Development Of Acoustic Communication System On Underwater Robot Under VxWorks

The project of acoustic communication system of underwater intellective Robot based on VxWorks is implemented that bank send out command to Robot throughout communication system and receive data information of Robot's situation and rotation. The system is based on PC104 platform and used embedded system structure designing, and implemented data collection, transfer and deal with under embedded real-time operating system VxWorks. The thesis is mainly complete the software designed and development of acoustic communication system under VxWorks.The researching of thesis mainly includes three parts. The first is the replanting work of spread spectrum communication arithmetic and FSK arithmetic on VxWorks. The driver development program of sound blaster used in collecting and send out audio data is the key part, whether or not collect and send out the exact data and reliable of data related to system's successful. The third part is serial driver program use in data transfer between Robot system and communication system.All these work needs to know well about VxWorks. And we can through the real-time character and muti-tasks scheduler of VxWorks to understand these functions. It completed acoustic communication system's control independent, real-time collect and send out audio data and disposal.The text researched the design of Audio device driver program on VxWorks, and gave the detail steps of how to program the different modules. And through do these work can achieve the reliable of communication system.This thesis still relatively detailed the characteristic and function of VxWorks and Tornado. And introduce the characteristic of embedded software development, knowledge of configuration and initialization of VxWorks.