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V2.2.67 - Implemented detection and failsafe (throttle = 900us) for missing throttle signal.

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This commit is contained in:
John Arne Birkeland 2012-06-03 02:42:39 +02:00
parent 173ae33627
commit eb84554d26
1 changed files with 25 additions and 8 deletions
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31
Tools/ArduPPM/Libraries/PPM_Encoder.h
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@ -1,5 +1,5 @@
// ------------------------------------------------------------- // -------------------------------------------------------------
// PPM ENCODER V2.2.66 (15-03-2012) // PPM ENCODER V2.2.67 (03-06-2012)
// ------------------------------------------------------------- // -------------------------------------------------------------
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p), // Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
// PhoneDrone and APM2 (ATmega32u2) // PhoneDrone and APM2 (ATmega32u2)
@ -54,6 +54,9 @@
// - <RX>: <OFF> = no pwm input detected, <TOGGLE> = speed of toggle indicate how many channel are active, <ON> = input lost (failsafe) // - <RX>: <OFF> = no pwm input detected, <TOGGLE> = speed of toggle indicate how many channel are active, <ON> = input lost (failsafe)
// - <TX>: <OFF> = ppm output not started, <FAST TOGGLE> = normal PWM->PPM output or PPM passtrough failsafe, <SLOW TOGGLE> = PPM passtrough // - <TX>: <OFF> = ppm output not started, <FAST TOGGLE> = normal PWM->PPM output or PPM passtrough failsafe, <SLOW TOGGLE> = PPM passtrough
// 03-06-2012
// V2.2.67 - Implemented detection and failsafe (throttle = 900us) for missing throttle signal.
// ------------------------------------------------------------- // -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_ #ifndef _PPM_ENCODER_H_
@ -439,6 +442,9 @@ ISR( SERVO_INT_VECTOR )
static uint8_t led_delay = 0; static uint8_t led_delay = 0;
#endif #endif
// Missing throttle signal failsafe
static uint8_t throttle_timeout = 0;
// Servo input pin storage // Servo input pin storage
static uint8_t servo_pins_old = 0; static uint8_t servo_pins_old = 0;
@ -547,7 +553,8 @@ CHECK_PINS_LOOP: // Input servo pin check loop
// Update ppm[..] // Update ppm[..]
ppm[ _ppm_channel ] = servo_width; ppm[ _ppm_channel ] = servo_width;
//Reset throttle failsafe timeout
if( _ppm_channel == 5 ) throttle_timeout = 0;
} }
} }
@ -592,11 +599,6 @@ CHECK_PINS_DONE:
// Start PPM generator if not already running // Start PPM generator if not already running
if( ppm_generator_active == false ) ppm_start(); if( ppm_generator_active == false ) ppm_start();
//Has servo input changed while processing pins, if so we need to re-check pins
if( servo_pins != SERVO_INPUT ) goto CHECK_PINS_START;
// Clear interrupt event from already processed pin changes
PCIFR |= (1 << SERVO_INT_CLEAR_FLAG);
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__) #if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Toggle RX LED when finished receiving servo pulses // Toggle RX LED when finished receiving servo pulses
@ -606,6 +608,21 @@ CHECK_PINS_DONE:
led_delay = 0; led_delay = 0;
} }
#endif #endif
// Throttle failsafe
if( throttle_timeout++ >= 128 )
{
// Reset throttle timeout
throttle_timeout = 0;
// Set throttle failsafe value
ppm[ 5 ] = PPM_THROTTLE_FAILSAFE;
}
//Has servo input changed while processing pins, if so we need to re-check pins
if( servo_pins != SERVO_INPUT ) goto CHECK_PINS_START;
// Clear interrupt event from already processed pin changes
PCIFR |= (1 << SERVO_INT_CLEAR_FLAG);
} }
// ------------------------------------------------------------------------------ // ------------------------------------------------------------------------------