design of an arm based microcontroller circuit board外语英文电子书

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1、DesignofanARMbasedmicrocontrollercircuitboardfortheAmphibotIIrobotEPFL-SemesterProject27June2005Author:AlainDysliSupervisor:AlessandroCrespiProfessor:AukeJanIjspeertAbstractTheAmphibotIrobotwasbuiltinthepurposetomimicanimallocomotionlikethesnake’sorlamprey’s.Butthelackofindepend

2、enceduetoweakmicrocontrollerandbusperformancehaven’tallowedtherobottobeautonomous.TheAmphibotIIrobotcomeswithanew,morespaciousdesignthatallowamorepowerfulmicrocontrollertobeintegrated.ThePhilipsARMLPC2129ischosentofulfilltheincreaseddemandincomputationalpowerinthisnewrobot.Alongw

3、iththeARMmoreconnectorsappearonthecircuitandtheAmphibotIIbecomesapowerfulandexpandablerobot.Butdesigningthehardwarepartsdoesn’tcomealoneandthesoftwaretocontrolthosenewhighperformancesfunctionalitiesmustbewritten.Theresultisapowerfulandexpandablecircuitthatcanhandleseveralexterna

4、ldevicesandcommunicatewithalltheothercircuitofthesamekindthroughitshighspeedCANbus.There-fore,thedesignisn’tbugfreeandsomeerrorshavestilltobefixed.Contents1Introduction32Goaloftheproject43Systemarchitecture53.1DescriptionoftheARMLPC2129microcontroller.................53.1.1TheARM

5、primaryfunctions.........................53.1.2Generalpurposeinputandoutputpins...................53.1.3Theanalogtodigitalconverter........................63.1.4IntegratedUART................................63.1.5TheCANandI2Cbuses............................63.2Denominationofthe

6、circuitboards..........................64Themicrocontroller’selectricalcircuit74.1TheARM’selectricalcircuit..............................74.2ThePIC’selectricalcircuit..............................94.3Thepowersupplies’electricalcircuits........................94.4TheLEDs’electric

7、alcircuits..............................114.5TheI2C’selectricalcircuit...............................114.6TheCAN’selectricalcircuit..............................124.7Externalconnectors..................................144.7.1ThePROGPICconnector...........................144.7.2T

8、hesalampowerconnector..........................