我正在開發一個固件代碼,我將中斷時間設置爲10us,但現在循環每5ms運行一次,速度要慢得多。任何關於如何加快循環的想法都非常感謝!Arduino中斷
unsigned long lastTime;
double BAT_I_FB, Output, Setpoint= 8 ;
double errSum=0, lastErr,error=99;
double kp=0.1, ki=15, kd=0;
double KdVal,KpVal,KiVal,PID,BUS_V;
double SampleTime = 10;
void loop() {
unsigned long now = micros();
int timeChange = (now-lastTime);
if(timeChange >= SampleTime)
{
/*Compute all the working error variables*/
BAT_I_FB = analogRead(pins[15].arduinoPinNumber);
BAT_I_FB = float(BAT_I_FB * (5.0/1024)) * pins[15].multiplier;
error = Setpoint - BAT_I_FB;
errSum += error;
double dErr = (error - lastErr);
BUS_V = analogRead(pins[18].arduinoPinNumber);
BUS_V = float(BUS_V * (5.0/1024)) * pins[18].multiplier;
/*compute PID Output*/
PID = kp * error +ki/10000 * errSum + kd * 1000 * dErr;
Output = (PID-100) * (-2.5);
analogWrite(2, Output);
/*Remember some variable for next time*/
lastErr = error;
lastTime = now;
}
這個處理器有多快,中斷處理程序有多少代碼?你可能只能在10us中執行一些指令 - 在這種情況下,解決方案是「少做東西或得到更快的處理器」。 – immibis