CN102520689A - Embedded controller based on Godson processor and FPGA (Field Programmable Gate Array) technology - Google Patents
Embedded controller based on Godson processor and FPGA (Field Programmable Gate Array) technology Download PDFInfo
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- CN102520689A CN102520689A CN2011104179341A CN201110417934A CN102520689A CN 102520689 A CN102520689 A CN 102520689A CN 2011104179341 A CN2011104179341 A CN 2011104179341A CN 201110417934 A CN201110417934 A CN 201110417934A CN 102520689 A CN102520689 A CN 102520689A
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Abstract
The invention relates to an embedded controller based on a Godson processor and FPGA (Field Programmable Gate Array) technology. The controller comprises a central processing unit, a North Bridge chip and functional peripheral equipment, wherein the central processing unit is a Godson processor which uses Linux as an operating system; the North Bridge chip is an FPGA chip with a programmable control function; the Godson processor is connected with the FPGA chip through an SYSAD (system address data) bus interface; a PCI (Peripheral Component Interconnect) bus interface is expanded on the FPGA chip; and the PCI bus interface is connected with the functional peripheral equipment. The controller disclosed by the invention adopts the processor of Godson series, which has the proprietary intellectual property rights of China, to take the place of processors brought in from other countries before, and together with the FPGA chip and the functional periphery equipment, the controller is expanded into an automatic control system. The Godson processor adopts an open source Linux operating system which can adopt a third party application software, such that the difficulty of base development is reduced and the design cycle is shortened.
Description
Technical field
The present invention relates to built-in industrial control technology field, relate in particular to a kind of embedded controller that is used for robot control based on Godson processor and FPGA technology.
Background technology
Robot is the installations that automatically perform work, belongs to the industrial control technology category.Robot both can accept human commander, can move the program of layout in advance again, also can be according to the principle guiding principle action of formulating with artificial intelligence technology.All action of robot are under the guidance of robot controller, to accomplish; This robot embedded controller comprises central processing unit; Central processing unit is expanded into an automation control system through north bridge chips and some functional peripherals; Functional peripherals can be made up of various information input units; Information input unit is used for perception surrounding enviroment and information is input to the central processing unit of controller, and the execution member of control robot action is accomplished prearranged task under the cooperation of central processing unit and north bridge chips.Robot need be by software and hardware cooperating simultaneously in the course of work of reality, and preferably will possess software and hardware Adjustable real-time control kinetic energy, to realize the multi-functional conversion of robot.
In the prior art; Common embedded controller has dsp processor, arm processor, PowerPC processor, x86 processor and MIPS processor etc., and these embedded controllers have been widely used in control occasions such as space flight, exact instrument, Industry Control, robot, traffic system, household electrical appliance, Medical Devices, communications facility and sensors.Embedded controllers such as dsp processor, arm processor, PowerPC processor, x86 processor and MIPS processor all belong to the advanced technology of external introduction; At present; Domesticly on the Robot Control Technology field, all adopt a kind of in the above-mentioned controller, handle and reaction velocity is fast, control performance is good, accuracy is high advantage because of it has as the embedded controller controls robot; But high based on this type of embedded controller research and development robot controller cost, the power consumption of central processing unit is high, chip price is expensive; And the bottom technology of these central processing units is monopolized by fewer companies, makes the low level development difficulty high, in the industrial design exploitation cycle long, the shortage dirigibility, these have all increased the production cost of robot controller.
Summary of the invention
Technical matters to be solved by this invention be to existing robot controller based on there being the problem that production cost is high, the design cycle is long on the external high imported technology, provide that a kind of production cost is low, the design cycle short, the embedded controller based on Godson processor and FPGA technology of highly versatile.
For addressing the above problem, technical scheme of the present invention is:
A kind of embedded controller based on Godson processor and FPGA technology; Said controller comprises central processing unit, north bridge chips and functional peripherals; Said central processing unit is for being the Godson processor of operating system with Linux, and north bridge chips is the fpga chip with control function able to programme, and the Godson processor links to each other with fpga chip through the SYSAD EBI; Expansion has pci bus interface on the fpga chip, and pci bus interface links to each other with functional peripherals.
Preferably; Be connected with Basic Input or Output System (BIOS), flash memory, serial ports on the said fpga chip and be used for 32 LOCAL BUS EBIs of functional expansion; Pci bus interface is 32 EBIs; Pci bus interface is connected expansion respectively with LOCAL BUS EBI has gang socket, and said pci bus interface and LOCAL BUS EBI are supported the master-slave mode communication.Central processing unit is provided with pci bus interface and LOCAL BUS EBI through fpga chip, can expand a plurality of functional modules through pci bus interface and LOCAL BUS EBI, for robot controller provides abundant interface function and peripherals.The master-slave mode of pci bus interface and the support of LOCAL BUS EBI is independent of each other the data transmission exchange between a plurality of modules, has guaranteed the reliability of transmission.
Preferably, said SYSAD EBI carries out exchanges data through Cross Bar mode, is connected with on the said fpga chip to be used for moderator that address space is deciphered and the cpu i/f module that is used to explain the SYSAD bus protocol.Cross Bar mode is that the data transmission efficiency of cross-connect mode is high, makes that the data transmissions between the disparate modules reaches maximum transfer rate on each chip.Comprise a plurality of registers in the moderator, each register has the branch of high low level, and the address space of process on average is equipped with resource through articulating the priority of the process of distinguishing on the different stage register.
Preferably, said functional peripherals comprises one or more in USB interface, display, keyboard, sensor, Ethernet interface, power supply interface, GPIO and the communicator.
Preferably; Said functional peripherals is servo-driver, servomotor and the execution member by fpga chip indication action; Servo-driver links to each other with fpga chip; Servo-driver links to each other with the execution member with servomotor in order, and said fpga chip and servomotor are connected with feedback circuit.
Embedded controller based on Godson processor and FPGA technology of the present invention; The Godson series processors that employing has China's independent intellectual property right has replaced the processor introduced with abroad; The Godson series processors is expanded into an automation control system through north bridge chips and functional peripherals; Wherein fpga chip is realized the robotization control function of robot as the north bridge chips of Godson processor with this.Adopt the (SuSE) Linux OS of increasing income on the Godson processor, system can adopt third party's application software easily, and has reduced the difficulty of low level development, has shortened the design cycle.Design of the present invention can be widely used in various robot automations and control the field, has that production cost is low, reliability is high, highly versatile, favorable expandability and short characteristics of reaction time.
Description of drawings
Fig. 1 is the theory diagram that the present invention is based on the embedded controller of Godson processor and FPGA technology.
Fig. 2 is the expansion control theory diagram that the present invention is based on the embedded controller of Godson processor and FPGA technology.
Fig. 3 is the theory diagram of 3 control system that the present invention is based on the embedded controller of Godson processor and FPGA technology.
Fig. 4 is 3 control system functional schematic block diagrams that the present invention is based on the embedded controller of Godson processor and FPGA technology.
Fig. 5 is the design flow diagram that the present invention is based on the embedded controller total system of Godson processor and FPGA technology.
Embodiment
Below in conjunction with accompanying drawing and embodiment further explain the present invention, but protection scope of the present invention is not limited to this.
With reference to Fig. 1-2, the embedded controller based on Godson processor and FPGA technology of the present invention comprises central processor CPU, north bridge chips and functional peripherals.Central processing unit can adopt No. 1 processor of present widely used Godson or No. 2 processors of Godson, and No. 1 processor of Godson is 32 bit processors, the configurability that the IP kernel of No. 1 CPU of Godson has high flexible, convenient integrated various standard interfaces.Processor with Godson 2E or 2F series in No. 2 processors of Godson is an example; Godson 2F processor is the upgrade version of Godson 2E processor; Be example with Godson 2E processor among the present invention; Godson 2E processor (Loongson 2E) is the high-performance processor of integrated DDR (dynamic RAM) internal memory control in a 64 bit slices, is fit to be applied to high-end built-in field.North bridge chips adopts FPGA (field programmable gate array) chip of altera corp to realize that the characteristics that fpga chip is programmable in the software and hardware design process of controller, can shorten the cycle, and chip are economical and practical.Functional peripherals can meet the functional extended device of user operation habits for USB interface, display, keyboard, sensor, Ethernet interface, power supply interface and communicator etc., also can be other functional control or drive unit.Controller can be provided with the predefined task of the incompatible completion of peripheral set of difference in functionality according to the requirement of function.As the device that the working environment of perception robots such as all kinds of temperature sensors, gyroscope, motion state measurement mechanism, sense of touch, vision can the be set control that comes subcontrol.
Integrated DDR Memory Controller Hub on the Godson 2E processor, so the communicating by letter of the north bridge chips of CONTROLLER DESIGN and Godson 2E processor and other external unit.Godson 2E processor is the dominant control of controller; Godson 2E processor links to each other with fpga chip through the SYSAD bus; The SYSAD bus is that the cross-connect mode is carried out exchanges data through Cross Bar mode; The data transmission efficiency of Cross Bar mode is high, makes that the data transmissions between the disparate modules reaches maximum transfer rate on each chip.Be connected with on the said fpga chip and be used for moderator that address space is deciphered and the cpu i/f module that is used to explain the SYSAD bus protocol.Comprise a plurality of registers in the moderator, each register has the branch of high low level, and the address space of process on average is equipped with resource through articulating the priority of the process of distinguishing on the different stage register.Through sad sanction device address space is deciphered, the accessing operation of processor is issued different external equipment, the cpu i/f module is explained the SYSAD bus protocol, carries out alternately with the SYSAD bus, realizes the communication between Godson 2E processor and the fpga chip.
Being connected between Godson processor and the fpga chip also can be by being connected of No. 1 processor of 32 Godsons and fpga chip, and EBI (the External Bus Interface) interface through No. 1 processor of Godson links to each other with fpga chip.32 general little processing are provided with the EBI interface module, and the EBI interface module is to be used for transmitting inner memory controller of Godson and the data transfer between the external unit.These external storage controllers can be handled multiple exterior storage part and peripheral equipment, like SRAM, and PROM, EEPROM, flash and SDRAM.
Expansion has pci bus interface on the fpga chip, and pci bus interface links to each other with functional peripherals.Also be connected with Basic Input or Output System (BIOS), flash memory, serial ports, 32 pci bus interfaces and 32 LOCAL BUS EBIs on the fpga chip.Pci bus interface and LOCAL BUS EBI are connected with the expansion gang socket of 100 pin respectively, conveniently to carry out the function expansion.Realize pci bus interface and the communication of LOCAL BUS EBI support master-slave mode, support modules such as window machine controller and north bridge function register according to Embedded characteristics simultaneously.Central processor CPU can be expanded a plurality of functional modules through the pci bus interface and the LOCAL BUS EBI of fpga chip setting; For robot controller provides abundant interface function and peripherals, other subsidiary function such as power supply input and GPIO etc. are also through these two interface expansions.The master-slave mode of pci bus interface and the support of LOCAL BUS EBI is independent of each other the data transmission exchange between a plurality of modules, has guaranteed the reliability of transmission.The clock signal of central processor CPU has utilized the phaselocked loop resource on the FPGA to come needed all clock signals of generation system by outside one active crystal oscillator input.Pci bus and LOCAL BUS bus are the buses of using always, therefore can conveniently utilize original design to carry out the function expansion.
Among the present invention, functional peripherals is mainly servo-driver, servomotor and the execution member by fpga chip indication action.Servo-driver links to each other with fpga chip through pci bus interface, and servo-driver links to each other with the execution member with servomotor in order, and said fpga chip and servomotor are connected with feedback circuit.Fpga chip is according to the output order executive real-time operation task of central processing unit and indicate the servo-driver action; Fpga chip produces pulse signal in control procedure; Servo-driver is made respective response according to pulse signal, and servo-driver informs fpga chip with the working condition of self simultaneously, the work of servo driver drives servomotor; And drive the work of execution member, be connected with feedback circuit between fpga chip and the servomotor.
Referring to Fig. 3-4, as in multiaxis controlled motion system, the present invention can carry out each independently positioning control and speed control, also can in multiaxis, select wherein 2 or 3 arbitrarily and carry out circular arc, linear interpolation.Be that example specifies the present invention with 3 controlled motion systems below; Connect three groups of servo-drivers, servomotor and execution member through the fpga chip among the present invention; Accomplish the function of 3 controls, said execution member is X axle control module, Y axle control module and Z axle control module.Data in 3 controlled motion systems are handled at Godson 2E processor and fpga chip, and result is transmitted in servo-driver, servomotor and X axle, Y axle and Z axle control module.3 controlled motion systems accomplish functional module that data computation handles and comprise data processing module, interrupt signal generator, INTERPOLATION CONTROL OF PULSE module, 2 or 3 linear interpolation computing modules, 2 circular interpolation computing modules, 2 or 3 bit pattern interpolation computing modules, X axle control module, Y axle control module, Z axle control module and pulse isolation modules in Godson 2E processor and fpga chip are handled.Data processing module and INTERPOLATION CONTROL OF PULSE module are connected with each other and communication; The INTERPOLATION CONTROL OF PULSE module links to each other with 2 or 3 linear interpolation computing modules, 2 circular interpolation computing modules, 2 or 3 bit pattern interpolation computing modules respectively and controls its data computation, and the result of calculation of 2 or 3 linear interpolation computing modules, 2 circular interpolation computing modules, 2 or 3 bit pattern interpolation computing modules sends to X axle, Y axle and each motion of Z axle control module control with the mode of pulse after the pulse isolation module is isolated.X axle control module, Y axle control module and data message is fed back to the INTERPOLATION CONTROL OF PULSE module respectively to Z axle control module and data processing module carries out data verification and calibration process, X axle control module, Y axle control module and Z axle control module link to each other with interrupt signal generator respectively with data processing module.Processing procedure in total system; Godson 2E processor and fpga chip are mainly accomplished processing, the functions such as control execution, coordinated management of data, and X axle control module, Y axle control module, Z axle control module act on X axle, Y axle and Z axle respectively and control the process of its action.Utilization can realize that based on the embedded controller of Godson processor and FPGA technology multi-axis control system develops towards high-speed, high precision, multi-functional direction, can realize a position motion control, continuous path motion control etc.In the industrial robot control procedure of reality; The present invention can be according to the many groups of actual needs expansion servo-driver, servomotor and the execution member of control; As in the articulated type industrial robot controller, needing servo-driver, servomotor and the execution member of at least six groups; Expand six groups through the pci bus interface on the fpga chip and control, also can carry out the expansion more than 8 according to the needs of control.The design of multiaxis controlled motion system and control mode can repeat no more at this with reference to above-mentioned 3 controlled motion systems.
Adopt the (SuSE) Linux OS of increasing income on the Godson 2E processor, this operating system has the facility that worldwide large quantities of third party software development and Design workers provides various good service.The modular construction of linux kernel can make driver element be connected automatically in real time and combination at run duration.The Glibe storehouse is the Runtime Library of the linux system bottom, is the application providing system interface on it and other power function.A whole system of controller is divided into the software and hardware two large divisions when design is initial, the exploitation of software and hardware is carried out simultaneously.System must carry out cutting to hardware and software according to application demand, with the requirements such as function, reliability, cost, volume and power consumption of satisfying application system.Referring to Fig. 5, the mode that designs among the present invention is: at first draft the technical parameter of system requirements, comprise the analysis of system hardware parameter and system software parameter; Secondly, design corresponding initial hardware and initial software respectively, the parameter of initial hardware that designs and initial software is carried out simulation test according to system hardware parameter of analyzing and system software parameter; Design whole hardware and whole software according to test findings then, and carry out the systematic parameter l-G simulation test; Carry out debugging of hardware manufacturing assembling and software design and system integration parameter testing at last again, accomplish the design of system with this.Therefore, the timely joining relation between coordination software and the hardware in design.
Claims (5)
1. embedded controller based on Godson processor and FPGA technology; Said controller comprises central processing unit, north bridge chips and functional peripherals, it is characterized in that, said central processing unit is for being the Godson processor of operating system with Linux; North bridge chips is the fpga chip with control function able to programme; The Godson processor links to each other with fpga chip through the SYSAD EBI, and expansion has pci bus interface on the fpga chip, and pci bus interface links to each other with functional peripherals.
2. the embedded controller based on Godson processor and FPGA technology according to claim 1; It is characterized in that; Be connected with Basic Input or Output System (BIOS), flash memory, serial ports on the said fpga chip and be used for 32 LOCAL BUS EBIs of functional expansion; Pci bus interface is 32 EBIs, and pci bus interface and LOCAL BUS EBI are expanded respectively gang socket is arranged, and said pci bus interface and LOCAL BUS EBI are supported the master-slave mode communication.
3. the embedded controller based on Godson processor and FPGA technology according to claim 1; It is characterized in that; Said SYSAD EBI carries out exchanges data through Cross Bar mode, is connected with on the said fpga chip to be used for moderator that address space is deciphered and the cpu i/f module that is used to explain the SYSAD bus protocol.
4. the embedded controller based on Godson processor and FPGA technology according to claim 1; It is characterized in that said functional peripherals comprises one or more in USB interface, display, keyboard, sensor, Ethernet interface, power supply interface, GPIO and the communicator.
5. the embedded controller based on Godson processor and FPGA technology according to claim 1; It is characterized in that; Said functional peripherals is servo-driver, servomotor and the execution member by fpga chip indication action; Servo-driver links to each other with fpga chip, and servo-driver links to each other with the execution member with servomotor in order, and said fpga chip and servomotor are connected with feedback circuit.
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| CN104199366A (en) * | 2014-09-16 | 2014-12-10 | 中国人民解放军63983部队 | Control and communication port expansion module of godson 2F processor |
| CN109828948A (en) * | 2019-02-01 | 2019-05-31 | 京微齐力(北京)科技有限公司 | A kind of System on Chip/SoC of integrated AI's module |
| CN110716807A (en) * | 2019-09-29 | 2020-01-21 | 合肥矽景电子有限责任公司 | Embedded processing device |
| CN111273600A (en) * | 2020-01-20 | 2020-06-12 | 江苏龙威中科技术有限公司 | PLC module based on Loongson 2K1000 main processing chip |
| CN112099589A (en) * | 2020-09-28 | 2020-12-18 | 山东云海国创云计算装备产业创新中心有限公司 | Multifunctional expansion management integrated card |
| CN113514048A (en) * | 2021-06-15 | 2021-10-19 | 北京航天时代光电科技有限公司 | High-reliability miniaturized fiber-optic gyroscope signal processing and interface circuit |
| CN113849227A (en) * | 2021-08-02 | 2021-12-28 | 浙江中控技术股份有限公司 | Loongson LS2K1000 starting method, system, device and medium |
| CN114023171A (en) * | 2021-11-29 | 2022-02-08 | 江苏科技大学 | PLC elevator control experiment device and method based on godson |
| CN117827725A (en) * | 2024-03-04 | 2024-04-05 | 山东华翼微电子技术股份有限公司 | EMC interface expansion module, system and method based on FPGA |
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| CN113514048A (en) * | 2021-06-15 | 2021-10-19 | 北京航天时代光电科技有限公司 | High-reliability miniaturized fiber-optic gyroscope signal processing and interface circuit |
| CN113514048B (en) * | 2021-06-15 | 2022-08-12 | 北京航天时代光电科技有限公司 | High-reliability miniaturized fiber-optic gyroscope signal processing and interface circuit |
| CN113849227A (en) * | 2021-08-02 | 2021-12-28 | 浙江中控技术股份有限公司 | Loongson LS2K1000 starting method, system, device and medium |
| CN113849227B (en) * | 2021-08-02 | 2024-05-03 | 浙江中控技术股份有限公司 | Loongson LS2K1000 starting method, system, equipment and medium |
| CN114023171A (en) * | 2021-11-29 | 2022-02-08 | 江苏科技大学 | PLC elevator control experiment device and method based on godson |
| CN117827725A (en) * | 2024-03-04 | 2024-04-05 | 山东华翼微电子技术股份有限公司 | EMC interface expansion module, system and method based on FPGA |
| CN117827725B (en) * | 2024-03-04 | 2024-05-14 | 山东华翼微电子技术股份有限公司 | EMC interface expansion module, system and method based on FPGA |
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Application publication date: 20120627 |