毕业论文--基于NIOS_II和FPGA无线小车控制系统的设计.docVIP

基于NIOS II和FPGA无线小车控制系统的设计 摘要：本文介绍一两轮机器人控制系统的软硬件实现方法，Cyclone II系列的EP2CQ208C8为核心，通过nRF24L01进行无线通讯控制ATmega8为微处理器的两轮，可以实现按发的准确运动EP2C8Q208C8外围电路、SDRAM、EPCS4、按键、nRF24L01通信模块、TFT触摸屏显示模块等）；软件方面，基于SOPC硬件平台的搭建、基于C语言的各个底层模块的软件驱动。 基于NIOS II和FPGA的无线小车控制系统整体在调试及现场实际测试后表明，该系统运行稳定，实现了预期的功能并取得了较好的效果。 关键词：NIOS II、FPGA、EP2C8Q208C8、ATmega8、nRF24L01、SOPC、TFT The design of wireless car control system based on NIOS II and FPGA Abstract: this paper introduces the hardware and software implementation, for a kind of two wheels car robot control system. It is mainly becording to EP2C8Q208C8 of CycloneⅡseries, it can communicate through nRF24L01, and control it with ATmega8 as microprocessor, so that it can move exactly by the informations from the controlling platform. The paper mainly included the following: On the hardware, I design and develop its hardware platform, such as body and transmission module, each sensor module, car micro controller, nRF24L01 communication module and motor driving module, etc. The other hand is the wireless control platform, such as EP2C8Q208C8 peripheral circuit, SDRAM, EPCS4, buttons,　nRF24L01 communication module, TFT touch screen display module, etc. On the software, I make a hardware of SOPC and each layer of software module of C language. Based on the NIOS II and FPGA, through debugging and actual testing showed that it runs stably, which achievs expected functions and good results. Keywords: NIOS II and FPGA, EP2C8Q208C8, ATmega8, nRF24L01, SOPC, TFT 目 录 1绪论 1 1.1FPGA的发展 1 1.1.1基于FPGA嵌入式SOPC的发展概况 1 1.1.2以IP核为支撑的SOPC设计 2 1.2无线遥控技术的发展 3 1.2.1无线遥控自动避扰技术 3 1.2.2功能更强大的反馈系统 3 1.2.3用于生产计划的管理 4 1.2.4无线电控制装置的自动程序化和智能功能 4 2 5 2.1无线收发芯片nRF24L01介绍 5 2.1.1nRF24L01主要特性如下 5 2.1.2nRF24L01引脚功能及描述 5 2.1.3工作模式 6 2.1.4工作原理 7 2.2ATmega8芯片简介 8 2.3AlteraCycloneII系列FPGA简介 9 3 10 3.1主控台电路设计 10 3.1.1主要单元介绍 11 3.1.2硬件电路详解 12 3.2从控台（小车）电路设计 18 3.2.1微控器（AtmelAtmega8） 18 3.2.2电机 19 3.2.3里程计 19 3.2.4线性跟踪器（光感器、LED） 20 3.2.5碰撞感应器 20 3.2.6后置LED 21 3.3通信模块电路设计 21 4 22 4.1主控台软件设计 22 4.