下位机主控制中心(ARM9集成控制板)主要完成SIM900A数据的收发

The main control center (ARM9 integrated control board) of the lower computer mainly completes the sending and receiving of SIM900A data, the collection of GPS positioning data and the serial communication between the ARM9 and STM32 integrated control board. Figure 4-2 describes the overall program design flow of the lower computer control center. First of all, initialize the peripherals, and constantly check whether serial port 0 receives the ultrasonic data from the STM32 control board. If it receives it, it will control the steering gear and propeller, otherwise it will judge the serial port 1 and perform data according to the instructions sent by GPRS Acquisition transmission or unmanned ship control. Figure 4-3 describes the program design flow of the drive control center (STM32 control board). When the unmanned ship encounters an obstacle, it must immediately perform obstacle avoidance processing. Therefore, the ultrasonic module uses the highest priority interrupt 0. After the data is initialized, the interrupt 0 is judged. According to whether the obstacle avoidance signal is received and different deal with.

The main control center (ARM9 integrated control board) mainly completes the sim900A data transmission, GPS positioning data acquisition and ARM9 and STM32 integrated control board serial communication. Figure 4-2 describes the overall program design process for the lower machine control center. First of all, the initialization of peripherals, and constantly detect whether serial port 0 received ultrasonic data from the STM32 control board, if received, the rudder and thruster control, otherwise the serial port 1 judgment, according to the instructions sent by GPRS for data collection transmission or unmanned ship control. Figure 4-3 describes the program design process for the Drive Control Center (STM32 Control Board). Unmanned ship in the face of obstacles must immediately make barrier avoidance treatment, so ultrasonic module using the highest priority interrupt 0, data initialization, the interruption 0 to judge, according to whether to receive the barrier signal and make a different treatment.

The main control center of the lower computer (ARM9 integrated control board) is mainly responsible for the receiving and sending of sim900a data, the acquisition of GPS positioning data and the serial communication between ARM9 and STM32 integrated control board. Figure 4-2 describes the overall program design process of the lower computer control center. First, initialize the peripheral equipment, and constantly check whether the serial port 0 receives the ultrasonic data from the STM32 control board. If it receives the ultrasonic data, control the steering gear and propeller. Otherwise, judge the serial port 1, and carry out the data collection and transmission or the control of the unmanned ship according to the GPRS instructions. Figure 4-3 describes the program design flow of drive control center (STM32 control board). When encountering obstacles, the unmanned vessel must immediately make obstacle avoidance processing, so the ultrasonic module uses the highest priority interrupt 0. After data initialization, judge the interrupt 0, and make different processing according to whether the obstacle avoidance signal is received or not.