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ISR execution rate

Ricardo Porto
Prodigy 10 points

Hello,

On the pdf file "Sensored Field Oriented Control of 3-Phase Permanent Magnet Synchronous Motors" at page 13:
"(...) Implements 10 kHz ISR execution rate"


I have to send to the controller the rotor position over CAN-BUS. So, I need to reduce the ISR execution rate.
I would like to know how I can determine the minimun ISR frequency

Thanks,