Kugenzura moteri

Guhuza no Gukoresha Igihe
Ibintu by'ingenzi bya mbere muri buri porogaramu ikoreshwa mu gihe nyacyo ni igihe gikwiye, guhuza no gusubiza neza sisitemu, kandi ibi bintu bigomba kwitabwaho cyane mu gihe cyo gushushanya.kugenzura moteriporogaramu. Muri make, inzira isa n'iyoroshye cyane: sisitemu isoma agaciro ka sensor, ikora algorithme yo kugenzura, igenzura umutekano wa sisitemu kandi igacunga intambwe yo gusohora binyuze mu guhindura imikorere y'umusaruro wa PWM.
Amakosa make yo gukora ku gihe ashobora gutera amakosa akomeye yo gusubiza sisitemu, imikorere idahwitse ndetse n'imikorere mibi. Kugira ngo ibintu byose bikore neza uko byitezwe, ni ngombwa gukomeza guhuza no kwemeza ko sisitemu ikora neza. Aha, ndashaka gushimangira ko turimo guhangana n' 'sisitemu ikomeye yo gukora mu gihe nyacyo' kandi kubahiriza igihe ntarengwa ni ingenzi cyane.
Porogaramu yo kugenzura moteri ishobora gushyirwa mu bikorwa nk'igisubizo cy'icyuma gikozwe mu buryo bwa "bare-metal" nta sisitemu yo gukora, hakoreshejwe RTOS ikwiye (sisitemu yo gukora mu gihe nyacyo), cyangwa nk'igisubizo cy'ubwoko bwinshi bw'amakuru, aho ama-cores amwe ya CPU akora mu buryo bwa "bare-metal" mu gihe andi akoresha sisitemu yo gukora. Ibisubizo by'icyuma gikozwe mu buryo bwa "bare-metal" bihora bishingiye ku gishushanyo mbonera gishingiye ku kubangamira, aho kubangamira imikorere bikora imirimo y'ingenzi mu gihe kandi bikerekana ko ibintu byose bibaho mu gihe runaka.
Byaba ari igisubizo cy’icyuma gikozwe mu buryo bwa "bare-metal", "RTOS" cyangwa "hybrid", isesengura ry’igihe, gushyira imbere imirimo ndetse n’isesengura ry’umutekano bigomba gukorwa kugira ngo sisitemu ikore neza kandi yizewe.
Isesengura ry'igihe rituma imirimo yose irangira ku gihe. Ibi birimo gusuzuma igihe kibi cyane cyo kuyikoresha kuri buri gikorwa. Zimwe mu nshingano z'ingenzi mu kugenzura moteri zirimo kubona amakuru ya sensor, gushyira mu bikorwa uburyo bwo kugenzura hakoreshejwe uburyo bwa PWM bwo gutanga ibimenyetso, kumenya no gucunga amakosa, guhagarara no gucunga umutekano mu buryo bwihutirwa, gutumanaho mu buryo bwihuse n'ibindi bice bya sisitemu, no guhuza na sisitemu zo hanze.

Sisitemu y'imikorere ikora mu gihe nyacyo (RTOS)
Guhitamo RTOS ikwiye kuri porogaramu yawe yo kugenzura moteri ni ingenzi cyane kugira ngo umenye neza imikorere, ukwizerwa n'umutekano. Ibintu by'ingenzi bigomba kwitabwaho birimo imikorere ya RTOS mu gihe nyacyo, imikorere myiza y'umutungo harimo n'ikoreshwa rya CPU, hamwe no gutunganya gahunda mbere yo gushyira mu bikorwa. Guhagarika neza no kwihuta, hamwe no kwizerwa no gukomera kwa sisitemu, nabyo ni ibintu by'ingenzi. Inkunga y'abagurisha n'inyandiko, guhuza ibikoresho, no kuboneka kw'ibikoresho byo guteza imbere (nka IDE, debuggers, na analysers) hamwe n'ibidukikije (harimo n'amasomero n'ingero za kode) bigira uruhare runini. Hanyuma, amabwiriza y'uburenganzira n'ikiguzi cya RTOS nabyo bigomba kwitabwaho.
Ukurikije ibintu bitandukanye n'ibisabwa byihariye mu mikoreshereze ya moteri, FreeRTOS, sisitemu izwi cyane yo gukoresha mu gihe nyacyo izwiho imikorere myiza no gukoresha ibintu byinshi, ni amahitamo meza cyane. Iri hitamo ni ingirakamaro cyane cyane mu bihe aho igiciro cyayo gihendutse, imikorere myiza, imikorere yoroshye, ubwizerwe n'ubudahangarwa, uburyo bworoshye bwo gukoresha, ubufasha bwinshi bw'ibikoresho n'ubushobozi bw'umutungo ari byo by'ingenzi.