Haɓaka gano kan layi na gangu na kwal da ƙira na ma'aunin nauyi da yawa dangane da haɗaɗɗen fasaha da fasahar filin bas.

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Gabatarwa Tare da ci gaba da ci gaba na ci gaba na tsarin da aka haɗa, ARM microprocessor na tsarin 32-bit RISC guntu aiki tare da kyakkyawan aiki, amfani da wutar lantarki da ƙananan farashi yana nuna haɓakar haɓaka mai ƙarfi. Abubuwan da ke tattare da su biyu suna ba da sabon tsarin canji don fasahar shirye-shiryen kwal na gargajiya. Haɗuwa da tsarin da aka haɗa da fasahar haɗin kwamfuta, an tsara sabon gano kan layi na ƙullun kwal da gangu na kwal da ma'auni na atomatik multihead. Asalin zanen tsarin ƙa'ida na gano kan layi na dunƙulen kwal da gangu na kwal da cikakken ma'aunin ma'aunin manyan kai na atomatik ana nunawa a cikin Hoto 1.

Dangane da ka'idojin shirye-shiryen kwal, software na wannan tsarin ya ƙunshi manyan sassa uku masu zuwa: (1) Bangaren dubawa: Ya ƙunshi feed bin, conveyor belt, CCD monitoring camera, image tattara bayanai da'ira, da dai sauransu. Kwal mai tsabta da aka tono sau da yawa ya ƙunshi gangu na kwal, kuma dole ne a zaɓi gangu ɗin kwal daga bel ɗin jigilar kaya. Kyamarar saka idanu ta CCD tana aika hotunan gawayi da gawayi zuwa ga da'irar samar da wutar lantarki ta tattara bayanan hoto don canzawa, kuma ana aika bayanan da aka canza zuwa microprocessor na ARM, wanda aka aika zuwa PC bisa ga Intanet na bas na CAN don ƙuduri.

(2) Bangaren ganewa da magudi: Ya ƙunshi kwamfuta ta lantarki, microprocessor ARM da aunawa da injunan fasaha da kayan aiki. Shi ne mabuɗin duk software na tsarin. Ana ƙididdige abubuwan da ke cikin ash na gawayi da gawayi bisa ga ingantaccen hangen nesa na kwamfuta. Bayan microprocessor na ARM ya gano kuma ya bambanta tubalin gangue na kwal, ana aiwatar da yanayin aiki. Idan an gano shi a matsayin gawayi, kuma aikin ba shi da wani bangare na aiki, kwal mai tsabta ba shakka za ta fada cikin ma'adinin kwal kuma a fitar da shi daga tashar kariya ta kwal.

Idan an gano shi a matsayin gangu na kwal, za a aika da siginar sarrafa bayanai, kuma za a buɗe bawul ɗin ƙofar, ta yadda gangu ɗin kwal ɗin zai fada cikin tashar kariya ta kwal. (3) Ƙungiya mai daidaitawa: An haɗa shi da bawul ɗin ƙofar, guga kayan aiki da kayan aikin rarraba wutar lantarki na software, da dai sauransu. A cewar Intanet na bas na CAN, ana gudanar da gwaje-gwaje ta atomatik da jigilar gawayi da gawayi a cikin tashoshi masu aminci. Cikakken gabatarwar guntu mai sarrafawa AT91M40800AT91M40800 guntu ne mai sarrafawa tare da babban aiki mai tsada a cikin samfuran 16-bit/32-bit tsarin microprocessor na ATMEL dangane da ainihin ARM7TDMI. Makullin shine tsarin 32-bit tare da kyakkyawan aikin RISC (Rage Gabatarwa Saita Kwamfuta) tsarin gine-gine, kuma yana da tsarin koyarwa na 16-bit (yatsa).

Dangane da soket ɗin bas ɗin bas na waje (EBI) na mai sarrafa shirye-shirye, an haɗa shi nan da nan zuwa nau'ikan tunanin kashe guntu ciki har da FLASH. Muhimmanci takwas suna katse allunan sarrafawar vector da allunan kula da bayanan filin akan guntu suna haɓaka aikin abubuwan haɗin gwiwa na ainihin lokacin. hali. AT91M40800 yana haɗa tushen ARM7DMIARMThumbCPU, yana ba da 9kB akan SRAM akan guntu, layukan zaɓi guntu takwas, tashar jiragen ruwa na I/O mai sarrafa shirye-shirye 32, da bas ɗin tsarin 8-bit ko 16-bit na mai sarrafa software na wayar hannu. Yanayin da za'a iya magana a cikin gida 64MB, 2 USARTs, kowane USART yana da tashoshi biyu na keɓaɓɓen filin bayanai na bayanan kula da hukumar tsaro, ginanniyar mai kula da mai kula da mai ƙidayar lokaci 1, takwas suna da fifiko, na iya zama mai zaman kanta Masked sarari vector ƙarewa kwamitin kula da sararin samaniya, 4 na katsewa na waje memories, 4 katsewar waje gami da babban fifiko, ƙaramin buƙatun katsewar latency, abubuwan shigar agogon dijital 3 na waje, tashar amintaccen tashar 16-bit mai ƙidayar lokaci/ƙirar lantarki. SJA1000 dole ne ya kasance yana da daidaitattun gudanarwa da sarrafa albarkatun bayanai saboda akwai tazara tsakanin filin kwal, dutsen gangu na kwal da kuma taron samar da bayanai.

Fasahar masarrafar kwamfuta na iya juyar da keɓantaccen ma'auni da tsarin sarrafawa zuwa nodes, da amfani da tsarin bas ɗin azaman gada don haɗa su zuwa tsarin aikace-aikacen da tsarin sarrafawa ta atomatik wanda zai iya sadarwa tare da juna da musayar abun ciki na bayanai da haɗin kai. tare da juna a cikin ayyukan yau da kullum na tsarin sarrafawa ta atomatik. . Matsakaicin saurin sadarwa na CAN shine 1Mbps, nisan watsawa kai tsaye har zuwa 10km (gudun yana ƙasa da 8kbps), kuma ana iya haɗa na'urori da kayan aiki har zuwa 110, waɗanda zasu iya yin ƙarin ƙarin dubawa da ayyukan yau da kullun. SJA1000 hukumar kula da bas ce mai zaman kanta ta CAN wacce Philips ke ƙera, wacce ake amfani da ita don cibiyoyin sadarwa na yanki mara waya na allon sarrafawa a cikin motoci da wuraren samar da masana'antu gabaɗaya. Yanayin aiki (yanayin PeliCAN) ana iya haɗa shi cikin sauƙi tare da CPUs daban-daban don ƙirƙirar Intanet mai aiki na CAN.

EPM7128 ana amfani da tsarin ƙirar ƙirar sadarwa ta hanyar sadarwa ta hardware don juyawa da daidaita siginar bayanai tsakanin kwasfa. Shigar da EPM7128 ya fito ne daga siginar zaɓin guntu NCS2 na AT91M40800, layin cajin wayar hannu D0 ~ D7, cikakken adireshin A0 ~ A1, siginar karantawa NRD, rubuta Siginar bayanai NWE da siginar daidaita bayanan software na tsarin RST sun sami cikakkiyar ma'ana ta ciki da cikakkiyar bayani, wanda ya haifar da siginar bayanan aikin da SJA1000 ke buƙata. Dangane da ka'idar layin wutar lantarki na kowane guntu sarrafawa da aikin adireshin tashar tashar jiragen ruwa, ana iya rubuta shi azaman alaƙar shigar / fitarwa na ma'ana ta hanyar jigilar bas na CAN kamar haka: CAN=NCS2·A0CANALE=NCS2•A0•(NRD+NWE) CANRD=NRDCANWR=NWECANRST=NCS2+RST Cikakken adireshin tashar tashar da aka zaba SJA1000 shine 400000H, cikakken adireshin lambar tashar bayanan bayanan shine 400001H kuma adireshin tashar tashar calibration shine 400002H. Saboda cikakkun bayanan bayanan adireshin na hukumar kula da CAN SJA1000 yana da yawa, cikakken siginar bayanan adireshi akan tsarin bas ɗin ana iya rufe shi bisa ga faɗuwar siginar bayanan ALE.

Koyaya, bas ɗin adireshi da tsarin bas na AT91M40800 ana gabatar dasu da kansu kuma ba za'a iya haɗa su da cikakken bas ɗin tsarin adireshin SJA1000 nan da nan. Don haka, don magance matsalar soket na SJA1000 da AT91M40800, maɓalli shine yadda ake aika siginar bayanan da ake buƙata don bincika SJA1000 a ciki. Hanyar da aka zaɓa anan ita ce aiwatar da ainihin aikin I/O cikin sau 2. A karo na farko, ana aika ƙimar ƙimar adireshi zuwa cikakken lambar tashar tashar adireshin 400000H azaman cikakken adireshin SJA1000 module.

A wannan lokacin, ba a zaɓi zaɓin guntu ba, kuma bayanan bayanan suna makale akan bas ɗin tsarin AD0-AD7. Lokacin bincika lambar tashar tashar bayanan bayanai 400001H a karo na biyu, an zaɓi SJA1000, kuma ana loda ƙimar adireshi na farko a cikin SJA1000 ƙarƙashin aikin siginar bayanan ALE, kuma CPU tana yin karantawa / rubuta ainihin aiki akan SJA1000. Ana iya raba calibration zuwa tsarin daidaita software da daidaita kwararar shirye-shirye.

Siginar daidaita bayanan software na tsarin RST da siginar bayanan daidaitawar shirin suna aiwatar da aiki mai ma'ana ko aiki a cikin EPM7128, ko wannensu na iya sa SJA1000 ingantaccen daidaitawa. Domin tabbatar da ingantaccen amincin sadarwar bayanai, haɗa na'urar tasha ta 120Ω mai jujjuyawar na'urar zuwa kowane na'urar tashar bas ta CAN don aiwatar da juriya mai dacewa da tsarin bas. TX1 fil na SJA1000 an kafa shi bisa ga resistor 10k8, kuma siginar bugun jini na fil RX1 dole ne a kiyaye sama da 0.9Vcc.

In ba haka ba, ba za a iya samar da siginar bugun jini mai ma'ana da motar CAN ke buƙata ba. Idan nisan sadarwar gajere ne kuma tasirin yanayin yanayi yana da ƙanƙanta, ana iya barin da'irar wutar lantarki ta gani mai lamba 6N137. A wannan lokacin, ana iya haɗa VREF na 82C251 zuwa fil ɗin RX1 nan da nan, ta haka yana sauƙaƙe da'irar wutar lantarki. Sadarwar bayanai tsakanin microprocessor ARM da CAN bas AT91M40800 tana bincika siginar bayanan na ƙwaƙwalwar ajiyar guntu da abubuwan waje bisa ga soket ɗin bas na waje (EBI). EBI tana aiwatar da ka'idojin bincike daban-daban, waɗanda zasu iya kammala zagaye ɗaya na abubuwan waje. Binciken lokaci, saitin EBI a cikin tsarin ƙira shine: (1) zaɓi bas ɗin tsarin 8-bit; (2) zaɓi ƙayyadaddun ƙa'idar karantawa; (3) zaɓi lokacin jiran zagayowar takwas; (4) guntu zaɓi layi NCS2 Cikakken cikakken adireshin shine 400000H.

An rubuta dukkan kwararar shirin a cikin yaren C na ɗakin karatu na AT91, wanda ke da fa'idodin ingantaccen karantawa, mai sauƙin dasawa, haɓaka mai sauƙi da ƙira, da daidaitawa mai dacewa. Sake saitin da ya dace shine tushen aikin yau da kullun na gudanawar shirin. Sake saitin software na tsarin shine galibi sake saitin microcontroller AT91M40800 da SJA1000 (SJA1000 mai aiki crystal oscillator circuit 16M). Ana nuna matakan sake saitin a cikin Hoto 3. Sakamako An zaɓi ganewar kan layi da ma'aunin nauyi ta atomatik na bulogin gangue wanda ya ƙunshi guntu mai sarrafa AT91M40800 na ARM microprocessor da CAN bas control board SJA1000. Idan aka kwatanta da na gargajiya na CAN bas na Intanet wanda MCU ke sarrafa shi, bas ɗin CAN labari ne. tsarin aiki.

Software na tsarin bayani dangane da tsarin aiki na ARM microprocessor da CAN bas yana da kyakkyawan aiki, amintacce da ikon daidaitawa, wanda ke ba da sabuwar hanya don fasahar shirye-shiryen kwal da ta gabata.

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