CAJ | 학술논문

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.
근거신형구형궤기인적정체요구,건립료이ARM9계렬적S3C2410공제심편화DSP6000계렬적TMS320DM642도상처리심편위핵심적궤기인공제계통주체가구,제출료S3C2410심편외부I/O여DM642심편HPI구적경건련접방식화기우ARM-Linux적HPI구동정서적연건개발방법,재수요도상처리능력화운동공제효과능구종합협조적구형궤기인공제계통중,통과HPI접구적연경건설계,실현료S3C2410여DM642적고속통신;실험결과표명,접구수거독사쾌속은정,소완성적공작화소제출적방법대이후기타쌍핵접구적설계여개발구유일정적지도작용여삼고개치.
Due to the working characteristic of the Ball Robot, a hardware control platform based on ARM9 series chip S3C2410 and DSP6000 series chip TMS320DM642 is built, and a communication way between those two chips was put forward to meet the requirements of the corresponding relation of the detecting 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-processor systems.