Kuwongolera magalimoto

Kugwirizanitsa ndi Nthawi
Zofunika kwambiri pa ntchito iliyonse yeniyeni ndi nthawi yoyenera, kulumikizana, ndi mayankho otsimikizika a dongosolo, ndipo chisamaliro chapadera chiyenera kuperekedwa pazinthu izi popanga mapulani.kulamulira motamapulogalamu. Mwachidule, njirayi imamveka yosavuta: makina amawerenga ma sensa, amakonza njira yowongolera, amawunika chitetezo cha makina ndikuwongolera gawo lotulutsa mwa kusintha kayendedwe ka ntchito ya PWM output.
Zolakwika zazing'ono pa nthawi zingayambitse zolakwika zazikulu pakugwira ntchito kwa makina, kusagwira ntchito bwino komanso kusagwira bwino ntchito. Kuti muwonetsetse kuti chilichonse chikuyenda bwino, ndikofunikira kuti mupitirize kuyanjana ndikuwonetsetsa kuti makinawo akutsatira zomwe mukufuna. Pano, ndikufuna kutsindika kuti tikulimbana ndi 'dongosolo lovuta nthawi yeniyeni' ndipo kukwaniritsa nthawi yomaliza ndikofunikira kwambiri.
Pulogalamu yowongolera ma mota ingagwiritsidwe ntchito ngati yankho la bare-metal popanda makina ogwiritsira ntchito, pogwiritsa ntchito RTOS yoyenera (real-time operating system), kapena ngati yankho la multi-core hybrid, komwe ma CPU cores ena amagwira ntchito mu bare-metal mode pomwe ena amagwiritsa ntchito makina ogwiritsira ntchito. Mayankho a bare-metal nthawi zonse amakhala ozikidwa pa kapangidwe koyendetsedwa ndi kusokoneza, komwe kusokoneza kumagwirira ntchito zofunikira nthawi ndikuwonetsetsa kuti chilichonse chikuchitika nthawi ndi nthawi.
Kaya ndi njira yopanda zitsulo, RTOS kapena hybrid, kusanthula nthawi, kuyika patsogolo ntchito, ndi kusanthula chitetezo kuyenera kuchitidwa kuti zitsimikizire kuti dongosolo likugwira ntchito bwino komanso modalirika.
Kusanthula nthawi kumaonetsetsa kuti ntchito zonse zatha pa nthawi yake. Izi zikuphatikizapo kuganizira nthawi yoyipa kwambiri yogwirira ntchito iliyonse. Zina mwa ntchito zofunika kwambiri pakulamulira magalimoto ndi monga kupeza deta ya sensa, kugwiritsa ntchito ma algorithms owongolera kudzera mu kupanga chizindikiro cha PWM, kuzindikira ndi kusamalira zolakwika, ntchito zoyimitsa mwadzidzidzi komanso zotetezera, kulumikizana nthawi yeniyeni ndi zigawo zina zamakina, komanso kulumikizana ndi machitidwe akunja.

Dongosolo logwiritsira ntchito nthawi yeniyeni (RTOS)
Kusankha RTOS yoyenera pa ntchito yanu yowongolera mota ndikofunikira kwambiri kuti muwonetsetse kuti ikugwira ntchito bwino, kudalirika komanso chitetezo. Zinthu zofunika kuziganizira ndi monga momwe RTOS imagwirira ntchito nthawi yeniyeni, kugwiritsa ntchito bwino zinthu kuphatikizapo kukumbukira ndi kugwiritsa ntchito CPU, komanso kukonza nthawi yokonzekera zinthu motsatira mfundo zofunika. Kusokoneza bwino komanso mwachangu, komanso kudalirika kwa makina, ndi zinthu zofunika kwambiri. Thandizo la ogulitsa ndi zolemba, kugwirizana ndi zida, komanso kupezeka kwa zida zopangira (monga ma IDE, ma debugger, ndi ma analyzer) ndi zachilengedwe (kuphatikiza malaibulale ndi zitsanzo zama code) ndizofunikira kwambiri. Pomaliza, mawu a chilolezo ndi mtengo wa RTOS ziyeneranso kuganiziridwa.
Poganizira zinthu zosiyanasiyana ndi zofunikira zenizeni za ntchito zowongolera magalimoto, FreeRTOS, makina ogwiritsira ntchito otseguka nthawi yeniyeni omwe amadziwika kuti amagwira ntchito bwino komanso mosiyanasiyana, ndi chisankho chabwino kwambiri. Chisankhochi ndi chothandiza makamaka pazochitika zomwe kugwiritsa ntchito bwino ndalama, kugwiritsa ntchito bwino, kusinthasintha kwa makina, kudalirika komanso kulimba, kugwiritsa ntchito mosavuta, kuthandizira kwambiri zida zamagetsi komanso kugwiritsa ntchito bwino zinthu ndizofunikira kwambiri.