Design And Implementation Of The Embedded Real-time Platform Based On ARM And RTAI

Open CNC system is the main development direction of the CNC system for thenext generation，and the embedded CNC system has brought a new solution for itsresearch. At present, the embedded CNC system is still in the research stage, and mostof the products are based on the "Embedded Microprocessor and Motion Controller"multi-nuclear structure. For example, Germany ECKELMANN’s E.ENC55is based onARM and DSP, and Guangzhou CNC’s Lathe CNC GSK980TD series is based on ARMand FPGA. The CNC system based on heterogeneous multi-core structure whichprocesses real-time tasks by the motion controller not only has strong real-timeperformance, but also has the problem of communication between multi-core processor.Under National Science and Technology Major Project, this dissertation presents aresearch plan on the underlying platform of the single core embedded CNC systembased on ARM with RTAI to guarantee its real-time performance. The system selectsS3C2440which is rich in peripheral resources as the hardware platform and choosesLinux which has a simple kernel and good portability as the basis of software platform.The principal researches of this dissertation are as follows: First, building across-compiler development environment and constructing an embedded Linux systembased on S3C2440. Then porting RTAI to the embedded Linux based on S3C2440toenhance its real-time performance, including analysing the IPIPE mechanism ofADEOS in detail to solve its network problem for S3C2440, in-depth studying therealization mechanisms and key technologies of RTAI to realize it on S3C2440, andtesting the performance of RTAI to verify that it can satisfy the real-time requirement ofthe system. Finally, designing and implementing a real-time performance test programfor Linux based on S3C2440to test the real-time performance of Linux, RTAI/Linux,and Xenomai/Linux and compare the different between them.The research of this dissertation not only has important practical significance to theresearch on the key technologies of the economical and open CNC system, but also hasguiding significance to the application of RTAI based on ARM processor.