CN107608279A - A kind of real-time controller of the damascene structures based on ARM - Google Patents
A kind of real-time controller of the damascene structures based on ARM Download PDFInfo
- Publication number
- CN107608279A CN107608279A CN201711036708.2A CN201711036708A CN107608279A CN 107608279 A CN107608279 A CN 107608279A CN 201711036708 A CN201711036708 A CN 201711036708A CN 107608279 A CN107608279 A CN 107608279A
- Authority
- CN
- China
- Prior art keywords
- real
- signal
- stm32
- interfaces
- fgpa
- 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
Links
Abstract
The present invention relates to a kind of real-time controller of the damascene structures based on ARM, the real-time controller includes：Field programmable gate array module FGPA, code device signal processing module, microcontroller STM32, signal processing module, FSMC interfaces；The differential signal that encoder exports is converted into single-ended signal, and the single-ended signal is conveyed to FGPA；Single-ended signal is handled again, and will be exported by FSMC interfaces to signal processing module；Then the single-ended signal after processing is exported to external equipment again, and receives the input signal of external equipment, and input signal is transmitted to FGPA or microcontroller STM32 by FSMC interfaces.Pass through the real-time controller of the present invention, connected between microcontroller STM32 and FPGA by parallel port FSMC, communication therebetween is realized, completes closed loop control algorithm inside microcontroller STM32 in addition so that the structure of real-time controller is simpler, use cost is lower, versatility is stronger.
Description
Technical field
The invention belongs to embedded controller field, more particularly to a kind of real-time control of the damascene structures based on ARM
Device.
Background technology
Movement control technology is the key technology for promoting new technological revolution and new Industrial Revolution.Movement control technology energy
Enough fast developments have two big main causes：One is have benefited from computer, high speed numerical processor, automatically control, the hair of network technology
Exhibition；The second is there is huge market demand.In recent years, with continuous progressive and perfect, the motion controller of movement control technology
The industrial automatic control class product independent as one, is received, and it has reached by increasing industrial field
The market scale noticeable to one.At present, motion controller is broadly divided into following 3 major class from structure：Based on computer
Motion controller, Soft types open-type motion, the motion controller of damascene structures of STD bus.
The new trend that can be described as developing now based on damascene structures motion controller.ARM has powerful computing work(
Can, more and more extensive application has been obtained in SERVO CONTROL.Motion controller based on ARM, it is possible to achieve complicated control
Algorithm, and the turntable of system is can guarantee that, integrated level is high, while can also improve design efficiency.But the problem of presently, there are
Be various Embedded Motions specificity it is stronger, hardly have a general controller, for turntable controller
The shortcomings that present majority is realized with industrial computer, and its is main is exactly that volume is big, and the space of occupancy is big, and cost is also higher,
But but done based on Embedded controller it is fewer, also in immature state.
The content of the invention
The technical problems to be solved by the invention are：Majority is realized with industrial computer to existing turntable controller now
, the shortcomings that its is main is exactly that volume is big, and the space of occupancy is big, and cost is also higher, and based on Embedded controller but
Also in immature state.
To solve technical problem above, the invention provides a kind of real-time controller of the damascene structures based on ARM,
The real-time controller includes：Field programmable gate array module FGPA, code device signal processing module, microcontroller STM32, letter
Number processing module, FSMC interfaces；
The code device signal processing module, the differential signal for encoder to be exported are converted to single-ended signal, and will
The single-ended signal is conveyed to the FGPA；
The FGPA, for handling the single-ended signal, and the single-ended signal after processing passed through described
FSMC interfaces are exported to the signal processing module；
The signal processing module, for the single-ended signal after processing to be exported to external equipment, and described in reception
The input signal of external equipment, and the input signal is transmitted to the FGPA or the micro-control by the FSMC interfaces
Device STM32 processed；
Connected between the FGPA and the microcontroller STM32 by the FSMC interfaces, for carrying out between each other
Data exchange.
Beneficial effects of the present invention：By above-mentioned real-time controller, by simultaneously between microcontroller STM32 and FPGA
Mouth FSMC connections, realize communication therebetween, complete closed loop control algorithm, controlled quentity controlled variable inside microcontroller STM32 in addition
D/A module is passed to by FPGA, most controlled quentity controlled variable passes to driver at last, while driver passes through the motion state of motor
FPGA feeds back to microcontroller STM32, is finally completed closed-loop control, so that the structure of real-time controller is simpler, uses
Cost is lower, versatility is stronger, and control algolithm is completed using STM32 32 bit timing devices, and timing accuracy is high, can be accurate
Realize controlling cycle.
Further, the microcontroller STM32 also connects Raspberry Pi by RJ45 interfaces, defeated to receive the Raspberry Pi
The control instruction or control signal entered, wherein the RJ45 interfaces are built in inside the real-time controller.
Above-mentioned further beneficial effect：Non real-time control uses Raspberry Pi, can both be used in the primary stage of exploitation
Mouse-keyboard is convenient to be debugged, and, using by the way of touching and outside interactive information, can reduce system after being molded in scheme again
Volume.
Further, the microcontroller STM32 is also connected by the FSMC interfaces with LCD liquid crystal displays, is used for
The control instruction of reception is included on the LCD liquid crystal displays.
Above-mentioned further beneficial effect：Using LCD LCD MODULEs, it is connected on STM32 FSMC interfaces, ensures to adjust
The convenience of examination and the real-time display of data.
Further, the FGPA is handled by DS26LS32 chips or DS26LS31 chips with the code device signal
Module connects.
Further, the signal processing module includes：D/A modules and I/O modules；The D/A modules and the I/O moulds
Block is connected by the FSMC interfaces with the FGPA or described microcontrollers STM32 respectively.
Above-mentioned further beneficial effect：Using the superior Digital Logic disposal abilities of FPGA, realize to code device signal
Collection；And IO moulds are fast and D/A module is also connected on FPGA, and STM32 is by FSMC address wire and data wire in FPGA
Module realize the read-writes of data.
Further, the microcontroller STM32 is also connected by the FSMC interfaces with external SRAM.
Above-mentioned further beneficial effect：The real-time preservation to data is realized, utilizes STM32 FSMC Interface Expandings
One piece of external SRAM chip I S62WV51216, the data of 1M bytes can be stored, can be by data while program is run
It is stored in external SRAM, then disposably returns to data when data are needed.
Further, the inside of the microcontroller STM32 is using LWIP agreements.
Further, the I/O modules include：At least two photoelectric isolating circuit, wherein at least two Phototube Coupling
Circuit is in parallel between each other.
Further, the microcontroller STM32 is also connected by RMII interfaces with PHY chip, wherein the RMII connects
Mouth is built in inside the real-time controller.
Above-mentioned further beneficial effect：The mac controller that network communication is carried using STM32, the upper PHY cores of outside configuration
Piece LAN8720A, connected by RMII interfaces therebetween, greatly reduce the use to STM32 ports.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the real-time controller of damascene structures based on ARM of embodiment 1；
Fig. 2 is the structural representation of another real-time controller of embodiment 2；
Fig. 3 is the structural representation of another real-time controller of embodiment 3；
Fig. 4 is the structural representation of another real-time controller of embodiment 4；
Fig. 5 is the structural representation of another real-time controller of embodiment 5；
Fig. 6 is the structural representation of another real-time controller of embodiment 6；
Fig. 7 is the structural representation of another real-time controller of embodiment 7.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, the present embodiment 1 provides a kind of real-time controller of the damascene structures based on ARM, this is real-time
Controller includes：Field programmable gate array module FGPA, code device signal processing module, microcontroller STM32, signal transacting
Module, FSMC interfaces；
The code device signal processing module, the differential signal for encoder to be exported are converted to single-ended signal, and will
The single-ended signal is conveyed to the FGPA；
The FGPA, for handling the single-ended signal, and the single-ended signal after processing passed through described
FSMC interfaces are exported to the signal processing module；
The signal processing module, for the single-ended signal after processing to be exported to external equipment, and described in reception
The input signal of external equipment, and the input signal is transmitted to the FGPA or the micro-control by the FSMC interfaces
Device STM32 processed；
Connected between the FGPA and the microcontroller STM32 by the FSMC interfaces, for carrying out between each other
Data exchange.
It should be noted that as shown in figure 1, it is to receive the difference that code device signal processing module exports in the present embodiment 1
Sub-signal is converted to single-ended signal, and the single-ended signal is conveyed into the FGPA, wherein code device signal processing module
It is the signal for the current signal or other equipment input for receiving external motor, exports to FGPA, supply after these signals are changed
Encoder signal processing circuit in FPGA is handled, while FPGA is connected with STM32 by FSMC interfaces, realize mutually it
Between data exchange.Consider to need outwards to receive other signals in addition, so according to actual functional capability demand and scalability,
I/O interface and DA interfaces are added, such FPGA and STM32 transmits data by FSMC interfaces can and enters signal transacting
In module, I/O interface and DA interfaces are passed through in signal processing module, exports the data message of different demands respectively, is so improved
System rejection to disturbance, and herein D/A modules are mainly that the digital control amount that STM32 is exported is converted into -10V extremely by interface
The analog voltage signal output of+10V scopes, the control signal as motor driver.
By the real-time controller of embodiment 1, connected between microcontroller STM32 and FPGA by parallel port FSMC, it is real
Now communication therebetween, completes closed loop control algorithm inside microcontroller STM32 in addition, and controlled quentity controlled variable is passed to by FPGA
D/A module, most controlled quentity controlled variable passes to driver at last, while the motion state of motor is fed back to micro-control by driver by FPGA
Device STM32 processed, is finally completed closed-loop control, so that the structure of real-time controller is simpler, use cost is lower, versatility
It is stronger, and control algolithm is completed using STM32 32 bit timing devices, timing accuracy is high, can accurately realize controlling cycle.
Alternatively, the microcontroller STM32 described in another embodiment 2 also connects Raspberry Pi by RJ45 interfaces, to connect
The control instruction or control signal of the Raspberry Pi input are received, wherein the RJ45 interfaces are to be built in the real-time controller
Internal.
It should be noted that as shown in Fig. 2 the present embodiment 2 is the improvement carried out on the basis of embodiment 1, by
Setting RJ45 interfaces inside real-time controller, such microcontroller STM32 also connect Raspberry Pi by RJ45 interfaces, to receive
The control instruction or control signal of Raspberry Pi input.
Alternatively, microcontroller STM32 also passes through the FSMC interfaces and LCD liquid crystals described in another embodiment 3
Show that device connects, for the control instruction of reception to be included in the LCD liquid crystal displays.
It should be noted that as shown in figure 3, the present embodiment 3 is the improvement carried out on the basis of above-described embodiment 2,
The outside of real-time controller has been also connected with LCD liquid crystal displays, and mainly microcontroller STM32 also passes through FSMC interfaces and LCD
Liquid crystal display connects, and thus includes the control instruction of reception on the LCD liquid crystal displays.Work as microcontroller
STM32 receives the instruction that host computer transmits, in order to prompt correctly to be instructed, the number that will can obtain when debugging
According to being shown on LCD liquid crystal displays, so as to verify communicate therebetween it is normal；The state of motor operation can also be shown simultaneously
Show on LCD liquid crystal displays.In addition, after correctly being instructed from LCD liquid crystal displays, next need what is done
Exactly need to complete control algolithm in STM32, and control algolithm needs angle information, this just needs to obtain from FPGA,
It is attached between STM32 and FPGA by FSMC interfaces, the two carries out the selection sum of module by address wire and data wire
According to exchange.After controller obtains correct angle information, control algolithm just is completed in timer interruption handles function, most
The output of controlled quentity controlled variable is obtained eventually.
Alternatively, the FGPA described in another embodiment 4 by DS26LS32 chips or DS26LS31 chips with it is described
Code device signal processing module connects.
It should be noted that as shown in figure 4, the present embodiment 4 is in above-described embodiment 1, embodiment 2 or embodiment 3
On the basis of further improve, define that the FGPA passes through DS26LS32 or DS26LS31 and the code device signal processing module and connected
Connect.Thus it inside the information gathering of the code device signal processing module to FPGA, will can carry out carrying out in FPGA inside
The processing of logic and the extraction of angle information, and carry out CRC check, the correct angle information of final output.
Alternatively, signal processing module includes described in another embodiment 5：D/A modules and I/O modules；The D/A moulds
Block and the I/O modules are connected by the FSMC interfaces with the FGPA or described microcontrollers STM32 respectively.
It should be noted that as shown in figure 5, the present embodiment 5 is in above-described embodiment 1, embodiment 2 or embodiment 3
The further improvement carried out, illustrates to include D/A modules and I/O modules in signal processing module, and D/A modules and I/O moulds
Block is connected by FSMC interfaces with FGPA or microcontroller STM32 respectively, can thus be finally given microcontroller STM32
Controlled quentity controlled variable need to be transmitted to FPGA by FSMC interfaces, obtained controlled quentity controlled variable is transmitted to D/A module by FPGA, and DA converts digital quantity
Into analog quantity, the controlled quentity controlled variable most obtained at last is worn to driver.Alternatively, it is also possible to pass data message to microcontroller from FPGA
STM32, such as：Transmission I/O state specifically has driver running state information；Microcontroller STM32 is transmitted to FPGA's simultaneously
What IO information can also be spread out of by I/O port, such as：Servo ON information and other control information.
Alternatively, the microcontroller STM32 described in another embodiment 6 is also connected by the FSMC interfaces and external SRAM
Connect.
It should be noted that as shown in fig. 6, the present embodiment 6 is in above-described embodiment 1, embodiment 2 or embodiment 3
The further improvement carried out, external SRAM are connected on STM32 by FSMC interfaces.And what external SRAM chip was selected is
IS62WV51216, there is the amount of storage of 1M bytes, so greatly expand STM32 internal memory, to meet the need to big internally stored program
Will；The data that operation obtains can be stored temporarily in simultaneously in SRAM, again by the data one in SRAM when data are needed
Secondary property is transmitted to host computer, and preserves into M files so that and it can easily be drawn using matlab and take type curve, it is convenient to adjust
Examination.
Alternatively, the microcontroller STM32 inside described in another embodiment 7 is using LWIP agreements.
It should be noted that the present embodiment 7 be carried out in above-described embodiment 1, embodiment 2 or embodiment 3 enter one
Step explanation, the data that host computer transmits come into STM32 by network interface, and data are solved using LWIP agreements inside STM32
Analysis, obtains the instruction that host computer transmits.
Alternatively, I/O modules include described in another embodiment 8：At least two photoelectric isolating circuit, wherein it is described extremely
Few 2 photoelectric isolating circuits are in parallel between each other.
It should be noted that the present embodiment 8 be carried out in above-described embodiment 1, embodiment 2 or embodiment 3 enter one
Step explanation.
Alternatively, microcontroller STM32 is also connected by RMII interfaces with PHY chip described in another embodiment 9, its
Described in RMII interfaces be built in inside the real-time controller.
It should be noted that as shown in fig. 7, the present embodiment 9 is in above-described embodiment 1, embodiment 2 or embodiment 3
The further explanation of progress, STM32 chips carry ethernet mac layer controller in the present embodiment 9, to realize that communication also needs
Outside PHY chip is extended, we are picked by RMII with STM32 and are connected using LAN8720A as PHY chip herein,
Connecting interface is reduced, while STM32 can be configured by SMI interfaces to it.
In this manual, identical embodiment or example are necessarily directed to the schematic representation of above-mentioned term.
Moreover, specific features, structure, material or the feature of description can be in any one or more embodiments or example with suitable
Mode combines.In addition, in the case of not conflicting, those skilled in the art can be by the difference described in this specification
Embodiment or example and the feature of different embodiments or example are combined and combined.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (9)
1. a kind of real-time controller of the damascene structures based on ARM, it is characterised in that the real-time controller includes：Scene can
Program Gate Array module FGPA, code device signal processing module, microcontroller STM32, signal processing module, FSMC interfaces；
The code device signal processing module, the differential signal for encoder to be exported are converted to single-ended signal, and by described in
Single-ended signal is conveyed to the FGPA；
The FGPA, pass through the FSMC for handling the single-ended signal, and by the single-ended signal after processing
Interface is exported to the signal processing module；
The signal processing module, for the single-ended signal after processing to be exported to external equipment, and receive the outside
The input signal of equipment, and the input signal is transmitted to the FGPA or the microcontroller by the FSMC interfaces
STM32；
Connected between the FGPA and the microcontroller STM32 by the FSMC interfaces, for carrying out mutual number
According to exchange.
2. real-time controller according to claim 1, it is characterised in that the microcontroller STM32 is also connect by RJ45
Mouth connection Raspberry Pi, to receive the control instruction or control signal of the Raspberry Pi input, wherein the RJ45 interfaces are interior
Put inside the real-time controller.
3. real-time controller according to claim 2, it is characterised in that the microcontroller STM32 is also by described
FSMC interfaces are connected with LCD liquid crystal displays, for the control instruction of reception to be included in the LCD liquid crystal displays
On.
4. according to any described real-time controllers of claim 1-3, it is characterised in that the FGPA passes through DS26LS32 chips
Or DS26LS31 chips are connected with the code device signal processing module.
5. according to any described real-time controllers of claim 1-3, it is characterised in that the signal processing module includes：D/A
Module and I/O modules；The D/A modules and the I/O modules are micro- by the FSMC interfaces and the FGPA or described respectively
Controller STM32 connections.
6. according to any described real-time controllers of claim 1-3, it is characterised in that the microcontroller STM32 also passes through
The FSMC interfaces are connected with external SRAM.
7. according to any described real-time controllers of claim 1-3, it is characterised in that the inside of the microcontroller STM32
Using LW IP agreements.
8. according to any described real-time controllers of claim 1-3, it is characterised in that the I/O modules include：At least two
Photoelectric isolating circuit, wherein at least two photoelectric isolating circuit is in parallel between each other.
9. according to any described real-time controllers of claim 1-3, it is characterised in that the microcontroller STM32 also passes through
RM II interfaces are connected with PHY chip, wherein the RM II interfaces are built in inside the real-time controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711036708.2A CN107608279A (en) | 2017-10-30 | 2017-10-30 | A kind of real-time controller of the damascene structures based on ARM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711036708.2A CN107608279A (en) | 2017-10-30 | 2017-10-30 | A kind of real-time controller of the damascene structures based on ARM |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107608279A true CN107608279A (en) | 2018-01-19 |
Family
ID=61084107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711036708.2A Pending CN107608279A (en) | 2017-10-30 | 2017-10-30 | A kind of real-time controller of the damascene structures based on ARM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107608279A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111708330A (en) * | 2020-06-10 | 2020-09-25 | 杭州凯尔达机器人科技股份有限公司 | Robot data transmission system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204832853U (en) * | 2015-06-24 | 2015-12-02 | 周茂林 | Many interfaces motion control ware |
| CN205068053U (en) * | 2015-09-23 | 2016-03-02 | 东莞市海川数控技术有限公司 | Four -axis motion controller |
| CN205507504U (en) * | 2016-03-21 | 2016-08-24 | 佛山智昂科技有限公司 | Eight motion control wares |
| CN205507451U (en) * | 2016-03-24 | 2016-08-24 | 佛山智昂科技有限公司 | Desktop type motion control ware based on ARM+FPGA |
| CN206002902U (en) * | 2016-08-30 | 2017-03-08 | 成都福誉科技有限公司 | A kind of motion controller |
-
2017
- 2017-10-30 CN CN201711036708.2A patent/CN107608279A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204832853U (en) * | 2015-06-24 | 2015-12-02 | 周茂林 | Many interfaces motion control ware |
| CN205068053U (en) * | 2015-09-23 | 2016-03-02 | 东莞市海川数控技术有限公司 | Four -axis motion controller |
| CN205507504U (en) * | 2016-03-21 | 2016-08-24 | 佛山智昂科技有限公司 | Eight motion control wares |
| CN205507451U (en) * | 2016-03-24 | 2016-08-24 | 佛山智昂科技有限公司 | Desktop type motion control ware based on ARM+FPGA |
| CN206002902U (en) * | 2016-08-30 | 2017-03-08 | 成都福誉科技有限公司 | A kind of motion controller |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111708330A (en) * | 2020-06-10 | 2020-09-25 | 杭州凯尔达机器人科技股份有限公司 | Robot data transmission system |
| CN111708330B (en) * | 2020-06-10 | 2022-02-18 | 杭州凯尔达机器人科技股份有限公司 | Robot data transmission system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202870808U (en) | FPGA realization device of SPI serial port module | |
| CN107167174B (en) | Distributed type minisize data collecting system | |
| CN207264377U (en) | Programmable I2C multiple selector and interchanger | |
| CN206075271U (en) | A kind of protocol converter for supporting various serial protocols | |
| CN104636301B (en) | A kind of extensive PLC High speed rear panels bus system based on PCI E interfaces | |
| CN103777529A (en) | Fast varying signal collector | |
| CN203812236U (en) | Data exchange system based on processor and field programmable gate array | |
| CN103955190B (en) | A kind of network control method for distributed intelligence test system | |
| CN104699654A (en) | Interconnection adapting system and method based on CHI on-chip interaction bus and QPI inter-chip interaction bus | |
| CN107908587A (en) | Real-time data acquisition transmitting device based on USB3.0 | |
| CN204423250U (en) | A kind of X86 embedded type CPU mainboard with multipath high-speed intelligent CAN | |
| CN103901814A (en) | Multi-shaft motion numerical control system | |
| CN107436851A (en) | The line shielding system of Serial Peripheral Interface (SPI) four and its control method | |
| CN107608279A (en) | A kind of real-time controller of the damascene structures based on ARM | |
| CN104461971A (en) | Data collecting control system and method | |
| CN106873513A (en) | A kind of PLC system and its principal and subordinate link structure | |
| CN104898775A (en) | Calculation apparatus, storage device, network switching device and computer system architecture | |
| CN201754277U (en) | Data exchange processing device based on PCI-E | |
| CN205721225U (en) | A kind of electric power data acquisition and communication system | |
| CN105955205A (en) | Motion simulator embedded real-time control system | |
| CN103150952B (en) | Reconfigurable electronic design automation (EDA) experimental platform | |
| CN205081867U (en) | Video acquisition circuit based on CPLD disposes multi -disc video decoder | |
| CN107508737A (en) | Radio communication device and its communication means based on EtherCAT | |
| CN210129113U (en) | EtherCAT control structure with main line control and independent control | |
| CN103744817B (en) | For Avalon bus to the communication Bridge equipment of Crossbar bus and communication conversion method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180119 |