摘要
针对微创手术机器人控制系统具有实时性强,可靠性、稳定性高的要求,数据计算量大等问题,根据S12XDP512双核微处理器的特点,介绍采用协处理器完成处理系统的时钟节拍。遍历所有的任务控制块,判断是否需要任务调度的移植策略,使主CPU的中断服务程序不需要再调用时钟节拍函数,仅保留与任务数目无关的函数,且仅在需要任务调度时运行,从而大大提高系统的实时性与稳定性。此移植策略在研制的微创手术机器人平台上得到验证,该系统能够稳定运行。
Minimally invasive surgery robot for real-time control system has strong reliability,high stability requirements,large amount of data calculation and so on.Based on the characteristics of dual-core microprocessor S12XDP512,how to deal with the clock tick of processing system,check all of the task block,determine whether need task scheduling or not are introduced.So that the main CPU of the interrupt service routine do not need to call the tick function,retaining only the number of unrelated functions and tasks,task scheduling only run when needed,thus greatly improve the real-time and stability.The migration policy of the minimally invasive surgery in the robot platform is verified,the system can run stable.
出处
《科学技术与工程》
2011年第29期7141-7144,共4页
Science Technology and Engineering
基金
国家自然科学基金(61075083)
河南省杰出人才创新基金(0421000500)资助
