mirror of https://github.com/ArduPilot/ardupilot
ArduPPM: PPM Redundancy mode
Some rework and cleaning for #define stuff
This commit is contained in:
Olivier ADLER
parent
5e65e5ef8a
commit
e22a01682e
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@ -41,6 +41,13 @@
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#define bool _Bool
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#endif
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// -------------------------------------------------------------
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// GLOBAL SETTINGS
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// -------------------------------------------------------------
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// Number of Timer1 ticks for 1 microsecond
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#define TICKS_FOR_ONE_US F_CPU / 8 / 1000 / 1000
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// -------------------------------------------------------------
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// INPUT MODE (by jumper selection)
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// -------------------------------------------------------------
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@ -57,8 +64,8 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// PPM REDUNDANCY MODE SETTINGS
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// -------------------------------------------------------------
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#define _TEACHER_STUDENT_MODE_ // Enable teacher student mode. See manual.
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#define TEACHER_STUDENT_CHANNEL 8 // PPM Channel to force receiver 2
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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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@ -66,51 +73,194 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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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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// PPM input frame mode receiver 1
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// -------------------------------------------------------------
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// PWM INPUT FILTERS
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#define PPM_CH1_STANDARD
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//#define PPM_CH1_STANDARD_EXTENDED
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//#define PPM_CH1_V2
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//#define PPM_CH1_V3
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// PPM input frame mode receiver 2
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// -------------------------------------------------------------
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#define PPM_CH2_STANDARD
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//#define PPM_CH2_STANDARD_EXTENDED
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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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// -------------------------------------------------------------
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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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// Number of input PPM channels
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#define PPM_CH1_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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#else
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// Number of input PPM channels
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#define PPM_CH1_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 frame sync symbol minimum and maximum laps
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#define PPM_CH1_MIN_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_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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// Number of input PPM channels
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#define PPM_CH1_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 frame sync symbol minimum and maximum laps
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#define PPM_CH1_MIN_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_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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// Number of input PPM channels
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#define PPM_CH1_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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#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_CENTER TICKS_FOR_ONE_US * 1050
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH1_MIN_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_SYMBOL PPM_CH1_FRAME_PERIOD - ( PPM_CH1_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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// -------------------------------------------------------------
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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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// Number of input PPM channels
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#define PPM_CH2_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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#else
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// Number of input PPM channels
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#define PPM_CH2_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 frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_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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// Number of input PPM channels
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#define PPM_CH2_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 frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_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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// Number of input PPM channels
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#define PPM_CH2_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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#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_CENTER TICKS_FOR_ONE_US * 1050
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// PPM frame sync symbol minimum and maximum laps
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#define PPM_CH2_MIN_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_SYMBOL PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
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#endif
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// -------------------------------------------------------------
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// SERVO PWM MODE input settings
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// -------------------------------------------------------------
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// Number of input PWM channels
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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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// PWM channels maximum values
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#define PWM_VAL_MAX TICKS_FOR_ONE_US * 2100 - 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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// #define _AVERAGE_FILTER_ // Average filter to smooth servo input capture jitter
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// #define _JITTER_FILTER_ // Cut filter to remove 0,5us servo input capture jitter
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// -------------------------------------------------------------
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// GLOBAL SETTINGS
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// -------------------------------------------------------------
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// Number of Timer1 ticks for 1 microsecond
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#define ONE_US F_CPU / 8 / 1000 / 1000
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// -------------------------------------------------------------
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// PWM inputs used channels, limits and center positions
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// -------------------------------------------------------------
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// Number of input PWM channels
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#define SERVO_CHANNELS 8
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// Servo minimum position
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#define PWM_SERVO_MIN ONE_US * 900 - PPM_PRE_PULSE
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// Servo center position
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#define PPM_SERVO_CENTER ONE_US * 1500 - PPM_PRE_PULSE
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// Servo maximum position
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#define PWM_SERVO_MAX ONE_US * 2100 - PPM_PRE_PULSE
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// -------------------------------------------------------------
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// PPM output default values
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// -------------------------------------------------------------
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// Throttle default at power on
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#define PPM_THROTTLE_DEFAULT ONE_US * 1100 - PPM_PRE_PULSE
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// Throttle during failsafe
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#define PPM_THROTTLE_FAILSAFE ONE_US * 900 - PPM_PRE_PULSE
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// CH5 power on values (mode selection channel)
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#define PPM_CH5_MODE_4 ONE_US * 1555 - PPM_PRE_PULSE
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// -------------------------------------------------------------
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// PPM output frame format
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// -------------------------------------------------------------
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@ -119,14 +269,30 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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#define PPM_CHANNELS 8
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// 400us PPM pre pulse
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#define PPM_PRE_PULSE ONE_US * 400
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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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// PPM period 18.5ms - 26.5ms (54hz - 37Hz)
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#define PPM_PERIOD ONE_US * ( 22500 - ( PPM_CHANNELS * 1500 ) )
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#define PPM_PERIOD TICKS_FOR_ONE_US * ( 22500 - ( PPM_CHANNELS * 1500 ) )
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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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// -------------------------------------------------------------
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// PPM output default values
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// -------------------------------------------------------------
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// Throttle default at power on
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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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// 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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// -------------------------------------------------------------
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// PPM output frame variables
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// -------------------------------------------------------------
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@ -136,21 +302,21 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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volatile uint16_t ppm[ PPM_ARRAY_MAX ] =
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{
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 1
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PPM_VAL_CENTER, // Channel 1
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 2
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PPM_VAL_CENTER, // Channel 2
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PPM_PRE_PULSE,
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PPM_THROTTLE_DEFAULT, // Channel 3 (throttle)
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 4
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PPM_VAL_CENTER, // Channel 4
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PPM_PRE_PULSE,
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PPM_CH5_MODE_4, // Channel 5
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 6
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PPM_VAL_CENTER, // Channel 6
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 7
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PPM_VAL_CENTER, // Channel 7
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 8
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PPM_VAL_CENTER, // Channel 8
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PPM_PRE_PULSE,
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PPM_PERIOD
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};
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@ -160,21 +326,21 @@ volatile uint16_t ppm[ PPM_ARRAY_MAX ] =
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const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
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{
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 1
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PPM_VAL_CENTER, // Channel 1
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 2
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PPM_VAL_CENTER, // Channel 2
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PPM_PRE_PULSE,
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PPM_THROTTLE_FAILSAFE, // Channel 3 (throttle)
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 4
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PPM_VAL_CENTER, // Channel 4
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PPM_PRE_PULSE,
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PPM_CH5_MODE_4, // Channel 5
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 6
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PPM_VAL_CENTER, // Channel 6
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 7
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PPM_VAL_CENTER, // Channel 7
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PPM_PRE_PULSE,
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PPM_SERVO_CENTER, // Channel 8
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PPM_VAL_CENTER, // Channel 8
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PPM_PRE_PULSE,
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PPM_PERIOD
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};
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@ -257,16 +423,16 @@ void EVENT_USB_Device_Disconnect(void)
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#error NO SUPPORTED DEVICE FOUND! (ATmega16u2 / ATmega32u2 / ATmega328p)
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#endif
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// Used to indicate invalid SERVO input signals
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// Invalid SERVO input signals count
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volatile uint8_t servo_input_errors = 0;
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// Used to indicate missing SERVO input signals
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// Missing SERVO input signals flag
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volatile bool servo_input_missing = true;
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// Used to indicate if PPM generator is active
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// PPM generator active flag
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volatile bool ppm_generator_active = false;
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// Used to indicate a brownout restart
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// Brownout restart flag
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volatile bool brownout_reset = false;
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// ------------------------------------------------------------------------------
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@ -389,7 +555,7 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
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ISR( SERVO_INT_VECTOR )
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{
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// Servo pulse start timing
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static uint16_t servo_start[ SERVO_CHANNELS ] = { 0, 0, 0, 0, 0, 0, 0, 0 };
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static uint16_t servo_start[ PWM_CHANNELS ] = { 0, 0, 0, 0, 0, 0, 0, 0 };
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Toggle LED delay
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@ -454,9 +620,9 @@ ISR( SERVO_INT_VECTOR )
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}
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// ------------------------------------------------------------------------------
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// SERVO PWM MODE
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// PWM MODE (8 channels inputs)
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// ------------------------------------------------------------------------------
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CHECK_PINS_START: // Start of servo input check
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CHECK_PINS_START: // Start of servo input check
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// Store current servo input pins
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servo_pins = SERVO_INPUT;
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@ -468,7 +634,7 @@ CHECK_PINS_START: // Start of servo input check
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uint8_t servo_pin = 1;
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uint8_t servo_channel = 0;
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CHECK_PINS_LOOP: // Input servo pin check loop
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CHECK_PINS_LOOP: // Input servo pin check loop
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// Check for pin change on current servo channel
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if( servo_change & servo_pin )
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@ -479,14 +645,15 @@ CHECK_PINS_LOOP: // Input servo pin check loop
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servo_start[ servo_channel ] = servo_time;
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}
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else
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// Low (falling edge)
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{
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// Get servo pulse width
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uint16_t servo_width = servo_time - servo_start[ servo_channel ] - PPM_PRE_PULSE;
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// Check that servo pulse signal is valid before sending to ppm encoder
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if( servo_width > PWM_SERVO_MAX ) goto CHECK_PINS_ERROR;
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if( servo_width < PWM_SERVO_MIN ) goto CHECK_PINS_ERROR;
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if( servo_width > PWM_VAL_MAX ) goto CHECK_PINS_ERROR;
|
||||
if( servo_width < PWM_VAL_MIN ) goto CHECK_PINS_ERROR;
|
||||
|
||||
// Calculate servo channel position in ppm[..]
|
||||
uint8_t _ppm_channel = ( servo_channel << 1 ) + 1;
|
||||
|
|
@ -512,7 +679,7 @@ CHECK_PINS_LOOP: // Input servo pin check loop
|
|||
}
|
||||
}
|
||||
|
||||
CHECK_PINS_NEXT:
|
||||
CHECK_PINS_NEXT:
|
||||
|
||||
// Select next servo pin
|
||||
servo_pin <<= 1;
|
||||
|
|
@ -521,11 +688,11 @@ CHECK_PINS_NEXT:
|
|||
servo_channel++;
|
||||
|
||||
// Check channel and process if needed
|
||||
if( servo_channel < SERVO_CHANNELS ) goto CHECK_PINS_LOOP;
|
||||
if( servo_channel < PWM_CHANNELS ) goto CHECK_PINS_LOOP;
|
||||
|
||||
goto CHECK_PINS_DONE;
|
||||
|
||||
CHECK_PINS_ERROR:
|
||||
CHECK_PINS_ERROR:
|
||||
|
||||
// Used to indicate invalid servo input signals
|
||||
servo_input_errors++;
|
||||
|
|
@ -539,7 +706,7 @@ CHECK_PINS_ERROR:
|
|||
|
||||
// All servo input pins has now been processed
|
||||
|
||||
CHECK_PINS_DONE:
|
||||
CHECK_PINS_DONE:
|
||||
|
||||
// Reset Watchdog Timer
|
||||
wdt_reset();
|
||||
|
|
@ -578,9 +745,12 @@ CHECK_PINS_DONE:
|
|||
// Clear interrupt event from already processed pin changes
|
||||
PCIFR |= (1 << SERVO_INT_CLEAR_FLAG);
|
||||
}
|
||||
// ------------------------------------------------------------------------------
|
||||
|
||||
|
||||
// ------------------------------------------------------------------------------
|
||||
// PWM MODE END
|
||||
// ------------------------------------------------------------------------------
|
||||
|
||||
|
||||
// ------------------------------------------------------------------------------
|
||||
// PPM OUTPUT - TIMER1 COMPARE INTERRUPT
|
||||
// ------------------------------------------------------------------------------
|
||||
|
|
@ -613,7 +783,7 @@ uint16_t ppm_read_channel( uint8_t channel )
|
|||
// Limit channel to valid value
|
||||
uint8_t _channel = channel;
|
||||
if( _channel == 0 ) _channel = 1;
|
||||
if( _channel > SERVO_CHANNELS ) _channel = SERVO_CHANNELS;
|
||||
if( _channel > PWM_CHANNELS ) _channel = PWM_CHANNELS;
|
||||
|
||||
// Calculate ppm[..] position
|
||||
uint8_t ppm_index = ( _channel << 1 ) + 1;
|
||||
|
|
|
|||
|
|
@ -119,6 +119,7 @@ Each receiver needs to output a standard 8 channels PPM sum signal at 50 Hz :
|
|||
|
||||
Technically this translate to this PPM frame design :
|
||||
|
||||
- positive shift
|
||||
- 1520 us central point
|
||||
- +/- 400 us PWM range (1100 us - 1900 us)
|
||||
- 20 ms frame period
|
||||
|
|
|
|||
Loading…
Reference in New Issue