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系統(tǒng)的硬件包括usb-can接口模塊和can節(jié)點接收模塊電路的設計。
2.1 usb-can接口模塊電路的設計
bus-can接口模塊主要是由51單片機、ch372、sja1000及82c250組成，主機通過ch372把數(shù)據(jù)發(fā)送到單片機，單片機再把數(shù)據(jù)通過sja1000發(fā)送到can總線上。圖2中給出了從pc機的usb口到can總線的主要元件及其連接。圖2及圖3中的vdd、vcc均為+5v直流電源，ch372有支持兩種電源，+5v和+3.3v，本設計中使用的是+5v，可以直接從usb口獲得，簡化了電路設計。與單片機連接的ch372和sja1000通過片選信號實現(xiàn)互不干涉的讀寫過程，完成各自的任務。
圖2 usb-can接口轉換模塊原理圖
can控制要實現(xiàn)其功能，必須具有外圍擴展接口，構成完整的can通信系統(tǒng)，本設計選用pca82c250器件作為can控制器的sja1000和物理總線間的接口，提供總線的差動發(fā)送和接收能力，處理來自canh和canh線的信號，并將處理后的信號傳至控制單元的can接收區(qū)。為了保護芯片并提高抗干擾能力，在控制器sja1000和82c250之間加入高速光電隔離器6n137。can總線網(wǎng)絡兩端要接120歐姆的匹配電阻，可大大的提高通信的抗干擾性和可靠性。
2.2 can節(jié)點模塊電路的設計
can節(jié)點模塊的can接口部分與usb-can接口轉換模塊的can接口部分的電路設計是一樣的，如圖3所示。單片機把接收到的數(shù)據(jù)處理之后，從p1.0、p1.1表現(xiàn)出來，分別輸出電機轉動方向信號和頻率及個數(shù)一定的pwm脈沖信號提供給電機驅動器，實現(xiàn)電機的控制。為了提高抗干擾能力，加光電隔離器tlp5621，因為輸出的數(shù)字信號頻率不是很高，tlp5621的轉換時間已滿足要求。為了電機運行的安全性，可在電機負載周圍合適的位置設置兩個機械急停按鈕，負載發(fā)生故障時按下按鈕，通知單片機停止pwm輸出，實現(xiàn)電機故障急停。
SPARC/CPCI-522G/64-300-4-2 105003 300 MHz CPU, 1 MByte cache, 64 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-522G/256-300-4-2 105004 300 MHz CPU, 1 MByte cache, 256 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-520/128-333-4-2 105992 333 MHz CPU, 1 MByte cache, 128 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-520/256-333-4-2 105993 333 MHz CPU, 1 MByte cache, 256 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-522/128-333-4-2 105994 333 MHz CPU, 1 MByte cache, 128 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-522/256-333-4-2 105995 333 MHz CPU, 1 MByte cache, 256 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-522G/128-333-4-2 105996 333 MHz CPU, 1 MByte cache, 128 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-522G/256-333-4-2 105997 333 MHz CPU, 1 MByte cache, 256 MBytes memory, 2 MBytes user Flash
SPARC/MEM-50U-5/128 105922 128 MBytes customer upgrade module
for top position in memory stack
SPARC/MEM-50U-5/256 105921 256 MBytes customer upgrade module
for top position in memory stack
SPARC/MEM-50M-5/256 105920 256 MBytes customer upgrade module
for middle position in memory stack
SPARC/CPCI-52x/TM 105010 Technical reference manual for SPARC/CPCI-52x family
SPARC/IOBP-520/CPU 105008 CPCI-520 Rear Transition Board for
CPU base board
SPARC/IOBP-520/IO 105079 CPCI-520 Rear Transition board for
I/O extension board
SPARC/CPCI-520/ACCKIT/CPU 105234 CPCI-520 Accessory Kit for CPU base board: IOBP-520/CPU + SCSI cable + serial cable, Ethernet + SCSI + serial cable for front panel connectors
SPARC/CPCI-520/ACCKIT/IO 105301 CPCI-520 Accessory Kit for I/O extension board: IOBP-520/IO + SCSI cable,Ethernet cable for front panel connector
SPARC/SOL/DRV/REL2.x 105608 Driver package supporting
Solaris 2.5, 2.6 and Solaris 7
on CPU-5V, -5VT, -7V and -8VT.
Supporting Solaris 2.5.1, 2.6 and Solaris 7 on CPU-50 and CPCI-520.
SPARC/CPU-20V/64-200H1-2 103025 single 200 MHz hyperSPARC
64 MBytes memory
SPARC/CPU-20VT/128-125H2-2 102695 dual 125 MHz hyperSPARC
128 MBytes memory
SPARC/CPU-20VT/128-125H2-2 102695 dual 125 MHz hyperSPARC
128 MBytes memory
SPARC/CPU-20VT/64-150H1-2 102499 single 150 MHz hyperSPARC
64 MBytes memory
SPARC/CPU-20VT/128-150H1-2 102500 single 150 MHz hyperSPARC
128 MBytes memory
SPARC/CPU-20VT/64-150H11-2 104560 two single 150 MHz hyperSPARC modules, 64 MBytes memory
SPARC/CPU-20VT/128-200H1-2 103066 single 200 MHz hyperSPARC
128 MBytes memory
SPARC/CPU-20VT/128-200H2-2 103161 dual 200 MHz hyperSPARC
128 MBytes memory
SPARC/CPU-20VTE/128-125H2-2 103156 dual 125 MHz hyperSPARC
128 MBytes memory
SPARC/CPU-20VTE/128-125H22-2 103205 two dual 125 MHz hyperSPARC
128 Mbytes memory
SPARC/CPU-20VTE/128-200H1-2 103133 single 200 MHz hyperSPARC
128 MBytes memory
SPARC/CPU-20VTE/128-200H2-2 103163 dual 200 MHz hyperSPARC
128 MBytes memory
SPARC/MBUS-125H2-512 102713 CPU upgrade module for CPU-20VT
Dual 125 MHz hyperSPARC
SPARC/MBUS-150H1 102507 CPU upgrade module for CPU-20VT
Single 150 MHz hyperSPARC
SPARC/MBUS-200H1 103101 CPU upgrade module for CPU-20VT
Single 200 MHz hyperSPARC
SPARC/MBUS-200H2/1 103158 CPU upgrade module for second slot of CPU-20VT
Dual 200 MHz hyperSPARC
SPARC/MBUS-200H2/2 103159 CPU upgrade module to replace preinstalled module in first slot of
CPU-20VT
Dual 200 MHz hyperSPARC
SPARC/MEM-20L/64 102503 64 MBytes DRAM module for
CPU-20VT (lower position)
SPARC/MEM-20L/128 102504 128 MBytes DRAM module for
CPU-20VT (lower position)
SPARC/MEM-20U/128 102506 128 MBytes DRAM module for
CPU-20VT (upper position)
SPARC/CPU-20VT/SBUS-ACCKIT 102514 SBus front panel and additional power connector to mount SBus modules
SPARC/CPU-20VT/FP-ACCKIT 102515 Standard Ethernet, SCSI, Centronics and serial splitter cable for front panel I/O connection
SPARC/CPU-20VT/P2-ACCKIT 102516 IOBP-10 and standard Ethernet, SCSI, Centronics and serial splitter cable for backplane I/O connection
SPARC/CPU-20VT/TM 102513 Technical reference manual for SPARC/CPU-20VT family
SPARC/CPU-2CE 510305 Sparc 2, 16, 32, or 64MBytes, SCSI, Ethernet
SPARC/CPU-5CE/32-85-2 101476 85 MHz, 32 MBytes, 1MB Flash, 2 Serial I/O, 1 Parallel
SPARC/CPU-5CE/64-85-2 501492 85 MHz, 64 MBytes, 1MB Flash, 2 Serial I/O, 1 Parallel
SPARC/CPU-5TE/64-85-2 501877 85 MHz, 64 MBytes onboard DRAM, 2 free memory slots Innovative Research Technologies 04/24/2003
SPARC/CPU-5V/64-100-2 105326 100 MHz, 64 MBytes onboard DRAM, 2 free memory slots
SPARC/CPU-5V/64-110-2 105416 110 MHz, 64 MBytes onboard DRAM, 2 free memory slots
SPARC/MEM-5/64 101773 64 MBytes DRAM module
SPARC/CPU-5V/TM 101774 Technical reference manual for SPARC/CPU-5V B98
SPARC/3CE/16-40-1 501015 40 MHz, 16 MBytes DRAM,
SPARC/IOBP-10 101039 115 mm rear transition board for 3-row backplanes with connectors for: SCSI, Centronics, Floppy, Ethernet and RS232
SPARC/SCSI-BP3 102703 50 mm rear transition board for 3-row backplanes with connectors for: SCSI, Floppy, Ethernet and RS232
SPARC/SBUS-FP 101630 Front Panel for installation of up to two SBus modules
SPARC/CPU-7V/FP-ACCKIT 102748 Standard Ethernet, SCSI and serial splitter cable for front panel connectors
SPARC/CPU-7V/P2-ACCKIT 102749 IOBP-10 and standard Ethernet, SCSI and serial splitter cable for backplane I/O connection
SYS68K/FH-003/SET 103229 10 pcs RS422 transceiver modules
SYS68K/FH-007/SET 101612 10 pcs RS485 transceiver modules
SPARC/SOL/DRV/REL2.x 105608 Driver package supporting
Solaris 2.5, 2.6 and Solaris 7
on CPU-5V, -5VT, -7V and -8VT.
Supporting Solaris 2.5.1, 2.6 and Solaris 7 on CPU-50 and CPCI-520.
SPARC/CPU-5VT/64-100-2 105328 64 MBytes (MEM-5 DRAM module),
one free memory slot
SPARC/MEM-5/64 101773 64 MBytes DRAM module
SPARC/CPU-5VT/TM 102325 Technical reference manual for SPARC/CPU-5VT B87
SPARC/IOBP-DS 101990 115 mm rear transition board for 3-row backplanes with connectors for: dual SCSI, Floppy, Ethernet and RS232
SPARC/SCSI-BP4 102685 50 mm rear transition board for 3-row backplanes with connectors for: dual SCSI, Ethernet and RS232
SPARC/SBUS-FP 101630 Front Panel for installation of up to two SBus modules
SPARC/CPU-8VT/FP-ACCKIT 102775 Standard Ethernet, SCSI and serial splitter cable for front panel connectors
SPARC/CPU-8VT/P2-ACCKIT 102774 IOBP-DS and standard Ethernet, SCSI and serial splitter cable for backplane I/O connection
SPARC/SOL/DRV/REL2.x 105608 Driver package supporting
Solaris 2.5, 2.6 and Solaris 7
on CPU-5V, -5VT, -7V and -8VT.
Supporting Solaris 2.5.1, 2.6 and Solaris 7 on CPU-50 and CPCI-520.
SPARC/SBUS/TGX 101791 TurboGX graphic card
SPARC/SBUS/TGX+ 101796 TurboGXplus graphic card
SPARC/SBUS/ETH-Fast 101915 Fast Ethernet Controller(X1059A)
ACC/PMC/ECLIPSE/4MB 106013 PMC graphic card with 4MBytes RAM
(Eclipse 0001-1059
from Space Electronics Inc.)
SPARC/UPA/C2D 105011 Creator 2D (501-4127) UPA64S card
SPARC/UPA/C3D 105012 Creator 3D (501-4126) UPA64S card
SPARC/SERIAL-2E/2CE 103222 2m serial cable, ending with one female
25-pin Dsub for all SPARC boards
SPARC/SCSI-2X 103224 2m SCSI Cable ending with male 50-pin microHD for CPU-5V, -5VT, -8VT, -50xx and CPCI-52xx
ACC/ETHER/D15M-D15F 102768 2m AUI Ethernet cable, ending with female 15-pin DSub for CPU-5V
ACC/SERIAL/MD26-2XD25/1 102769 1m serial splitter cable, ending with two female 25-pin DSubs for CPU-5V, -5VT,
-8VT, -50xx and CPCI-52xx
ACC/CABLE/ETH-STP/3 102155 3m 10BaseT Ethernet cable for
CPU-5TE, -5VT, -8VT, -50xx and CPCI-52xx
SPARC/Serial-Splitter/ESP 101428 Serial splitter cable for ESP boards
ACC/SCSI-68to50 105894 Converts 68-pin HD connector to 50-pin header for connection to SCSI cable
SPARE/NVRAM/M48T18DIL
Innovative Research Technologies 04/24/2003 105701 Spare NVRAM for
CPU-2CE, -3CE, -5CE, -5TE,
-5V, -5VT, -7V, -8VT, -20xx, -24xx,
ESP3S, -5S, -7S, -8S, -10M and ESP-20M
SPARE/NVRAM/M48T02DIL 105729 Spare NVRAM for CPU-1E and ESP2
SIMM-32/ESP5S 101578 32 MBytes SIMM for ESP5S
PPC/PMC/860/40-T1-100 105225 MPC 860MH, 40 MHz, two T1/100 Ohm I/F, 4 MBytes DRAM, 128 KBytes SRAM, 2 MBytes Flash
PPC/PMC/860/40-E1-120 105226 MPC 860MH, 40 MHz, two E1/120 Ohm I/F, 4 MBytes DRAM, 128 KBytes SRAM, 2 MBytes Flash
PPC/PMC/860/40-E1-75 105224 MPC 860MH, 40 MHz, two E1/75 Ohm I/F, 4 MBytes DRAM, 128 KBytes SRAM, 2 MBytes Flash
PPC/PMC/860/66-T1-100 105552 MPC 860MH, 66 MHz, two T1/100 Ohm I/F, 16 MBytes DRAM, 256 KBytes SRAM, 2 MBytes Flash
PPC/PMC/860/66-E1-120 105551 MPC 860MH, 66 MHz, two E1/120 Ohm I/F, 16 MBytes DRAM, 256 KBytes SRAM, 2 MBytes Flash
PPC/PMC/860/66-E1-75 105550 MPC 860MH, 66 MHz, two E1/75 Ohm I/F, 16 MBytes DRAM, 256 KBytes SRAM, 2 MBytes Flash
ACC/CABLE/FP860-RJ45 103137 E1/T1 Cable with 1 RJ-45 connector for PMC/860 front panel, 1.5m long
ACC/CABLE/FP860-BNC 103138 E1/75 Ohm Cable with 1 pair BNC connectors for PMC/860 front panel, 1.5m long
ACC/CABLE/MD9-D9/2 102189 Serial cable, 2m, 9-pin micro D-Sub to 9-pin D-Sub
PMC/860/TM 105174 Technical Reference Manual Set PMC/860
ASSY CHAS 10SLT DUAL DC/DC 290 104643 teleforce chassis with dual 10 slot VME backplane and 1 PSU per backplane (dual fan trays included)
TELEFORCE-50 S2.6/300-64-4G-DC 106164 Dual CPU-50T, 300 MHz UltraSPARC-IIi processor each w/ Solaris 2.6 Server factory installed, 4 Gbytes HDD x 2 (hot swap), 64 Mbytes DRAM each, DC PSU x 2 and VME hardware alarm modules
SPARC/SCSI-BP1/CX 101838 3U SCSI rear panel with 50-pin Dsub connector
SPARE/VME SYSTEM SURVEILLANCE BOARD 104069 Alarm module (occupying 1 VME slot)
teraforce/50 S2.6/300-256-4G 105742 teraforce chassis equipped with 300 MHz UltraSPARC-IIi processor (CPU-50T) with Solaris 2.6 Server factory installed, 256 MBytes DRAM, min. 4 GBytes SCSI disk, min. 600W AC power supply, documentation Innovative Research Technologies 04/24/2003
teraforce/50 S7/300-256-4G 106296 teraforce chassis equipped with 300 MHz UltraSPARC-IIi processor (CPU-50T) with Solaris 7 Server factory installed, 256 MBytes DRAM, min. 4 GBytes SCSI disk, min. 600W AC power supply, documentation
teraforce/50 S7/333-256-4G 106297 teraforce chassis equipped with 333 MHz UltraSPARC-IIi processor (CPU-50T) with Solaris 7 Server factory installed, 256 MBytes DRAM, min. 4 GBytes SCSI disk, min. 600W AC power supply, documentation
PENT/CPCI-720/64-200-L512-0 105270 Pentium based CompactPCI CPU board with 200MHz CPU, 512 KBytes L2-cache, 64 MBytes DRAM
PENT/CPCI-720/64-233-L512-0 105785 Pentium based CompactPCI CPU board with 233MHz CPU, 512KB L2-cache, 64 MBytes DRAM
PENT/MEM-720U/128 104993 128MByte Memory extension module for CPCI-720/721
PENT/CPCI-720/CPUP5-ACCKIT 104968 Rear Transition Board with full cable set for the CPCI-72x
PENT/CPCI-720/HD-ACCKIT 104961 Onboard 2.1 GBytes ATA-3 EIDE harddisk drive
PENT/CPCI-720/FD-ACCKIT 104962 Onboard 1.44 MBytes floppy disk drive
PENT/CPCI-720/FLASH-ACCKIT/4MB 104985 4 Mbytes IDE flash disk device (SanDisk)
PENT/CPCI-720/BIOS-UPKIT 105583 BIOS upgrade kit for CPCI-720/721
PENT/CPCI-721/64-233-L512-0 105784 Pentium based CompactPCI CPU board with 233 MHz CPU, 512 KBytes L2 cache, 64 MBytes DRAM and SCSI-2 controller
PENT/MEM-720U/128 104993 128MByte Memory extension module for CPCI-720/721
PENT/CPCI-720/CPUP5-ACCKIT 104968 Rear Transition Board with full cable set for the CPCI-72x
PENT/CPCI-720/IOP5-ACCKIT 104960 Rear Transition Board with full cable set for the CPCI-721 companion board
PENT/CPCI-720/FLASH-ACCKIT/4MB 104985 4 Mbytes IDE flash disk device (SanDisk)
PENT/CPCI-720/SVGA-ACCKIT 105119 SVGA graphic board
PENT/CPCI-720/BIOS-UPKIT 105583 BIOS upgrade kit for CPCI-720/721
PENT/IO-721 106341 I/O board with SCSI-2 controller, one PMC slot and a connection for an optional SVGA graphic board.
PENT/CPCI-720/IOP5-ACCKIT 104960 Rear Transition Board with full cable set for the CPCI-721 companion board
PENT/CPCI-720/SVGA-ACCKIT 105119 SVGA graphic board
PENT/CPCI-730/64-266-L512-0 105890 Pentium II based single board CPU with 64 MBytes SDRAM, 266MHz CPU, 512 Kbytes L2 cache and two PMC slots
PENT/CPCI-730/128-266-L512-16 105891 Pentium II based single board CPU with 128 MBytes SDRAM, 266MHz CPU, 512 Kbytes L2 cache and two PMC slots and 16 MBytes IDE Flash disk
PENT/CPCI-730/64-333-L256-0 106528 Pentium II based single board CPU with 64 MBytes SDRAM, 333MHz CPU, 256 Kbytes on-chip L2 cache and two PMC slots
PENT/CPCI-730/128-333-L256-16 106527 Pentium II based single board CPU with 128 MBytes SDRAM, 333MHz CPU, 256 Kbytes on-chip L2 cache and two PMC slots and 16 MBytes IDE Flash disk
PENT/CPCI-720/CPUP5-ACCKIT 104968 Rear Transition Board with full cable set for the CPCI-72x
PENT/CPCI-730/HD-ACCKIT 106092 Onboard 2.5" 2.1Gbyte ATA-3 harddisk drive
PENT/CPCI-720/FLASH-ACCKIT/4MB 104985 4 Mbytes IDE flash disk device (SanDisk)
PMC/VGA 106093 SVGA PMC graphic board with 2 Mbytes Video RAM and WinNT drivers
PENT/CPCI-730/BIOS-UPKIT 106105 BIOS upgrade kit
SPARC/CPU-50T/64-300-4-2 105596 300 MHz CPU, 1 MByte cache, 64 MBytes memory, 2 MBytes user Flash
SPARC/CPU-50T/256-300-4-2 105316 300 MHz CPU, 1 MByte cache, 256 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-522/64-300-4-2 105595 300 MHz CPU, 1 MByte cache, 64 MBytes memory, 2 MBytes user Flash
SPARC/CPCI-522/256-300-4-2 105372 300 MHz CPU, 1 MByte cache, 256 MBytes memory, 2 MBytes user Flash
PPC/PowerCore-6604e/16-300-L512-4 105180 PowerPC 604e, 300 MHz, 512 KBytes L2 cache, 16 MBytes DRAM, 4 MBytes User Flash
PPC/PowerCore-6750/ 64S-300-L1024-8 105296 PowerPC 750, 300 MHz, 1 MByte L2 cache, 64 MBytes Synchronous DRAM, 8 MBytes User Flash
PPC/PowerCoreCPCI-6750/64S-300-L1M-8 R2 106474 PowerPC 750, 300 MHz, 1 MByte L2 cache, 64 MBytes Synchronous DRAM, 8 MBytes User Flash
PENT/CPCI-720/64-233-L512-0 105785 Pentium based CompactPCI CPU board with 233MHz CPU, 512KB L2-cache, 64 MBytes DRAM
PENT/CPCI-730/128-333-L256-16 106527 Pentium II based single board CPU with 128 MBytes SDRAM, 333MHz CPU, 256 Kbytes on-chip L2 cache and two PMC slots and 16 MBytes IDE Flash disk
SPARC/CPU-5V/64-100-2 105326
SPARC/CPU-5VT/64-100-2 105328
SPARC/MEM-20U/64 102505
SPARC/SOL 1.1.2/DRV/CPU-5V/5VT 102866
SPARC/SOL 2.5.1/DT 105262
SPARC/JPNSOL 2.5.1/DT 105686
IOPI-2 100924 Innovative Research Technologies 04/24/2003
PENT/CPCI-721/64-200-L512-0 105594
PPC/PowerCoreCPCI-6750/16-233-L512-4 105561
PPC/PowerCoreCPCI-6750/64-233-L512-4 105562
PPC/PowerCoreCPCI-6750/64S-300-L1024-8 105731
PPC/PowerCoreCPCI-6750/128S-300-L1024-8 105732
PPC/PowerCoreCPCI-6750/ 64S-400-L1024-8 106097
PPC/PowerCoreCPCI-6750/ 128S-400-L1024-8 106098
CABLE/ Monitor BNC-BNC 103067
CENTELLIS CT 16723 NTW4.0/200SVGA-64-S1I 105543
CENTELLIS CT 16723 NTW4.0/200SVGA-64-S2I 105544
microforce/IR-U2 S2.6/1300TGX-256-4G/CD 105466
microforce/IR-U2A S2.6/1300TGX-256-4G/CD 106041
MICROFORCE/IR-Uaxi S2.6/300VGA-128-4G 105261
MICROFORCE/IR-Uaxi S2.6/360VGA-128-4G 106194
microforce/IR-PC NT4.0/2233VGA-64-4G 105260
microforce/IR-PE-4G/4G/CD/DT 105487
TELEFORCE-5VT S2.6/100-64-4G-AC 105641
TELEFORCE-5VT S2.6/100-64-4G-DC 105640 Innovative Research Technologies 04/24/2003
