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ardupilot/Tools/ArduPPM/Libraries/PPM_Encoder_v3.h
Olivier ADLER 499a2931e5 ArduPPM : Redundancy mode 
Work in progress on a new Redundancy dual PPM sum mode for PPM encoder.

- New library PPM_Encoder_v3.h and new manual manual_v3.txt

- New format conversion capability between input and output PPM frame timings and channel count.

This will be experimental until heavily tested. The main goal is to allow the use of low cost satellite receivers in a high safety setup, and allow a new teacher / student RC mode without link between the two pilot transmitters.
2012-10-12 14:32:14 +02:00

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// -------------------------------------------------------------
// PPM ENCODER V3.0.0 (12-10-2012)
// -------------------------------------------------------------
// By: John Arne Birkeland - 2012
// By Olivier ADLER : PPM redundancy mode - APM v1.x adaptation and "difficult" receiver testing - 2012
//
// -------------------------------------------------------------
// See changelog_v3 for a complete descrition of changes
// -------------------------------------------------------------
//
// 12-10-2012
// V3.0.0 - Added dual input PPM redundancy mode with auto switchover. This is mainly for dual PPM receivers setup.
// This mode Can be used as well if a PPM conversion is needed (Futaba 16 channels 760us mode to APM mode)
// -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_
#define _PPM_ENCODER_H_
#include <avr/io.h>
// -------------------------------------------------------------
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <util/delay.h>
#ifndef F_CPU
#define F_CPU 16000000UL
#endif
#ifndef true
#define true 1
#endif
#ifndef false
#define false 0
#endif
#ifndef bool
#define bool _Bool
#endif
// -------------------------------------------------------------
// INPUT MODE (by jumper selection)
// -------------------------------------------------------------
#define JUMPER_SELECT_MODE 0 // Default - PPM passtrough mode selected if channel 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_REDUNDANCY_MODE 3 // PPM redundancy on channels 1 and 2
#define SPEKTRUM_MODE 4 // Spektrum satelitte on channel 1 (reserved but not implemented yet)
volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
// -------------------------------------------------------------
// PPM REDUNDANCY MODE SETTINGS
// -------------------------------------------------------------
#define _TEACHER_STUDENT_MODE_ // Enable teacher student mode. See manual.
#define TEACHER_STUDENT_CHANNEL 8 // PPM Channel to force receiver 2
#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
// -------------------------------------------------------------
// PWM INPUT FILTERS
// -------------------------------------------------------------
// Using both filters is not recommended and may reduce servo input resolution
// #define _AVERAGE_FILTER_ // Average filter to smooth servo input capture jitter
// #define _JITTER_FILTER_ // Cut filter to remove 0,5us servo input capture jitter
// -------------------------------------------------------------
// GLOBAL SETTINGS
// -------------------------------------------------------------
// Number of Timer1 ticks for 1 microsecond
#define ONE_US F_CPU / 8 / 1000 / 1000
// -------------------------------------------------------------
// PWM inputs used channels, limits and center positions
// -------------------------------------------------------------
// Number of input PWM channels
#define SERVO_CHANNELS 8
// Servo minimum position
#define PWM_SERVO_MIN ONE_US * 900 - PPM_PRE_PULSE
// Servo center position
#define PPM_SERVO_CENTER ONE_US * 1500 - PPM_PRE_PULSE
// Servo maximum position
#define PWM_SERVO_MAX ONE_US * 2100 - PPM_PRE_PULSE
// -------------------------------------------------------------
// PPM output default values
// -------------------------------------------------------------
// Throttle default at power on
#define PPM_THROTTLE_DEFAULT ONE_US * 1100 - PPM_PRE_PULSE
// Throttle during failsafe
#define PPM_THROTTLE_FAILSAFE ONE_US * 900 - PPM_PRE_PULSE
// CH5 power on values (mode selection channel)
#define PPM_CH5_MODE_4 ONE_US * 1555 - PPM_PRE_PULSE
// -------------------------------------------------------------
// PPM output frame format
// -------------------------------------------------------------
// Number of output PPM channels
#define PPM_CHANNELS 8
// 400us PPM pre pulse
#define PPM_PRE_PULSE ONE_US * 400
// PPM period 18.5ms - 26.5ms (54hz - 37Hz)
#define PPM_PERIOD ONE_US * ( 22500 - ( PPM_CHANNELS * 1500 ) )
// Size of ppm[..] data array
#define PPM_ARRAY_MAX PPM_CHANNELS * 2 + 2
// -------------------------------------------------------------
// PPM output frame variables
// -------------------------------------------------------------
// Data array for storing ppm (8 channels) pulse widths.
volatile uint16_t ppm[ PPM_ARRAY_MAX ] =
{
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 1
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 2
PPM_PRE_PULSE,
PPM_THROTTLE_DEFAULT, // Channel 3 (throttle)
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 4
PPM_PRE_PULSE,
PPM_CH5_MODE_4, // Channel 5
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 6
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 7
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 8
PPM_PRE_PULSE,
PPM_PERIOD
};
// SERVO FAILSAFE VALUES
const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
{
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 1
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 2
PPM_PRE_PULSE,
PPM_THROTTLE_FAILSAFE, // Channel 3 (throttle)
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 4
PPM_PRE_PULSE,
PPM_CH5_MODE_4, // Channel 5
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 6
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 7
PPM_PRE_PULSE,
PPM_SERVO_CENTER, // Channel 8
PPM_PRE_PULSE,
PPM_PERIOD
};
// -------------------------------------------------------------
// AVR parameters for PhoneDrone and APM2 boards using ATmega32u2
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
#define SERVO_DDR DDRB
#define SERVO_PORT PORTB
#define SERVO_INPUT PINB
#define SERVO_INT_VECTOR PCINT0_vect
#define SERVO_INT_MASK PCMSK0
#define SERVO_INT_CLEAR_FLAG PCIF0
#define SERVO_INT_ENABLE PCIE0
#define SERVO_TIMER_CNT TCNT1
#define PPM_DDR DDRC
#define PPM_PORT PORTC
#define PPM_OUTPUT_PIN PC6
#define PPM_INT_VECTOR TIMER1_COMPA_vect
#define PPM_COMPARE OCR1A
#define PPM_COMPARE_FLAG COM1A0
#define PPM_COMPARE_ENABLE OCIE1A
#define USB_DDR DDRC
#define USB_PORT PORTC
#define USB_PIN PC2
// true if we have received a USB device connect event
static bool usb_connected;
// USB connected event
void EVENT_USB_Device_Connect(void)
{
// Toggle USB pin high if USB is connected
USB_PORT |= (1 << USB_PIN);
usb_connected = true;
// this unsets the pin connected to PA1 on the 2560
// when the bit is clear, USB is connected
PORTD &= ~1;
}
// USB disconnect event
void EVENT_USB_Device_Disconnect(void)
{
// toggle USB pin low if USB is disconnected
USB_PORT &= ~(1 << USB_PIN);
usb_connected = false;
// this sets the pin connected to PA1 on the 2560
// when the bit is clear, USB is connected
PORTD |= 1;
}
// AVR parameters for ArduPilot MEGA v1.4 PPM Encoder (ATmega328P)
#elif defined (__AVR_ATmega328P__) || defined (__AVR_ATmega328__)
#define SERVO_DDR DDRD
#define SERVO_PORT PORTD
#define SERVO_INPUT PIND
#define SERVO_INT_VECTOR PCINT2_vect
#define SERVO_INT_MASK PCMSK2
#define SERVO_INT_CLEAR_FLAG PCIF2
#define SERVO_INT_ENABLE PCIE2
#define SERVO_TIMER_CNT TCNT1
#define PPM_DDR DDRB
#define PPM_PORT PORTB
#define PPM_OUTPUT_PIN PB2
#define PPM_INT_VECTOR TIMER1_COMPB_vect
#define PPM_COMPARE OCR1B
#define PPM_COMPARE_FLAG COM1B0
#define PPM_COMPARE_ENABLE OCIE1B
#else
#error NO SUPPORTED DEVICE FOUND! (ATmega16u2 / ATmega32u2 / ATmega328p)
#endif
// Used to indicate invalid SERVO input signals
volatile uint8_t servo_input_errors = 0;
// Used to indicate missing SERVO input signals
volatile bool servo_input_missing = true;
// Used to indicate if PPM generator is active
volatile bool ppm_generator_active = false;
// Used to indicate a brownout restart
volatile bool brownout_reset = false;
// ------------------------------------------------------------------------------
// PPM GENERATOR START - TOGGLE ON COMPARE INTERRUPT ENABLE
// ------------------------------------------------------------------------------
void ppm_start( void )
{
// Prevent reenabling an already active PPM generator
if( ppm_generator_active ) return;
// Store interrupt status and register flags
uint8_t SREG_tmp = SREG;
// Stop interrupts
cli();
// Make sure initial output state is low
PPM_PORT &= ~(1 << PPM_OUTPUT_PIN);
// Wait for output pin to settle
//_delay_us( 1 );
// Set initial compare toggle to maximum (32ms) to give other parts of the system time to start
SERVO_TIMER_CNT = 0;
PPM_COMPARE = 0xFFFF;
// Set toggle on compare output
TCCR1A = (1 << PPM_COMPARE_FLAG);
// Set TIMER1 8x prescaler
TCCR1B = ( 1 << CS11 );
// Enable output compare interrupt
TIMSK1 |= (1 << PPM_COMPARE_ENABLE);
// Indicate that PPM generator is active
ppm_generator_active = true;
// Restore interrupt status and register flags
SREG = SREG_tmp;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Turn on TX led if PPM generator is active
PORTD &= ~( 1<< PD5 );
#endif
}
// ------------------------------------------------------------------------------
// PPM GENERATOR STOP - TOGGLE ON COMPARE INTERRUPT DISABLE
// ------------------------------------------------------------------------------
void ppm_stop( void )
{
// Store interrupt status and register flags
uint8_t SREG_tmp = SREG;
// Stop interrupts
cli();
// Disable output compare interrupt
TIMSK1 &= ~(1 << PPM_COMPARE_ENABLE);
// Reset TIMER1 registers
TCCR1A = 0;
TCCR1B = 0;
// Indicate that PPM generator is not active
ppm_generator_active = false;
// Restore interrupt status and register flags
SREG = SREG_tmp;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Turn off TX led if PPM generator is off
PORTD |= ( 1<< PD5 );
#endif
}
// ------------------------------------------------------------------------------
// Watchdog Interrupt (interrupt only mode, no reboot)
// ------------------------------------------------------------------------------
ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and copy failsafe values
{
// Use failsafe values if PPM generator is active or if chip has been reset from a brown-out
if ( ppm_generator_active || brownout_reset )
{
// Copy failsafe values to ppm[..]
for ( uint8_t i = 0; i < PPM_ARRAY_MAX; i++ )
{
ppm[ i ] = failsafe_ppm[ i ];
}
}
// If we are in PPM passtrough mode and a input signal has been detected, or if chip has been reset from a brown_out then start the PPM generator.
if( ( servo_input_mode == PPM_PASSTROUGH_MODE && servo_input_missing == false ) || brownout_reset )
{
// Start PPM generator
ppm_start();
brownout_reset = false;
}
// Set missing receiver signal flag
servo_input_missing = true;
// Reset servo input error flag
servo_input_errors = 0;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Turn on RX led if failsafe has triggered after ppm generator i active
if( ppm_generator_active ) PORTD &= ~( 1<< PD4 );
#endif
}
// ------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// SERVO/PPM INPUT - PIN CHANGE INTERRUPT
// ------------------------------------------------------------------------------
ISR( SERVO_INT_VECTOR )
{
// Servo pulse start timing
static uint16_t servo_start[ SERVO_CHANNELS ] = { 0, 0, 0, 0, 0, 0, 0, 0 };
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Toggle LED delay
static uint8_t led_delay = 0;
#endif
// Missing throttle signal failsafe
static uint8_t throttle_timeout = 0;
// Servo input pin storage
static uint8_t servo_pins_old = 0;
// Used to store current servo input pins
uint8_t servo_pins;
// Read current servo pulse change time
uint16_t servo_time = SERVO_TIMER_CNT;
// ------------------------------------------------------------------------------
// PPM passtrough mode ( signal passtrough from channel 1 to ppm output pin)
// ------------------------------------------------------------------------------
if( servo_input_mode == PPM_PASSTROUGH_MODE )
{
// Has watchdog timer failsafe started PPM generator? If so we need to stop it.
if( ppm_generator_active )
{
// Stop PPM generator
ppm_stop();
}
// PPM (channel 1) input pin is high
if( SERVO_INPUT & 1 )
{
// Set PPM output pin high
PPM_PORT |= (1 << PPM_OUTPUT_PIN);
}
// PPM (channel 1) input pin is low
else
{
// Set PPM output pin low
PPM_PORT &= ~(1 << PPM_OUTPUT_PIN);
}
// Reset Watchdog Timer
wdt_reset();
// Set servo input missing flag false to indicate that we have received servo input signals
servo_input_missing = false;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Toggle TX LED at PPM passtrough
if( ++led_delay > 128 ) // Toggle every 128th pulse
{
// Toggle TX led
PIND |= ( 1<< PD5 );
led_delay = 0;
}
#endif
// Leave interrupt
return;
}
// ------------------------------------------------------------------------------
// SERVO PWM MODE
// ------------------------------------------------------------------------------
CHECK_PINS_START: // Start of servo input check
// Store current servo input pins
servo_pins = SERVO_INPUT;
// Calculate servo input pin change mask
uint8_t servo_change = servo_pins ^ servo_pins_old;
// Set initial servo pin and channel
uint8_t servo_pin = 1;
uint8_t servo_channel = 0;
CHECK_PINS_LOOP: // Input servo pin check loop
// Check for pin change on current servo channel
if( servo_change & servo_pin )
{
// High (raising edge)
if( servo_pins & servo_pin )
{
servo_start[ servo_channel ] = servo_time;
}
else
{
// Get servo pulse width
uint16_t servo_width = servo_time - servo_start[ servo_channel ] - PPM_PRE_PULSE;
// Check that servo pulse signal is valid before sending to ppm encoder
if( servo_width > PWM_SERVO_MAX ) goto CHECK_PINS_ERROR;
if( servo_width < PWM_SERVO_MIN ) goto CHECK_PINS_ERROR;
// Calculate servo channel position in ppm[..]
uint8_t _ppm_channel = ( servo_channel << 1 ) + 1;
//Reset throttle failsafe timeout
if( _ppm_channel == 5 ) throttle_timeout = 0;
#ifdef _AVERAGE_FILTER_
// Average filter to smooth input jitter
servo_width += ppm[ _ppm_channel ];
servo_width >>= 1;
#endif
#ifdef _JITTER_FILTER_
// 0.5us cut filter to remove input jitter
int16_t ppm_tmp = ppm[ _ppm_channel ] - servo_width;
if( ppm_tmp == 1 ) goto CHECK_PINS_NEXT;
if( ppm_tmp == -1 ) goto CHECK_PINS_NEXT;
#endif
// Update ppm[..]
ppm[ _ppm_channel ] = servo_width;
}
}
CHECK_PINS_NEXT:
// Select next servo pin
servo_pin <<= 1;
// Select next servo channel
servo_channel++;
// Check channel and process if needed
if( servo_channel < SERVO_CHANNELS ) goto CHECK_PINS_LOOP;
goto CHECK_PINS_DONE;
CHECK_PINS_ERROR:
// Used to indicate invalid servo input signals
servo_input_errors++;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Delay LED toggle
led_delay = 0;
#endif
goto CHECK_PINS_NEXT;
// All servo input pins has now been processed
CHECK_PINS_DONE:
// Reset Watchdog Timer
wdt_reset();
// Set servo input missing flag false to indicate that we have received servo input signals
servo_input_missing = false;
// Store current servo input pins for next check
servo_pins_old = servo_pins;
// 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
if( ++led_delay > 64 ) // Toggle led every 64th time
{
PIND |= ( 1<< PD4 );
led_delay = 0;
}
#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);
}
// ------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// PPM OUTPUT - TIMER1 COMPARE INTERRUPT
// ------------------------------------------------------------------------------
ISR( PPM_INT_VECTOR )
{
// Current active ppm channel
static uint8_t ppm_channel = PPM_ARRAY_MAX - 1;
// Update timing for next PPM output pin toggle
PPM_COMPARE += ppm[ ppm_channel ];
// Select the next ppm channel
if( ++ppm_channel >= PPM_ARRAY_MAX )
{
ppm_channel = 0;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Blink TX LED when PPM generator has finished a pulse train
PIND |= ( 1<< PD5 );
#endif
}
}
// ------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// PPM READ - INTERRUPT SAFE PPM SERVO CHANNEL READ
// ------------------------------------------------------------------------------
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;
// Calculate ppm[..] position
uint8_t ppm_index = ( _channel << 1 ) + 1;
// Read ppm[..] in a non blocking interrupt safe manner
uint16_t ppm_tmp = ppm[ ppm_index ];
while( ppm_tmp != ppm[ ppm_index ] ) ppm_tmp = ppm[ ppm_index ];
// Return as normal servo value
return ppm_tmp + PPM_PRE_PULSE;
}
// ------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// PPM ENCODER INIT
// ------------------------------------------------------------------------------
void ppm_encoder_init( void )
{
// ATmegaXXU2 only init code
// ------------------------------------------------------------------------------
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// ------------------------------------------------------------------------------
// Reset Source check
// ------------------------------------------------------------------------------
if (MCUSR & 1) // Power-on Reset
{
MCUSR=0; // Clear MCU Status register
// custom code here
}
else if (MCUSR & 2) // External Reset
{
MCUSR=0; // Clear MCU Status register
// custom code here
}
else if (MCUSR & 4) // Brown-Out Reset
{
MCUSR=0; // Clear MCU Status register
brownout_reset=true;
}
else // Watchdog Reset
{
MCUSR=0; // Clear MCU Status register
// custom code here
}
// APM USB connection status UART MUX selector pin
// ------------------------------------------------------------------------------
USB_DDR |= (1 << USB_PIN); // Set USB pin to output
#endif
// USE JUMPER TO CHECK FOR INPUT MODE (pin 2&3 or 3&4 shorted)
// ------------------------------------------------------------------------------
if( servo_input_mode == JUMPER_SELECT_MODE )
{
// channel 3 status counter
uint8_t channel_2_status = 0;
uint8_t channel_4_status = 0;
// Set channel 2 to input
SERVO_DDR &= ~(1 << 1);
// Enable channel 2 pullup
SERVO_PORT |= (1 << 1);
// Set channel 4 to input
SERVO_DDR &= ~(1 << 3);
// Enable channel 4 pullup
SERVO_PORT |= (1 << 3);
// Set channel 3 to output
SERVO_DDR |= (1 << 2);
// Set channel 3 output low
SERVO_PORT &= ~(1 << 2);
_delay_us (10);
// Increment channel_2_status if channel 2 is set low by channel 3
if( ( SERVO_INPUT & (1 << 1) ) == 0 ) channel_2_status++;
// Increment channel_4_status if channel 4 is set low by channel 3
if( ( SERVO_INPUT & (1 << 3) ) == 0 ) channel_4_status++;
// Set channel 3 output high
SERVO_PORT |= (1 << 2);
_delay_us (10);
// Increment channel_2_status if channel 2 is set high by channel 3
if( ( SERVO_INPUT & (1 << 1) ) != 0 ) channel_2_status++;
// Increment channel_4_status if channel 4 is set high by channel 3
if( ( SERVO_INPUT & (1 << 3) ) != 0 ) channel_4_status++;
// Set channel 3 output low
SERVO_PORT &= ~(1 << 2);
_delay_us (10);
// Increment channel_2_status if channel 2 is set low by channel 3
if( ( SERVO_INPUT & (1 << 1) ) == 0 ) channel_2_status++;
// Increment channel_4_status if channel 4 is set low by channel 3
if( ( SERVO_INPUT & (1 << 3) ) == 0 ) channel_4_status++;
// Set servo input mode based on channel_2_status
if( channel_2_status == 3 ) servo_input_mode = PPM_PASSTROUGH_MODE;
if( channel_4_status == 3 ) servo_input_mode = PPM_REDUNDANCY_MODE;
else servo_input_mode = SERVO_PWM_MODE;
}
// RESET SERVO/PPM PINS AS INPUTS WITH PULLUPS
// ------------------------------------------------------------------------------
SERVO_DDR = 0;
SERVO_PORT |= 0xFF;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// on 32U2 set PD0 to be an output, and clear the bit. This tells
// the 2560 that USB is connected. The USB connection event fires
// later to set the right value
DDRD |= 1;
if (usb_connected) {
PORTD &= ~1;
} else {
PORTD |= 1;
}
#endif
// SERVO/PPM INPUT - PIN CHANGE INTERRUPT
// ------------------------------------------------------------------------------
if( servo_input_mode == SERVO_PWM_MODE )
{
// Set servo input interrupt pin mask to all 8 servo input channels
SERVO_INT_MASK = 0xFF;
}
if( servo_input_mode == PPM_PASSTROUGH_MODE )
{
// Set servo input interrupt pin mask to servo input channel 1
SERVO_INT_MASK = 0x01;
}
// Enable servo input interrupt
PCICR |= (1 << SERVO_INT_ENABLE);
// PPM OUTPUT PIN
// ------------------------------------------------------------------------------
// Set PPM pin to output
PPM_DDR |= (1 << PPM_OUTPUT_PIN);
// ------------------------------------------------------------------------------
// Enable watchdog interrupt mode
// ------------------------------------------------------------------------------
// Disable watchdog
wdt_disable();
// Reset watchdog timer
wdt_reset();
// Start timed watchdog setup sequence
WDTCSR |= (1<<WDCE) | (1<<WDE );
// Set 250 ms watchdog timeout and enable interrupt
WDTCSR = (1<<WDIE) | (1<<WDP2);
}
// ------------------------------------------------------------------------------
#endif // _PPM_ENCODER_H_
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