基于ARM10与LINUX智能小车系统的设计.doc

毕业生论文1基于ARM的智能小车系统的设计摘要基于ARM的嵌入式系统其性能优良，移植性好，已广泛应用在各个行业，因此将ARM微处理器应用于智能小车的控制系统是一种较好的选择。基于此，我们设计了一种基于ARM10与Linux控制的智能循迹小车，通过编程使它沿着我们提前铺好的黑色胶带前进，十字路口停下通过摄像头驱动拍照使用WIFI传输后继续前进。这种基于ARM10的智能型设计将运用于很广阔的地方。根据Linux嵌入式开发平台的需要，配置相应的开发工具、合理剪裁Linux内核、选择合适的Bootloader和根文件系统，最后把它们移植到ARM10开发平台上，搭建好开发环境。接着研究了Linux环境下的设备驱动程序，深入了解设备模型和设备驱动程序开发框架以及并发、内存、中断机制，从而更好的实现其功能。本次我们设计制作了一款具有智能判断功能的小车，功能强大。小车具有以下几个功能：循迹功能；自动拍照功能。作品可以作为高级智能玩具，也可以作为嵌入式控制的强有力的应用实例。【关键词】ARM10Linux智能小车自动拍照循迹毕业生论文2目录基于ARM的智能小车系统的设计···········································································1摘要············································································································1目录···············································································································2第一章引言·····································································································41.1背景介绍·······························································································41.2可行性分析····························································································5第二章需求分析·······························································································62.1硬件需求······························································································62.2软件需求·······························································································7第三章硬件分析与设计·······················································································83.1硬件分析······························································································83.1.2电路板模块··················································································93.1.3传感器模块·················································································103.1.4转接板模块·················································································123.2硬件设计······························································································133.2.1总体设计······················································································133.2.2驱动电路······················································································143.2.3信号检测模块················································································153.2.4主控电路······················································································16第四章软件分析与设计·····················································································164.1驱动程序设计························································································164.1.1USB驱动······················································································164.1.2CMMERA驱动············································································184.1.3WIFI驱动·····················································································194.2软件详细设计························································································204.2.1循迹模块······················································································214.2.2服务器端模块················································································224.2.3拍照模块·····················································································244.2.4传输模块·····················································································244.3客户端模块··························································································254.3.1接收模块·····················································································254.3.2处理模块·····················································································264.3.3显示模块·····················································································27第五章项目实施····························································································275.1环境的搭建··························································································275.1.1Bootlader······················································································275.1.2网络环境·····················································································285.1.3根文件系统的编译与烧录································································295.1.4内核的编译与烧录·········································································295.2代码的测试··························································································305.2.1白盒测试·····················································································305.2.2黑盒测试·····················································································32毕业生论文35.2.3性能测试·····················································································325.3单位系统测试························································································33第六章总结····································································································34参考文献········································································································35致谢··············································································································36毕业生论文4第一章引言随着现代化工业的发展，自动化控制出现了许多新的要求。“PC+运动控制器”是目前开放式数年控系统中最常见的形式。主PC用于人机界面、存贮和通讯，DSP或A-SIC作从属CPU来实现实时控制、I/O中断和计算等。而嵌入式技术依靠其体积小、成本低、功能强、可裁剪等特点，适应了工业自动化发展的最新要求。单片机作为控制系统的微处理器，在数据处理和代码存储等方面都已经无法满足系统的需求，ARM微处理器资源丰富，具有良好的通用性，其主要优点是高性能、低价格、低功耗。ARM本身是32位微处理器，但却集成了16位的处理器如51系列单片机使用，同时具有32位处理器的速度。基于ARM的嵌入式系统其性能优良，移植性好，已广泛应用在各个行业，因此将ARM微处理器应用于智能小车的控制系统是一种较好的选择。基于此，我们做一种基于ARM控制的智能小车，提高了对直流电机的控制效率，在ARM上移植了LINUX操作系统，设计出了友好的人机界面，使开发过程式变得容易。并对控制系统进行模块化设计，有利于智能小车的功能扩展和升级。我们根据ARM和LINUX来完成智能小车控制设计。其具体内容如下：第一章从技术、经济、社会价值、盈亏方面分析了智能小车的可行性。第二章介绍需求分析。第三章，硬件设计。在硬件设计中分别又介绍了ARM10处理器的相关知识，光电传感器，电路板（有关电源处理方面），转接板，还有硬件的实现。第四章对软件的设计的介绍，其中又包括三个模块：循迹模块、驱动板模块、传感器模块。第五章是对程序的测试。第六章就是项目的实施过程了，通过对环境的搭建、代码的测试、系统测试等方面，把整个项目最终实施出来。文中使用的硬件板式基于ARM10的硬件模块，还有使用到了PWM、UART、看门口电路、直流电机等相关内容。LINUX应用到了客服端/服务端的显示模块，还有图像传输、图像查看等相关内了。1.1背景介绍自第一台工业机器人诞生以来，机器人的发展已经遍及机械、电子、冶金、毕业生论文5交通、宇航、国防等领域。近年来机器人的智能水平不断提高，并且迅速地改变着人们的生活方式。人们在不断探讨、改造、认识自然的过程中，制造能替代人劳动的机器一直是人类的梦想。随着科学技术的发展，机器人的感觉传感器种类越来越多，其中视觉传感器成为自动行走和驾驶的重要部件。视觉的典型应用领域为自主式智能导航系统，对于视觉的各种技术而言图像处理技术已相当发达，而基于图像的理解技术还很落后，机器视觉需要通过大量的运算也只能识别一些结构化环境简单的目标。视觉传感器的核心器件是摄像管或CCD，目前的CCD已能做到自动聚焦。但CCD传感器的价格、体积和使用方式上并不占优势，因此在不要求清晰图像只需要粗略感觉的系统中考虑使用接近觉传感器是一种实用有效的方法。机器人要实现自动导引功能就必须要感知导引线，感知导引线相当给机器人一个视觉功能。使用传感器感知路线并作出相应的执行动作。该智能小车可以作为机器人的典型代表。整个电路系统分为检测、控制、驱动三个模块。首先利用光电对管对路面信号进行检测，经过比较器处理之后，送给软件控制模块进行实时控制，输出相应的信号给驱动芯片驱动电机转动，从而控制整个小车的运动。1.2可行性分析现智能小车发展很快，从智能玩具到其它各行业都有实质成果。其基本可实现循迹、避障、检测贴片、寻光入库等基本功能，这几节的电子设计大赛智能小车又在向声控系统发展。但是,现今对智能车辆的结构、运动特性、智能控制策略的研究并不完善,因此有必要对智能车辆的仿真版本智能小车做更深驱动、人工智能、驱动电源的设计等诸多领域。单片机作为控制系统的微处理器，在数据处理和代码存储等方面都已经无法满足系统的需求，ARM微处理器资源丰富，具有良好的通用性，其主要优点是高性能、低价格、低功耗。ARM10本身是32位微处理器，但却集成了16位的Thumb指令集，这使得ARM10可以代替16位的处理器如51系列单片机使用，同时具有32位处理器的速度。目前有多种嵌入式操作系统，它们使得开发实时应用程序的设计和扩展变得容易，不需要大的改动就可以增加新的功能，把应用程序分割为若干独立运行的模块，使得程序的设计变得简化许多；对于实时性要求高的应用做到了快速响应和可靠处理；使得整个系统的资源得到很好的管理和应用。常见的嵌入式操作系统有：Vxworks、WindowsCE、PalmOS、QNX、C/OS、嵌入式Linux。Linux的开放源代码，内核小、功能强大、系统健壮、效率高、易于裁减。毕业生论文6可以支持数十种CPU芯片。嵌入式Linux就是指对Linux经过小型化裁减后，能够固化在容量只有几百K字节或几兆字节的储存器芯片中，用于特定嵌入式场合的专用Linux操作系统。Linux可应用于多种硬件平台。Linux己经被移植到多种硬件平台，这对受开销、时间限制的研究与开发项目是很有吸引力的。可以在标准平台上开发然后移植到具体的硬件上，加快了软件与硬件的开发过程；可以随意的配置，不需要任何的许可证或商家的合作关系。唯一的限制是开发者必须做出对Linux社区有益的改动；它是免费的，源代码可以得到，这是最吸引人的。毫无疑问，这会节省大量的开发费用；优秀的网络支持，微内核直接提供网络支持，而不必像其他操作系统要外挂TCP/IP协议包；Linux高度模块化使添加部件非常容易；Linux在台式机上的成功，也保证了Linux在嵌入式系统中的辉煌前景。基于Linux的嵌入式操作系统常见的有ARMLinux、RTLinux和CLinux等。本设计中选择ARMLinux作为操作系统。第二章需求分析2.1硬件需求ARM处理器是一种低功耗高性能的32位RISC处理器。ARM处理器共有31个32位寄存器，而其中16个可以在任何模式下看到。它的指令为简单的加载与存储指令。ARM一个特点是它所有的指令都带有条件。另一个特征是可以在加载数值的同时进行算术和移位操作。它可以在几种模式下操作，包括通过使用SWI指令从用户模式进入到系统模式。ARM处理器是一个综合体，允许将其处理器通过协处理器接口进行紧耦合；它还包括几种内存管理单元的变种，包括简单的内存保护到复杂的页面层次。根据智能小车系统的设计需求，我选用了以ARM10处理器为核心的电路板。所接电源是9.6V，系统内部却只需要5V电源，因此引入了降低电压的模块，这样一来避免小车会被烧坏，同时在设计过程中需要实现小车的循迹功能，因此我们又采用了光电传感器作为探测小车行驶的路径，可下载循迹的程序到串口上，让小车自主的去探测检索路径，从而能准确稳当的行驶。而且为了更好的将ARM10与小车的各部件连接起来，因此设计了电路板，辅助主控芯片更好的完成需求。在前期的调试中还用到了串口，数据传输和接收都要用串口，所以串口也是必不可少的工具之一。为了能更好的实现小车的功能，我们还采用了HJTAG工具。同时要想使小车行驶必不可少的还有电源和摄像头等相关硬件。本设计采用的是ARM10微处理器，这系列的主要特点如下：支持DSP指令集，毕业生论文7适合于需要高速数字信号处理的场合；6级流水线，指令执行效率更高；支持32位ARM指令集和16位Thumb指令集；支持32位的高速AMBA总线接口；支持VFP10浮点处理协处理器；全性能的MMU，支持众多主流嵌入式操作系统；支持数据Chche和指令Chche，具有更高的处理能力；主频最高可达400MHz；内嵌并行读/学操作部件。ARM10E系列微处理器主要应用于下一代无线设备、数字消费品、成像设备、工业控制、通信和信息系统等领域。2.2软件需求Linux操作系统是一种自由和开放代码的类Unix操作系统，并且Linux继承了Unix操作系统结构清晰的特点，在linux下的文件结构非常有条理，Linux支持多种语言，因此我们选择Linux作为小车的软件操作系统,型号为RedhatLinux,因为Redhat是全球最大的开源技术厂家，其产品RedHatLinux也是全世界应用最广泛的Linux。由于小车的行驶需要特定的环境，则要为小车搭建一个运行环境，所以要用到Bootloader,在调试的过程中还需要用到Qt编程工具。Linux的核心是由LinusTorvalds在1991年开发出来，并放到网络上供大家下载学习使用。开放源代码，内核小、功能强大、系统健壮、效率高、易于裁减。可以支持数十种CPU芯片。嵌入式Linux就是指对Linux经过小型化裁减后，能够固化在容量只有几百K字节或几兆字节的储存器芯片中，用于特定嵌入式场合的专用Linux操作系统。Linux操作系统的特点(1）开放性：指系统遵循世界标准规范，特别是遵循开放系统互连（OSI）国际标准。(2）多用户：是指系统资源可以被不同用户使用，每个用户对自己的资源（例如：文件、设备）有特定的权限，互不影响。(3）多任务：它是指计算机同时执行多个程序，而且各个程序的运行互相独立。良好的用户界面：Linux向用户提供了两种界面：用户界面和系统调用。Linux还为用户提供了图形用户界面。它利用鼠标、菜单、窗口、滚动条等设施，给用户呈现一个直观、易操作、交互性强的友好的图形化界面。(4）设备独立性：是指操作系统把所有外部设备统一当作成文件来看待，只要安装它们的驱动程序，任何用户都可以象使用文件一样，操纵、使用这些设备，而不必知道它们的具体存在形式。Linux是具有设备独立性的操作系统，它的内核具有高度适应能力(5）提供了丰富的网络功能：完善的内置网络是Linux一大特点。毕业生论文8(6）可靠的安全系统：Linux采取了许多安全技术措施，包括对读、写控制、带保护的子系统、审计跟踪、核心授权等，这为网络多用户环境中的用户提供了必要的安全保障。(7）良好的可移植性：是指将操作系统从一个平台转移到另一个平台使它仍然能按其自身的方式运行的能力。Linux是一种可移植的操作系统，能够在从微型计算机到大型计算机的任何环境中和任何平台上运行。在Linux这样的优势下，我们还需要用到ADS和AXD调试工具，让循迹还有转弯等与硬件相关的程序能够调试后正常运行。第三章硬件分析与设计3.1硬件分析3.1.1ARM10处理器1.ARM10处理器介绍ARM10E系列微处理器具有高性能、低功耗的特点，由于采用了新的体系结构，与同等的ARM9器件相比较，在同样的时钟频率下，性能提高了近50%，同时，ARM10E系列微处理器采用了两种先进的节能方式，使其功耗极低。毕业生论文9图31微处理器实图2ARM10E系列微处理器的主要特点如下：(1）.支持DSP指令集，适合于需要高速数字信号处理的场合。(2）.6级流水线，指令执行效率更高。(3）.支持32位ARM指令集和16位Thumb指令集。(4）.支持32位的高速AMBA总线接口。(5）.支持VFP10浮点处理协处理器。(6）.全性能的MMU，支持众多主流嵌入式操作系统。(7）.支持数据Chche和指令Chche，具有更高的处理能力。(8）.主频最高可达400MHz。(9）.内嵌并行读/学操作部件。3.1.2电路板模块1.电池的选择文本选用的用于速度控制的直流电池的型号为SNNi-MH，容量为2500mAh，电压为1.2V，一共是八节电池。而我们小车的电压只用到5V，因此，我们必须采用降压控制使+9.6V的电压转换成+5V电压。电路原理如下图所示：图3.2电池电源模块