Ulawulo lweemoto

Ukuvumelanisa kunye nexesha
Izinto eziphambili zokuqala kwisicelo ngasinye sexesha langempela lixesha elifanelekileyo, ukuvumelanisa kunye nempendulo yenkqubo emiselweyo, kwaye kufuneka kuqwalaselwe ngokukodwa ezi zinto xa kuyilwaulawulo lwemotoisoftware. Ngokwenyani, le nkqubo ivakala ilula kakhulu: inkqubo ifunda amaxabiso e-sensor, icubungule i-algorithm yolawulo, ijonga ukhuseleko lwenkqubo kwaye ilawula isigaba sokuphuma ngokulungelelanisa umjikelo womsebenzi wesiphumo se-PWM.
Iimpazamo ezincinci ngexesha zinokukhokelela kwiimpazamo ezinkulu zempendulo yenkqubo, ukusebenza okungaguqukiyo kunye nokusebenza kakubi. Ukuqinisekisa ukuba yonke into isebenza njengoko kulindelekile, kubalulekile ukuhlala uhambelana kwaye uqinisekise ukuzimisela kwenkqubo. Apha, ndingathanda ukugxininisa ukuba sijongene 'nenkqubo enzima yexesha langempela' kwaye ukuhlangabezana nemihla ebekiweyo kubaluleke kakhulu.
Isoftware yokulawula iimoto ingaphunyezwa njengesisombululo se-bare-metal ngaphandle kwenkqubo yokusebenza, kusetyenziswa i-RTOS efanelekileyo (inkqubo yokusebenza yexesha langempela), okanye njengesisombululo se-multi-core hybrid, apho ezinye ii-CPU cores zisebenza kwimo ye-bare-metal ngelixa ezinye zisebenzisa inkqubo yokusebenza. Izisombululo ze-bare-metal zihlala zisekelwe kuyilo oluqhutywa kukuphazamiseka, apho ukuphazamiseka kusingatha imisebenzi ebalulekileyo ngexesha kwaye kuqinisekisa ukuba yonke into yenzeka ngamaxesha achanekileyo.
Nokuba sisisombululo se-bare-metal, i-RTOS okanye i-hybrid, uhlalutyo lwexesha, ukubekwa phambili kwemisebenzi kunye nohlalutyo lokhuseleko kufuneka lwenziwe ukuqinisekisa ukusebenza kwenkqubo ngokufanelekileyo nangokuthembekileyo.
Uhlalutyo lwexesha luqinisekisa ukuba yonke imisebenzi igqitywa ngexesha. Oku kuquka ukuqwalasela ixesha elibi kakhulu lokwenziwa komsebenzi ngamnye. Eminye yemisebenzi ebalulekileyo kulawulo lweemoto ibandakanya ukufunyanwa kwedatha ye-sensor, ukwenziwa kwee-algorithms zolawulo ngokusebenzisa ukuveliswa kwesignali ye-PWM, ukufunyanwa kunye nokuphathwa kweempazamo, imisebenzi yokumisa nokhuseleko ngexesha likaxakeka, unxibelelwano lwexesha langempela nezinye izinto zenkqubo, kunye nokuvumelanisa neenkqubo zangaphandle.

Inkqubo yokusebenza yexesha langempela (RTOS)
Ukukhetha i-RTOS efanelekileyo kwisicelo sakho sokulawula imoto kubalulekile ukuqinisekisa ukusebenza okuphezulu, ukuthembeka kunye nokhuseleko. Izinto ezibalulekileyo ekufuneka ziqwalaselwe ziquka ukusebenza kwe-RTOS ngexesha langempela, ukusebenza kakuhle kwezixhobo kubandakanya indawo yememori kunye nokusetyenziswa kwe-CPU, kunye nokucubungula ishedyuli yokulungiselela kwangaphambili okusekwe kwinjongo ephambili. Ukuphazamiseka okusebenzayo nokukhawulezayo, kunye nokuthembeka kwenkqubo kunye nokuqina, nazo zizinto ezibalulekileyo. Inkxaso yabathengisi kunye namaxwebhu, ukuhambelana nehardware, kunye nokufumaneka kwezixhobo zophuhliso (ezifana nee-IDE, ii-debuggers, kunye ne-analyzers) kunye ne-ecosystems (kubandakanya iilayibrari kunye neesampulu zekhowudi) zidlala indima ebalulekileyo. Okokugqibela, imigaqo yelayisenisi kunye neendleko ze-RTOS nazo kufuneka ziqwalaselwe.
Xa kujongwa izinto ezahlukeneyo kunye neemfuno ezithile zezicelo zolawulo lweemoto, iFreeRTOS, inkqubo yokusebenza evulekileyo edumileyo eyaziwa ngokusebenza kwayo kakuhle nangokusebenziseka kwayo, lukhetho oluhle kakhulu. Olu khetho luluncedo kakhulu kwiimeko apho ukusebenza kakuhle kweendleko, ukusebenza kakuhle, ukuguquguquka kwenkqubo, ukuthembeka kunye nokuqina, ukusebenziseka lula, inkxaso enkulu yehardware kunye nokusebenza kakuhle kwezixhobo zezona zinto zibalulekileyo ekufuneka ziqwalaselwe.