摘要
针对移动机器人控制系统在实时性、可靠性方面的要求,提出了基于CAN总线的分布式控制系统方案,介绍了在核心数据处理单元S3C2410上扩展CAN总线设备的硬件接口设计,详细讨论了嵌入式ARM Linux上驱动程序开发的一般方法,以及CAN设备驱动程序的设计方法和具体实现。经实验证明,此系统结构简单,稳定性和可靠性强。
A distributed CAN bus control system is introduced to meet the demand of real-time capability and system reliability on a mobile robotic control system.The hardware interface design for expanding CAN-bus device on a S3C2410 board is then described.Detailed discussions are made on the general method of device driver designing in ARM Linux and implementation of CAN device driver.Experiments indicate that this system is adequately stabile and reliable,but with a simple structure and easy implementation.
出处
《计算机工程与应用》
CSCD
北大核心
2007年第15期79-82,共4页
Computer Engineering and Applications
基金
国家自然科学基金(the National Natural Science Foundation of China under Grant No.60675044) 。
