// We have a valid sync symbol
sync_ch1 = true; // Enable sync flag
sync_error_ch1 = false; // Reset sync error flag
sync_ch1 = true; // Set sync flag
last_channel_ch1 = false; // Reset last channel flag
ppm1_channel = 1; // Set PPM1 channel counter to first channel
}
else // We did not find a sync symbol
{
sync_error_ch1 = true; // Set sync error flag
}
}
else
@ -653,20 +670,24 @@ CHECK_LOOP: // Input PPM pins check loop
// 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_channel <= PPM_CH1_CHANNELS ) // Check for channel count validity
{
// propose copy of PPM1 input channel to PPM output
// Reset channel error flag
channel_error_ch1 = false;
}
else // We do not have a valid channel count
// todo : copy of PPM1 input channel to PPM output
if( ppm1_channel = PPM_CH1_CHANNELS ) // Check for last channel
{
last_channel_ch1 = true;
// Reset PPM channel count and sync flag
sync_ch1 = false;
ppm1_channel = 0;
}
}
else // We do not have a valid channel lenght
{
// Set channel error flag
channel_error_ch1 = true;
// Reset PPM channel count and sync flag
sync_ch1 = false;
ppm1_channel = 0;
@ -679,32 +700,29 @@ CHECK_LOOP: // Input PPM pins check loop
}
// Todo : duplicate code for PPM channel 2
// Todo : rework code to end of redundancy mode
// Todo : try to sync between input and output PPM
// Todo : switchover algorythm
//----------------------------------------------------------------------------------------------------------------------
// Todo : duplicate decoder code for PPM channel 2
// Todo : Conversion to PPM output format
// Todo : rework code from here to end of redundancy mode
// Todo : channel count auto detection
// Todo : try to sync between PPM input and output after switchover
// Todo : switchover
//----------------------------------------------------------------------------------------------------------------------
UPDATE_PPM_OUTPUT: // Update PPM output according to frame validity
// Update PPM output channel from PPM input 1
ppm[ ppm1_channel ] = ppm1_width;
// ppm[ ppm1_channel ] = ppm1_width;
// Update PPM output channel from PPM input 2
ppm[ ppm2_channel ] = ppm2_width;
// ppm[ ppm2_channel ] = ppm2_width;
//Reset throttle failsafe timeout
if( ppm1_channel == 5 ) throttle_timeout = 0;
if( ppm2_channel == 5 ) throttle_timeout = 0;
//if( ppm2_channel == 5 ) throttle_timeout = 0;
CHECK_ERROR:
// Used to indicate invalid servo input signals
servo_input_errors++;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Delay LED toggle
led_delay = 0;