Re: Which embedded system would you use?
- From: Sink0 <sink00@xxxxxxxxx>
- Date: Wed, 4 May 2011 06:25:04 -0700 (PDT)
On May 4, 10:11 am, 1 Lucky Texan <alcky...@xxxxxxxxxx> wrote:
On May 4, 6:36 am, Sink0 <sin...@xxxxxxxxx> wrote:
A research,
Which digital and wired communication system would you use for the
following robotic system.
A system composed by a PC/104+ (it is just a very compact standard PC)
with Xenomai (or maybe RTAI), and some sensor nodes (something like
12, but could vary a lot). These sensor nodes are basically composed
by a DSP/MCU/DSC (not the same one on every node) and some sensors and
actuators. The sensors can be anything so i will not give any fixed
description, but a good example would be a Brushless motor (with the
control routine inside the MCU/DSC), and 4 to 5 sensors with a max
sample rate of 2ksps. Basicaly the PC/104+ should get all the data
from sensor nodes (the MCU will handle the communication on the node
side) perform some processing and send back some reference to the
actuators control routine. The whole system should work with a 500us
period. The max acceptable latency between the PC/104 ask for the data
and the reception should be 100us, and the maximum latency for the
actuators command should be 70us (bewtween teh pc104 send and the node
receive). From all the commercial standard availables, all i could
find was Ethercat and Firewire, that have a chance to handle this
communication..Any idea? Just a final comment. The system should have
the minimum amount of cables possible and the max distance between the
PC104 and the nodes is 3m.
Thanks!!
As for reducing cables, look into Zigbee.
www.winsystems.comand other makers offer boards with Zigbee.
Otherwise, I think ethernet might be a good choice. Or USB 3 perhaps.
Much depends on the 'horsepower' in the node/sensor units I guess.
I need some high Reliability in this system, and wireless is not that
reliable. Anyway, i cant belive Wifi, or any other wireless interface
controlled by a RT Linix could achieve my Real Time requirements...
just to make it clear, 100us is for a round read, and not a single
node...
But thank you!
.
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