CN105759850A - Holder control system based on CAN bus - Google Patents
Holder control system based on CAN bus Download PDFInfo
- Publication number
- CN105759850A CN105759850A CN201610190566.4A CN201610190566A CN105759850A CN 105759850 A CN105759850 A CN 105759850A CN 201610190566 A CN201610190566 A CN 201610190566A CN 105759850 A CN105759850 A CN 105759850A
- Authority
- CN
- China
- Prior art keywords
- module
- control system
- esc
- cloud platform
- gcu
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
Abstract
The invention discloses a holder control system based on a CAN bus. The holder control system comprises a GCU master control module, ESC driving modules, and an IMU attitude module. The number of the ESC driving modules is relative to the number of the axes, such as two or three, of a holder. Each axis corresponds to one ESC driving module. All the above modules communicate via the CAN bus. The GCU master control module communicates with a PC host computer via a USB-to-serial port. The modules of the holder control system communicate via the CAN bus so as to be beneficial to an increase in the performance of the holder. A firmware is upgraded via the CAN bus so that upgrade rate is increased and an error probability is decreased.
Description
Technical field
The present invention relates to The Cloud Terrace technical field, particularly relate to a kind of cloud platform control system based on CAN.
Background technology
CAN is as the field bus technique with international standard, and its data communication has prominent reliability, real-time and motility.It has been no longer limited to automobile industry, and is widely applied to the fields such as Aero-Space, mechanical industry, industrial field control, intelligent residential district, environmental monitoring, household electrical appliance.Especially its rapid popularization at home in recent years so that it is cost is gradually lowered, and application is also more wide.What existing hand-held three axle The Cloud Terraces used be serial communication mode, and traffic rate is low, and error probability greatly, for point-to-point communication mode, is unfavorable for the raising of The Cloud Terrace performance.
Summary of the invention
It is an object of the invention to provide a kind of cloud platform control system based on CAN, to solve above-mentioned technical problem.
The present invention is by the following technical solutions for achieving the above object:
A kind of cloud platform control system based on CAN, this cloud platform control system includes GCU main control module, ESC drives module, IMU gesture module, described ESC drives module to arrange varying number according to two axles of The Cloud Terrace, three axles, the corresponding ESC of each axle drives module, and communicated by CAN between above-mentioned each module, GCU main control module turns serial ports and PC host computer communication by USB.
When this cloud platform control system is three axle cloud platform control system, this three axles cloud platform control system includes GCU main control module, ESC course axle drives module, ESC roll axle to drive module, ESC pitch axis to drive module, IMU gesture module, it is connected by CAN between above-mentioned five modules, GCU main control module turns serial ports and PC host computer communication by USB, and serial communication message format is consistent with CAN.
The invention has the beneficial effects as follows: communicated by CAN between each module of the present invention, be conducive to the raising of The Cloud Terrace performance, firmware upgrade is also upgraded by CAN, improves the speed of upgrading, reduces error probability.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of three axle cloud platform control systems；
Fig. 2 is the program circuit performed in each module.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of invention, feature and advantage to become apparent from, below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
A kind of cloud platform control system based on CAN, this cloud platform control system includes GCU main control module, ESC drives module, IMU gesture module, described ESC drives module to arrange varying number according to two axles of The Cloud Terrace, three axles, the corresponding ESC of each axle drives module, and communicated by CAN between above-mentioned each module, GCU main control module turns serial ports and PC host computer communication by USB.
As shown in Figure 1, when this cloud platform control system is three axle cloud platform control system, this three axles cloud platform control system includes GCU main control module, ESC course axle drives module, ESC roll axle to drive module, ESC pitch axis to drive module, IMU gesture module, it is connected by CAN between above-mentioned five modules, GCU main control module turns serial ports and PC host computer communication by USB, and serial communication message format is consistent with CAN.When hand-held The Cloud Terrace normal operation, when some module sends data, it is broadcast to all modules with message form, and by ID wave filter, other modules judge whether message is issue oneself, to determine whether to accept it.When hand-held with host computer communication or when firmware updates, GCU main control module and the host computer communication protocol transceiving data by compatible CAN, GCU main control module forwards the communication data between other module and host computers simultaneously, and the program circuit performed in each module is as shown in Figure 2.
The definition of CAN protocol is it is intended that CAN provides the uniform protocol of an application layer, and the objective of agreement is simple, efficiently, practical.
The CAN link layer protocol of this agreement use CAN2.0 and above version.ID is unified uses Extended ID, the i.e. ID of 29.The 29 of CAN ID are done following distribution by this agreement:
| R(1bitMSB) | Priority(4bit) | DeviceID(8bits) | Channel(8bits) | Property(8bitsLSB) |
R: perform standard definition.Length: 1bit
R=0, represents that this ID observes this agreement.
R=1, represents that this ID does not observe this agreement.
Priority: message priority.Length: 4bits
This field is for indicating the priority of message.Priority is more big, and field value is more little, and during such as Priority=0, priority is the highest.Current system communication priority is decided to be 15, i.e. lowest priority.
DeviceID: device id.Length: 8bits
For certain equipment in identification bus.This field is generally determined by equipment itself, such as the toggle switch on equipment, or is solidificated in device interior.When DeviceID value is 0xFF, for broadcast ID.
Being communicated by CAN between each module of the present invention, be conducive to the raising of The Cloud Terrace performance, firmware upgrade is also upgraded by CAN, improves the speed of upgrading, reduces error probability.
Particular embodiments described above, is only the present invention preferably implementation result, all equivalent arrangements done according to the present patent application the scope of the claims or improvement design, is the technology of the present invention and is contained.Finally it should be noted that; above example is only in order to illustrate technical scheme; but not limiting the scope of the invention; although having made to explain to the present invention with reference to preferred embodiment; it will be understood by those within the art that; technical scheme can be modified or equivalent replacement, without deviating from the spirit and scope of technical solution of the present invention.
Claims (2)
1. the cloud platform control system based on CAN, it is characterized in that, this cloud platform control system includes GCU main control module, ESC drives module, IMU gesture module, described ESC drives module to arrange varying number according to two axles of The Cloud Terrace, three axles, the corresponding ESC of each axle drives module, and communicated by CAN between above-mentioned each module, GCU main control module turns serial ports and PC host computer communication by USB.
2. a kind of cloud platform control system based on CAN according to claim 1, it is characterized in that, when this cloud platform control system is three axle cloud platform control system, this three axles cloud platform control system includes GCU main control module, ESC course axle drives module, ESC roll axle to drive module, ESC pitch axis to drive module, IMU gesture module, it is connected by CAN between above-mentioned five modules, GCU main control module turns serial ports and PC host computer communication by USB, and serial communication message format is consistent with CAN.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610190566.4A CN105759850A (en) | 2016-03-30 | 2016-03-30 | Holder control system based on CAN bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610190566.4A CN105759850A (en) | 2016-03-30 | 2016-03-30 | Holder control system based on CAN bus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105759850A true CN105759850A (en) | 2016-07-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610190566.4A Pending CN105759850A (en) | 2016-03-30 | 2016-03-30 | Holder control system based on CAN bus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105759850A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106411586A (en) * | 2016-09-23 | 2017-02-15 | 深圳英飞拓科技股份有限公司 | Pan-tilt upgrading method and device of pan-tilt control system |
| CN110177454A (en) * | 2017-11-30 | 2019-08-27 | 南京德朔实业有限公司 | Electric tool system and upgrade method for the system |
| CN115225683A (en) * | 2022-05-31 | 2022-10-21 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle cradle head communication system and cradle head communication data processing method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2737100Y (en) * | 2004-11-02 | 2005-10-26 | 郑贵林 | CAN bus based cradle head control system |
-
2016
- 2016-03-30 CN CN201610190566.4A patent/CN105759850A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2737100Y (en) * | 2004-11-02 | 2005-10-26 | 郑贵林 | CAN bus based cradle head control system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106411586A (en) * | 2016-09-23 | 2017-02-15 | 深圳英飞拓科技股份有限公司 | Pan-tilt upgrading method and device of pan-tilt control system |
| CN110177454A (en) * | 2017-11-30 | 2019-08-27 | 南京德朔实业有限公司 | Electric tool system and upgrade method for the system |
| CN115225683A (en) * | 2022-05-31 | 2022-10-21 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle cradle head communication system and cradle head communication data processing method |
| CN115225683B (en) * | 2022-05-31 | 2024-04-09 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle cradle head communication system and cradle head communication data processing method |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160713 |