Ukulawula imoto

Ukuvumelanisa kanye Nesikhathi
Izinto eziza kuqala kuzo zonke izinhlelo zokusebenza zesikhathi sangempela isikhathi esifanele, ukuvumelanisa kanye nokuphendula kwesistimu okunqunyiwe, futhi ukunaka okukhethekile kumele kunikezwe lezi zici lapho kuklanywaukulawula imotoisofthiwe. Empeleni, inqubo izwakala ilula kakhulu: uhlelo lufunda amanani ezinzwa, lucubungula i-algorithm yokulawula, luqapha ukuphepha kohlelo futhi luphatha isigaba sokukhipha ngokulungisa umjikelezo womsebenzi wokukhipha kwe-PWM.
Amaphutha amancane ngesikhathi angaholela emaphutheni amakhulu okusabela ohlelweni, ukusebenza okungazinzile kanye nokusebenza kabi. Ukuqinisekisa ukuthi konke kusebenza njengoba kulindelekile, kubalulekile ukuhlala kuvumelanisiwe futhi kuqinisekiswe ukuthi uhlelo luzimisele. Lapha, ngithanda ukugcizelela ukuthi sibhekene 'nohlelo olunzima lwesikhathi sangempela' futhi ukuhlangabezana nezikhathi ezibekiwe eziqinile kubaluleke kakhulu.
Isofthiwe yokulawula i-motor ingasetshenziswa njengesixazululo se-bare-metal ngaphandle kwesistimu yokusebenza, kusetshenziswa i-RTOS efanelekile (uhlelo lokusebenza lwesikhathi sangempela), noma njengesixazululo se-multi-core hybrid, lapho amanye ama-CPU cores esebenza kwimodi ye-bare-metal kuyilapho amanye esebenzisa uhlelo lokusebenza. Izixazululo ze-Bare-metal zihlala zisekelwe kumklamo oqhutshwa ukuphazamiseka, lapho ukuphazamiseka kusingatha imisebenzi ebalulekile ngesikhathi futhi kuqinisekisa ukuthi konke kwenzeka ngezikhawu eziqondile.
Kungakhathaliseki ukuthi kuyisisombululo sensimbi engenalutho, i-RTOS noma i-hybrid, ukuhlaziywa kwesikhathi, ukubekwa phambili kwemisebenzi kanye nokuhlaziywa kokuphepha kumele kwenziwe ukuqinisekisa ukusebenza kahle nokwethembekile kohlelo.
Ukuhlaziywa kwesikhathi kuqinisekisa ukuthi yonke imisebenzi iqedwa ngesikhathi. Lokhu kufaka phakathi ukucabangela isikhathi sokwenziwa esibi kakhulu somsebenzi ngamunye. Eminye yemisebenzi ebalulekile ekulawulweni kwezimoto ihlanganisa ukutholwa kwedatha yenzwa, ukwenziwa kwama-algorithms okulawula ngokukhiqizwa kwesignali ye-PWM, ukutholwa kwamaphutha nokuphathwa kwawo, imisebenzi yokuma nokuphepha okuphuthumayo, ukuxhumana ngesikhathi sangempela nezinye izingxenye zesistimu, kanye nokuvumelanisa nezinhlelo zangaphandle.

Uhlelo lokusebenza lwesikhathi sangempela (i-RTOS)
Ukukhetha i-RTOS efanele yesicelo sakho sokulawula imoto kubalulekile ekuqinisekiseni ukusebenza okuphezulu, ukuthembeka kanye nokuphepha. Izinto ezibalulekile okufanele uzicabangele zifaka phakathi ukusebenza kwe-RTOS ngesikhathi sangempela, ukusebenza kahle kwezinsizakusebenza okuhlanganisa ukulandelwa kwememori kanye nokusetshenziswa kwe-CPU, kanye nokucubungula ukuhlela kusengaphambili okusekelwe ekuqalisweni. Ukuphazamiseka okusebenzayo nokusheshayo, kanye nokuthembeka kohlelo kanye nokuqina, nakho kuyizinto ezibalulekile. Ukusekelwa kwabathengisi kanye nemibhalo, ukuhambisana nehadiwe, kanye nokutholakala kwamathuluzi okuthuthukisa (njenge-IDE, ama-debugger, kanye nama-analyzer) kanye ne-ecosystems (kufaka phakathi imitapo yolwazi kanye namasampula ekhodi) kudlala indima ebalulekile. Okokugcina, imigomo yelayisensi kanye nezindleko ze-RTOS kufanele futhi kucatshangelwe.
Uma sicabangela izici ezahlukahlukene kanye nezidingo ezithile zezinhlelo zokusebenza zokulawula izimoto, i-FreeRTOS, uhlelo lokusebenza oluvulekile oludumile lwesikhathi sangempela olwaziwa ngokusebenza kahle nangokusebenziseka kalula, luyisinqumo esihle kakhulu. Lokhu kukhetha kuzuzisa kakhulu ezimweni lapho ukusebenza kahle kwezindleko, ukusebenza kahle, ukuguquguquka kwesistimu, ukuthembeka nokuqina, ukusebenziseka kalula, ukwesekwa okukhulu kwehadiwe kanye nokusebenza kahle kwezinsiza kuyizinto ezibalulekile okufanele uzicabangele.