基于CAN总线的AUV实验平台数据传输方法

基金项目: 水下信息处理与控制国家重点实验室基金项目

A Data Transmission Approach for CAN-bus Experimental Platform of Autonomous Underwater Vehicle

摘要: 基于CAN的AUV具有较好的集成性,扩展性和维修性,介绍了一种基于CAN总线的AUV实验平台的结构和功能，提出了一种先进先出（FIFO）数据队列结构及其管理方法，有效地避免了CAN节点内部多任务并发进行数据发送时可能造成的数据丢失、损坏等现象。编写的FIFO数据队列程序和CAN总线数据收发程序均采用C语言实现，便于直接移植到PC-104或DSP等嵌入式系统中。实验平台测试和AUV外场实航试验验证了该方法的正确性。
- CAN /
- 自主水下航行体 /
- 实验平台 /
- 数据传输
Abstract: The architecture and functions of the experimental platform for CAN-bus autonomous underwater vehicle(AUV) are introduced.The first-in-first-out(FIFO) data structure and its management method are presented,which effectively avoids data loss or data damage when multi-tasks compete each other to transfer data through same CAN bus transceiver.All the FIFO data management and CAN-bus transceiver programs are compiled in C language,in order that they are easy to be transplanted to the embedded system such as PC-104 or digital signal processor(DSP).The validity of the data transmission approach has been verified on the experimental platform and in practical AUV outfield test.
- CAN /
- autonomous underwater vehicle(AUV) /
- experimental platform /
- data transmission

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