Balanced Upright Trolley System Design And MQX CORTEX-M4 Based

MQX (Message Queue eXecutive) operating system is developed byPrecise Software Technologies. MQX OS adopts micro-kernel structure and hasthe standard modular architecture, API interface. It has excellent performance,such as real time, cutting or portability and so on.This paper studies the problems of MQX OS micro-kernel structure, byusing the start of the execution, task scheduling and device drivers as entry pointcuts, analyzes and designs the software architecture which is more suitable forMQX OS. Through researching the mechanism of task synchronization, thispaper writes the task programs which are based on messages, and then realizesthe task synchronization. Hierarchical design model for device drivers isproposed in this paper, and also the device drivers of PWM, A/D are designed.This paper also designs and constructs the hardware modules, including powersupply, the main control board and motor driver. At last, MQX OS istransplanted into the MK60N512controller which is based on CORTEX-M4asmicro-kernel, thus, the vertical balance car can walk smoothly and erectly.There are two innovation points as following:1) The hierarchical design model is proposed in this paper, which is basedon the device driver of transition layer, and then by writing the relevant devicedrivers, MQX OS can access the hardware devices.2) MQX OS is applied to the car systems, thus the car systems not onlymake the car walk erectly, but also control the car speed and direction.CORTEX-M4and MQX OS are adapted to the vertical balance car systems,facts prove that this system has more stabile and higher real-time responseability. This paper completes the research of MQX OS applied to verticalbalance system, which has the enlightening guidance on the MQX OS applied tothe field of embedded control.