Responsive processor for parallel/distributed real-time control
Responsive processor for parallel/distributed real-time control
复制标题
用于并行/分布式实时控制的响应式处理器
DOI：
10.1109/iros.2001.977152
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
N. Yamasaki
中科院分区：
文献类型：
--
作者：
N. Yamasaki
本文介绍了一种响应式处理器（RP）的设计与实现，用于并行/分布式实时控制，可以控制各种嵌入式系统，包括机器人、家庭自动化、工厂自动化等。RP集成了一个MPU核心（SPARC），四个用于实时通信的响应链路（rl），以及许多外围功能，包括SDRAM I/F， DMAC， PCI， USB， PWM发生器，脉冲计数器，A/D转换器，D/A转换器等，在ASIC芯片中。在芯片的核心部分，RL通过四对全双工事件链路和全双工数据链路提供可扩展的实时通信。对链路上的报文进行优先级排序，实现超车和走捷径。通过RLs连接RPs，可以组成多种控制系统。
This paper describes the design and implementation of a responsive processor (RP) for parallel/distributed real-time control, which can control various embedded systems including robots, home automation, factory automation, etc. RP integrates an MPU core (SPARC), four responsive links (RLs) for real-time communication, and many peripheral functions including SDRAM I/F, DMAC, PCI, USB, PWM generators, pulse counters, A/D converters, D/A converters, etc., in an ASIC chip. At the core part of the chip, RL provides the scalable real-time communication by four pairs of a full-duplex event link and a full-duplex data,link. Each packet on the link is prioritized to enable overtaking and shortcut routing. Many kinds of control systems can be composed by connecting RPs using RLs.