The Development Of Embedded Multi-Axis Controller Based On ARM And μC/OS-Ⅱ

Motion control technology has been widely used in industrial control. PC-based controller is a main developing trend in NC. This paper proposes an architecture composed of the PC platform and ARM microprocessor multi-axis motion controller. Devolpment USB host mode of controller the PC and multi-axis controller are indirection communication via Uiversal Serial Bus(USB). Being multitask schedule and resource management, the software is based on μC/OS- II real-time embedded operation system.After introducing the background and meaning of the project, the paper explains the concepts of motion controller and expounds its technical features, applications, development and design diversities.In order to chosse an appropriate processor for multi-axis controller from various microprodessors, ARM has been introduced. And finally it is decided to adopt the LPC2212 of Philips as the main controller CPU.Then a hardware frame of the designed embedded multi-axis controller is studied, and a design process is specified through function charts and feature description.Based on schematic circuit diagrams and debugging on the test board, the hardware system development is introduced in detail: Clock, Reset, SRAM, Flash, human-interface such as LCD and Keyboard, the circuit design of digital IN/OUT and motor control circuit, CPLD technology is introduced into this system to simplify the hardware and ensures the safety of the system. A simple intrudution is depicted about the function, selection and application design of CPLD.Based on some real-time embedded operation system compared, μC/OS- II is finally adopted as system RTOS. The paper introduces and analyses task management, interrupt management and communication among tasks of μ C/OS-II ,then each module of multi-axis controller is programmed.Considering hardware, the quick algorithm of DDA is introduced in order to implement track of motion . The merit and realization of the quick algorithm of DDA is introduced in detail in this paper.At last, based on hardware and software trait of USB, we decide to choose USB 1.1 bases as communication interface in order to implement communication between PC and multi-axis motion controller. According to demand of embeddedUSB host mode, we choose SL811HS which is embedded USB host/slave controller chip. The schematic circuit diagrams have been designed between the LPC2212 and SL811HS. The frame of USB host system software have also been designed.