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Jan 27, 2008, 04:23 AM
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The war on assembly language

For assembly language hints, go to
Obviously not used much since 1999.

So far the expanded Vicacopter assembly language seems to be working. It does the common Vicacopter sections at 70khz while the C port only did 16khz. With GPS parsing at 4Hz, it drops to 55khz.

To save clockcycles, probably going to leave navigation units in the uBlox's binary format throughout the program. Running out of things to do on Vicaglider without buying the expensive stuff. Going to be quite a hassle to swap in Vicacopter's Xbee.

Another possibility is a small, second PIC specifically for either software UART or PWM. Note the 4 PWM outputs on the PIC are for driving an H bridge. They don't have independant duty cycle.

For Vicaglider the extra weight wouldn't be a problem. Her main processor could go back to C and do sort of the Gumstix role on Vicacopter.

Disadvantage: more complex, more expensive, less Vicacopter reuse.

Now for a Gootube demo of servo jitter with the Vicaglider loop at 70khz. We have 1 servo for testing PWM.

Servo jitter at 14usec resolution (0 min 11 sec)
Last edited by Jack Crossfire; Jan 27, 2008 at 06:52 AM.
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