Monday, August 13, 2007


A matter of timing

I took a few hours and began to explore the firmware programming issues associated with shaft encoding gearmotors.

My first exercise was to find out exactly how much time the various parts of the existing firmware was taking. I'm running an 18F4610 at 20 MHz. Here are a few of the things that I've discovered.

Solving a linear equation - ~100 uSec
Solving a quadratic equation - ~150 uSec
Reading a byte of data at 9600 bpi - ~1 mSec

(Read the whole story)

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