全向蠕动分拣平台单路执行模块硬件平台的设计

论文总字数：34596字

摘 要

全向蠕动分拣平台单路执行模块硬件平台（以下简称“硬件平台”）是为全向蠕动分拣平台所设计的控制模块，通过传感器接收信号，并发出信号控制各执行模块。硬件平台的核心是一个STM32F103ZET6芯片，通过micro USB接口供电并下载程序，使用一个8MHz的外部晶振作为外部时钟。使用磁性开关测定气缸的位置，使用压力传感器测量软体蠕动单元的气压。通过CAN总线通信实现各硬件平台之间的协调。各电气输入输出接口通过排针引出。

使用Altium Designer 10软件画原理图，并完成PCB板的布局布线等工作。最终PCB设计结果为一块约8 cm X 8 cm的PCB板，包括STM32处理器最小系统，供电和烧录程序都使用USB接口，外设包括4个压力传感器模块，1个CAN总线通信模块，8个磁性开关外部中断输入模块和数十个排针接口。

经调试，磁性开关输入模块和各个输出端口都能较好地达成要求，压力传感器模块由于软体蠕动单元缺乏实物无法验证，但通过其他方法测试ADC功能可以正常使用，CAN模块由于个人水平有限与时间的限制未完成验证。就控制任务来说，可以完成对气缸的控制，对软体蠕动单元能大致完成控制，但要控制完成预定动作还需后续的实验与调试，CAN总线模块需等总控模块设计完成后才能进行调试。

关键词：STM32；中断；CAN总线；Altium Designer 10；PCB

A Design for A Hardware Platform of A Single-path Execution Module of Omni-directional Crawling and Sorting Platform

02012112 Wu Feixiang

Supervised by Zhang Zhisheng

Abstract:Soft robot is a kind of newly developed robot, which has broad application prospects in many aspects. Omni-directional crawling and sorting platform is a new field in research about soft robot. It has the ability of crawling and sorting. And it can sort and carry different kinds of things smoothly at the same time. This function is realized by numbers of same single-path execution modules.Each of the modules is composed of a cylinder , a soft peristaltic unit with several gas channels as well as a number of tubes.

Hardware Platform of a single-path execution module of omni-directional crawling and sorting platform ( hardware platform for short ) is a control module designed for a single-path execution module of omni-directional crawling and sorting platform. It receives signal from sensors and then send out signal to control execution modules. The core of hardware platform is a STM32F103ZET6 chip. A USB port is used for power and downloading program. A external crystal oscillator with a frequency of 8MHz is used for HSE. Magnetic switches are used for measurement of the position of pistons in cylinders. Pressure sensors are used to measure the pressure in soft peristaltic units. A CAN bus is designed for the coordination between hardware platforms. All electric IO ports are exported by pins.

Altium Designer 10 is used for schematic as well as layout and wiring of PCB board. The result of design is a PCB board with a square of 8cm x 8cm, which is equipped with an STM32 MCU and some other devices. A USB port is used for power as well as downloading program. Devices contain 4 pressure sensors, 1 CAN bus module for communication, 8 inports exported by pins for external interrupts from magnetic switches and numbers pins for output.

Through test, inports for magnetic switches and output can perform as expected. Pressure sensors module can’t be tested as expected for lack of soft peristaltic units. But it can be confirmed to run normally by other methods. There are not any test on CAN bus module for lack of knowledge in this field. All in all, cylinders can be controlled effectively. To control soft peristaltic units expectedly, further debugs are needed. Debugs on CAN bus module can be operated after master devices are manufactured.

Key Words:STM32,Interrupt,CAN bus,Altium Designer 10,PCB

目录

1. 绪论 1

1.1 引言 1

1.2研究现状 2

1.3本课题的研究内容 3

2.方案设计 5

2.1总体设计 5

2.2单片机系统核心 5

2.2.1电源电路 5

2.2.2复位电路 6

2.2.3时钟电路 6

2.2.4程序下载（调试）接口电路 6

2.3外部功能电路 7

2.3.1供电电路 7

2.3.2磁性开关接口 8

2.3.3气压测定模块 8

2.3.4CAN总线模块 9

2.3.5排针接口 10

3.设计过程 11

3.1原理图的设计 11

3.2 PCB板的设计 11

3.3元件库与元件封装的创建 13

3.4输出文件 13

4.加工、调试及设计说明 15

4.1加工过程 15

4.2调试过程 15

4.2.1上电实验amp;烧录程序amp;IO口输出 15

4.2.2外部中断EXTI实验 16

4.2.3 ADC实验 16

4.2.4压力传感器模块 18

4.3设计说明 18

4.3.1硬件部分 18

4.3.2软件部分 18

5.总结与改进 20

5.1总结 20

5.2改进 20

致谢 21

参考文献 22

附录 23

附录1 上电实验程序源码 23

附录2 外部中断实验程序源码 24

附录3 ADC实验程序源码 25

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