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ArduPPM : Redundancy mode 

#define modifications for sync symbol detection and center pwm value correction
master
Olivier ADLER 12 years ago
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8a8ed7a711
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f7d5c372b9
1 changed files with 71 additions and 82 deletions
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  1. 153
      Tools/ArduPPM/Libraries/PPM_Encoder_v3.h

153
Tools/ArduPPM/Libraries/PPM_Encoder_v3.h
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@ -10,7 +10,7 @@ @@ -10,7 +10,7 @@
//
// 12-10-2012
// V3.0.0 - Added dual input PPM redundancy mode with auto switchover. This is mainly for dual PPM receivers setup.
// This mode Can be used as well if a PPM conversion is needed (Futaba 16 channels 760us mode to APM mode)
//
// -------------------------------------------------------------
// Not for production - Work in progress
@ -73,13 +73,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; @@ -73,13 +73,12 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define CHANNEL_COUNT_DETECTION_THRESHOLD 10 // Valid frames detected before channel count validation
// 0 for standard PPM, 1 for PPMv2 (Futaba 760 us 16 Channels), 2 for PPMv3 (Jeti 1050 us 16 channels), 3 for Hitec 9 channels
// PPM input frame mode receiver 1
// -------------------------------------------------------------
#define PPM_CH1_STANDARD // Standard PPM : 1500 us +/- 600 us - 8 channels - 20 ms frame period
//#define PPM_CH1_STANDARD_EXTENDED // Hitec 9 channels hardware : 1500 us +/- 600 us - 9 channels - 22.1 ms slower frame period
//#define PPM_CH1_V2 // PPMv2 used initialy at Futaba - 760 us +/- 300 us - 16 Channels - normal 20 ms frame period
//#define PPM_CH1_V3 // PPMv3 to allow for 16 channels with long sync symbol for hardware compatibility : 1050 us +/- 300 us - 25 ms frame period
#define PPM_CH1_STANDARD // Standard PPM : 1520 us +/- 600 us - 8 channels - 20 ms frame period
//#define PPM_CH1_STANDARD_EXTENDED // 9 channels : 1520 us +/- 600 us - 9 channels - 22.1 ms slower frame period
//#define PPM_CH1_V2 // PPMv2 : 760 us +/- 300 us - 16 Channels - normal 20 ms frame period
//#define PPM_CH1_V3 // PPMv3 16 channels with long sync symbol : 1050 us +/- 300 us - 25 ms frame period
// PPM input frame mode receiver 2
// -------------------------------------------------------------
@ -88,80 +87,75 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; @@ -88,80 +87,75 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
//#define PPM_CH2_V2
//#define PPM_CH2_V3
// PPM input frame definitions receiver 1
// PPM1 input : frame formats definitions
// -------------------------------------------------------------
#if defined (PPM_CH1_STANDARD) || defined (PPM_CH1_STANDARD_EXTENDED)
#ifdef PPM_CH1_STANDARD_EXTENDED
// Max input PPM channels
// PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 9
// Frame period
#define PPM_CH1_FRAME_PERIOD 22100 // frame period (microseconds)
#define PPM_CH1_FRAME_PERIOD 22120 // frame period (microseconds)
#else
// Max input PPM channels
// PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 8
// Frame period
#define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds)
#endif
// Negative Shift
//#define SHIFT_CH1_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part)
// PPM channels minimum and maximum values
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 900
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2100
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1500
// PPM channels limits
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 920
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 2120
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1520
#define PPM_CH1_FORCE_VAL_MIN 1800
// PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
// PPM frame sync symbol minimum and maximum laps
// PPM frame sync symbol limits
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#endif
#ifdef PPM_CH1_V2 (PPMv2 is a 50 Hz 16 channels mode, used initialy on Futaba and later on other manufacturers modules)
#ifdef PPM_CH1_V2 (PPMv2 is a 50 Hz 16 channels mode)
// Max input PPM channels
// PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 16
// Frame period
#define PPM_CH1_FRAME_PERIOD 20000 // frame period (microseconds)
// Negative Shift
//#define SHIFT_CH1_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part)
// PPM channels minimum and maximum values
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 450
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1050
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 750
// PPM channels limits
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 460
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1060
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 760
#define PPM_CH1_FORCE_VAL_MIN 900
// PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
// PPM frame sync symbol minimum and maximum laps
// PPM frame sync symbol limits
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#endif
#ifdef PPM_CH1_V3 (PPMv3 is a 40 Hz slower refresh frequency 16 channels mode to allow 16 channels with older transmitter modules)
#ifdef PPM_CH1_V3 (PPMv3 is a 40 Hz slower refresh rate 16 channels mode)
// Max input PPM channels
// PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 16
// Frame period
#define PPM_CH1_FRAME_PERIOD 25000 // frame period (microseconds)
// Negative Shift
//#define SHIFT_CH1_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part)
// PPM channels minimum and maximum values
// PPM channels limits
#define PPM_CH1_VAL_MIN TICKS_FOR_ONE_US * 750
#define PPM_CH1_VAL_MAX TICKS_FOR_ONE_US * 1350
#define PPM_CH1_VAL_CENTER TICKS_FOR_ONE_US * 1050
@ -170,84 +164,79 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; @@ -170,84 +164,79 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
// PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
// PPM frame sync symbol minimum and maximum laps
// PPM frame sync symbol limits
#define PPM_CH1_MIN_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MAX ) // Sync symbol detection
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MAX_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#define PPM_CH1_MAX_SYNC_LENGHT PPM_CH1_FRAME_PERIOD - ( PPM_CH1_MIN_CHANNELS * PPM_CH1_VAL_MIN ) // Sync timeout
#endif
// PPM input frame definitions receiver 2
// PPM2 input : frame format definitions
// -------------------------------------------------------------
#if defined (PPM_CH2_STANDARD) || defined (PPM_CH2_STANDARD_EXTENDED)
#ifdef PPM_CH2_STANDARD_EXTENDED
// Max input PPM channels
#define PPM_CH2_CHANNELS 9
// PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 9
// Frame period
#define PPM_CH2_FRAME_PERIOD 22100 // frame period (microseconds)
#define PPM_CH2_FRAME_PERIOD 22120 // frame period (microseconds)
#else
// Max input PPM channels
#define PPM_CH2_CHANNELS 8
// PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 8
// Frame period
#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
#endif
// Negative Shift
//#define SHIFT_CH2_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part)
// PPM channels minimum and maximum values
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 900
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2100
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1500
// PPM channels limits
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 920
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 2120
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1520
// PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
// PPM frame sync symbol minimum and maximum laps
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
// PPM frame sync symbol limits
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
#endif
#ifdef PPM_CH2_V2 (PPMv2 is a 50 Hz 16 channels mode, used initialy on Futaba and later on other manufacturers modules)
#ifdef PPM_CH2_V2 (PPMv2 is a 50 Hz 16 channels mode)
// Max input PPM channels
#define PPM_CH2_CHANNELS 16
// PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 16
// Frame period
#define PPM_CH2_FRAME_PERIOD 20000 // frame period (microseconds)
// Negative Shift
//#define SHIFT_CH2_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part)
// PPM channels minimum and maximum values
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 450
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1050
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 750
// PPM channels limits
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 460
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1060
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 760
// PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 200
// PPM frame sync symbol minimum and maximum laps
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
// PPM sync symbol limits
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
#endif
#ifdef PPM_CH2_V3 (PPMv3 is a 40 Hz slower refresh frequency 16 channels mode to allow 16 channels with older transmitter modules)
#ifdef PPM_CH2_V3 (PPMv3 is a 40 Hz slower refresh rate 16 channels mode)
// Max input PPM channels
#define PPM_CH2_CHANNELS 16
// PPM channel count limits
#define PPM_CH1_MIN_CHANNELS 4
#define PPM_CH1_MAX_CHANNELS 16
// Frame period
#define PPM_CH2_FRAME_PERIOD 25000 // frame period (microseconds)
// Negative Shift
//#define SHIFT_CH2_NEGATIVE // Some receivers may use negative shift (zero volt part of the signal carry the PWM information instead of the positive part)
// PPM channels minimum and maximum values
// PPM channels limits
#define PPM_CH2_VAL_MIN TICKS_FOR_ONE_US * 750
#define PPM_CH2_VAL_MAX TICKS_FOR_ONE_US * 1350
#define PPM_CH2_VAL_CENTER TICKS_FOR_ONE_US * 1050
@ -255,9 +244,9 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; @@ -255,9 +244,9 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
// PPM channel pre pulse lenght
#define PPM_CH1_CHANNEL_PREPULSE_LENGHT 400
// PPM frame sync symbol minimum and maximum laps
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
// PPM sync symbol limits
#define PPM_CH2_MIN_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MAX_CHANNELS * PPM_CH2_VAL_MAX ) // Sync symbol detection
#define PPM_CH2_MAX_SYNC_LENGHT PPM_CH2_FRAME_PERIOD - ( PPM_CH2_MIN_CHANNELS * PPM_CH2_VAL_MIN ) // Sync timeout
#endif
@ -270,10 +259,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; @@ -270,10 +259,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PWM_CHANNELS 8
// PWM channels minimum values
#define PWM_VAL_MIN TICKS_FOR_ONE_US * 900 - PPM_PRE_PULSE
#define PWM_VAL_MIN TICKS_FOR_ONE_US * 920 - PPM_PRE_PULSE
// PWM channels maximum values
#define PWM_VAL_MAX TICKS_FOR_ONE_US * 2100 - PPM_PRE_PULSE
#define PWM_VAL_MAX TICKS_FOR_ONE_US * 2120 - PPM_PRE_PULSE
// PWM input filters
// Using both filters is not recommended and may reduce servo input resolution
@ -292,10 +281,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; @@ -292,10 +281,10 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_PRE_PULSE TICKS_FOR_ONE_US * 400
// PPM channels center positions
#define PPM_VAL_CENTER TICKS_FOR_ONE_US * 1500 - PPM_PRE_PULSE
#define PPM_VAL_CENTER TICKS_FOR_ONE_US * 1520 - PPM_PRE_PULSE
// PPM period 18.5ms - 26.5ms (54hz - 37Hz)
#define PPM_PERIOD TICKS_FOR_ONE_US * ( 22500 - ( PPM_CHANNELS * 1500 ) )
#define PPM_PERIOD TICKS_FOR_ONE_US * ( 22500 - ( PPM_CHANNELS * 1520 ) )
// Size of ppm[..] data array
#define PPM_ARRAY_MAX PPM_CHANNELS * 2 + 2
@ -308,7 +297,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE; @@ -308,7 +297,7 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
#define PPM_THROTTLE_DEFAULT TICKS_FOR_ONE_US * 1100 - PPM_PRE_PULSE
// Throttle during failsafe
#define PPM_THROTTLE_FAILSAFE TICKS_FOR_ONE_US * 900 - PPM_PRE_PULSE
#define PPM_THROTTLE_FAILSAFE TICKS_FOR_ONE_US * 920 - PPM_PRE_PULSE
// CH5 power on values (mode selection channel)
#define PPM_CH5_MODE_4 TICKS_FOR_ONE_US * 1555 - PPM_PRE_PULSE

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