多DSP并行航迹规划系统接口驱动程序设计与实现-模式识别与智能系统专业论文.docxVIP

华 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract With the development of information technology, routing planning is widely applied in all kinds of navigation systems, such as UAV (Unmanned Aerial Vehicle), robot etc. In the main stream research of route planning, the safety of vehicle, the precision of navigation and the diversity of flying routes. are the most important factors taken into consideration. There are many planning methods about UAV and robot route planning, whereas, a route segments based route planning method which combine the road-map and cell decomposition strategy is considered in this paper. In this method, route segments generation and route recomposition are two time-consuming tasks, Multi-DSP parallel processing system is adopted to shorten these tasks finishing time. . The multi-DSP parallel processing system integrates 3 TMS320C6455 chips which are manufactured by TI using customized bus interconnection , and it can either be mounted to the host directly via PCI bus or communicates with PC through ethernet interface. In this thesis ,the feasibility of multi- DSP parallel processing is firstly analyzed. And then the multi-DSP architecture is introduced, especially the PCI module and EMAC module. Secondly, the method of developing WDM(Windows Driver Model) device driver based on DriverWorks is detailed. Further more, the trend of DSP system using network communication is pointed out, and the network driver is designed by making use of NDK and DSP/BIOS. At last, the designed drivers are merged into the route planning system and the experimental results is concluded. Key words: DSP, Parallel Processing, PCI Bus, WDM Driver, Gigabit Ethernet, NDK 2 2 独创性声明 本人声明所呈交的学位论文是我个人在导师指导下进行的研究工作及取得的研 究成果。尽我所知，除文中已经标明引用的内容外，本论文不包含任何其他个人或 集体已经发表或撰写过的研究成果。对本文的研究做出贡献的个人和集体，均已在 文中以明确方式标明。本人完全意识到，本声明的法律结果由本人承担。 学位论文作者签名： 日期： 年 月 日 学位论文版权使用授权书 本学位论文作者完全了解学校有关保留、使用学位论文的规定，即：学校有权 保留并向国家有关部门或机构送交论文的复印件和电子版，允许论文被查阅和借阅。 本人授权华中科技大学可以将本学位论文的全部或部分内容编入有关数据库进行检 索，可以采用影印、缩印或扫描等复