ArduPPM V2.3.13
- New interrupt system that handles certain Futaba receivers better (simultaneous changes on groups of R/C channels in fast intervals) - Improved active channel detection requering 100 valid pulses before channel is marked active - Removed forced throttle fail-safe after channel loss - Lost channel detection signal for APM by setting channel output to 800us (not activated yet, need APM code to handle signals)
This commit is contained in:
John Arne Birkeland
parent
0419dc8dfd
commit
d5364571a8
@ -1,5 +1,5 @@
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// -------------------------------------------------------------
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// ArduPPM (PPM Encoder) V2.3.12
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// ArduPPM (PPM Encoder) V2.3.13
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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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@ -27,11 +27,10 @@
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// -----------------------
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// - PPM output will not be enabled unless a input signal has been detected and verified
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// - Verified inputs are lost during operaton (lose servo wire or receiver malfunction):
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// + The PPM output channel for the lost input will be set to the default fail-safe value
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// + PPM throttle output (ch3) will be permanently set to fail-safe (900us)
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// + The last known value of the lost input channel is keept for ~1 second
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// + If the lost input channel is not restored within ~1 second, it will be set to the default fail-safe value
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// - Lost channel signal is restored:
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// + PPM output for the restored channel will be updated with the valid signal
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// + PPM throttle output (ch3) will not be restored, and will continue to output fail-safe (900us)
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// + Normal channel operation is restored using the valid input signal
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// PPM PASS-THROUGH MODE (signal pin 2&3 shorted):
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// -----------------------------------------------
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@ -118,6 +117,16 @@
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// - Improved LED status for APM 2.x
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// - Improved jitter performance (PPM output using nested interrupts)
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// 30-11-2012
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// V2.3.13pre - Internal dev only pre-release
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// - Improved active channel detection requering 100 valid pulses before channel is marked active
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// - Removed forced throttle fail-safe after channel loss
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// - Changed fail-safe values to 800us, this will be used by APM code to detect channel loss and decide fail safe actions
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// 16-12-2012
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// V2.3.13 - Official release
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// - Fail-safe vales changed back to normal fail-safe values. Use until APM code knows how to handle lost channel signal (800us)
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// -------------------------------------------------------------
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#ifndef _PPM_ENCODER_H_
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@ -159,7 +168,7 @@
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#endif
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// Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string )
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const char ver[15] = "ArduPPMv2.3.12";
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const char ver[15] = "ArduPPMv2.3.13";
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// -------------------------------------------------------------
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// INPUT MODE
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@ -173,6 +182,15 @@ const char ver[15] = "ArduPPMv2.3.12";
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// Servo input mode (jumper (default), pwm, ppm, jeti or spektrum)
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volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// -------------------------------------------------------------
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// FAILSAFE MODE
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// -------------------------------------------------------------
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//#define _APM_FAILSAFE_ // Used to spesify APM 800us channel loss fail safe values, remove to use normal fail safe values (stand alone encoder board)
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// -------------------------------------------------------------
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// SERVO LIMIT VALUES
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// -------------------------------------------------------------
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// Number of Timer1 ticks in one microsecond
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@ -181,11 +199,6 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// 400us PPM pre pulse
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#define PPM_PRE_PULSE ONE_US * 400
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// -------------------------------------------------------------
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// SERVO LIMIT VALUES
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// -------------------------------------------------------------
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// Servo minimum position
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#define PPM_SERVO_MIN ONE_US * 900 - PPM_PRE_PULSE
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@ -201,6 +214,9 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// Throttle during failsafe
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#define PPM_THROTTLE_FAILSAFE ONE_US * 900 - PPM_PRE_PULSE
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// Channel loss failsafe
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#define PPM_CHANNEL_LOSS ONE_US * 800 - PPM_PRE_PULSE
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// CH5 power on values (mode selection channel)
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#define PPM_CH5_MODE_4 ONE_US * 1555 - PPM_PRE_PULSE
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@ -219,6 +235,32 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
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// Size of ppm[..] data array ( servo channels * 2 + 2)
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#define PPM_ARRAY_MAX 18
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#ifdef _APM_FAILSAFE_
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// -------------------------------------------------------------
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// APM FAILSAFE VALUES
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// -------------------------------------------------------------
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volatile uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
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{
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PPM_PRE_PULSE,
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PPM_CHANNEL_LOSS, // Channel 1
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PPM_PRE_PULSE,
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PPM_CHANNEL_LOSS, // Channel 2
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PPM_PRE_PULSE,
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PPM_CHANNEL_LOSS, // Channel 3 (throttle)
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PPM_PRE_PULSE,
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PPM_CHANNEL_LOSS, // Channel 4
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PPM_PRE_PULSE,
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PPM_CHANNEL_LOSS, // Channel 5
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PPM_PRE_PULSE,
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PPM_CHANNEL_LOSS, // Channel 6
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PPM_PRE_PULSE,
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PPM_CHANNEL_LOSS, // Channel 7
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PPM_PRE_PULSE,
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PPM_CHANNEL_LOSS, // Channel 8
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PPM_PRE_PULSE,
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PPM_PERIOD
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};
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#else
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// -------------------------------------------------------------
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// SERVO FAILSAFE VALUES
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// -------------------------------------------------------------
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@ -243,6 +285,7 @@ volatile uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
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PPM_PRE_PULSE,
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PPM_PERIOD
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};
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#endif
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// -------------------------------------------------------------
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// Data array for storing ppm (8 channels) pulse widths.
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@ -275,8 +318,9 @@ volatile uint16_t ppm[ PPM_ARRAY_MAX ] =
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#define PPM_TIMEOUT_VALUE 40 // ~1sec before triggering missing channel detection
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volatile uint8_t ppm_timeout[ PPM_ARRAY_MAX ];
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// Servo input channel connected flag
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volatile bool servo_input_connected[ PPM_ARRAY_MAX ];
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// Servo input channel connected status
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#define SERVO_INPUT_CONNECTED_VALUE 100
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volatile uint8_t servo_input_connected[ PPM_ARRAY_MAX ];
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// AVR parameters for PhoneDrone and APM2 boards using ATmega32u2
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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@ -300,7 +344,7 @@ volatile bool servo_input_connected[ PPM_ARRAY_MAX ];
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#define PPM_COMPARE_FORCE_MATCH FOC1A
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#define USB_DDR DDRC
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#define USB_PORT PORTC
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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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@ -356,10 +400,7 @@ void EVENT_USB_Device_Disconnect(void)
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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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// Used to force throttle fail-safe mode (RTL)
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volatile bool throttle_failsafe_force = false;
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// Used to indicate invalid SERVO input signals
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volatile uint8_t servo_input_errors = 0;
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@ -462,9 +503,9 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
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if ( ppm_generator_active || brownout_reset )
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{
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// Copy failsafe values to ppm[..]
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for( volatile uint8_t i = 0; i < PPM_ARRAY_MAX; i++ )
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for( uint8_t i = 0; i < PPM_ARRAY_MAX; i++ )
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{
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ppm[ i ] = failsafe_ppm[ i ];
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ppm[ i ] = failsafe_ppm[ i ];
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}
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}
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@ -568,7 +609,7 @@ ISR( SERVO_INT_VECTOR )
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// SERVO PWM MODE
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// ------------------------------------------------------------------------------
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CHECK_PINS_START: // Start of servo input check
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//CHECK_PINS_START: // Start of servo input check
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// Store current servo input pins
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servo_pins = SERVO_INPUT;
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@ -608,27 +649,15 @@ CHECK_PINS_LOOP: // Input servo pin check loop
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// Set servo input missing flag false to indicate that we have received servo input signals
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servo_input_missing = false;
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// Channel has received a valid signal, so it must be connected
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servo_input_connected [ ppm_channel ] = true;
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// Count valid signals to mark channel active
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if( servo_input_connected[ ppm_channel ] < SERVO_INPUT_CONNECTED_VALUE )
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{
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servo_input_connected[ ppm_channel ]++;
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}
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//Reset ppm single channel fail-safe timeout
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ppm_timeout[ ppm_channel ] = 0;
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// Check for forced throttle fail-safe
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if( throttle_failsafe_force )
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{
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if( ppm_channel == 5 )
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{
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// Force throttle fail-safe
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servo_width = PPM_THROTTLE_FAILSAFE;
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}
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Turn on RX LED if throttle fail-safe is forced
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PORTD &= ~(1 << PD4);
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#endif
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}
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#ifdef _AVERAGE_FILTER_
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// Average filter to smooth input jitter
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servo_width += ppm[ ppm_channel ];
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@ -724,25 +753,26 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
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cli();
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PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
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sei();
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// Did we lose an active servo input channel? If so force throttle fail-safe (RTL)
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if( servo_input_connected[ ppm_out_channel ] )
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{
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throttle_failsafe_force = true;
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}
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#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
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// Turn on RX LED to indicate a fail-safe condition
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PORTD &= ~(1 << PD4);
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#endif
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}
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else
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{
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// Use latest ppm input value
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cli();
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PPM_COMPARE += ppm[ ppm_out_channel ];
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sei();
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sei();
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// Increment channel timeout (reset to zero in input interrupt each time a valid signal is detected)
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ppm_timeout[ ppm_out_channel ] ++;
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// Increment active channel timeout (reset to zero in input interrupt each time a valid signal is detected)
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if( servo_input_connected[ ppm_out_channel ] >= SERVO_INPUT_CONNECTED_VALUE )
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{
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ppm_timeout[ ppm_out_channel ]++;
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}
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}
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// Select the next ppm channel
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if( ++ppm_out_channel >= PPM_ARRAY_MAX )
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{
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ppm_out_channel = 0;
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