CN103077140A - Communication method and communication device for motion control card of robot and host - Google Patents
Communication method and communication device for motion control card of robot and host Download PDFInfo
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- CN103077140A CN103077140A CN2013100456452A CN201310045645A CN103077140A CN 103077140 A CN103077140 A CN 103077140A CN 2013100456452 A CN2013100456452 A CN 2013100456452A CN 201310045645 A CN201310045645 A CN 201310045645A CN 103077140 A CN103077140 A CN 103077140A
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Abstract
The invention discloses a communication method and a communication device for a motion control card of a robot and a host. The communication method comprises the following steps that: the motion control card triggers an interrupt program of a driving program; the driving program triggers a software interrupt signal which corresponds to the host according to the interrupt information of the motion control card; and the host performs corresponding processing according to the triggered software interrupt signal. According to the communication method and the communication device for the motion control card of the robot and the host provided by the invention, real-time communication of the motion control card and the host can be realized, the CPU (Central Processing Unit) resources can be saved.
Description
Technical field
The present invention relates to the Robotics field, be specifically related to communication means and the communicator of a kind of Motion Control Board and host computer.
Background technology
Typical industrial robot system's structure comprises demonstration, input-output device, host computer, pci bus, motion control card, motor, driver etc.
In this structure, motion control card links to each other with host computer by pci bus, and host computer is by the various operations of PCI driver realization to motion control card.Host computer is responsible for user's input and output, the instruction (comprise motion control instruction, instruction etc. is set) of user input is sent to motion control card, and motion control card is processed the final control that realizes motor after (such as motion planning etc.) to the data of user's input.Simultaneously, motor, driver can report to motion control card with the state (running status, current location etc.) of oneself, and motion control card further sends to host computer with these information and shows.
Here relate to the data stream of both direction, the one, send to motion control card by host computer, the 2nd, send to host computer by motion control card.Data are sent to the method comparative maturity of motion control card by host computer, at first host computer sends to the PCI driver by the IO operation with data, the PCI driver then writes data in the storer of motion control card, and notifies timely motion control card to have new data to write by the interruption that triggers motion control card.And if the motion control calorie requirement real-time send data to host computer, method is just complicated many.This is because motion control card is a kind of PCI equipment of host computer, host computer is as main equipment, can carry out reading and writing data and trigger interrupting to motion control card very easily, and PCI equipment is from equipment, can only passive reception instruction and data, send instruction and data can't initiatively for main equipment (host computer), so the notice host computer that the PCI driver can't be real-time.If PCI equipment is wanted initiatively to send instruction or data to host computer, can only adopt the flag register of timer poll or individual threads poll motion control card to know whether motion control card has data will send to host computer:
The mode of timer poll is to come regularly at set intervals the flag register of motion control card to be scanned with timer;
The individual threads poll refers to create a thread separately, comes the ceaselessly flag register of scanning motion control card with while statement in thread.
In the research and practice process to prior art, the present inventor finds, in the said method, if use the mode of timer poll, then can't guarantee the real-time of communicating by letter, because after the flag register of motion control card upgrades, host computer can't be notified timely, must etc. next timer just can be notified when triggering, if the timer cycle is very long, then real-time can be very poor.If use individual threads to carry out cycle detection, real-time increases than the mode of timer, but also can be subject to the restriction of CPU speed and motion control card read or write speed, and the mode of this cycle detection can take a large amount of cpu resources.Therefore, there is the poor shortcoming with taking excess CPU resources of real-time in existing method.
Summary of the invention
In order to solve the poor problem with taking excess CPU resources of the real-time that exists in the prior art, the invention provides the communication means of a kind of Motion Control Board and host computer and the communicator of a kind of Motion Control Board and host computer.
The communication means of a kind of Motion Control Board provided by the invention and host computer, described communication means comprises step:
Motion control card triggers the interrupt routine of driver;
Driver triggers the corresponding soft interrupt signal of host computer according to the interrupting information of motion control card;
Host computer is carried out corresponding the processing according to the soft interrupt signal that triggers.
The present invention also provides the communicator of a kind of Motion Control Board and host computer, and described communicator comprises:
Motion control card comprises driver down trigger module, is used for triggering the interrupt routine of driver;
Driver comprises soft interrupt signal processing function, is used for driver and has no progeny in the driver down trigger module triggering of passive movement control card, according to the corresponding soft interrupt signal of interrupting information triggering host computer of motion control card;
And host computer, comprise interruption processing module, be used for corresponding processing of soft interrupt signal execution that host computer triggers according to the soft interrupt signal trigger module.
The communication means of Motion Control Board provided by the invention and host computer and communicator, motion control card can transmit with the upper computer software real-time information, data between the two are synchronous, can reduce like this interpolation cycle of industrial robot, thereby improve the precision of robot.When motion control calorie requirement notice host computer, it only needs to trigger the interrupt routine of driver, and host computer just can be notified immediately, and has avoided need waiting until in the prior art that next timer is triggered, and has realized real-time Communication for Power; And, the extra CPU expense that the journey of can avoiding bursting at the seams is separately brought.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the invention, the accompanying drawing of required use was done to introduce simply during the below will describe embodiment, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the process flow diagram of the communication means of a kind of Motion Control Board and host computer among the embodiment one;
Fig. 2 is the process flow diagram of the communication means of a kind of Motion Control Board and host computer among the embodiment two;
Fig. 3 is the structural representation of the communicator of a kind of Motion Control Board and host computer among the embodiment three;
Fig. 4 is the structural representation of the communicator of a kind of Motion Control Board and host computer among the embodiment four.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Embodiment one,
With reference to figure 1, Fig. 1 is the communication means process flow diagram of Motion Control Board and host computer in the present embodiment, comprises step:
Step S101: motion control card triggers the interrupt routine of driver.
Motion control card is the integrated circuit board of realizing industrial robot motion control function, driver is that equipment can be identified by bus and the normal program of using, bus in the present embodiment can be PCI(Peripheral Component Interconnect) bus, driver can be the PCI driver.Motion control card links to each other with host computer by pci bus, host computer is by the various operations of PCI driver realization to motion control card, host computer is responsible for user's input and output, with instruction such as the motion control instruction of user input, instruction etc. be set send to motion control card, motion control card is processed rear final realization to the control of motor to data such as the motion planning of user's input etc.Simultaneously, motor, driver can report to motion control card such as running status, current location information etc. with the state of oneself, and motion control card further sends to host computer with these information and shows.
In the present embodiment, when motion control card has warning information need report to the host computer processing, with the interrupt routine that at first triggers in the PCI driver.
Step S102: driver triggers the corresponding soft interrupt signal of host computer according to the interrupting information of motion control card.
There are one to one relation in the soft interrupt signal of host computer and the interrupting information on the motion control card, respectively express same solicited message by different information representation modes, such as the running status of driver, current location information etc.
Step S103: host computer is carried out corresponding the processing according to the soft interrupt signal that triggers.
After host computer is triggered corresponding soft interrupt signal by the PCI driver, namely carry out the interruption corresponding with soft interrupt signal and process.
Embodiment two,
Referring to Fig. 2, Fig. 2 is the process flow diagram of the communication means of Motion Control Board and host computer in the present embodiment, comprises step:
Step S201: the interrupting information of host computer registration and motion control card has the soft interrupt signal of corresponding relation.
The soft interrupt signal that host computer is registered is the User Status that motion control card may be notified, and the soft interrupt signal of host computer and the interrupting information of motion control card are to concern one to one.Communication means in the present embodiment is based on the real-time Linux system that has added RTAI, RTAI(Real-Time Application Interface) be expansion during to linux kernel strong, it follows the free software standard, needs to recompilate linux kernel.Because the useful signal value is 1 ~ 64 in the signaling mechanism of Linux, wherein 1 ~ 31 is occupied, corresponding specific events all, can not be modified, soft interrupt signal in the present embodiment is at the soft interrupt signal of 32 ~ 64 signal values registration host computer, 32 ~ 64 signal values are reliable signal, have avoided the phenomenon of dropout, thereby the each time down trigger of guaranteeing motion control card all obtains corresponding.
Step S202: host computer is set up the interrupt handling routine corresponding with soft interrupt signal.
Function is processed in the interruption that the soft interrupt signal of registering among the host computer establishment step S201 in this step need be carried out.
Step S203: host computer is set up contacting between soft interrupt signal and the driver.
Host computer is informed driver by function with the signal handle in this step, and the program process and the driver that are about to host computer are bound by signal, thereby set up contacting between host computer soft interrupt signal and the driver.
Step S204: host computer is carried out main thread.
After executing above-mentioned steps, host computer continues to carry out main thread.S201 ~ S204 for motion control card have event need notify to host computer before performed action.
Step S205: the interrupt type on the motion control card set interrupt flag register.
Motion control card comprises interrupt flag register, when motion control card has data or instruction to host computer, the interrupt type on the first set interrupt flag register.
Step S206: motion control card triggers the interrupt routine of driver.
Step S207: driver triggers the corresponding soft interrupt signal of host computer according to the interrupting information of motion control card.Wherein, the driver in the embodiment of the invention is Real Time Drive.
Wherein, step S207 also comprises:
Step S207a: the interrupt routine of driver reads the interrupt flag register of motion control card;
Step S207b: interrupt routine is judged the interrupt type on the interrupt flag register;
Step S207c: driver triggers the corresponding soft interrupt signal of host computer according to the interrupt type that obtains.
Above-mentioned interrupt type is the event type of host computer and motion control card agreement, and the soft interrupt signal of described interrupt type and host computer registration is to concern one to one.Store the function that triggers host computer in the driver, driver triggers the corresponding signal of host computer according to different interrupt types by this function, and institute's trigger pip is the soft interrupt signal of step S201 registered in advance.
Step S208: host computer is carried out corresponding the processing according to the soft interrupt signal that triggers.
Step S208 also comprises:
Step S208a: host computer is judged the type of described soft interrupt signal;
Step S208b: the type according to described soft interrupt signal is carried out corresponding interrupt handling routine.
Above-mentioned interrupt handling routine is the interrupt handling routine that step S202 host computer is set up in advance.
After host computer is carried out corresponding the processing according to the signal that triggers in the present embodiment, by DMA(Direct Memory Access) the i.e. data transfer mode the transmission of data in groups of transmission mode, host computer can be by pci bus directly to the motion control card the transmission of data, thus the CPU(CentralProcessing Unit of host computer) can continue to carry out the main thread before interrupting.For example, when motion control card during to host computer request interpolation data, drive an interruption to PCI, host computer enters interruptions reason function after receiving signal, the notice dma controller begins the transmission of data, then just withdraw from and interrupt processing function continuation main thread, data transfer is given dma controller fully and is finished.Transmit by DMA when very large for data volumes such as robot position data, can improve transfer efficiency, and do not take cpu resource.
Motion control card in the present embodiment can transmit with the upper computer software real-time information, and data between the two are synchronous, can reduce like this interpolation cycle of industrial robot, thereby improves the precision of robot.When motion control calorie requirement notice host computer, it only needs to trigger the interrupt routine of driver, and host computer just can be notified immediately, and has avoided need waiting until in the prior art that next timer is triggered, and has realized real-time Communication for Power; And, the extra CPU expense that the journey of can avoiding bursting at the seams is separately brought.
Embodiment three,
Consult Fig. 3, Fig. 3 is the structural representation of the communicator of Motion Control Board and host computer in the present embodiment, described communicator comprises: motion control card 101, motion control card 101 comprise driver down trigger module 1011, driver 102, driver 102 comprises soft interrupt signal trigger module 1021, host computer 103, host computer 103 comprises interruption processing module 1031.
Driver down trigger module 1011 is used for the interrupt routine that motion control card 101 triggers driver 102;
Soft interrupt signal trigger module 1021 is used for driver 102 and triggers in the driver down trigger module 1011 of passive movement control card 101 and have no progeny, and triggers the corresponding soft interrupt signal of host computer 103 according to the interrupting information of motion control card 101;
Embodiment four,
Referring to Fig. 4, Fig. 4 is the structural representation of the communicator of Motion Control Board and host computer in the present embodiment.Described communicator comprises motion control card 201, and motion control card 201 comprises interrupting information memory module 2011 and driver down trigger module 2012; Driver 202, driver 202 comprise interrupting information read module 2021 and soft interrupt signal trigger module 2022; Host computer 203, host computer 203 comprise soft interrupt signal memory module 2031, soft interrupt signal notification module 2032 and interruption processing module 2033.
Interrupting information memory module 2011 is for the interrupting information of storing moving control card 201.
Driver down trigger module 2012 is used for the interrupt routine that motion control card 201 triggers driver 202.
Interrupting information read module 2021 is used for the interrupting information that driver 202 reads the interrupting information memory module 2012 of motion control card 201, and judges interrupt type by described interrupting information.
Soft interrupt signal trigger module 2022 is used for driver 202 and triggers in the driver down trigger module 2012 of passive movement control card 201 and have no progeny, and triggers the corresponding soft interrupt signal of host computer 203 according to the interrupting information of motion control card 201.The interrupt type that soft interrupt signal trigger module 2022 is judged according to interrupting information read module 2021 triggers the corresponding soft interrupt signal of host computer 203.
Soft interrupt signal memory module 2031, the interrupting information that is used for the interrupting information memory module 2011 of host computer 203 storages and motion control card 202 has the soft interrupt signal of corresponding relation.
Soft interrupt signal notification module 2032 is for contacting between the soft interrupt signal of setting up described soft interrupt signal memory module 2031 and the driver 202.
Interruption processing module 2033 is used for corresponding processing of soft interrupt signal execution that host computer 203 triggers according to soft interrupt signal trigger module 2022.
The soft interrupt signal that host computer is registered is the User Status that motion control card may be notified, and the soft interrupt signal of host computer and the interrupting information of motion control card are to concern one to one.Communication means in the present embodiment is based on the real-time Linux system that has added RTAI, RTAI(Real-Time Application Interface) is expansion during to linux kernel strong, it follows the free software standard, need to recompilate linux kernel, in addition, the driver in the embodiment of the invention also is Real Time Drive.Because the useful signal value is 1 ~ 64 in the signaling mechanism of Linux, wherein 1 ~ 31 is occupied, corresponding specific events all, can not be modified, soft interrupt signal in the present embodiment is at the soft interrupt signal of 32 ~ 64 signal values registration host computer, 32 ~ 64 signal values are reliable signal, have avoided the phenomenon of dropout, thereby the each time down trigger of guaranteeing motion control card all meets with a response.
Also comprise DMAC (Direct Memory Access Controller) data access module in the present embodiment, be used for making host computer in commission after the disconnected processing module, directly enter DMA(Direct MemoryAccess) data transfer mode, host computer continues to carry out the main thread before interrupting.
After host computer is carried out corresponding the processing according to the signal that triggers, by the i.e. data transfer mode the transmission of data in groups of DMA transmission mode, host computer can be by pci bus directly to the motion control card the transmission of data, thus the CPU(Central Processing Unit of host computer) can continue to carry out the main thread before interrupting.For example, when motion control card during to host computer request interpolation data, drive an interruption to PCI, host computer enters interruptions reason function after receiving signal, the notice dma controller begins the transmission of data, then just withdraw from and interrupt processing function continuation main thread, data transfer is given dma controller fully and is finished.Transmit by DMA when very large for data volumes such as robot position data, can improve transfer efficiency, and do not take cpu resource.
Motion Control Board in the present embodiment and the communicator of host computer, motion control card can transmit with the upper computer software real-time information, data between the two are synchronous, can reduce like this interpolation cycle of industrial robot, thereby improve the precision of robot.When motion control calorie requirement notice host computer, it only needs to trigger the interrupt routine of driver, and host computer just can be notified immediately, and has avoided need waiting until in the prior art that next timer is triggered, and has realized real-time Communication for Power; And, the extra CPU expense that the journey of can avoiding bursting at the seams is separately brought.
Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (16)
1. the communication means of a Motion Control Board and host computer is characterized in that described communication means comprises step:
Motion control card triggers the interrupt routine of driver;
Driver triggers the corresponding soft interrupt signal of host computer according to the interrupting information of motion control card;
Host computer is carried out corresponding the processing according to the soft interrupt signal that triggers.
2. the communication means of Motion Control Board according to claim 1 and host computer is characterized in that, the interrupt routine that motion control card triggers driver also comprises step before:
The interrupting information of host computer registration and motion control card has the soft interrupt signal of corresponding relation;
Host computer is set up the interrupt handling routine corresponding with soft interrupt signal;
Host computer is set up contacting between soft interrupt signal and the driver;
Host computer is carried out main thread.
3. the communication means of Motion Control Board according to claim 1 and host computer is characterized in that, also comprises step before the interrupt routine of motion control card triggering driver:
Interrupt type on the motion control card set interrupt flag register.
4. the communication means of Motion Control Board according to claim 3 and host computer is characterized in that, driver comprises step according to the corresponding soft interrupt signal of interrupting information triggering host computer of motion control card:
The interrupt routine of driver reads the interrupt flag register of motion control card;
The interrupt routine of driver is judged the interrupt type on the interrupt flag register;
Driver triggers the corresponding soft interrupt signal of host computer according to the interrupt type that obtains.
5. the communication means of Motion Control Board according to claim 2 and host computer is characterized in that, host computer is carried out corresponding processing according to the soft interrupt signal that triggers and also comprised step:
Host computer is judged the type of described soft interrupt signal;
Type according to described soft interrupt signal is carried out corresponding interrupt handling routine.
6. the communication means of the described Motion Control Board of any one and host computer is characterized in that according to claim 1 ~ 5, and described communication means also comprises:
After host computer was carried out corresponding the processing according to the signal that triggers, to motion control card, host computer continued to carry out the main thread before interrupting by DMA transmission mode the transmission of data.
7. the communication means of the described Motion Control Board of any one and host computer is characterized in that according to claim 1 ~ 5,
Described communication means is based on the real-time Linux system that has added RTAI, and host computer 32 ~ 64 signal values in the Linux signaling mechanism are registered the soft interrupt signal of host computer.
8. the communication means of the described Motion Control Board of any one and host computer is characterized in that according to claim 1 ~ 5,
Described driver is Real Time Drive.
9. the communicator of a Motion Control Board and host computer is characterized in that described communicator comprises:
Motion control card comprises driver down trigger module, is used for triggering the interrupt routine of driver;
Driver comprises the soft interrupt signal trigger module, is used for driver and has no progeny in the driver down trigger module triggering of passive movement control card, according to the corresponding soft interrupt signal of interrupting information triggering host computer of motion control card;
And host computer, comprise interruption processing module, be used for corresponding processing of soft interrupt signal execution that host computer triggers according to the soft interrupt signal trigger module.
10. the communicator of Motion Control Board according to claim 9 and host computer is characterized in that, described motion control card also comprises:
The interrupting information memory module is for the interrupting information of storing moving control card.
11. the communicator of Motion Control Board according to claim 9 and host computer is characterized in that, described driver also comprises:
The interrupting information read module is used for the interrupting information that driver reads the interrupting information memory module of motion control card, and judges interrupt type by described interrupting information.
12. the communicator of Motion Control Board according to claim 9 and host computer is characterized in that,
The interrupt type that described soft interrupt signal trigger module is judged according to the interrupting information read module triggers the corresponding soft interrupt signal of host computer.
13. the communicator of Motion Control Board according to claim 9 and host computer is characterized in that, described host computer also comprises:
The soft interrupt signal memory module, the interrupting information that is used for the interrupting information memory module of host computer storage and motion control card has the soft interrupt signal of corresponding relation;
The soft interrupt signal notification module is for contacting between the soft interrupt signal of setting up described soft interrupt signal memory module and the driver.
14. the communicator of the described Motion Control Board of any one and host computer is characterized in that according to claim 9 ~ 13,
Described communication means is based on the real-time Linux system that has added RTAI, and host computer 32 ~ 64 signal values in the Linux signaling mechanism are registered the soft interrupt signal of host computer.
15. the communicator of the described Motion Control Board of any one and host computer is characterized in that according to claim 9 ~ 13, described communicator also comprises:
The DMAC data access module is used for making host computer in commission after the disconnected processing module, directly enters the DMA data transfer mode, and host computer continues to carry out the main thread before interrupting.
16. the communicator of the described Motion Control Board of any one and host computer is characterized in that according to claim 9 ~ 13, described communicator also comprises:
Described driver is Real Time Drive.
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| CN103302673A (en) * | 2013-05-17 | 2013-09-18 | 东莞市伯朗特自动化科技有限公司 | Control method and system for automated manipulator arm |
| CN104239250A (en) * | 2014-09-22 | 2014-12-24 | 南京长峰航天电子科技有限公司 | PCI (Programmable Communication Interface) bus data synchronization method based on RTX (Real Time eXpert) real-time extending subsystem |
| CN107942753A (en) * | 2017-12-07 | 2018-04-20 | 惠州市德赛西威汽车电子股份有限公司 | The communication frame and the means of communication of the software of robot and terminal device |
| CN107967226A (en) * | 2016-10-20 | 2018-04-27 | 国民技术股份有限公司 | A kind of integrated circuit and control method of chip chamber rapid communication |
| CN108897529A (en) * | 2018-06-19 | 2018-11-27 | 深圳众为兴技术股份有限公司 | A kind of development approach of PCI motion control card driving |
| CN110175050A (en) * | 2019-05-29 | 2019-08-27 | 深圳创龙智新科技有限公司 | Peripheral device control method, device, system, electronic equipment and storage medium |
| CN113268352A (en) * | 2021-06-11 | 2021-08-17 | 中科院软件研究所南京软件技术研究院 | Multi-instruction response type task collaborative management method facing general service robot |
| CN118132469A (en) * | 2024-05-08 | 2024-06-04 | 杭州长川科技股份有限公司 | Tester communication system, communication method and tester |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103302673A (en) * | 2013-05-17 | 2013-09-18 | 东莞市伯朗特自动化科技有限公司 | Control method and system for automated manipulator arm |
| CN104239250A (en) * | 2014-09-22 | 2014-12-24 | 南京长峰航天电子科技有限公司 | PCI (Programmable Communication Interface) bus data synchronization method based on RTX (Real Time eXpert) real-time extending subsystem |
| CN104239250B (en) * | 2014-09-22 | 2017-08-08 | 南京长峰航天电子科技有限公司 | Pci bus method of data synchronization based on RTX real-time extension subsystems |
| CN107967226A (en) * | 2016-10-20 | 2018-04-27 | 国民技术股份有限公司 | A kind of integrated circuit and control method of chip chamber rapid communication |
| CN107942753A (en) * | 2017-12-07 | 2018-04-20 | 惠州市德赛西威汽车电子股份有限公司 | The communication frame and the means of communication of the software of robot and terminal device |
| CN107942753B (en) * | 2017-12-07 | 2020-08-25 | 惠州市德赛西威汽车电子股份有限公司 | Communication framework and communication method for software of robot and terminal equipment |
| CN108897529A (en) * | 2018-06-19 | 2018-11-27 | 深圳众为兴技术股份有限公司 | A kind of development approach of PCI motion control card driving |
| CN110175050A (en) * | 2019-05-29 | 2019-08-27 | 深圳创龙智新科技有限公司 | Peripheral device control method, device, system, electronic equipment and storage medium |
| CN113268352A (en) * | 2021-06-11 | 2021-08-17 | 中科院软件研究所南京软件技术研究院 | Multi-instruction response type task collaborative management method facing general service robot |
| CN113268352B (en) * | 2021-06-11 | 2024-03-08 | 中科院软件研究所南京软件技术研究院 | Multi-instruction responsive task collaborative management method for universal service robot |
| CN118132469A (en) * | 2024-05-08 | 2024-06-04 | 杭州长川科技股份有限公司 | Tester communication system, communication method and tester |
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