mirror of https://github.com/ArduPilot/ardupilot
1475 lines
48 KiB
C
1475 lines
48 KiB
C
// -------------------------------------------------------------
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// PPM ENCODER V3.0.0 (12-10-2012)
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// -------------------------------------------------------------
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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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// -------------------------------------------------------------
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// See changelog_v3 for a complete descrition of changes
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// -------------------------------------------------------------
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//
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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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//
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// -------------------------------------------------------------
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// Not for production - Work in progress
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#pragma once
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <util/delay.h>
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#ifndef F_CPU
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#define F_CPU 16000000UL
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#endif
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#ifndef true
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#define true 1
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#endif
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#ifndef false
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#define false 0
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#endif
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#ifndef bool
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#define bool _Bool
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#endif
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// -------------------------------------------------------------
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// GLOBAL SETTINGS
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// -------------------------------------------------------------
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// Number of Timer1 ticks for 1 microsecond
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#define TICKS_FOR_ONE_US F_CPU / 8 / 1000 / 1000
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// -------------------------------------------------------------
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// INPUT MODE (by jumper selection)
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// -------------------------------------------------------------
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#define JUMPER_SELECT_MODE 0 // Default - PPM passtrough mode selected if input pins 2&3 shorted. Normal servo input (pwm) if not shorted.
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#define SERVO_PWM_MODE 1 // Normal 8 channel servo (pwm) input
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#define PPM_PASSTROUGH_MODE 2 // PPM signal passtrough on channel 1 if input pins 2&3 shorted
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#define PPM_REDUNDANCY_MODE 3 // PPM redundancy on channels 1 and 2 if input pins 3&4 shorted
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#define SPEKTRUM_MODE 4 // Spektrum satelitte on channel 1 (reserved - not yet implemented)
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volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// -------------------------------------------------------------
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// PPM REDUNDANCY MODE SETTINGS
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// -------------------------------------------------------------
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#define SWITCHOVER_CHANNEL_A 9 // Receiver 1 PPM channel to force receiver 2. Use 0 for no switchover channel
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// Must be chosen between 6 to 16. Preferabily from 9 to 16 so that APM can use
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// channels 1 to 8.
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#define SWITCHOVER_1_to_2_DELAY_MS 50 // Delay for switching to receiver 2
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#define SWITCHOVER_2_to_1_DELAY_MS 200 // Delay for switching back to receiver 1
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#define CHANNEL_COUNT_DETECTION_THRESHOLD 10 // Valid frames detected before channel count validation
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// PPM input frame mode receiver 1
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// -------------------------------------------------------------
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#define PPM_CH1_STANDARD // Standard PPM : 1520 us +/- 600 us - 8 channels - 20 ms frame period
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//#define PPM_CH1_STANDARD_EXTENDED // 9 channels : 1520 us +/- 600 us - 9 channels - 22.1 ms slower frame period
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//#define PPM_CH1_V2 // PPMv2 : 760 us +/- 300 us - 16 Channels - normal 20 ms frame period
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//#define PPM_CH1_V3 // PPMv3 16 channels with long sync symbol : 1050 us +/- 300 us - 25 ms frame period
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// PPM input frame mode receiver 2
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// -------------------------------------------------------------
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#define PPM_CH2_STANDARD
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//#define PPM_CH2_STANDARD_EXTENDED
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//#define PPM_CH2_V2
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//#define PPM_CH2_V3
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// PPM1 input : frame formats definitions
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// -------------------------------------------------------------
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#if defined (PPM_CH1_STANDARD) || defined (PPM_CH1_STANDARD_EXTENDED)
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#ifdef PPM_CH1_STANDARD_EXTENDED
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 9
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// Frame period
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#define PPM_CH1_FRAME_PERIOD 22500 // frame period (microseconds)
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#else
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 8
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// Frame period
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#define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds)
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#endif
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// PPM channels limits
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#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 920
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2120
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1520
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#define PPM_CH1_FORCE_VAL_MIN 1800
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// PPM channel pre pulse length
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol limits
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) - PPM_CH1_CHANNEL_PREPULSE_LENGHT // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) - PPM_CH1_CHANNEL_PREPULSE_LENGHT // Sync timeout
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#endif
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#ifdef PPM_CH1_V2 (PPMv2 is a 50 Hz 16 channels mode)
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 16
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// Frame period
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#define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds)
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// PPM channels limits
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#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 460
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1060
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 760
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#define PPM_CH1_FORCE_VAL_MIN 900
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// PPM channel pre pulse length
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
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// PPM frame sync symbol limits
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) - PPM_CH1_CHANNEL_PREPULSE_LENGHT // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) - PPM_CH1_CHANNEL_PREPULSE_LENGHT // Sync timeout
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#endif
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#ifdef PPM_CH1_V3 (PPMv3 is a 40 Hz slower refresh rate 16 channels mode)
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 16
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// Frame period
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#define PPM_CH1_FRAME_PERIOD 25000 // frame period (microseconds)
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// PPM channels limits
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#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 750
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#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1350
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#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1050
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#define PPM_CH1_FORCE_VAL_MIN 1260
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// PPM channel pre pulse length
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol limits
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#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) - PPM_CH1_CHANNEL_PREPULSE_LENGHT // Sync symbol detection
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#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) - PPM_CH1_CHANNEL_PREPULSE_LENGHT // Sync timeout
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#endif
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// PPM2 input : frame format definitions
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// -------------------------------------------------------------
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#if defined (PPM_CH2_STANDARD) || defined (PPM_CH2_STANDARD_EXTENDED)
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#ifdef PPM_CH2_STANDARD_EXTENDED
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 9
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// Frame period
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#define PPM_CH2_FRAME_PERIOD 22500 // frame period (microseconds)
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#else
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 8
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// Frame period
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#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
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#endif
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// PPM channels limits
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#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 920
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2120
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1520
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// PPM channel pre pulse length
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM frame sync symbol limits
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) - PPM_CH2_CHANNEL_PREPULSE_LENGHT // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) - PPM_CH2_CHANNEL_PREPULSE_LENGHT // Sync timeout
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#endif
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#ifdef PPM_CH2_V2 (PPMv2 is a 50 Hz 16 channels mode)
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 16
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// Frame period
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#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
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// PPM channels limits
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#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 460
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1060
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 760
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// PPM channel pre pulse length
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
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// PPM sync symbol limits
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) - PPM_CH2_CHANNEL_PREPULSE_LENGHT // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) - PPM_CH2_CHANNEL_PREPULSE_LENGHT // Sync timeout
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#endif
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#ifdef PPM_CH2_V3 (PPMv3 is a 40 Hz slower refresh rate 16 channels mode)
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// PPM channel count limits
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#define PPM_CH1_MIN_CHANNELS 4
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#define PPM_CH1_MAX_CHANNELS 16
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// Frame period
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#define PPM_CH2_FRAME_PERIOD 25000 // frame period (microseconds)
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// PPM channels limits
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#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 750
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#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1350
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#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1050
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// PPM channel pre pulse length
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#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
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// PPM sync symbol limits
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#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) - PPM_CH2_CHANNEL_PREPULSE_LENGHT // Sync symbol detection
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#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) - PPM_CH2_CHANNEL_PREPULSE_LENGHT // Sync timeout
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#endif
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// -------------------------------------------------------------
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// SERVO PWM MODE input settings
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// -------------------------------------------------------------
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// Number of input PWM channels
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#define PWM_CHANNELS 8
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// PWM channels minimum values
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#define PWM_VAL_MIN TICKS_FOR_ONE_US * 920 - PPM_PRE_PULSE
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// PWM channels maximum values
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#define PWM_VAL_MAX TICKS_FOR_ONE_US * 2120 - PPM_PRE_PULSE
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// PWM input filters
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// Using both filters is not recommended and may reduce servo input resolution
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// #define _AVERAGE_FILTER_ // Average filter to smooth servo input capture jitter
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// #define _JITTER_FILTER_ // Cut filter to remove 0,5us servo input capture jitter
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// -------------------------------------------------------------
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// PPM output frame format
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// -------------------------------------------------------------
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// Number of output PPM channels
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#define PPM_CHANNELS 8
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// 400us PPM pre pulse
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#define PPM_PRE_PULSE TICKS_FOR_ONE_US * 400
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// PPM channels center positions
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#define PPM_VAL_CENTER TICKS_FOR_ONE_US * 1520 - PPM_PRE_PULSE
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// PPM period 18.5ms - 26.5ms (54hz - 37Hz)
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#define PPM_PERIOD TICKS_FOR_ONE_US * ( 22500 - ( PPM_CHANNELS * 1520 ) )
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// Size of ppm[..] data array
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#define PPM_ARRAY_MAX PPM_CHANNELS * 2 + 2
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// -------------------------------------------------------------
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// PPM output default values
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// -------------------------------------------------------------
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// Throttle default at power on
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#define PPM_THROTTLE_DEFAULT TICKS_FOR_ONE_US * 1100 - PPM_PRE_PULSE
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// Throttle during failsafe
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#define PPM_THROTTLE_FAILSAFE TICKS_FOR_ONE_US * 920 - PPM_PRE_PULSE
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// CH5 power on values (mode selection channel)
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#define PPM_CH5_MODE_4 TICKS_FOR_ONE_US * 1555 - PPM_PRE_PULSE
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// -------------------------------------------------------------
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// PPM output frame variables
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// -------------------------------------------------------------
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// Data array for storing output PPM (8 channels) pulse widths.
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volatile uint16_t ppm[ PPM_ARRAY_MAX ] =
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{
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 1
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 2
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PPM_PRE_PULSE,
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PPM_THROTTLE_DEFAULT, // Channel 3 (throttle)
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 4
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PPM_PRE_PULSE,
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PPM_CH5_MODE_4, // Channel 5 (flight mode)
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 6
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 7
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 8
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PPM_PRE_PULSE,
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PPM_PERIOD
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};
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// Output PPM FAILSAFE values
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const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
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{
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 1
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 2
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PPM_PRE_PULSE,
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PPM_THROTTLE_FAILSAFE, // Channel 3 (throttle)
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 4
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PPM_PRE_PULSE,
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PPM_CH5_MODE_4, // Channel 5
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 6
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 7
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PPM_PRE_PULSE,
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PPM_VAL_CENTER, // Channel 8
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PPM_PRE_PULSE,
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PPM_PERIOD
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};
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// -------------------------------------------------------------
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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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#define SERVO_DDR DDRB
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#define SERVO_PORT PORTB
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#define SERVO_INPUT PINB
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#define SERVO_INT_VECTOR PCINT0_vect
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#define SERVO_INT_MASK PCMSK0
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#define SERVO_INT_CLEAR_FLAG PCIF0
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#define SERVO_INT_ENABLE PCIE0
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#define SERVO_TIMER_CNT TCNT1
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#define PPM_DDR DDRC
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#define PPM_PORT PORTC
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#define PPM_OUTPUT_PIN PC6
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#define PPM_INT_VECTOR TIMER1_COMPA_vect
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#define PPM_COMPARE OCR1A
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#define PPM_COMPARE_FLAG COM1A0
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#define PPM_COMPARE_ENABLE OCIE1A
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#define USB_DDR DDRC
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#define USB_PORT PORTC
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#define USB_PIN PC2
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// true if we have received a USB device connect event
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static bool usb_connected;
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// USB connected event
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void EVENT_USB_Device_Connect(void)
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{
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// Toggle USB pin high if USB is connected
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USB_PORT |= (1 << USB_PIN);
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usb_connected = true;
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// this unsets the pin connected to PA1 on the 2560
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// when the bit is clear, USB is connected
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PORTD &= ~1;
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}
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// USB disconnect event
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void EVENT_USB_Device_Disconnect(void)
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{
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// toggle USB pin low if USB is disconnected
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USB_PORT &= ~(1 << USB_PIN);
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usb_connected = false;
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// this sets the pin connected to PA1 on the 2560
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// when the bit is clear, USB is connected
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PORTD |= 1;
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}
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// AVR parameters for ArduPilot MEGA v1.4 PPM Encoder (ATmega328P)
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#elif defined (__AVR_ATmega328P__) || defined (__AVR_ATmega328__)
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#define SERVO_DDR DDRD
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#define SERVO_PORT PORTD
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#define SERVO_INPUT PIND
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#define SERVO_INT_VECTOR PCINT2_vect
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#define SERVO_INT_MASK PCMSK2
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#define SERVO_INT_CLEAR_FLAG PCIF2
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#define SERVO_INT_ENABLE PCIE2
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#define SERVO_TIMER_CNT TCNT1
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#define PPM_DDR DDRB
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#define PPM_PORT PORTB
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#define PPM_OUTPUT_PIN PB2
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#define PPM_INT_VECTOR TIMER1_COMPB_vect
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#define PPM_COMPARE OCR1B
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#define PPM_COMPARE_FLAG COM1B0
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#define PPM_COMPARE_ENABLE OCIE1B
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#else
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#error NO SUPPORTED DEVICE FOUND! (ATmega16u2 / ATmega32u2 / ATmega328p)
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#endif
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// Invalid SERVO input signals count
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volatile uint8_t servo_input_errors = 0;
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// Missing SERVO input signals flag
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volatile bool servo_input_missing = true;
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// PPM generator active flag
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volatile bool ppm_generator_active = false;
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// Brownout restart flag
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volatile bool brownout_reset = false;
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// ------------------------------------------------------------------------------
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// PPM GENERATOR START - TOGGLE ON COMPARE INTERRUPT ENABLE
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// ------------------------------------------------------------------------------
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void ppm_start( void )
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{
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// Prevent reenabling an already active PPM generator
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if( ppm_generator_active ) return;
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// 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 )
|
|
{
|
|
// To store current servo input pins
|
|
uint8_t servo_pins;
|
|
|
|
// 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
|
|
// ------------------------------------------------------------------------------
|
|
|
|
//---------------------------------------------------------------------
|
|
// Todo : Refine sync symbol limits after channel count detection
|
|
// Todo : Conversion to PPM output format (would be better if the main APM could follow format changes)
|
|
// Todo : sync between PPM input and output after switchover
|
|
|
|
// Todo : rework code from line 950 to end of redundancy mode
|
|
|
|
// Todo : Add optional delay inside switchover algo
|
|
// Todo : Add LED code for APM 1.4
|
|
//-------------------------------------------------------------------------
|
|
|
|
if( servo_input_mode == PPM_REDUNDANCY_MODE )
|
|
{
|
|
// -------------------------------------
|
|
// PPM redundancy mode - variables Init
|
|
// -------------------------------------
|
|
|
|
// PPM1 prepulse start
|
|
static uint16_t ppm1_prepulse_start;
|
|
// PPM2 prepulse start
|
|
static uint16_t ppm2_prepulse_start;
|
|
|
|
// PPM1 prepulse width
|
|
static uint16_t ppm1_prepulse_width;
|
|
// PPM2 prepulse width
|
|
static uint16_t ppm2_prepulse_width;
|
|
|
|
// 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 };
|
|
|
|
// PPM1 pulse length
|
|
static uint16_t ppm1_width[ 16 ] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
|
|
// PPM2 pulse length
|
|
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;
|
|
static bool sync_ch2 = false;
|
|
|
|
// Channel error flags
|
|
static bool channel_error_ch1 = true;
|
|
static bool channel_error_ch2 = true;
|
|
|
|
// Sync error flags
|
|
static bool sync_error_ch1 = true;
|
|
static bool sync_error_ch2 = true;
|
|
|
|
//---------------------------------------------------------
|
|
|
|
// ch2 switchover flag
|
|
static bool switchover_ch2 = false;
|
|
|
|
//---------------------------------------------------------
|
|
|
|
// Channel count detection ready flag
|
|
static bool channel_count_ready_ch1 = false;
|
|
static bool channel_count_ready_ch2 = false;
|
|
|
|
// Channel count detected flag
|
|
static bool channel_count_detected_ch1 = false;
|
|
static bool channel_count_detected_ch2 = false;
|
|
|
|
// Detected Channel count
|
|
static uint8_t channel_count_ch1 = PPM_CH1_MAX_CHANNELS;
|
|
static uint8_t channel_count_ch2 = PPM_CH2_MAX_CHANNELS;
|
|
|
|
// Detected Channel count previous value
|
|
static uint8_t previous_channel_count_ch1 = 0;
|
|
static uint8_t previous_channel_count_ch2 = 0;
|
|
|
|
// Channel count detection counter
|
|
static uint8_t channel_count_detection_counter_ch1 = 0;
|
|
static uint8_t channel_count_detection_counter_ch1 = 0;
|
|
|
|
|
|
// -----------------------------------
|
|
// PPM redundancy - decoder
|
|
// -----------------------------------
|
|
|
|
CHECK_START: // Start of PPM inputs check
|
|
|
|
// Store current PPM inputs pins
|
|
servo_pins = SERVO_INPUT;
|
|
|
|
// Calculate servo input pin change mask
|
|
uint8_t servo_change = servo_pins ^ servo_pins_old;
|
|
|
|
// -----------------------------------
|
|
// 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 if we've got a high level (raising edge, channel start or sync symbol end)
|
|
if( servo_pins & 1 )
|
|
{
|
|
// Check for pre pulse length
|
|
ppm1_prepulse_width = servo_time - ppm1_prepulse_start;
|
|
if ( true ) //Todo optionnal: We could add a test here for channel pre pulse length check
|
|
{
|
|
//We have a valid pre pulse
|
|
if( ppm1_channel == channel_count_ch1 ) // Check for last channel
|
|
{
|
|
// We are at latest PPM channel
|
|
sync_ch1 = false; // Reset sync flag
|
|
ppm1_channel = 0; // Reset PPM channel counter
|
|
}
|
|
else // We do not have yet reached the last channel
|
|
{
|
|
// Increment channel counter
|
|
ppm1_channel++;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//We do not have a valid pre pulse
|
|
sync_error_ch1 = true; // Set sync error flag
|
|
sync_ch1 = false; // Reset sync flag
|
|
ppm1_channel = 0; // Reset PPM channel counter
|
|
}
|
|
ppm1_start[ ppm1_channel ] = servo_time; // Store pulse start time for PPM1 input
|
|
}
|
|
// -----------------------------------------------------------------------------------------------------------------------
|
|
else // We've got a low level (falling edge, channel end or sync symbol start)
|
|
{
|
|
ppm1_width[ ppm1_channel ] = servo_time - ppm1_start[ ppm1_channel ]; // Calculate channel pulse length, or sync symbol length
|
|
if(sync_ch1 == true) // Are we synchronized ?
|
|
{
|
|
// Check channel pulse length validity
|
|
if( ppm1_width[ ppm1_channel ] > ( PPM_CH1_VAL_MAX - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) ) || ( ppm1_width[ ppm1_channel ] < ( PPM_CH1_VAL_MIN - PPM_CH1_CHANNEL_PREPULSE_LENGHT ) ) // If we have a valid pulse length
|
|
{
|
|
// Reset channel error flag
|
|
channel_error_ch1 = false;
|
|
}
|
|
else // We do not have a valid channel length
|
|
{
|
|
if( ppm1_width[ ppm1_channel ] > PPM_CH1_MIN_SYNC_LENGHT ) || ( ppm1_width[ ppm1_channel ] < PPM_CH1_MAX_SYNC_LENGHT ) //Check for sync symbol
|
|
{
|
|
// We have a valid sync symbol
|
|
if( channel_count_detected_ch1 == false ) // Check if we do not have yet channel count detected
|
|
{
|
|
// We have detected channels count
|
|
channel_count_ch1 = ppm1_channel; // Store PPM1 channel count
|
|
channel_count_ready_ch1 = true; // Set PPM1 channel count detection ready flag
|
|
|
|
sync_error_ch1 = false; // Reset sync error flag
|
|
sync_ch1 = true; // Set sync flag
|
|
}
|
|
else // Channel count had been detected before
|
|
{
|
|
//We should not have a sync symbol here
|
|
sync_error_ch1 = true; // Set sync error flag
|
|
sync_ch1 = false; // Reset sync flag
|
|
}
|
|
ppm1_channel = 0; // Reset PPM channel counter
|
|
}
|
|
else // We do not have a valid sync symbol
|
|
{
|
|
channel_error_ch1 = true; // Set channel error flag
|
|
}
|
|
}
|
|
|
|
}
|
|
// ------------------------------------------------------------------------------
|
|
else // We are not yet synchronized
|
|
{
|
|
if( ppm1_width[ ppm1_channel ] > PPM_CH1_MIN_SYNC_LENGHT ) || ( ppm1_width[ ppm1_channel ] < PPM_CH1_MAX_SYNC_LENGHT ) //Check for sync symbol
|
|
{
|
|
// We have a valid sync symbol
|
|
sync_error_ch1 = false; // Reset sync error flag
|
|
sync_ch1 = true; // Set sync flag
|
|
}
|
|
else // We did not find a valid sync symbol
|
|
{
|
|
sync_error_ch1 = true; // Set sync error flag
|
|
sync_ch1 = false; // Reset sync flag
|
|
}
|
|
ppm1_channel = 0; // Reset PPM channel counter
|
|
}
|
|
}
|
|
ppm1_prepulse_start = servo_time; // Store prepulse start time
|
|
// -----------------------------------------------------------------------------------------------------------------------
|
|
}
|
|
|
|
// -----------------------------------
|
|
// PPM redundancy - Ch2 decoding
|
|
// -----------------------------------
|
|
|
|
// Check if we have a pin change on PPM channel 2
|
|
if( servo_change & 2 )
|
|
{
|
|
// -----------------------------------------------------------------------------------------------------------------------
|
|
// Check if we've got a high level (raising edge, channel start or sync symbol end)
|
|
if( servo_pins & 2 )
|
|
{
|
|
// Check for pre pulse length
|
|
ppm2_prepulse_width = servo_time - ppm2_prepulse_start;
|
|
if ( true ) //Todo optionnal: We could add a test here for channel pre pulse length check
|
|
{
|
|
//We have a valid pre pulse
|
|
if( ppm2_channel == channel_count_ch2 ) // Check for last channel
|
|
{
|
|
// We are at latest PPM channel
|
|
sync_ch2 = false; // Reset sync flag
|
|
ppm2_channel = 0; // Reset PPM channel counter
|
|
}
|
|
else // We do not have yet reached the last channel
|
|
{
|
|
// Increment channel counter
|
|
ppm2_channel++;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//We do not have a valid pre pulse
|
|
sync_error_ch2 = true; // Set sync error flag
|
|
sync_ch2 = false; // Reset sync flag
|
|
ppm2_channel = 0; // Reset PPM channel counter
|
|
}
|
|
ppm2_start[ ppm2_channel ] = servo_time; // Store pulse start time for PPM2 input
|
|
}
|
|
// -----------------------------------------------------------------------------------------------------------------------
|
|
else // We've got a low level (falling edge, channel end or sync symbol start)
|
|
{
|
|
ppm2_width[ ppm2_channel ] = servo_time - ppm2_start[ ppm2_channel ]; // Calculate channel pulse length, or sync symbol length
|
|
if(sync_ch2 == true) // Are we synchronized ?
|
|
{
|
|
// Check channel pulse length validity
|
|
if( ppm2_width[ ppm2_channel ] > ( PPM_CH2_VAL_MAX - PPM_CH2_CHANNEL_PREPULSE_LENGHT ) ) || ( ppm2_width[ ppm2_channel ] < ( PPM_CH2_VAL_MIN - PPM_CH2_CHANNEL_PREPULSE_LENGHT ) ) // If we have a valid pulse length
|
|
{
|
|
// Reset channel error flag
|
|
channel_error_ch2 = false;
|
|
}
|
|
else // We do not have a valid channel length
|
|
{
|
|
if( ppm2_width[ ppm2_channel ] > PPM_CH2_MIN_SYNC_LENGHT ) || ( ppm2_width[ ppm2_channel ] < PPM_CH2_MAX_SYNC_LENGHT ) //Check for sync symbol
|
|
{
|
|
// We have a valid sync symbol
|
|
if( channel_count_detected_ch2 == false ) // Check if we do not have yet channel count detected
|
|
{
|
|
// We have detected channels count
|
|
channel_count_ch2 = ppm2_channel; // Store PPM2 channel count
|
|
channel_count_ready_ch2 = true; // Set PPM2 channel count detection ready flag
|
|
|
|
sync_error_ch2 = false; // Reset sync error flag
|
|
sync_ch2 = true; // Set sync flag
|
|
}
|
|
else // Channel count had been detected before
|
|
{
|
|
//We should not have a sync symbol here
|
|
sync_error_ch2 = true; // Set sync error flag
|
|
sync_ch2 = false; // Reset sync flag
|
|
}
|
|
ppm2_channel = 0; // Reset PPM channel counter
|
|
}
|
|
else // We do not have a valid sync symbol
|
|
{
|
|
channel_error_ch2 = true; // Set channel error flag
|
|
}
|
|
}
|
|
|
|
}
|
|
// ------------------------------------------------------------------------------
|
|
else // We are not yet synchronized
|
|
{
|
|
if( ppm2_width[ ppm2_channel ] > PPM_CH2_MIN_SYNC_LENGHT ) || ( ppm2_width[ ppm2_channel ] < PPM_CH2_MAX_SYNC_LENGHT ) //Check for sync symbol
|
|
{
|
|
// We have a valid sync symbol
|
|
sync_error_ch2 = false; // Reset sync error flag
|
|
sync_ch2 = true; // Set sync flag
|
|
}
|
|
else // We did not find a valid sync symbol
|
|
{
|
|
sync_error_ch2 = true; // Set sync error flag
|
|
sync_ch2 = false; // Reset sync flag
|
|
}
|
|
ppm2_channel = 0; // Reset PPM channel counter
|
|
}
|
|
}
|
|
ppm2_prepulse_start = servo_time; // Store prepulse start time
|
|
// -----------------------------------------------------------------------------------------------------------------------
|
|
}
|
|
|
|
// -----------------------------------
|
|
// 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
|
|
|
|
// -----------------
|
|
// Switchover code
|
|
// -----------------
|
|
|
|
// 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 ) // Channel 2 forcing is alive
|
|
{
|
|
// Check for PPM2 validity
|
|
if ( sync_error_ch2 == false ) && ( channel_error_ch2 == false) // PPM2 is valid
|
|
{
|
|
// Check for PPM2 selected
|
|
if ( switchover_ch2 == true ) // PPM2 is selected
|
|
{
|
|
// Do nothing
|
|
}
|
|
else
|
|
{
|
|
// Switch to PPM2 without delay
|
|
if ( ppm2_channel == channel_count_ch2 ) // Check for last PPM2 channel before switching
|
|
{
|
|
switchover_ch2 == true; // Switch to PPM2
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else // Check for PPM1 selected
|
|
{
|
|
if ( switchover_ch2 == false ) // PPM1 is selected
|
|
{
|
|
// Load PPM Output with PPM1
|
|
ppm[ ppm1_channel ] = ppm1_width;
|
|
}
|
|
else // PPM1 is not selected
|
|
{
|
|
// To Enhance : Optional switchover delay 2 to 1 here
|
|
if ( ppm1_channel == channel_count_ch1 ) // Check for last PPM1 channel before switching
|
|
{
|
|
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
|
|
{
|
|
// Load PPM Output with PPM2
|
|
ppm[ ppm2_channel ] = ppm2_width;
|
|
}
|
|
else // Switch to PPM2
|
|
{
|
|
// To Enhance : Optional switchover delay 1 to 2 here
|
|
if ( ppm2_channel == channel_count_ch2 ) // Check for last PPM2 channel before switching
|
|
{
|
|
switchover_ch2 == true; // Switch to PPM2
|
|
}
|
|
}
|
|
|
|
}
|
|
else // PPM2 is not valid
|
|
{
|
|
// load PPM output with failsafe values
|
|
}
|
|
}
|
|
|
|
// -----------------------------------
|
|
// Channel count post processing code
|
|
// -----------------------------------
|
|
|
|
// To enhance: possible global detection flag to avoid 2 channel_count_detected tests
|
|
|
|
// Ch1
|
|
|
|
if ( channel_count_detected_ch1 == true ) // Channel count for Ch1 was detected
|
|
{
|
|
// Do nothing
|
|
}
|
|
else // Do we have a channel count detection ready ?
|
|
{
|
|
if ( channel_count_ready_ch1 == true ) // If channel count is ready
|
|
{
|
|
// Check for detection counter
|
|
if ( channel_count_detection_counter_ch1 < CHANNEL_COUNT_DETECTION_THRESHOLD ) // Detection counter < Threshold
|
|
{
|
|
// Compare channel count with previous value
|
|
if ( channel_count_ch1 == previous_channel_count_ch1 ) // We have the same value
|
|
{
|
|
channel_count_detection_counter_ch1++; // Increment detection counter
|
|
}
|
|
else // We do not have the same value
|
|
{
|
|
channel_count_detection_counter_ch1 = 0; // Reset detection counter
|
|
}
|
|
previous_channel_count_ch1 = channel_count_ch1; // Load previous channel count with channel count
|
|
}
|
|
else // Detection counter >= Threshold
|
|
{
|
|
channel_count_detected_ch1 = true; // Channel count is now detected
|
|
}
|
|
channel_count_ready_ch1 = false; // Reset channel count detection ready flag
|
|
}
|
|
}
|
|
|
|
// Ch2
|
|
|
|
if ( channel_count_detected_ch2 == true ) // Channel count for ch2 was detected
|
|
{
|
|
// Do nothing
|
|
}
|
|
else // Do we have a channel count detection ready ?
|
|
{
|
|
if ( channel_count_ready_ch2 == true ) // If channel count is ready
|
|
{
|
|
// Check for detection counter
|
|
if ( channel_count_detection_counter_ch2 < CHANNEL_COUNT_DETECTION_THRESHOLD ) // Detection counter < Threshold
|
|
{
|
|
// Compare channel count with previous value
|
|
if ( channel_count_ch2 == previous_channel_count_ch2 ) // We have the same value
|
|
{
|
|
channel_count_detection_counter_ch2++; // Increment detection counter
|
|
}
|
|
else // We do not have the same value
|
|
{
|
|
channel_count_detection_counter_ch2 = 0; // Reset detection counter
|
|
}
|
|
previous_channel_count_ch2 = channel_count_ch2; // Load previous channel count with channel count
|
|
}
|
|
else // Detection counter >= Threshold
|
|
{
|
|
channel_count_detected_ch2 = true; // Channel count is now detected
|
|
}
|
|
channel_count_ready_ch2 = false; // Reset channel count detection ready flag
|
|
}
|
|
}
|
|
|
|
/*
|
|
//Reset throttle failsafe timeout
|
|
if( ppm1_channel == 5 ) throttle_timeout = 0;
|
|
|
|
CHECK_ERROR:
|
|
|
|
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
|
// Delay LED toggle
|
|
led_delay = 0;
|
|
#endif
|
|
|
|
*/
|
|
|
|
CHECK_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_START;
|
|
|
|
*/
|
|
|
|
// Clear interrupt event from already processed pin changes
|
|
// PCIFR |= (1 << SERVO_INT_CLEAR_FLAG);
|
|
|
|
// Leave interrupt
|
|
return;
|
|
}
|
|
// -------------------------
|
|
// PPM redundancy mode END
|
|
// -------------------------
|
|
|
|
// ------------------------------------------------------------------------------
|
|
// 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;
|
|
}
|
|
|
|
|
|
// ------------------------------------------------------------------------------
|
|
// PWM MODE (8 channels inputs)
|
|
// ------------------------------------------------------------------------------
|
|
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
|
|
// Low (falling edge)
|
|
{
|
|
|
|
// 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_VAL_MAX ) goto CHECK_PINS_ERROR;
|
|
if( servo_width < PWM_VAL_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 < PWM_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);
|
|
}
|
|
|
|
// ------------------------------------------------------------------------------
|
|
// PWM MODE END
|
|
// ------------------------------------------------------------------------------
|
|
|
|
|
|
// ------------------------------------------------------------------------------
|
|
// 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 > PWM_CHANNELS ) _channel = PWM_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 (pins 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 = 0b11111111;
|
|
}
|
|
|
|
if( servo_input_mode == PPM_PASSTROUGH_MODE )
|
|
{
|
|
// Set servo input interrupt pin mask to servo input channel 1
|
|
SERVO_INT_MASK = 0b00000001;
|
|
}
|
|
if( servo_input_mode == PPM_REDUNDANCY_MODE )
|
|
{
|
|
// Set servo input interrupt pin mask to servo input channel 1 and 2
|
|
SERVO_INT_MASK = 0b00000011;
|
|
}
|
|
// 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);
|
|
|
|
|
|
|
|
}
|
|
// ------------------------------------------------------------------------------
|