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研究生:陳俊凡
研究生(外文):Chiun-fan Chen
論文名稱:以數位信號處理器整合之多主多從系統
論文名稱(外文):Integration of the Multiple Master Multiple Slave System (M3S) Using Digital Signal Processors
指導教授:張艘
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:電機工程學研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2004
畢業學年度:92
語文別:英文
論文頁數:102
中文關鍵詞:多主多從系統區域控制網路數位信號處理器
外文關鍵詞:Multiple Master Multiple Slave (M3S) systemDigital Signal Processor (DSP)Controller Area Network (CAN)
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多主多從系統的發展導因於肢體殘障者對於週邊輔具系統之要求與日遽增。何謂多主多從系統?即Multiple Master Multiple Slave (M3S)。M3S為開放性架構之輔具系統,對於腦性麻痺,半身不遂,多重硬化症或其他肢體上衰弱之病人,M3S系統都能夠賦予他們應有的自主權並以量身訂作的方式製作專屬於個人的輔助工具,其中包括各式搖桿、鍵盤、頭控模組與語音辨識系統。
此架構之設計主要在提供一個能夠讓使用者依個人需求來增減週邊裝置的模組化機制。在M3S系統中,所有裝置皆有兩套獨立的安全防線,其中包括一個中央安全監控裝置(CCM)及兩條獨立之安全線路(KSL/DMS),這兩條安全線路分別透過一個匯流排相互連結,一旦有任何錯誤發生時,系統中各自的安全防護都能夠獨立啟動。我們所設計的系統原型具有基本調變機制的能力,並以數位信號處理器(DSP)作為核心再加上外部電路以維持最佳化的控制和更高階的安全機制。此外,日後甚至可以依據所需之弁鄏茼萓瑽@修整或擴充。
此系統原型是為了滿足多弁鄋漸堛漲茬]計,可讓使用者依既有的基礎自行增減所需之裝置。設計之成品所傳輸之模式為透過匯流排傳輸之區域控制網路(CAN),另有特定之安全裝置利用Dead Man Switch (DMS)電路的硬體架構提供CCM CAN匯流排控制和DSP Watchdog(中央處理器看門狗)之外更高階之安全機制。為了達到一個完整的M3S系統管理,我們同時開發了一套NTUEE LAB302 CAN Monitor監控軟體以利M3S系統未來之整體發展。

The growing demand for devices designed for the severely handicapped led to the development of modular features for the open architecture Multiple Master Multiple Slave (M3S) system. M3S allows individuals suffering from cerebral palsy, paraplegia, or multiple sclerosis, and other physically debilitating illnesses greater autonomy by allowing them to access a wide range of devices tailored to a specific user, e.g., joysticks, keypads, head-control modules and speech recognizers.
The design of the architecture offers a flexible system in which individual devices can be added or removed to accommodate specific needs, providing a two-level safety system for each device. The two levels are a central safety monitor and the two independent wired-OR safety lines connected to each device on the bus, and the system is configured such that in the event of failure, system shutdown can be independently enabled at each separate safety level.
The prototype has been designed with the objective of building a versatile base model to allow addition or removal of modules by individuals with minimal technical expertise. Communications take place via the bus by means of preprogrammed analog or digital input devices. Safety-critical devices are hardwired with DMS circuitry to provide additional safety mechanisms independent of the CCM CAN bus control and the DSP watchdog. The ultimate NTUEE LAB302 CAN Monitor has been developed for a full M3S system supervision.

Chapter 1. Introduction 17

Chapter 2. Background 19
2.1. DEVELOPMENT 19
2.2. REFERENCE MODE 19
2.3. SYSTEM BUS ARCHITECTURE 21
2.3.1. CAN bus 24
2.3.2. SAF bus 24
2.3.3. POW bus 24
2.4. FINITE STATE MACHINE MODEL 25

Chapter 3. DSP Development Tools 27
3.1. DIGITAL SIGNAL PROCESSER 27
3.2. CAN MODULE OF THE TMS320F243 30
3.2.1. Bit Timing and Synchronization 31
3.2.2. To Transmit or Receive a Message 32
3.3. CODE COMPOSER PROGRAMMING PRELIMINERIES 36

Chapter 4. The Design of M3S Input, Output, and CCM Devices 39
4.1. M3S INPUT DEVICES 39
4.2. M3S OUTPUT DEVICES 47
4.3. CCM 52
4.3.1. Task Management 52
4.3.2. Safety Monitoring 52

Chapter 5. The NTUEE LAB302CAN Monitor 57
5.1. CAN232 57
5.2. CAN MONITOR 59

Chapter 6. Results 65
6.1. CAN 65
6.2. KEY/DMS 69
6.3. BATTERY POWER 71
6.4. EMI MEASUREMENT RESULTS 71

Chapter 7. Conclusions and Future Work 75
7.1. CONCLUSIONS 75
7.2. FUTURE WORK 76
7.2.1. Alternative Devices 76
7.2.2. SNAP and PnP 76
7.2.3. Wireless Applications 78

References 79
Appendix A. Overview of the TMS320F243/LF2407A EVM 81
Appendix B. M3S Reference Circuitry 83
Appendix C. Schematics and Artworks 87



[1] M3S Reference Manual, Version 2.00-revision 9, July 1997. Available: http://www.tno.nl/m3s/
[2] M. Mazo, “An Integral System for Assisted Mobility,” IEEE Robot. Automat. Mag. 8(1), pp. 46-56, 2001
[3] S. Linnman, “M3S: The Local Network for Electric Wheelchairs and Rehabilitation Equipment,” IEEE Trans. on Rehab. Eng. 4(3), pp. 188-192 Sept. 1996
[4] B. Davies, R. Hibberd, “A Safe Communication System for Wheelchair-Mounted Medical Robots,” Comput. & Contrl. Eng. J. 6(5), pp. 216 –221, Oct. 1995
[5] J. A. van Woerden, M. W. Nelisse, C. Perricos, R. D. Jackson, B Davies, R. D. Hibberd, D. Banerjee, “M3S-A Standard Communication Architecture for Rehabilitation Applications,” Comput. & Contrl. Eng. J. 5(5), pp. 213 –218, Oct. 1994
[6] CAN Specification, Version 2.0, ROBERT BOSCH GmbH, 1991.
[7] TMS320F243 Evaluation Module Technical Reference, August 1998, Spectrum Digital.
[8] TMS320LF2407 Evaluation Module Technical Reference, January 2001, Spectrum Digital.
[9] TMS320F243/F241/C242 DSP Controllers Reference Guide, System and Peripherals, Texas Instruments, 2000.
[10] Understanding the CAN Controller on the TMS320C24xDSP Controller, December 1998, Texas Instruments.
[11] Richard Sikora, C2000 Teaching Materials, Texas Instruments, 2001.
[12] R. A. Cooper, “Intelligent Control of Power Wheelchairs,” IEEE Eng. in Med. & Bio. Mag. 14(4), pp. 423-431, 1995
[13] CAN232 Manual, Version 2.0A, November 2003, LAWICEL Soft. & Hardware
[14] Yi-chu Chang, Chiun-fan Chen, Jer-junn Luh, Jin-shin Lai, Fok-ching Chong, “Use of M3S for Mobile/Local Controls over a Remote/Fixed Environment”, 26th Annual Int. Conf. IEEE Eng. in Med. & Bio. Soc., 1-5, September, 2004
[15] Chiun-fan Chen, Yi-chu Chang, Jer-junn Luh, Fok-ching Chong, “M3S System Prototype – A Comprehensive System with Straightforward Implementation”, IEEE Conf. on Cntrl. Appl., 2-4, Sep 2004
[16] Chiun-fan Chen, Yi-chu Chang, Heng-yin Chen, Jin-shin Lai, Fok-ching Chong, “A Generic Input Device For The Multiple Master Multiple Slave System”, 26th Annual Int. Conf. IEEE Eng. in Med. & Bio. Soc., 1-5, September, 2004

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