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https://github.com/ArduPilot/ardupilot
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ArduPPM: changes for throttle low indication and also recovery after a throttle low indication are now set with defines
This commit is contained in:
Julian Oes
parent
70ce94ee88
commit
ef6268f62a
@ -1,5 +1,5 @@
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// ------------------------------------------------------------------------------------------------------------------------------------------------------------
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// ArduPPM Version v0.9.87
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// ArduPPM Version v0.9.89
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// ------------------------------------------------------------------------------------------------------------------------------------------------------------
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// ARDUCOPTER 2 : PPM ENCODER for AT Mega 328p and APM v1.4 Boards
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// By:John Arne Birkeland - 2011
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@ -36,6 +36,7 @@
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// 0.9.86 : Added a #define to disable Radio Passthrough mode (hardware failsafe for Arduplane)
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// 0.9.87 : #define correction for radio passthrough (was screwed up).
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// 0.9.88 : LED fail-safe indication is on whenever throttle is low
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// 0.9.89 : LED fail-safe change can be reverted with a define
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// ------------------------------------------------------------------------------------------------------------------------------------------------------------
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// PREPROCESSOR DIRECTIVES
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// ------------------------------------------------------------------------------------------------------------------------------------------------------------
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@ -48,7 +49,7 @@
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#define ERROR_DETECTION_WINDOW 3000 * LOOP_TIMER_10MS // Detection window for error detection (default to 30s)
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#define ERROR_CONDITION_DELAY 500 * LOOP_TIMER_10MS // Servo error condition LED delay (LED blinking duration)
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//#define PASSTHROUGH_MODE_ENABLED // Comment this line to remove CH8 radio passthrough mode support (hardware failsafe for Arduplane)
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#define PASSTHROUGH_MODE_ENABLED // Comment this line to remove CH8 radio passthrough mode support (hardware failsafe for Arduplane)
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#define PASSTHROUGH_CHANNEL 8 * 2 // Channel for passthrough mode selection
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#define PASSTHROUGH_CHANNEL_OFF_US ONE_US * 1600 - PPM_PRE_PULSE // Passthrough off threshold
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#define PASSTHROUGH_CHANNEL_ON_US ONE_US * 1800 - PPM_PRE_PULSE // Passthrough on threshold
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@ -284,7 +285,11 @@ int main(void)
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// ------------------------------------------------------------------------------
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while( 1 )
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{
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#if defined _THROTTLE_LOW_RECOVERY_POSSIBLE
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if ( throttle_failsafe_force ) // We have an error
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#else
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if ( servo_error_condition || servo_input_missing ) // We have an error
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#endif
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{
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blink_led ( 6 * LOOP_TIMER_10MS ); // Status LED very fast blink if invalid servo input or missing signal
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}
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@ -369,8 +374,11 @@ int main(void)
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// ------------------------------------------------------------------------------
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// Status LED control
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// ------------------------------------------------------------------------------
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#ifdef _THROTTLE_LOW_FAILSAFE_INDICATION
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if ( throttle_failsafe_force ) // We have an error
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#else
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if ( servo_error_condition || servo_input_missing ) // We have an error
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#endif
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{
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blink_led ( 6 * LOOP_TIMER_10MS ); // Status LED very fast blink if invalid servo input or missing signal
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}
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@ -456,7 +464,7 @@ int main(void)
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// Status LED control
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// ------------------------------------------------------------------------------
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if ( throttle_failsafe_force ) // We have an error
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if ( servo_input_missing ) // We have an error
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{
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blink_led ( 6 * LOOP_TIMER_10MS ); // Status LED very fast blink if invalid servo input or missing signal
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}
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@ -1,5 +1,5 @@
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// -------------------------------------------------------------
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// ArduPPM (PPM Encoder) V2.3.14pre
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// ArduPPM (PPM Encoder) V2.3.14
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// -------------------------------------------------------------
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// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
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// PhoneDrone and APM2.x (ATmega32u2)
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@ -135,6 +135,7 @@
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// 11-01-2013
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// V2.3.14 - temporary release for ArduCopter 2.9
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// - fail-safe throttle low can be set with a define
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// - recovery from error condition can also be set with a define
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// -------------------------------------------------------------
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@ -199,6 +200,11 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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//#define _APM_FAILSAFE_ // Used to spesify APM 800us channel loss fail safe values, remove to use normal fail safe values (stand alone encoder board)
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#define _THROTTLE_LOW_FAILSAFE_INDICATION //if set, throttle is set to low in an error condition
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#define _THROTTLE_LOW_RECOVERY_POSSIBLE //if set, a channel can be regained when the error disappears, only makes sense together with _THROTTLE_LOW_FAILSAFE_INDICATION
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#if defined _THROTTLE_LOW_RECOVERY_POSSIBLE && !defined _THROTTLE_LOW_FAILSAFE_INDICATION
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#error failsafe recovery is only possible with throttle_low_failsafe_indication defined as well
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#endif
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// -------------------------------------------------------------
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// SERVO LIMIT VALUES
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@ -333,8 +339,10 @@ volatile uint8_t ppm_timeout[ PPM_ARRAY_MAX ];
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#define SERVO_INPUT_CONNECTED_VALUE 100
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volatile uint8_t servo_input_connected[ PPM_ARRAY_MAX ];
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#ifdef _THROTTLE_LOW_RECOVERY_POSSIBLE
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// count the channels which have been once connected but then got disconnected
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volatile uint8_t disconnected_channels;
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#endif
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// AVR parameters for PhoneDrone and APM2 boards using ATmega32u2
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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@ -427,8 +435,10 @@ volatile bool ppm_generator_active = false;
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// Used to indicate a brownout restart
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volatile bool brownout_reset = false;
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#ifdef _THROTTLE_LOW_FAILSAFE_INDICATION
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// Used to force throttle fail-safe mode (RTL)
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volatile bool throttle_failsafe_force = false;
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#endif
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// ------------------------------------------------------------------------------
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// PPM GENERATOR START - TOGGLE ON COMPARE INTERRUPT ENABLE
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@ -782,11 +792,15 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
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PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
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sei();
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#if defined _THROTTLE_LOW_RECOVERY_POSSIBLE && defined _THROTTLE_LOW_FAILSAFE_INDICATION
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// Count the channel that we have lost
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if( servo_input_connected[ ppm_out_channel ] )
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{
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disconnected_channels++;
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}
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#elif defined _THROTTLE_LOW_FAILSAFE_INDICATION
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throttle_failsafe_force = true;
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#endif
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Turn on RX LED to indicate a fail-safe condition
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@ -811,7 +825,8 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
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{
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ppm_out_channel = 0;
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// Did we lose one or more active servo input channel? If so force throttle fail-safe (RTL)
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#ifdef _THROTTLE_LOW_RECOVERY_POSSIBLE
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// Did we lose one or more active servo input channel? If so force throttle fail-safe (RTL)
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if( disconnected_channels > 0 )
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{
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throttle_failsafe_force = true;
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@ -822,6 +837,7 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
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}
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disconnected_channels = 0;
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#endif
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Blink TX LED when PPM generator has finished a pulse train
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