CN107334600A - A kind of multichannel mixed signal acquisition system - Google Patents
A kind of multichannel mixed signal acquisition system Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a kind of multichannel mixed signal acquisition system, and it is applied to upper limb rehabilitation robot.Multichannel mixed signal acquisition system includes Multichannel data acquisition module, multi-data processing module, multi-channel data transmission module.Multichannel data acquisition module gathers the data of multi-analog digital sensorses；Multi-data processing module carries out the conversion of magnitude of voltage, the conversion of magnitude of voltage and angle value, the conversion of magnitude of voltage and pressure value to gathered data；Multi-channel data transmission module custom protocol group bag and data are sent.Multichannel data acquisition module includes three class numerical value collecting units.Multi-data processing module is converted into voltage value cell including collection value, magnitude of voltage is converted into angle value cell, magnitude of voltage is converted into pressure value cell, string data resolution unit, multi-turn sensor values are converted into actual joint angles value cell.Multi-channel data transmission module includes custom protocol group bag unit, data filling transmitting element, UART communication units.
Description
Technical field
The present invention relates to a kind of signal acquiring system in medical field, specifically a kind of multichannel mixed signal collection system
System.
Background technology
It is domestic to be still mainly distributed on purely mechanic knot in starting development, product for upper limb rehabilitation robot field
Structure field and the semi-automation with data collecting system and automatic field.Corresponding pure mechanic structure product does not transfer patient
The aggressive property participated in；The corresponding product with data collecting system often using special data acquisition device, it is necessary to
Customize and do not have generality and versatility, data collecting system also needs to be customized according to data acquisition device accordingly.
The content of the invention
It is an object of the invention to provide a kind of multichannel mixed signal acquisition system, and it take into account upper limb healing machine
Need to be acquired kinematics signal, mechanical signal in people, and using general harvester, harvester it is defeated
It can be that analog quantity can also be digital quantity to go out data type.
Technical problems to be solved needed for the present invention, it can be achieved through the following technical solutions：A kind of multichannel mixing
Signal acquiring system, it is applied to upper limb rehabilitation robot, and the upper limb rehabilitation robot has individual pen angular transducer, multi-turn
Angular transducer, pressure sensor；The multichannel mixed signal acquisition system includes Multichannel data acquisition module, multichannel data
Processing module, multi-channel data transmission module；
The Multichannel data acquisition module includes individual pen angular transducer numerical value collecting unit, pressure sensor numerical value gathers
Unit, multi-turn angular transducer numerical value collecting unit；The individual pen angular transducer numerical value collecting unit reads the individual pen angle
Spend the sampled value of sensor；The pressure sensor numerical value collecting unit reads the sampled value of the pressure sensor；It is described more
Enclose the sampled value that angular transducer numerical value collecting unit reads the multi-turn angular transducer；
The multi-data processing module is converted into voltage value cell including collection value, magnitude of voltage is converted into angle value list
Member, magnitude of voltage are converted into pressure value cell, string data resolution unit, multi-turn sensor values and are converted into actual joint angle angle value
Unit；The collection value is converted into voltage value cell by the individual pen angular transducer numerical value collecting unit by the individual pen angle
The sampled value of degree sensor is converted into magnitude of voltage one corresponding to sampled point reality, and it is also gathered by the pressure sensor numerical value
The sampled value of the pressure sensor is converted into magnitude of voltage two corresponding to sampled point reality by unit；The magnitude of voltage changes angulation
Angle value unit is converted into magnitude of voltage one corresponding to the sampled point reality that is obtained in voltage value cell by using in the collection value,
The magnitude of voltage one according to corresponding to the inherent parameters of the individual pen angular transducer by sampled point reality is converted into the upper limb healing
The angle that the upper limb joint of robot rotates；The magnitude of voltage is converted into pressure value cell and changed by using in the collection value
Magnitude of voltage two corresponding to the sampled point reality obtained into voltage value cell, will be adopted according to the inherent parameters of the pressure sensor
Magnitude of voltage two corresponding to sampling point reality is converted into the grip that the hand of the upper limb rehabilitation robot applies；The string data
Resolution unit is by reading adopting for the multi-turn angular transducer obtained in the multi-turn angular transducer numerical value collecting unit
Sample value, the actual rotation number of turns of the rotating shaft of more coil sensors is parsed according to the data protocol of the multi-turn angular transducer
Angle-data when data and a discontented circle；The multi-turn sensor values is converted into actual joint angles value cell and passes through the word
Angle-data when the actual rotation number of turns data obtained in symbol string data resolution unit and a discontented circle, with the upper limb healing
The gear ratio of robot combines, and is converted into the actual rotary position in actual samples moment joint；
The multi-channel data transmission module includes custom protocol group bag unit, data filling transmitting element, UART communications
Unit；The custom protocol group bag unit realizes the group bag of array；The data fill transmitting element by the multichannel data
The respective sensor and its data obtained in processing module, be placed on the custom protocol group bag unit data field coding and
Data Position, and transfer to the UART communication units to send the frame data of corresponding data.
As the further improvement of such scheme, the custom protocol group bag unit is according to frame head _ data length _ data
The data frame format of area _ frame check _ postamble, carry out the group bag of array.
Further, the data field is the data frame format of coding+data.
As the further improvement of such scheme, the frame data of the data filling transmitting element corresponding data are sent to one
The transmitter register of individual serial ports, the standard UART communication units send out the numerical value of the transmitter register by the serial ports
Send.
Further, the individual pen angular transducer numerical value collecting unit is by SPI protocol, read from A/D chip described in
The sampled value of individual pen angular transducer.
Yet further, the pressure sensor numerical value collecting unit reads the pressure by SPI protocol from A/D chip
The sampled value of force snesor.
Preferably, the multi-turn angular transducer numerical value collecting unit is read the multi-turn angle and passed by UART protocol
The sampled value of sensor.
More preferably, step S101, after system electrification, initialization section connects including communication by system initialization once
The initialization of mouth, each module initialization and the initialization of register；
Step S102, after initialization is completed, system enters the scan round stage, leads to until scanning to SPI or UART2
Interrupt flag bit is believed, into communication disruption processing routine；
Step S103, judge it is SPI communication interrupt flag bit, into the SPI communication interrupt processing journey in master control program
Sequence, then perform step S105, reads the data of spi bus transmission, and digital independent completes to set flag bit into default conditions, now
The data of reading are the conversion values of analog sensor output data；
Step S104, judge it is UART2 communication disruption flag bits, into the UART2 communication disruption journeys in master control program
Sequence, then perform step S106, the data of UART2 bus transfers are read, flag bit is set into default conditions, now after the completion of reading
The character string of angle-data when the data of reading are comprising the multi-turn sensor rotation number of turns and less than a circle；
Step S107, after the data for having received transmission, master control program sends the sensing data of storage
To multichannel data processing module, handled for the multi-data processing module is further to the data of collection；
Step S109, after the completion of described multi-data processing resume module, master control program sends the data after processing
To the multi-channel data transmission module, used for the multi-channel data transmission module group bag；
Step S111, group bag data is sent into the transmitter register in the serial port drive of master control program, is sent to
Position machine.
More preferably, after step S107, step S108 is performed, judges whether data processing is completed, completion then performs step
Rapid S109, otherwise return to step S107.
More preferably, after step S109, step S110 is performed, judges whether data are sent to register, is, perform
Step S111, otherwise return to step S109.
The multichannel mixed signal acquisition system of the present invention is used for joint motions and the hand for solving upper limb rehabilitation robot
Collection, processing and the transmission of grip data, for the full number of degrees of freedom, evidence of upper limbs and hand pressure data of upper limb rehabilitation robot
Signal acquisition is carried out, can be used for the data acquisition of full analog quantity, the data that can be used for analog quantity and data volume mixing are adopted
Collection, collection signal include kinematics signal and mechanical signal, when using universal harvester, pass through the multichannel of the present invention
Mixed signal acquisition system really can also reduce upper extremity exercise on host computer.
Brief description of the drawings
Fig. 1 is the block diagram of the multichannel mixed signal acquisition system of the present invention.
Fig. 2 is the flow chart of the operation and data flow of multichannel mixed signal acquisition system in Fig. 1.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The multichannel mixed signal acquisition system of the present invention is applied to upper limb rehabilitation robot, and upper limb rehabilitation robot has
Individual pen angular transducer, multi-turn angular transducer, pressure sensor, individual pen angular transducer detect the upper of upper limb rehabilitation robot
The angle of limb articulation, the grip of the hand application of multi-turn angular transducer detection upper limb rehabilitation robot, pressure sensor
The angle-data when actual rotation number of turns data of the rotating shaft of upper limb rehabilitation robot and a discontented circle is detected, that is to say the present invention
Multichannel mixed signal acquisition system for upper limb rehabilitation robot the full number of degrees of freedom, of upper limbs according to and hand pressure data enter
Row signal acquisition.
Referring to Fig. 1, the multichannel mixed signal acquisition system of the present invention includes Multichannel data acquisition module 11, more ways
According to processing module 12, multi-channel data transmission module 13.Multichannel data acquisition module 11 is used to gather multi-analog digital quantity biography
The data of sensor；Conversion of the multi-data processing module 12 for gathered data domain magnitude of voltage, the conversion of magnitude of voltage and angle value,
The conversion of magnitude of voltage and pressure value；Multi-channel data transmission module 13 is used for custom protocol group bag and data are sent.
Multichannel mixed signal acquisition system can be set main control module 2 control the operation of multichannel Hybrid Data Acquisition System and
Data flow：Drive and coordinate Multichannel data acquisition module 11, multi-data processing module 12, multi-channel data transmission module 13.
Main control module 2 controls the communication of Multichannel data acquisition module 11, data storage, gathered data further is delivered into more ways
According to the 12 pieces of progress data processings of processing mould, the group bag transmission that multi-channel data transmission module 13 carries out data is delivered to.Multichannel mixes
Multichannel data acquisition module 11, multichannel can also be coordinated by the processor driving of upper limb rehabilitation robot by closing signal acquiring system
Data processing module 12, multi-channel data transmission module 13.
The data that Multichannel data acquisition module 11 gathers can be that analog sensor output is changed by analog quantity digital quantity
Data afterwards, it can be specifically the angular transducer, pressure sensor etc. required in upper limb rehabilitation robot equipment, also may be used
Can be specifically at particular joint to be that digital sensor exports the data that can be gathered by standard serial port communication protocol
Multi-turn sensing data etc..Multichannel data acquisition module 11 includes individual pen angular transducer numerical value collecting unit 110, pressure sensing
Device numerical value collecting unit 111, multi-turn angular transducer numerical value collecting unit 112.
Individual pen angular transducer numerical value collecting unit 110 reads the sampled value of the individual pen angular transducer, such as individual pen angle
Sensor values collecting unit 110 is spent by SPI protocol, and the sampled value of the individual pen angular transducer is read from A/D chip.
Pressure sensor numerical value collecting unit 111 reads the sampled value of the pressure sensor, such as pressure sensor numerical value collecting unit
11 by SPI protocol, and the sampled value of the pressure sensor is read from A/D chip；Multi-turn angular transducer numerical value collecting unit
112 read the sampled value of the multi-turn angular transducer, as multi-turn angular transducer numerical value collecting unit 112 is assisted by UART
View, read the sampled value of the multi-turn angular transducer.
Multi-data processing module 12 under the scheduling of main control module 2, read and recognize the data of collection with it is corresponding
The type of sensor and corresponding joint position, further by the data of analog sensor according to the AD conversion chip of use
Configuration parameter is converted into the actual voltage value at collection point, is changed actual voltage value according to the type of sensor and configuration parameter
Into the angle value and pressure value of corresponding joint actual rotation；The character string information of the digital sensorses received output is parsed
Into the number of turns and the angle value for being unsatisfactory for a circle, the actual rotation angle in joint is converted into using the gearratio at corresponding joint.It is more
Circuit-switched data processing module 12 is converted into voltage value cell 121 including collection value, magnitude of voltage is converted into angle value cell 122, voltage
Value is converted into pressure value cell 123, string data resolution unit 124, multi-turn sensor values and is converted into actual joint angle angle value
Unit 125.
Collection value is converted into voltage value cell 121 by individual pen angular transducer numerical value collecting unit 110 by the individual pen
The sampled value of angular transducer is converted into magnitude of voltage one corresponding to sampled point reality, and it is also gathered single by pressure sensor numerical value
The sampled value of the pressure sensor is converted into magnitude of voltage two corresponding to sampled point reality by member 111；Magnitude of voltage conversion is angled
Value cell 122 is converted into magnitude of voltage one corresponding to the sampled point reality that is obtained in voltage value cell 121 by using in collection value,
The magnitude of voltage one according to corresponding to the inherent parameters of the individual pen angular transducer by sampled point reality is converted into the upper limb healing
The angle that the upper limb joint of robot rotates；Magnitude of voltage is converted into pressure value cell 123 and is converted into electricity by using in collection value
Magnitude of voltage two corresponding to the sampled point reality obtained in pressure value cell 121, will be adopted according to the inherent parameters of the pressure sensor
Magnitude of voltage two corresponding to sampling point reality is converted into the grip that the hand of the upper limb rehabilitation robot applies；String data parses
Unit 124 is by reading the sampling of the multi-turn angular transducer obtained in multi-turn angular transducer numerical value collecting unit 112
Value, the actual rotation number of turns number of the rotating shaft of more coil sensors is parsed according to the data protocol of the multi-turn angular transducer
According to angle-data when being enclosed with discontented one；Multi-turn sensor values is converted into actual joint angles value cell 125 and passes through character string number
According to the angle-data when actual rotation number of turns data obtained in resolution unit 124 and a discontented circle, with the upper limb rehabilitation machine
The gear ratio of device people combines, and is converted into the actual rotary position in actual samples moment joint.
Multi-channel data transmission module 13 sets up data frame format according to frame head _ data length _ data according to custom protocol
The form of area's (coding+data) _ frame check _ postamble carries out data storage, by corresponding joint under the scheduling of main control module 2
The coding and data of sensor are put into the data field of above-mentioned data frame, are led to data frame data in the scheduling of main control module 2
Cross serial ports and be transported to host computer.Multi-channel data transmission module 13 includes custom protocol group bag unit 131, data filling sends list
Member 132, UART communication units 133.
Custom protocol group bag unit 131 realizes the group bag of array；Data fill transmitting element 132 by multi-data processing
The respective sensor and its data obtained in module 12, it is placed on the coding sum of the data field of custom protocol group bag unit 131
UART communication units are transferred to send 133 according to position, and by the frame data of corresponding data.
Custom protocol group bag unit 131 is according to frame head _ data length _ data field (coding+data) _ frame check _ postamble
Data frame format, carry out the group bag of array.The frame data of the data filling corresponding data of transmitting element 132 are sent to a serial ports
Transmitter register, standard UART communication units 133 send the numerical value of the transmitter register by the serial ports.
Incorporated by reference to Fig. 2, it is the flow that main control module 2 controls the operation of multichannel Hybrid Data Acquisition System and data flow
Figure.As shown in Fig. 2 after system electrification, main control module 2 can first by system initialization once (step S101), initialization section
Dividing includes the initialization of communication interface, module initialization and the initialization of register.
After initialization is completed, system enters the scan round stage (step S102), until SPI or UART2 is arrived in scanning
Communication disruption flag bit (step S103, or step S104：Y), into communication disruption processing routine.
Judgement is SPI communication interrupt flag bit, into the SPI communication interrupt handling routine in master control program, reads SPI
The data (step S105) of bus transfer, digital independent complete setting flag bit into default conditions, and the data now read are moulds
The conversion value of analog quantity sensor output data.
Judgement is UART2 communication disruption flag bits, into the UART2 communication interrupt programs in master control program, is read
The data (step S106) of UART2 bus transfers, flag bit is set after the completion of reading, and into default conditions, the data now read are
The character string of angle-data during comprising the multi-turn sensor rotation number of turns and less than a circle.
After the data for having received transmission, master control program sends the sensing data of storage to multichannel data
Processing module (step S107), handled for the module is further to the data of collection.
After the completion of data processing module processing, master control program sends the data after processing to multichannel data sending module
(step S109), used for the module group bag, group bag data is sent to the transmitter register in the serial port drive of master control program
In, it is sent to host computer.
The multichannel mixed signal acquisition system of the present invention for upper limb rehabilitation robot the full number of degrees of freedom, of upper limbs according to and
Hand pressure data are acquired, and can be used for the data acquisition of full analog quantity, can be used for analog quantity and data volume mixing
Data acquisition, collection signal includes kinematics signal and mechanical signal, and harvester is general device, by this hair
Bright multichannel mixed signal acquisition system really can reduce upper extremity exercise on host computer.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of multichannel mixed signal acquisition system, it is applied to upper limb rehabilitation robot, the upper limb rehabilitation robot tool
There are individual pen angular transducer, multi-turn angular transducer, pressure sensor；It is characterized in that：The multichannel mixed signal collection
System includes Multichannel data acquisition module, multi-data processing module, multi-channel data transmission module；
The Multichannel data acquisition module includes individual pen angular transducer numerical value collecting unit, pressure sensor numerical value collection list
Member, multi-turn angular transducer numerical value collecting unit；The individual pen angular transducer numerical value collecting unit reads the individual pen angle
The sampled value of sensor；The pressure sensor numerical value collecting unit reads the sampled value of the pressure sensor；The multi-turn
Angular transducer numerical value collecting unit reads the sampled value of the multi-turn angular transducer；
The multi-data processing module is converted into voltage value cell including collection value, magnitude of voltage is converted into angle value cell, electricity
Pressure value is converted into pressure value cell, string data resolution unit, multi-turn sensor values and is converted into actual joint angles value cell；
The collection value is converted into voltage value cell and is passed the individual pen angle by the individual pen angular transducer numerical value collecting unit
The sampled value of sensor is converted into magnitude of voltage one corresponding to sampled point reality, and it also passes through the pressure sensor numerical value collecting unit
The sampled value of the pressure sensor is converted into magnitude of voltage two corresponding to sampled point reality；The magnitude of voltage is converted into angle value
Unit is converted into magnitude of voltage one corresponding to the sampled point reality that is obtained in voltage value cell by using in the collection value, according to
Magnitude of voltage one corresponding to sampled point reality is converted into the upper limb healing machine by the inherent parameters of the individual pen angular transducer
The angle that the upper limb joint of people rotates；The magnitude of voltage is converted into pressure value cell and is converted into electricity by using in the collection value
Magnitude of voltage two corresponding to the sampled point reality that obtains in pressure value cell, according to the inherent parameters of the pressure sensor by sampled point
Magnitude of voltage two corresponding to reality is converted into the grip that the hand of the upper limb rehabilitation robot applies；The string data parsing
Unit by reading the sampled value of the multi-turn angular transducer obtained in the multi-turn angular transducer numerical value collecting unit,
The actual rotation number of turns data of the rotating shaft of more coil sensors are parsed according to the data protocol of the multi-turn angular transducer
With angle-data during a discontented circle；The multi-turn sensor values is converted into actual joint angles value cell and passes through the character string
Angle-data when the actual rotation number of turns data obtained in data resolution unit and a discontented circle, with the upper limb healing machine
The gear ratio of people combines, and is converted into the actual rotary position in actual samples moment joint；
The multi-channel data transmission module includes custom protocol group bag unit, data filling transmitting element, UART communication units；
The custom protocol group bag unit realizes the group bag of array；The data fill transmitting element by the multi-data processing mould
The respective sensor and its data obtained in block, it is placed on the coding and data bit of the data field of the custom protocol group bag unit
Put, and transfer to the UART communication units to send the frame data of corresponding data.
2. multichannel mixed signal acquisition system as claimed in claim 1, it is characterised in that：The custom protocol group Bao Dan
First data frame format according to frame head _ data length _ data field _ frame check _ postamble, carry out the group bag of array.
3. multichannel mixed signal acquisition system as claimed in claim 2, it is characterised in that：The data field is coding+number
According to data frame format.
4. multichannel mixed signal acquisition system as claimed in claim 1, it is characterised in that：The data fill transmitting element
The frame data of corresponding data are sent to the transmitter register of a serial ports, and the standard UART communication units deposit described send
The numerical value of device is sent by the serial ports.
5. multichannel mixed signal acquisition system as claimed in claim 4, it is characterised in that：The individual pen angular transducer number
It is worth collecting unit by SPI protocol, the sampled value of the individual pen angular transducer is read from A/D chip.
6. multichannel mixed signal acquisition system as claimed in claim 5, it is characterised in that：The pressure sensor numerical value is adopted
Collect unit by SPI protocol, the sampled value of the pressure sensor is read from A/D chip.
7. multichannel mixed signal acquisition system as claimed in claim 6, it is characterised in that：The multi-turn angular transducer number
It is worth collecting unit by UART protocol, reads the sampled value of the multi-turn angular transducer.
8. multichannel mixed signal acquisition system as claimed in claim 7, it is characterised in that：
Step S101, after system electrification, initialization section includes the initialization of communication interface, respectively by system initialization once
Module initialization and the initialization of register；
Step S102, after initialization is completed, system enters the scan round stage, until scanning into SPI or UART2 communications
Disconnected flag bit, into communication disruption processing routine；
Step S103, judge it is SPI communication interrupt flag bit, into the SPI communication interrupt handling routine in master control program, then
Step S105 is performed, reads the data of spi bus transmission, digital independent is completed to set flag bit now to read into default conditions
Data be analog sensor output data conversion value；
Step S104, judge it is UART2 communication disruption flag bits, into the UART2 communication interrupt programs in master control program, then
Step S106 is performed, reads the data of UART2 bus transfers, sets flag bit now to be read into default conditions after the completion of reading
Data be comprising the multi-turn sensor rotation number of turns and less than one circle when angle-data character string；
Step S107, after the data for having received transmission, master control program sends the sensing data of storage at most
Circuit-switched data processing module, handled for the multi-data processing module is further to the data of collection；
Step S109, after the completion of described multi-data processing resume module, master control program sends the data after processing to institute
Multi-channel data transmission module is stated, is used for the multi-channel data transmission module group bag；
Step S111, group bag data is sent into the transmitter register in the serial port drive of master control program, is sent to host computer.
9. multichannel mixed signal acquisition system as claimed in claim 8, it is characterised in that：After step S107, step is performed
Rapid S108, judges whether data processing is completed, and completes then to perform step S109, otherwise return to step S107.
10. multichannel mixed signal acquisition system as claimed in claim 8, it is characterised in that：After step S109, step is performed
Rapid S110, judges whether data are sent to register, is then to perform step S111, otherwise return to step S109.
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| TWI814654B (en) * | 2022-07-25 | 2023-09-01 | 大陸商蘇州磐聯集成電路科技股份有限公司 | Extension method of trigger packet |
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