Kudzora mota

Kuenderana uye Nguva
Zvinhu zvekutanga zvinokosheswa pakushandisa kwega kwega panguva chaiyo inguva yakakodzera, kuenderana, uye mhinduro yehurongwa hwekusarudza, uye kutarisisa kwakakosha kunofanirwa kupihwa pazvinhu izvi pakugadzira.kudzora motasoftware. Muchidimbu, maitiro acho anonzwika zviri nyore: sisitimu inoverenga ma sensor values, inogadzirisa control algorithm, inoongorora kuchengetedzeka kwesisitimu uye inogadzirisa danho rekubuda nekugadzirisa duty cycle yePWM output.
Kukanganisa kudiki panguva kunogona kukonzera zvikanganiso zvakakomba zvesystem response, kushanda kusina kurongeka uye kusashanda zvakanaka. Kuti uve nechokwadi chekuti zvese zvinoshanda sezvaitarisirwa, zvakakosha kuti urambe wakabatana uye uve nechokwadi chekuti system determinism inoonekwa. Pano, ndinoda kusimbisa kuti tiri kubata ne 'system yakaoma munguva chaiyo' uye kusangana nenguva dzakaoma kwakakosha zvikuru.
Software yekutonga mota inogona kushandiswa semhinduro isina simbi isina sisitimu yekushandisa, uchishandisa RTOS yakakodzera (real-time operating system), kana semhinduro ine macore hybrid akawanda, uko mamwe maCPU cores anoshanda mu bare-metal mode nepo mamwe achishandisa operating system. Mhinduro dzisina simbi dzinogara dzakavakirwa padhizaini inodzorwa ne interrupt, uko interrupts dzinobata mabasa akakosha panguva uye dzinoona kuti zvese zvinoitika panguva chaiyo.
Ingava mhinduro isina chinhu, RTOS kana hybrid, ongororo yenguva, kukoshesa mabasa uye ongororo yekuchengetedza zvinofanirwa kuitwa kuti pave nechokwadi chekuti system inoshanda zvakanaka uye yakavimbika.
Kuongorora nguva kunoita kuti mabasa ese apedzwe nenguva. Izvi zvinosanganisira kufunga nezvenguva yakaipisisa yekuita basa rega rega. Mamwe emabasa makuru akakosha mukudzora mota anosanganisira kutora data re sensor, kuita ma algorithms ekudzora kuburikidza nePWM signal generation, kuona nekudzora zvikanganiso, mabasa ekumisa nekuchengetedzeka emergency, kutaurirana panguva chaiyo nezvimwe zvikamu zve system, uye kuenderana nema system ekunze.

Sisitimu inoshanda panguva chaiyo (RTOS)
Kusarudza RTOS yakakodzera yekushandisa mota yako yekudzora kwakakosha pakuona kuti inoshanda zvakanaka, yakavimbika uye yakachengeteka. Zvinhu zvakakosha zvinosanganisira kushanda kweRTOS panguva chaiyo, kushanda zvakanaka kwezviwanikwa zvinosanganisira memory footprint uye CPU, uye priority-based preemptive scheduling processing. Kukanganisa kunoshanda uye nekukurumidza, pamwe nekuvimbika kwesystem uye kusimba, zvinhu zvakakoshawo. Rutsigiro rwevatengesi nemagwaro, kuenderana nehardware, uye kuwanikwa kwezvishandiso zvekuvandudza (senge maIDE, debuggers, uye analyzers) uye ecosystems (kusanganisira maraibhurari uye kodhi samples) zvinoita basa rakakosha. Chekupedzisira, mitemo yerezinesi nemutengo weRTOS zvinofanirwawo kufungwa nezvazvo.
Tichifunga nezvezvinhu zvakasiyana-siyana uye zvinodiwa zvemashandisirwo ekudzora mota, FreeRTOS, sisitimu inoshanda munguva chaiyo inozivikanwa nekushanda kwayo zvakanaka uye nekushanda kwakawanda, isarudzo yakanaka kwazvo. Sarudzo iyi inobatsira zvikuru mumamiriro ezvinhu apo kushanda zvakanaka kwemutengo, kushanda zvakanaka, kuchinjika kwesisitimu, kuvimbika uye kusimba, nyore kushandisa, rutsigiro rwakakura rwehardware uye kushanda zvakanaka kwezviwanikwa ndizvo zvinhu zvakakosha kufunga nezvazvo.