本文選題：ARM9 + Linux　； 參考：《北京郵電大學》2012年碩士論文

【摘要】：嵌入式系統(tǒng)的應用無處不在,隨著嵌入式技術的發(fā)展速度不斷加快,嵌入式設備的種類和數量也越來越多,不僅推動了社會現代化、智能化、自動化的前進速度,其市場前景也十分廣闊。在工業(yè)控制領域中,機器人集成了先進的科學技術,促進了生產力的發(fā)展,增加了行業(yè)的競爭力,其原因之一要得益于嵌入式技術在機器人控制領域發(fā)揮的重要作用。本課題結合本實驗室在機器人技術上的研究基礎,運用市場上較為成熟和流行的嵌入式系統(tǒng)相關技術,提出并且開發(fā)了一款嵌入式實驗平臺,滿足機器人實際應用的具體要求。 本課題主要是采用以三星公司的ARM9系列的S3C2440A芯片為核心的模塊化設計,結合外圍設備的具體應用,搭建嵌入式系統(tǒng)的硬件平臺,并利用嵌入式Linux操作系統(tǒng)和QT/Embedded圖形庫,開發(fā)驅動程序和編寫應用程序,完成內核配置、編譯和移植,實現電機和傳感器的控制以及數據信息的采集和顯示,定制化完整的嵌入式實驗平臺。本課題提出的控制系統(tǒng)整體結構設計,為系統(tǒng)擴展提供了通用的數據通信接口和傳感器設備接口,更好地支持了復雜的控制系統(tǒng)的進一步開發(fā)。在實驗中以TMS320F2812作為從控制器為例,更好地驗證并且實現了ARM9嵌入式實驗平臺的功能。本課題的創(chuàng)新意義和成果是,設計了以ARM9為核心的硬件電路,使用自制電機驅動器,應用不同種類的電機和傳感器設備,并采用分級控制方式進行系統(tǒng)擴展,通過人機交互界面處理復雜的多任務,并具有較好的運行速度和控制性能。本實驗平臺已應用于機器人控制系統(tǒng)中,發(fā)揮了嵌入式系統(tǒng)的優(yōu)勢,實現了智能化控制,為后續(xù)的研究工作帶來了方便。 本論文詳細分析了基于AMR9的嵌入式實驗平臺的硬件和軟件的開發(fā)過程。在硬件設計部分,制作了ARM9控制板,其功能模塊主要包括Flash、SDRAM、復位電路、電源模塊、開關量傳感器模塊、網絡接口、數據通信模塊、GPIO接口、A/D轉換接口等。還設計了電機驅動電路,用于驅動直流電機和步進電機。最后進行電路板的焊接和調試。在軟件設計部分,涉及了嵌入式Linux操作系統(tǒng)的諸多功能和特性。分析了嵌入式系統(tǒng)模型,明確了嵌入式系統(tǒng)的開發(fā)任務和流程,分層次分步驟地完成ARM9嵌入式實驗平臺的軟件開發(fā),主要包括在宿主機上搭建交叉編譯環(huán)境；結合處理器CPU資源分配和硬件接口的設計,完成設備驅動程序的開發(fā),其中重點介紹了I/O接口、A/D轉換接口、觸摸屏設備和串口的關鍵驅動程序的設計；裁剪和移植內核到ARM9控制板；制作文件系統(tǒng)；利用有限狀態(tài)機分析程序控制邏輯和應用程序框架；建立QT/Embedded圖形環(huán)境；使用QT的集成開發(fā)工具QT Creator設計圖形用戶界面；使用C++語言開發(fā)人機交互程序；定義串口應用層數據協(xié)議,通過觸摸屏完成串口通信、電機控制、開關量傳感器狀態(tài)顯示、LED和蜂鳴器控制以及模擬量傳感器數據信息顯示等功能。最后完成軟硬件的集成調試和可靠性測試,分析ARM9嵌入式實驗平臺的性能,并總結本課題的研究成果,提出下一步的研究工作。 該實驗平臺體現了嵌入式系統(tǒng)的關鍵性技術,滿足了基于機器人技術的應用開發(fā),加強了理論知識和實際應用的結合,具有一定的研究和應用價值。
[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.

【學位授予單位】：北京郵電大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TP368.1

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