摘要
根据新型球形机器人的整体要求,建立了以ARM9系列的S3C2410控制芯片和DSP6000系列的TMS320DM642图像处理芯片为核心的机器人控制系统主体架构,提出了S3C2410芯片外部I/O与DM642芯片HPI口的硬件连接方式和基于ARM-Linux的HPI驱动程序的软件开发方法,在需要图像处理能力和运动控制效果能够综合协调的球形机器人控制系统中,通过HPI接口的软硬件设计,实现了S3C2410与DM642的高速通信;实验结果表明,接口数据读写快速稳定,所完成的工作和所提出的方法对以后其他双核接口的设计与开发具有一定的指导作用与参考价值。
Due to the working characteristie of the Ball Robot, a hardware control platform based on ARM9 series chip S3C2410 and DSP6000 series chip TMS320DM642 is built, and a eommunieation way between those two chips was put forward to meet the requirements of the corresponding relation of the deteeting function and motion controlling function. The communication interface is carried out by the HPI technology and the ARM--Linux driver developing way. The experiment showed that the interface transmitted and received the data quickly and effectively, and mostly has received the expect result. The work and methods put forward in the paper are still valuable for the similar development of other dual--proeessor systems.
出处
《计算机测量与控制》
CSCD
北大核心
2009年第7期1311-1313,1355,共4页
Computer Measurement &Control
基金
总装备部重点基金项目(404040401)
