Bachmann BS207

 
Bachmann BS207

前面提到算法在内核层实现，陀螺闭环控制中，需要产生正弦余弦信号。为了解决内核浮点兼容性和减少指令计算时间，本平台采用查表的方式，自制了一个正余弦表，将浮点运算转换为**运算。因为PC机CPU主频高，所以查表的方式也能加速代码的运行。

1．2、稳定的实时数据传输设计

低延迟优化能使数据在较短时间里从硬件传输到PC端。但是由于PC安装的是多任务的操作系统，无法保证每次都能在一个周期的同一个时间点响应中断，这一特性决定了这个较短时间不是一个固定值，而是一个范围。在实际中，取值不定的这个较短时间会引发数据传输的不稳定，从而导致对陀螺的控制不连续。

针对陀螺控制的不连续问题，以中断延时为例，分析了由该现象产生的负面影响，并设计了一套可靠的控制时序，如图3所示。假设它们都发生在ISR中，在一个周期中，进中断函数后，先读取下位机中AD的数据，进行数据处理，将解析完的数据再经过总线返回DA的值。图3a表示在中断和传输延时都固定时，正常的数据传输过程。而实际应用中，中断和传输延时都会波动。以中断延时为例，图3b中*二个中断信号到达时，假设已延时△t1，后续的读写操作相应的也会延迟△t1.当FPGA（下位机）往DA2寄存器写数据的时刻，写入的是上一周期中的DA1里的值，因为PC端并没有及时返回DA2的值（延时△t1），导致数据没有实时更新;另外，还有丢失中断的可能性，如图3b中的中断3.这两个问题都将加大陀螺控制的不稳定性。

由此可知，为了达到陀螺数据传输的稳定性和可靠性要求，除了要优化MSI中断控制方式和PIO方式传输方式，还需要上位机即PC和下位机即FPGA之间制定一套高效的握手协议。

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厦门莫格电气自动化有限公司     



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