介绍了一种基于ARM和FPGA的嵌入式控制系统,该系统既能独立运行又能在计算机辅助下运行,是一种兼具柔性和开放性的系统.利用ARM的强大的数据流转换功能和FPGA的快速配置能力,实现硬件可重构.给出了系统的总体结构、ARM和FPGA之间的通信设计,重点给出了基于Nios Ⅱ的嵌入式可重构底层控制设计,PWM功能模块在FPGA上的实现.设计的系统集成度高、灵活.实验表明系统具有高可靠性,能满足服务机器人外围器件多样性控制的要求.ARM和FPGA不仅可以并行运行处理数据,其之间又可以互相通信,实现了系统的扩展应用.%It introduces a kind of embedded control system based on ARM and FPGA , the system is both flexibile and open which can operate both in independent and in computer-aided ways. Hardware can be reconfigurable by taking advantage of the powerful data flow transformation function of ARM and the rapid configuration ability of FPGA. It presents system's overall structure,communication design between ARM and FPGA, and the embedded reconfigurable bottom control was emphasisly given, PWM function module was realized on FPGA. The general structure of the system is given, so is the communication design between ARM and FPGA. It emphasises on the embedded reconfigurable bottom control design based on the Nios II and the realization of PWM functional module on FPGA. The designed system is of high integration and flexibility. Experiments have shown that this system has high reliability and it can meet the requirements of peripheral devices diversity control for the service robot. The ARM and FPGA not only can operate simultaneously in processing data, but also they can communicate mutually, thus realizing the extended applications of the system.
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