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| Rev 1960 | Rev 1962 | ||
|---|---|---|---|
| Line 78... | Line 78... | ||
| 78 | 78 | ||
| 79 | // disable all interrupts before reconfiguration |
79 | // disable all interrupts before reconfiguration |
| Line 80... | Line 80... | ||
| 80 | cli(); |
80 | cli(); |
| 81 | 81 | ||
| 82 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
82 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| Line 83... | Line 83... | ||
| 83 | DDRD &= ~(1 << DDD6); |
83 | DDRD &= ~(1<<1DDD6); |
| 84 | PORTD |= (1 << PORTD6); |
84 | PORTD |= (1<<1PORTD6); |
| 85 | 85 | ||
| 86 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
86 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| Line 137... | Line 137... | ||
| 137 | t0 t1 t2 t4 tn t0 |
137 | t0 t1 t2 t4 tn t0 |
| Line 138... | Line 138... | ||
| 138 | 138 | ||
| 139 | The PPM-Frame length is 22.5 ms. |
139 | The PPM-Frame length is 22.5 ms. |
| 140 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
140 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| 141 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
141 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| 142 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
142 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
| 143 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
143 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
| 144 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
144 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
| 145 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
145 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
| 146 | the syncronization gap. |
146 | the syncronization gap. |