基于嵌入式Linux技术的CAN/Ethernet网关设计
摘要
Internet正在把全世界的办公系统和通信系统连接起来,这为现场信息的远程访问提供了可能;现场总线为现场设备接入Internet提供了基础。Ethernet(以太网)是最广泛的局域网技术,非常容易集成到以Internet为代表的信息网络中。将现场总线与以太网相结合构成两层工业网络控制系统,已经成为当前国内外流行的工业控制模式。
嵌入式技术已经是一门涉及计算机体系结构、计算机软件以及其他相关电子技术的综合技术。随着信息与网络技术的发展,嵌入式系统渗透到各个领域,得到了广泛的应用。嵌入式Linux因为免费、开放源代码以及强大的网络功能受到了越来越多的重视。CAN(Control Area Net)总线作为一种优秀的现场总线,在我国得到大面积的推广和使用。因此,本文探讨了互连CAN总线协议和Ethernet协议的方法。
本文根据研究需要,以32位ARM7系列LPC2292微处理器为核心,设计了CAN/Ethernet网关系统的总体结构,搭建了采用嵌入式Linux技术所需要的开发环境。主要的工作内容如下:选择合适的软硬件开发环境,完成嵌入式uClinux操作系统的硬件平台移植;设计了基于ARM7的CAN总线节点,编写基于嵌入式uClinux操作系统的底层CAN总线控制器的硬件驱动程序;实现PC机与ARM7处理器之间的以太网通信;进行两种总线协议的数据交换分析;最后,配合网关的实验测试设计了嵌入式webserver。
本文所设计开发的CAN/Ethernet网关经过了实验测试,结果表明具备较好的易用性、稳定性,完全实现了通过以太网进行CAN总线网络信息收发的功能;并且由于嵌入式uClinux操作系统的移植,为网关完成复杂的协议转换提供了实时内核,实现了局域网内主机对CAN节点的实时访问。此网关的研究与应用为现场总线和以太网的结合提供了较好的思路,为现场总线的继续发展和以太网向工业设备底层的延伸找到了最好的结合点。
The Internet connects the office systems worldwidely with the communication systems and that makes it possible for the remote access to bottom information. At the same time,the field bus provides a foundation for the field devices to connect to the Internet directly. Ethernet is the most extensive LAN technology and easily connected to information network..The two-floor industry network control system which connects field and Ethernet,has been the prevalent mode of industry control system in home and abroad.
Embedded technology has been a compositive technology which integrates computer configuration,computer sofeware and other technology relating to electronics.With the development of information and network technology,the embedded system is applied widely in all kinds of fileds.And in the field of embedded operation system,more people have focused their attention on Embedded Linnux because of its free,source code opening and strong network function,etc.As an outstanding field bus,CAN(Control Area Net)bus get more popularization and application in our country.So,the interconnection between CAN bus protocol and Ethernet protocol is discussed in this paper.
The configuration of CAN/Ethernet gateway based on embedded Linux technology on the core of high-speed ARM7 processor LPC2292 is designed,and the exploitation environment is also founded in this paper,according to the purpose of the study. The main contents are as follows:
The exploitation environment including hardware and software is choised,and the embedded uClinux operation system is explanted to the hareware platform.The CAN field bus node based on ARM7 is designed,and the bottom device CAN controller’s driver based on embedded uClinux operation system is also programmed.At the same time,the communication between PC and ARM7 processor is carried out,as well as the data exchange between the above two protocols.At last,an embedded webserver is also completed for the gateway experiment test.
The CAN/Ethernet gateway has already implemented its functions of data receiving and sending for CAN bus network through Ethernet,and its stability and usability are satistifed in the laboratory test.Above all,because of the explantation of uClinux operation system,the RTOS(Real Time Operation System) provides a good software development environment for users.The study of the gateway gives a better method for combination of fieldbus and Ethernet,and brings continued development of fieldbus and Ethernet extend through to industry control fields together in the future.
嵌入式技术已经是一门涉及计算机体系结构、计算机软件以及其他相关电子技术的综合技术。随着信息与网络技术的发展,嵌入式系统渗透到各个领域,得到了广泛的应用。嵌入式Linux因为免费、开放源代码以及强大的网络功能受到了越来越多的重视。CAN(Control Area Net)总线作为一种优秀的现场总线,在我国得到大面积的推广和使用。因此,本文探讨了互连CAN总线协议和Ethernet协议的方法。
本文根据研究需要,以32位ARM7系列LPC2292微处理器为核心,设计了CAN/Ethernet网关系统的总体结构,搭建了采用嵌入式Linux技术所需要的开发环境。主要的工作内容如下:选择合适的软硬件开发环境,完成嵌入式uClinux操作系统的硬件平台移植;设计了基于ARM7的CAN总线节点,编写基于嵌入式uClinux操作系统的底层CAN总线控制器的硬件驱动程序;实现PC机与ARM7处理器之间的以太网通信;进行两种总线协议的数据交换分析;最后,配合网关的实验测试设计了嵌入式webserver。
本文所设计开发的CAN/Ethernet网关经过了实验测试,结果表明具备较好的易用性、稳定性,完全实现了通过以太网进行CAN总线网络信息收发的功能;并且由于嵌入式uClinux操作系统的移植,为网关完成复杂的协议转换提供了实时内核,实现了局域网内主机对CAN节点的实时访问。此网关的研究与应用为现场总线和以太网的结合提供了较好的思路,为现场总线的继续发展和以太网向工业设备底层的延伸找到了最好的结合点。
The Internet connects the office systems worldwidely with the communication systems and that makes it possible for the remote access to bottom information. At the same time,the field bus provides a foundation for the field devices to connect to the Internet directly. Ethernet is the most extensive LAN technology and easily connected to information network..The two-floor industry network control system which connects field and Ethernet,has been the prevalent mode of industry control system in home and abroad.
Embedded technology has been a compositive technology which integrates computer configuration,computer sofeware and other technology relating to electronics.With the development of information and network technology,the embedded system is applied widely in all kinds of fileds.And in the field of embedded operation system,more people have focused their attention on Embedded Linnux because of its free,source code opening and strong network function,etc.As an outstanding field bus,CAN(Control Area Net)bus get more popularization and application in our country.So,the interconnection between CAN bus protocol and Ethernet protocol is discussed in this paper.
The configuration of CAN/Ethernet gateway based on embedded Linux technology on the core of high-speed ARM7 processor LPC2292 is designed,and the exploitation environment is also founded in this paper,according to the purpose of the study. The main contents are as follows:
The exploitation environment including hardware and software is choised,and the embedded uClinux operation system is explanted to the hareware platform.The CAN field bus node based on ARM7 is designed,and the bottom device CAN controller’s driver based on embedded uClinux operation system is also programmed.At the same time,the communication between PC and ARM7 processor is carried out,as well as the data exchange between the above two protocols.At last,an embedded webserver is also completed for the gateway experiment test.
The CAN/Ethernet gateway has already implemented its functions of data receiving and sending for CAN bus network through Ethernet,and its stability and usability are satistifed in the laboratory test.Above all,because of the explantation of uClinux operation system,the RTOS(Real Time Operation System) provides a good software development environment for users.The study of the gateway gives a better method for combination of fieldbus and Ethernet,and brings continued development of fieldbus and Ethernet extend through to industry control fields together in the future.
引文
[1]蔡自兴.机器人学[M].北京:清华大学出版社,2000.
[2] G .Yasuda, Bin Ge,“Localization and remote control of multiple mobile robots using fast color image processing”, Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on Volume 6, 15-19 June 2004 Page(s):5001 - 5005 Vol.6.
[3] S.A. Stoeter, N. Papanikolopoulos,“Autonomous stair-climbing with miniature jumping robots”, Systems, Man and Cybernetics, Part B, IEEE Transactions on Volume 35, Issue 2, Apr 2005 Page(s):313– 325.
[4] P.Saucy and F.Mondana, Open access to a mobile robot on the Internet, IEEE Robotics and Automation Magazine,2000.
[5]马宏鹏等.基于互联网的机器人遥操作系统研究[J].机器人,2000(7)期.
[6] F.D. Makaya, D. Chatelain, L.W. Snyman,“Design and performance assessment of a prototype wireless controlled robot”, Electron Devices for Microwave and Optoelectronic Applications, 2004. EDMO 2004. 12th International Symposium on 8-9 Nov. 2004 Page(s):115– 118.
[7] Jizhong Xiao, Angel Calle, Jing Ye ,and Zhigang Zhu,“A Mobile Robot Platform with DSP-based Controller and Omnidirectional Vision System”Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics August 2004 22-26.
[8] Zi-ze Liang, En Li, Min Tan, Guo-Ping Liu, D. Rees,“Control of Inspection Robots for Power Transmission Lines Based on Remote Video over Internet”, Computational Intelligence for Modelling, Control and Automation, 2005 and International Conference on Intelligent Agents, Web Technologies and Internet Commerce, International Conference on Volume 1, 28-30 Nov. 2005 Page(s):877– 882.
[9]田泽.嵌入式系统开发与应用[M].北京:北京航空航天大学出版社,2005.
[10]孙天泽,袁文菊,张海峰.嵌入式设计及Linux驱动开发指南——基于ARM9处理器[M].北京:电子工业出版社,2005.
[11] R.C. Luo, P.K. Wang, T.Y. Hsu, T.Y. Lin,“Navigation and mobile security system of intelligent security robot”, Industrial Technology, 2005. ICIT 2005. IEEE International Conference on 14-17 Dec. 2005 Page(s):260– 265.
[12] T. Kamegawa, T. Yamasaki, F. Matsuno,“Evaluation of snake-like rescue robot "KOHGA" for usability of remote control”, Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International 6-9 June 2005 Page(s):25– 30.
[13]桑楠.嵌入式系统原理与应用开发技术[M].北京:北京航空航大大学出版社,2002.
[14]吴明晖.基于ARM的嵌入式系统开发与应用[M].北京:人民邮电出版社,2004.
[15]马忠梅,李善平等. ARM&Linux嵌入式系统教程[M].北京:北京航空航天大学出版社,2004.
[16]陈赜,秦贵和,徐华中等. ARM9嵌入式技术及Linux高级实践教程[M].北京:北京航空航天大学出版社,2005.
[17] S3C2410X 32-BIT RISC MICROPROCESSOR USER'S MANUAL, Revision 1.2 Samsung, 2003.
[18] Lennon A. Embedding Linux. IEEE Review. 2001,5.
[19]邹思轶.嵌入式Linux设计与应用[M].北京:清华大学出版社,2002.
[20] William Stallings著.陈渝译.操作系统——精髓与设计原理[M].北京:电子工业出版社,2006.
[21]李善平. Linux与嵌入式系统[M].北京:清华大学出版社,2003.
[22] http://www.linux.org.
[23]倪继利. Linux内核分析及编程[M].北京:电子工业出版社,2005.
[24] Jonatban Corbet, Alessandro Rubini & Greg Kroab-Hartman著.魏永明.耿岳.钟书毅译. LINUX设备驱动程序[M].北京:中国电力出版社,2006.
[25]周立功,陈明计,陈渝. ARM嵌入式Linux系统构建与驱动开发范例[M].北京:北京航空航天大学出版社,2006.
[26] W.Richard Stevens著.施振川等译. UNIX网络编程[M].北京:清华大学出版社,2005.
[27]陈坚华,范燕,冉立新等.基于ARM7TDMI的uClinux移植[J].电子器件.2003(3):15-18.
[28]潘继军.基于ARM的嵌入式系统实验分析[J].微计算机信息.2006年第22卷第2-2期:129-132.
[29]刘娅.基于ARM嵌入式系统的Bootloader的设计与实现[J].现代电子技术.2006(7):142-144.
[30]孔明,艾树峰,杜辉.基于TCP/IP的嵌入式Webserver网络测控系统设计[J].电讯技术,2005(5):167-171.
[31]宋明浩,阳宪慧,梁泰文.一种基于可配置片上系统的CAN总线远程监控方案[J].工业控制计算机,2004(9):3-4.
[32]陈秋良.现场总线控制系统总述[J].兵工自动化,2001年,第20卷第1期:13-16.
[33]李嘉.引入以太网技术是现场总线技术发展的一个必然趋势[J].自动化仪表,2001(5):1-8.
[34]唐鸿儒,丁伟.现场控制网络技术展望[J].测控技术,2000年第19卷第12期:1-4.
[35]顾洪军,张佐.吴秋峰.控制系统的网络化发展[J].工业仪表与自动化装置.2000(1):62-65.
[2] G .Yasuda, Bin Ge,“Localization and remote control of multiple mobile robots using fast color image processing”, Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on Volume 6, 15-19 June 2004 Page(s):5001 - 5005 Vol.6.
[3] S.A. Stoeter, N. Papanikolopoulos,“Autonomous stair-climbing with miniature jumping robots”, Systems, Man and Cybernetics, Part B, IEEE Transactions on Volume 35, Issue 2, Apr 2005 Page(s):313– 325.
[4] P.Saucy and F.Mondana, Open access to a mobile robot on the Internet, IEEE Robotics and Automation Magazine,2000.
[5]马宏鹏等.基于互联网的机器人遥操作系统研究[J].机器人,2000(7)期.
[6] F.D. Makaya, D. Chatelain, L.W. Snyman,“Design and performance assessment of a prototype wireless controlled robot”, Electron Devices for Microwave and Optoelectronic Applications, 2004. EDMO 2004. 12th International Symposium on 8-9 Nov. 2004 Page(s):115– 118.
[7] Jizhong Xiao, Angel Calle, Jing Ye ,and Zhigang Zhu,“A Mobile Robot Platform with DSP-based Controller and Omnidirectional Vision System”Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics August 2004 22-26.
[8] Zi-ze Liang, En Li, Min Tan, Guo-Ping Liu, D. Rees,“Control of Inspection Robots for Power Transmission Lines Based on Remote Video over Internet”, Computational Intelligence for Modelling, Control and Automation, 2005 and International Conference on Intelligent Agents, Web Technologies and Internet Commerce, International Conference on Volume 1, 28-30 Nov. 2005 Page(s):877– 882.
[9]田泽.嵌入式系统开发与应用[M].北京:北京航空航天大学出版社,2005.
[10]孙天泽,袁文菊,张海峰.嵌入式设计及Linux驱动开发指南——基于ARM9处理器[M].北京:电子工业出版社,2005.
[11] R.C. Luo, P.K. Wang, T.Y. Hsu, T.Y. Lin,“Navigation and mobile security system of intelligent security robot”, Industrial Technology, 2005. ICIT 2005. IEEE International Conference on 14-17 Dec. 2005 Page(s):260– 265.
[12] T. Kamegawa, T. Yamasaki, F. Matsuno,“Evaluation of snake-like rescue robot "KOHGA" for usability of remote control”, Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International 6-9 June 2005 Page(s):25– 30.
[13]桑楠.嵌入式系统原理与应用开发技术[M].北京:北京航空航大大学出版社,2002.
[14]吴明晖.基于ARM的嵌入式系统开发与应用[M].北京:人民邮电出版社,2004.
[15]马忠梅,李善平等. ARM&Linux嵌入式系统教程[M].北京:北京航空航天大学出版社,2004.
[16]陈赜,秦贵和,徐华中等. ARM9嵌入式技术及Linux高级实践教程[M].北京:北京航空航天大学出版社,2005.
[17] S3C2410X 32-BIT RISC MICROPROCESSOR USER'S MANUAL, Revision 1.2 Samsung, 2003.
[18] Lennon A. Embedding Linux. IEEE Review. 2001,5.
[19]邹思轶.嵌入式Linux设计与应用[M].北京:清华大学出版社,2002.
[20] William Stallings著.陈渝译.操作系统——精髓与设计原理[M].北京:电子工业出版社,2006.
[21]李善平. Linux与嵌入式系统[M].北京:清华大学出版社,2003.
[22] http://www.linux.org.
[23]倪继利. Linux内核分析及编程[M].北京:电子工业出版社,2005.
[24] Jonatban Corbet, Alessandro Rubini & Greg Kroab-Hartman著.魏永明.耿岳.钟书毅译. LINUX设备驱动程序[M].北京:中国电力出版社,2006.
[25]周立功,陈明计,陈渝. ARM嵌入式Linux系统构建与驱动开发范例[M].北京:北京航空航天大学出版社,2006.
[26] W.Richard Stevens著.施振川等译. UNIX网络编程[M].北京:清华大学出版社,2005.
[27]陈坚华,范燕,冉立新等.基于ARM7TDMI的uClinux移植[J].电子器件.2003(3):15-18.
[28]潘继军.基于ARM的嵌入式系统实验分析[J].微计算机信息.2006年第22卷第2-2期:129-132.
[29]刘娅.基于ARM嵌入式系统的Bootloader的设计与实现[J].现代电子技术.2006(7):142-144.
[30]孔明,艾树峰,杜辉.基于TCP/IP的嵌入式Webserver网络测控系统设计[J].电讯技术,2005(5):167-171.
[31]宋明浩,阳宪慧,梁泰文.一种基于可配置片上系统的CAN总线远程监控方案[J].工业控制计算机,2004(9):3-4.
[32]陈秋良.现场总线控制系统总述[J].兵工自动化,2001年,第20卷第1期:13-16.
[33]李嘉.引入以太网技术是现场总线技术发展的一个必然趋势[J].自动化仪表,2001(5):1-8.
[34]唐鸿儒,丁伟.现场控制网络技术展望[J].测控技术,2000年第19卷第12期:1-4.
[35]顾洪军,张佐.吴秋峰.控制系统的网络化发展[J].工业仪表与自动化装置.2000(1):62-65.