Team 9 / FRDM-TFC

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Fork of FRDM-TFC by Ian Krase

Files at this revision

API Documentation at this revision

Revision 7:b34924a05d60, committed 2014-04-20

Comitter:
redxeth
Date:
Sun Apr 20 00:14:53 2014 +0000
Parent:
6:fbc2ba3c670a
Child:
8:6cdfa332ec50
Commit message:
Updated SERVO_DEFAULT_PERIOD to be faster (10mS from 20mS) to permit racing.; ; Increase Clock period to compensate so integration time not impacted (from 100 cycles to 200 cycles)

Changed in this revision

TFC.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/TFC.cpp	Tue Apr 15 02:36:19 2014 +0000
+++ b/TFC.cpp	Sun Apr 20 00:14:53 2014 +0000
@@ -1,11 +1,13 @@
 #include "mbed.h"
 #include "TFC.h"
 
-#define FTM1_CLK_PRESCALE                                                            6// Prescale Selector value - see comments in Status Control (SC) section for more details
-#define SERVO_DEFAULT_PERIOD                                                   (float)(.020)   // Desired Frequency of PWM Signal - Here 50Hz => 20ms period
+#define FTM1_CLK_PRESCALE                                                                  6   // Prescale Selector value - see comments in Status Control (SC) section for more details
+#define SERVO_DEFAULT_PERIOD                                                   (float)(.010)   // Desired Frequency of PWM Signal - Here 50Hz => 20ms period
+#define TAOS_CLK_COUNT                                                                   200   // Number of cycles for CLK Signal on camera
+
 // use these to dial in servo steering to your particular servo
 #define SERVO_MIN_PULSE_WIDTH_DEFAULT                                          (float)(.0005)  // The number here should be be *pulse width* in seconds to move servo to its left limit
-#define SERVO_MAX_PULSE_WIDTH_DEFAULT                                          (float)(.002)  // The number here should be be *pulse width* in seconds to move servo to its left limit 
+#define SERVO_MAX_PULSE_WIDTH_DEFAULT                                          (float)(.002)   // The number here should be be *pulse width* in seconds to move servo to its left limit 
 
 
 #define FTM0_CLOCK                                             (SystemCoreClock/2)
@@ -801,7 +803,7 @@
 
             TAOS_CLK_HIGH;
 
-            for(Junk = 0; Junk<50; Junk++) {
+            for(Junk = 0; Junk<TAOS_CLK_COUNT/2; Junk++) {
             }
 
             TAOS_SI_LOW;
@@ -830,7 +832,7 @@
                     CurrentLineScanPixel++;
 
                     TAOS_CLK_LOW;
-                    for(Junk = 0; Junk<50; Junk++) {
+                    for(Junk = 0; Junk<TAOS_CLK_COUNT/2; Junk++) {
                     }
                     TAOS_CLK_HIGH;
 
@@ -841,7 +843,7 @@
 
                 TAOS_CLK_HIGH;
 
-                for(Junk = 0; Junk<50; Junk++) {
+                for(Junk = 0; Junk<TAOS_CLK_COUNT/2; Junk++) {
                 }
 
                 TAOS_CLK_LOW;