diff --git a/Tools/ArduPPM/Libraries/PPM_Encoder_v3.h b/Tools/ArduPPM/Libraries/PPM_Encoder_v3.h index e223c513c0..d086bc8d14 100644 --- a/Tools/ArduPPM/Libraries/PPM_Encoder_v3.h +++ b/Tools/ArduPPM/Libraries/PPM_Encoder_v3.h @@ -60,8 +60,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; // PPM REDUNDANCY MODE SETTINGS // ------------------------------------------------------------- -#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 SWITCHOVER_CHANNEL_A 9 // Receiver 1 PPM channel to force receiver 2. Use 0 for no switchover channel + // Must be selected from 6 to 16. Preferabily from 9 to 16 so that APM can use + // channels 1 or 8. + #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 @@ -109,6 +111,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; #define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 900 #define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2100 #define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1500 +#define PPM_CH1_FORCE_VAL_MIN 1800 // PPM channel pre pulse lenght #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 @@ -133,6 +136,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; #define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 450 #define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1050 #define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 750 +#define PPM_CH1_FORCE_VAL_MIN 900 // PPM channel pre pulse lenght #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200 @@ -157,6 +161,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; #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 +#define PPM_CH1_FORCE_VAL_MIN 1260 // PPM channel pre pulse lenght #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 @@ -194,6 +199,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; #define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 900 #define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2100 #define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1500 +#define PPM_CH1_FORCE_VAL_MIN 1800 // PPM channel pre pulse lenght #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 @@ -218,6 +224,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; #define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 450 #define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1050 #define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 750 +#define PPM_CH1_FORCE_VAL_MIN 900 // PPM channel pre pulse lenght #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200 @@ -242,6 +249,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; #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 +#define PPM_CH1_FORCE_VAL_MIN 1260 // PPM channel pre pulse lenght #define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400 @@ -570,15 +578,45 @@ ISR( SERVO_INT_VECTOR ) // Servo input pin storage static uint8_t servo_pins_old = 0; + + // PWM Mode pulse start time + static uint16_t servo_start[ servo_channel ] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + + // Missing throttle signal failsafe + static uint8_t throttle_timeout = 0; + + #if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__) + // Toggle LED delay + static uint8_t led_delay = 0; + #endif + + // Read current servo timer + uint16_t servo_time = SERVO_TIMER_CNT; + + + // ------------------------------------------------------------------------------ + // PPM redundancy mode + // ------------------------------------------------------------------------------ + + if( servo_input_mode == PPM_REDUNDANCY_MODE ) + { + // ------------------------------------- + // PPM redundancy mode - variables Init + // ------------------------------------- // PPM1 pulse start time static uint16_t ppm1_start[ 16 ] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; - // PPM2 pulse start time static uint16_t ppm2_start[ 16 ] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; - // PWM Mode pulse start time - static uint16_t servo_start[ servo_channel ] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + // PPM1 pulse lenght + static uint16_t ppm1_width[ 16 ] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + // PPM2 pulse lenght + static uint16_t ppm2_width[ 16 ] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + + // Reset PPM channels ( 0 = Sync Symbol ) + static uint8_t ppm1_channel = 0; // Channel 0 = sync symbol + static uint8_t ppm2_channel = 0; // Channel 0 = sync symbol // Frame sync flag static bool sync_ch1 = false; @@ -596,26 +634,12 @@ ISR( SERVO_INT_VECTOR ) static bool sync_error_ch1 = true; static bool sync_error_ch2 = true; - - // Missing throttle signal failsafe - static uint8_t throttle_timeout = 0; + // ch2 switchover flag + static bool switchover_ch2 = false; - #if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__) - // Toggle LED delay - static uint8_t led_delay = 0; - #endif - - - // Read current servo timer - uint16_t servo_time = SERVO_TIMER_CNT; - - - // ------------------------------------------------------------------------------ - // PPM redundancy mode - // ------------------------------------------------------------------------------ - - if( servo_input_mode == PPM_REDUNDANCY_MODE ) - { + // ----------------------------------- + // PPM redundancy - decoder + // ----------------------------------- CHECK_START: // Start of PPM inputs check @@ -624,18 +648,18 @@ CHECK_START: // Start of PPM inputs check // Calculate servo input pin change mask uint8_t servo_change = servo_pins ^ servo_pins_old; - - // Set initial PPM channels - uint8_t ppm1_channel = 0; // Channel 0 = sync symbol - uint8_t ppm2_channel = 0; // Channel 0 = sync symbol + + // ----------------------------------- + // PPM redundancy - Ch1 decoding + // ----------------------------------- CHECK_LOOP: // Input PPM pins check loop // Check if we have a pin change on PPM channel 1 if( servo_change & 1 ) { - // Check for elapsed time since last check - uint16_t ppm1_width = servo_time - ppm1_start[ ppm1_channel ]; + // Check for elapsed time since last check (pulse lenght or sync symbol lenght) + ppm1_width[ ppm1_channel ] = servo_time - ppm1_start[ ppm1_channel ]; // Check if we've got a high level (raising edge, channel start or sync symbol end) if( servo_pins & 1 ) @@ -701,14 +725,86 @@ CHECK_LOOP: // Input PPM pins check loop //---------------------------------------------------------------------------------------------------------------------- - // 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 + // Todo : rework code from line 830 to end of redundancy mode + // Todo : channel count reliable auto detection - remove PPM standard extended frame format. + // Todo : replace channel count defines with max channels count. + // Todo : sync between PPM input and output after switchover + // Todo : Add delay inside switchover algo + // Todo : Add LED code for APM 1.4 //---------------------------------------------------------------------------------------------------------------------- + // ----------------------------------- + // PPM redundancy - Ch2 decoding + // ----------------------------------- + + // Todo : duplicate decoder code for PPM channel 2 + + // ----------------------------------- + // PPM redundancy - Post processing + // ----------------------------------- + + // Could be eventually run in the main loop for performances improvements if necessary + // sync mode between input and ouptput should clear performance problems + + // Check for PPM1 validity + if ( sync_error_ch1 == false ) && ( channel_error_ch1 == false) // PPM1 is valid + { + // check for PPM2 forcing (through PPM1 force channel) + if ( ppm1_width [ SWITCHOVER_CHANNEL ] > PPM_CH1_FORCE_VAL_MIN ) // Force channel active + { + // Check for PPM2 validity + if ( sync_error_ch2 == false ) && ( channel_error_ch2 == false) // PPM2 is valid + { + // Check PPM2 selected + if ( switchover_ch2 == true ) // PPM2 is selected + { + // Do nothing + } + else + { + // Switch to PPM2 + switchover_ch2 == true; // Switch to PPM2 + } + } + } + else // Check for PPM1 selected + { + if ( switchover_ch2 == false ) // PPM1 is selected + { + //Do Nothing + } + else // PPM1 is not selected + { + // Delay switchover 2 to 1 here + switchover_ch2 == false; // Switch to PPM1 + } + } + } + else // PPM1 is not valid + { + // Check for ppm2 validity + if ( sync_error_ch2 == false ) && ( channel_error_ch2 == false) // PPM2 is valid + { + // Check PPM2 selected + if ( switchover_ch2 == true ) // PPM2 is selected + { + // Do nothing + } + else // Switch to PPM2 + { + // Delay switchover 1 to 2 here + switchover_ch2 == true; // Switch to PPM2 + } + + } + else // PPM2 is not valid + { + // load PPM output with failsafe values + } + } + + UPDATE_PPM_OUTPUT: // Update PPM output according to frame validity // Update PPM output channel from PPM input 1 @@ -716,10 +812,13 @@ UPDATE_PPM_OUTPUT: // Update PPM output according to frame validity // Update PPM output channel from PPM input 2 // ppm[ ppm2_channel ] = ppm2_width; + /* + //Reset throttle failsafe timeout if( ppm1_channel == 5 ) throttle_timeout = 0; //if( ppm2_channel == 5 ) throttle_timeout = 0; - + + CHECK_ERROR: @@ -727,7 +826,8 @@ CHECK_ERROR: // Delay LED toggle led_delay = 0; #endif - + + */ CHECK_DONE: @@ -743,6 +843,7 @@ CHECK_DONE: // Start PPM generator if not already running if( ppm_generator_active == false ) ppm_start(); + /* #if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__) // Toggle RX LED when finished receiving servo pulses @@ -762,8 +863,11 @@ CHECK_DONE: 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_START; + + */ // Clear interrupt event from already processed pin changes PCIFR |= (1 << SERVO_INT_CLEAR_FLAG); @@ -772,9 +876,9 @@ CHECK_DONE: return; } - // ------------------------------------------------------------------------------ + // ------------------------- // PPM redundancy mode END - // ------------------------------------------------------------------------------ + // ------------------------- // ------------------------------------------------------------------------------ // PPM passtrough mode ( signal passtrough from channel 1 to ppm output pin) diff --git a/Tools/ArduPPM/Libraries/manual_v3.txt b/Tools/ArduPPM/Libraries/manual_v3.txt index 5a8e220672..76028c4892 100644 --- a/Tools/ArduPPM/Libraries/manual_v3.txt +++ b/Tools/ArduPPM/Libraries/manual_v3.txt @@ -2,6 +2,12 @@ ArduPPM is a 8 channels ppm encoder firmware for the APM project. +The new PPM redundancy mode accept 16 channels. + +This mode with two PPM sum inputs can be used for a single input, if a format conversion or missing signal failsafe is needed. + + + It is compatible with APM v1.x board (ATMEGA 328p), APM 2.x, Phonedrone (using ATmega32u2) and futur boards. Emphasis has been put on code simplicity, performance and reliability. @@ -85,8 +91,14 @@ In this mode, the blue LED will blink like this : Long - Short - short This mode is designed for dual PPM receiver setups, effectively enhancing reliability. +It does accept 16 channels. + +This mode with two PPM sum inputs can be used for a single input, if a format conversion or missing signal failsafe is needed. + It is possible to use it for teacher / student use. In this case, each receiver needs to be paired with a separate transmitter. + + To enable this mode, short the servo input channel 3 & 4 signal pins together using a jumper strap and use the channels 1 and 2 signal pins as PPM inputs. - Channel 1 is for the primary receiver @@ -94,7 +106,7 @@ To enable this mode, short the servo input channel 3 & 4 signal pins together us - Channel 2 is for the secondary receiver -In this mode, the blue LED will blink like this on the APM 1.4 : Long - Short - short - short +When this mode is active, the blue LED will blink like this on the APM 1.4 : Long - Short - short - short How redundancy does work : @@ -105,34 +117,47 @@ How redundancy does work : - If channel 1 receiver has a corrupted PPM signal or failsafe indication, and channel 2 receiver has a valid PPM signal, then channel 2 will be selected. +------------------ + Best practice +------------------ + It is recommended to use the more reliable receiver on channel 1 (the one with reliable error detection on it like most 2.4 Ghz RC radio systems). +- -The channel 1 receiver failsafe needs to be set on channel 8 or 16 at max PWM value (1900 us). This will be used for safely switching to channel 2. +The primary receiver failsafe needs to be set on channel 9 at 100% PWM value. This will be used for safely switching to channel 2. -Another solution is to program your receiver 1 to have no output signal in failsafe condition. In this case ch8 and 16 stay free for other uses (disabling CH8 / 16 failsafe needs a recompilation). +If your primary receiver does not have a programmable failsafe, then it should fully cut its PPM sum output during lost signal condition so that the ArduPPM decoder can reliabily switch to the secondary receiver. + + +It is possible to change the channel used for switching to the secondary receiver by recompilation. Note : -Each receiver needs to output a standard 8 channels PPM sum signal at 50 Hz : +Each receiver needs to output a standard PPM sum signal : 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 +- around 20 ms frame period +- max channel count : 9 channels + +The channel count is automatically detected during power one. Then the decoder keep this setting until power off. It is possible to use non standard receivers using those PPM frames formats : + - Futaba PPMv2 mode 16 channels : 760 us +/- 250 us 20 ms period - Jeti PPMv3 mode 16 channels : 1050 us +/- 250 us 25 ms period -- Hitec PPM mode 9 channels : 1520 us +/- 400 us 23 ms period + +In those modes, channel count is extended to 16 channels.