The Development And Appication Of Embedded Rotation Angle Collection Based On Arm-linux

Embedded systems have been applied to the PAD handheld devices, industrialcontrol, instrumentation, and other areas.In the field of data acquisition instrumentation,embedded Linux systems is tended to be used, the main purpose of this paper is to studythe embedded linux system design and then design a portable collection angle of rotationdevice, and then combined with the device embedded linux system stability and analyzereal-time, to provide a reference for embedded linux application in the field ofinstrumentation.The main contents and innovations:(1) Chooseing TQ2440platform which is designed by the company called EmbedskyTech as Embedded hardware system.Using the u-boot to boot the kernel program,Choosing the2.6.22version of the Linux kernel, using the command of ‘makemenuconfig’ to crop the kernel and making it support the basic function such as NandFlash drives, jffs2file system, the ELF format application, a serial port driver, U disk ofFAT partition, TCP/IP protocol stack and so on, using the tool of busybox to make the filesystem.(2) The system using the I2C bus to communicate with the MPU-6050sensor,analyzing the Linux I2C subsystem and succeeding in writing the driver for S3C2440andMPU6050chip.(3) Using MPU6050sensor to collect angle, using kalman filter technology to makethe acceleration sensor and gyro sensor data fusion and to get accurate and reliable data,and then analyzing the data to choose the appropriate parameters, and the calibration datamechanism makes the data more stable.(4) In the interface program design, making full use of the compatibility of the Qtdesktop and Linux system, adopting the Qt creator which is integrated developmentenvironment and using the method of object-oriented program to complete the functionssuch as user login and management,status display, angle calibration and so on. The research results show that the system can accurately get360degrees of rotationvalues, and be able to work reliable and stable, and providing a beneficial reference fordesigning the embedded system. Finally combining with the characteristics of three degreeof freedom parallel robot working and analyzing the structure of the three freedom parallelrobot and the reference coordinate system is established, under the coordinate systemkinematic model is established for forward and inverse Kinematics analysis of three degreeof freedom parallel robot. Using the embedded Angle sampling system to sample rotationAngle of the three swinging rod of the three degrees of freedom parallel robot,the data issaved to U disk. Using matlab software to read the data file and analyzing the datacollected, successfully depicting the moving platform motion in three-dimensional space.The embedded angle acquisition system has been successfully applied in three degrees offreedom parallel robot, laying the foundation for the running track studies.