This paper presents the development and testing ofan open and flexible embedded system applied to positioning andtelecontrol (OFESAPO) for outdoor applications. The system iscomposed of a control center (CC) and a set of remote terminalunits (RTUs); the International Electrotechnical Commission(IEC) 60870-5 series has been chosen for communication amongthem. This is a standard protocol of real-time telecontrol applications.The CC is a personal computer, and the RTUs arebased on open hardware and software. The RTU hardware is anembedded system, i.e., a system-on-chip-type design using fieldprogrammablegate array that has been programmed with theopen-core LEON running Linux operating system. For prototyping,the GR-XC3S-1500 board has been used. As there is no opensource code available for the IEC standard protocols, an opensource code has also been implemented. Hence, both the hardwareand the software are open source in OFESAPO. Several tests havebeen made to show the system’s limitations and the suitability forreal-time applications. A prototype has also been tested in a realenvironment, where the real position of two moving RTUs wasshown by a CC using Google Map.
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