mirror of https://github.com/ArduPilot/ardupilot
67 lines
3.1 KiB
Plaintext
67 lines
3.1 KiB
Plaintext
// -------------------------------------------------------------
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// PPM ENCODER V3.0.0 (12-10-2012)
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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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// By John Arne Birkeland - 2012
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// By Olivier ADLER : PPM redundancy mode - APM v1.x adaptation and "difficult" receiver testing - 2012
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// -------------------------------------------------------------
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// Changelog:
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// 01-08-2011
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// V2.2.3 - Changed back to BLOCKING interrupts.
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// Assembly PPM compare interrupt can be switch back to non-blocking, but not recommended.
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// V2.2.3 - Implemented 0.5us cut filter to remove servo input capture jitter.
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// 04-08-2011
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// V2.2.4 - Implemented PPM passtrough function.
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// Shorting channel 2&3 enabled ppm passtrough on channel 1.
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// 04-08-2011
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// V2.2.5 - Implemented simple average filter to smooth servo input capture jitter.
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// Takes fewer clocks to execute and has better performance then cut filter.
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// 05-08-2011
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// V2.2.51 - Minor bug fixes.
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// 06-08-2011
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// V2.2.6 - PPM passtrough failsafe implemented.
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// The PPM generator will be activated and output failsafe values while ppm passtrough signal is missing.
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// 01-09-2011
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// V2.2.61 - Temporary MUX pin always high patch for APM beta board
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// 22-09-2011
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// V2.2.62 - ATmegaXXU2 USB connection status pin (PC2) for APM UART MUX selection (removed temporary high patch)
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// - Removed assembly optimized PPM generator (not usable for production release)
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// 23-09-2011
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// V2.2.63 - Average filter disabled
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// 24-09-2011
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// V2.2.64 - Added distincts Power on / Failsafe PPM values
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// - Changed CH5 (mode selection) PPM Power on and Failsafe values to 1555 (Flight mode 4)
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// - Added brownout detection : Failsafe values are copied after a brownout reset instead of power on values
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// 25-09-2011
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// V2.2.65 - Implemented PPM output delay until input signal is detected (PWM and PPM pass-trough mode)
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// - Changed brownout detection and FailSafe handling to work with XXU2 chips
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// - Minor variable and define naming changes to enhance readability
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// 15-03-2012
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// V2.2.66 - Added APM2 (ATmega32U2) support for using TX and RX status leds to indicate PWM and PPM traffic
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// - <RX>: <OFF> = no pwm input detected, <TOGGLE> = speed of toggle indicate how many channel are active, <ON> = input lost (failsafe)
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// - <TX>: <OFF> = ppm output not started, <FAST TOGGLE> = normal PWM->PPM output or PPM passtrough failsafe, <SLOW TOGGLE> = PPM passtrough
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// 03-06-2012
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// V2.2.67 - Implemented detection and failsafe (throttle = 900us) for missing throttle signal.
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// 04-06-2012
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// V2.2.68 - Fixed possible logic flaw in throttle failsafe reset if _JITTER_FILTER_ is enabled
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// 12-10-2012
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// V3.0.0 - Added dual input PPM redundancy mode with auto switchover. This is mainly for dual PPM receivers setup.
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// This mode Can be used as well if a PPM conversion is needed (Futaba 16 channels 760us mode to APM mode)
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// ------------------------------------------------------------- |