Research On The Embedded Motion Controller Based On OMAP-L138

With the rapid development of embedded technology, and the extensive application of high-performance and low-power processors in industry, a new technology——Embedded motion control technology emerges. This technology means to apply embedded systems technology into motion control technology, and with the advantage of cost-effectiveness, high stability and running independent from the PC, it has been developed rapidly and applied widely. In order to provide a solution for the development of general-purpose embedded motion controller, the embedded motion controller based on OMAP platform is studyed in this paper.Firstly, the domestic and international present researches of motion controller are analyzed in this paper, and the advantages of the embedded motion controller are illustrated by contrast. The dual-core OMAP-L138processor of TI Corporation is choosed as master chip, and the functional modules are constucted as the minimum system of embedded motion controller according to actual needs. Processor ARM926EJ-S is mainly responsible for system management functions, such as task scheduling, file management and interface display etc. Processor TMS320C674x is mainly in charge of data receiving, data types judgment and classification, speed control and interpolation operation according to motion command. In addition, it can output speed and position to control the servo drive system. On this account, embedded motion control platform can be builded in compact structure, high openness and high reliability.The overall framework of the embedded motion control system hardware platform, the dual-core OMAP-L138processor, as well as peripheral function modules are introduced deeply in this paper. The software design is mainly divided into three modules. One is compilering and transplanting the Linux——embedded operating system, and transplanting U-Boot in ARM core, as well as creating Linux file system. The other one is designing the software of DSP motion control which consists of the initialization of the system module, the reception and classification processing of data module, the velocity planning, and the interpolation operation module. The three, dual-core communication protocols and communication program are developed. Finally, this paper has completed a test and analysis on embedded motion control platform based on OMAP, and gives the improvement program.Through the above work, this paper has finished some researches on the correlative technologies. This is better able to meet the requirements of the embedded motion controller for real-time, control precision and power, due to the dual-CPU architecture and on-chip memory to share data are adopted in this controller. The embedded motion control platform still needs the further development of follow-up work to become perfect.