基于ARM9的嵌入式实验平台的设计与实现

发布时间：2018-05-02 21:02

本文选题：ARM9 + Linux　；参考：《北京邮电大学》2012年硕士论文

【摘要】：嵌入式系统的应用无处不在,随着嵌入式技术的发展速度不断加快,嵌入式设备的种类和数量也越来越多,不仅推动了社会现代化、智能化、自动化的前进速度,其市场前景也十分广阔。在工业控制领域中,机器人集成了先进的科学技术,促进了生产力的发展,增加了行业的竞争力,其原因之一要得益于嵌入式技术在机器人控制领域发挥的重要作用。本课题结合本实验室在机器人技术上的研究基础,运用市场上较为成熟和流行的嵌入式系统相关技术,提出并且开发了一款嵌入式实验平台,满足机器人实际应用的具体要求。本课题主要是采用以三星公司的ARM9系列的S3C2440A芯片为核心的模块化设计,结合外围设备的具体应用,搭建嵌入式系统的硬件平台,并利用嵌入式Linux操作系统和QT/Embedded图形库,开发驱动程序和编写应用程序,完成内核配置、编译和移植,实现电机和传感器的控制以及数据信息的采集和显示,定制化完整的嵌入式实验平台。本课题提出的控制系统整体结构设计,为系统扩展提供了通用的数据通信接口和传感器设备接口,更好地支持了复杂的控制系统的进一步开发。在实验中以TMS320F2812作为从控制器为例,更好地验证并且实现了ARM9嵌入式实验平台的功能。本课题的创新意义和成果是,设计了以ARM9为核心的硬件电路,使用自制电机驱动器,应用不同种类的电机和传感器设备,并采用分级控制方式进行系统扩展,通过人机交互界面处理复杂的多任务,并具有较好的运行速度和控制性能。本实验平台已应用于机器人控制系统中,发挥了嵌入式系统的优势,实现了智能化控制,为后续的研究工作带来了方便。本论文详细分析了基于AMR9的嵌入式实验平台的硬件和软件的开发过程。在硬件设计部分,制作了ARM9控制板,其功能模块主要包括Flash、SDRAM、复位电路、电源模块、开关量传感器模块、网络接口、数据通信模块、GPIO接口、A/D转换接口等。还设计了电机驱动电路,用于驱动直流电机和步进电机。最后进行电路板的焊接和调试。在软件设计部分,涉及了嵌入式Linux操作系统的诸多功能和特性。分析了嵌入式系统模型,明确了嵌入式系统的开发任务和流程,分层次分步骤地完成ARM9嵌入式实验平台的软件开发,主要包括在宿主机上搭建交叉编译环境；结合处理器CPU资源分配和硬件接口的设计,完成设备驱动程序的开发,其中重点介绍了I/O接口、A/D转换接口、触摸屏设备和串口的关键驱动程序的设计；裁剪和移植内核到ARM9控制板；制作文件系统；利用有限状态机分析程序控制逻辑和应用程序框架；建立QT/Embedded图形环境；使用QT的集成开发工具QT Creator设计图形用户界面；使用C++语言开发人机交互程序；定义串口应用层数据协议,通过触摸屏完成串口通信、电机控制、开关量传感器状态显示、LED和蜂鸣器控制以及模拟量传感器数据信息显示等功能。最后完成软硬件的集成调试和可靠性测试,分析ARM9嵌入式实验平台的性能,并总结本课题的研究成果,提出下一步的研究工作。该实验平台体现了嵌入式系统的关键性技术,满足了基于机器人技术的应用开发,加强了理论知识和实际应用的结合,具有一定的研究和应用价值。
[Abstract]:The application of embedded system is everywhere. With the rapid development of embedded technology, the variety and quantity of embedded equipment are more and more. It not only promotes the speed of social modernization, intelligence and automation, but also has a very broad market prospect. In the field of industrial control, robots have integrated advanced science and technology. It has promoted the development of productivity and increased the competitiveness of the industry. One of the reasons is to benefit from the important role of embedded technology in the field of robot control. This subject has put forward and developed a more mature and popular embedded system related technology in the market based on the research foundation of our laboratory in robot technology. The embedded experimental platform meets the specific requirements of the robot's practical application.
This topic mainly uses the S3C2440A chip of the ARM9 series of Samsung Corp as the core module design, combines the specific application of the peripheral equipment, builds the hardware platform of the embedded system, and uses the embedded Linux operating system and the QT/Embedded graphics library to develop the driver and write the application program, and complete the kernel configuration, compiling and moving. To realize the control of motor and sensor and the collection and display of data information, the complete embedded experimental platform is customized. The overall structure of the control system is designed in this subject. It provides a general data communication interface and the interface of the sensor equipment for the expansion of the system. It supports the further development of the complex control system. In the experiment, TMS320F2812 is used as an example to verify and realize the function of the ARM9 embedded experimental platform. The innovation significance and achievement of this topic are that the hardware circuit with ARM9 as the core is designed, the self-made motor driver is used, the different kinds of electric and sensor equipment are applied, and the hierarchical control mode is used. This experiment platform has been applied to the control system of the robot, exerts the advantages of the embedded system, realizes the intelligent control, and brings convenience to the follow-up research work.
In this paper, the development process of hardware and software of the embedded experimental platform based on AMR9 is analyzed in detail. In the hardware design part, the ARM9 control board is made. Its functional modules mainly include Flash, SDRAM, reset circuit, power module, switch sensor module, network interface, data communication module, GPIO interface, A/D conversion interface and so on. The motor drive circuit is used to drive the DC motor and the step motor. Finally, the circuit board is welded and debugged. In the software design part, the functions and characteristics of the embedded Linux operating system are involved. The embedded system model is analyzed, the development task and process of the embedded system are clarified, and the ARM9 inlay is completed hierarchically and step by step. The software development of the experimental platform includes the construction of the cross compiler environment on the host computer, and the design of the processor CPU resource allocation and the hardware interface, and the development of the device driver is completed. The design of the I/O interface, the A/D conversion interface, the touch screen device and the key driver of the serial port is mainly introduced. Check the ARM9 control board; make the file system; use the finite state machine to analyze the program control logic and the application framework; establish the QT/Embedded graphical environment; use the QT integrated development tool QT Creator to design the graphical user interface; use the C++ language to develop the human-computer interaction program; the definite serial port application layer data protocol, through touch The screen completes the serial communication, the motor control, the state display of the switch sensor, the control of the LED and the buzzer and the data information display of the analog sensor. Finally, the integrated debugging and reliability test of the hardware and software are completed, the performance of the ARM9 embedded experimental platform is analyzed, and the research results of this subject are summarized, and the next research work is put forward.
The experimental platform embodies the key technology of the embedded system, meets the application and development based on robot technology, and strengthens the combination of theoretical knowledge and practical application. It has a certain value of research and application.

【学位授予单位】：北京邮电大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP368.1

【参考文献】