Design And Implementation On Underwater Glider Control Software Based On Arm+μC/OS-Ⅱ

The underwater glider is a new kind of platform observing Marine environmentand store messages inside with gliding movement in the sea. In order to develop asoftware suitable to underwater glider control system, this paper put forward anembedded software design using C language, ARM controller and μC/OS-IIreal-time operating system as the development environment after analyzing thecontrol system of underwater glider thoroughly.Analyzing the principle of underwater glider system, we get functionality andperformance requirements of the control software. According to the demand and theexisting technology, the paper decide to use the design of ARM+mu C/OS-IIembedded system. Then the development environment of system software is built. Weknow that this scheme is easy to develop and it can be also realizing the intelligentfunction of underwater glider with high real-time and strong stability after feasibilitystudy on it. Analyzing and dismantling the function of the underwater glider, the paperpropose a principle that the software should be followed, and raise design of thesoftware architecture. Introduces the division of mission functions and the interactionbetween them, then data flow diagram of control system is given out.Discuss the design methods of embedded system as well as clarify thedevelopment process and the key points. The paper introduces μC/OS-II operatingsystem and ARM controller used, and gives the method of how to transplant μC/OS–II onto ARM controller.This paper does the work of detailed design of the software which is the mostimportant part of this development job. Firstly shows the whole flow chart of controlsoftware and analysis data message associated between the upper application tasks.The paper has completed the detailed design of control system application software,Including initiator program, navigation control subsystem, motion control subsystem,sensing and storage subsystem and emergency control subsystem. Finally this papercompletes the coding job of the application and driver program.A design of low power consumption is put forward at the last of the paper. Afteranalyzing the power consumption elements of the control system of underwater glider,this paper use a low-power solution combined with characteristics of μC/OS-II and ARM controller. When the idle task is executed, after finishing shut down theperipherals and sensors, ARM controller will be in sleep mode wait to be woken up byserial port interrupt or wake-up timer interrupt. This design can decrease the powerconsumption effectively. Finally gives a assess way of efficiency for this kind of lowpower consumption scheme.Finally the performance index designed in this paper meet the requirements ofmultitasking support, stability, low power consumption efficiency and large capacitystorage, through integration test of the control software. Control status andperformance indicators of the underwater glider controlled by this software getverification fully, through system test in the lake. These experiments shows that thiscontrol scheme works well and reaches the development goal expected. This paperprovides a stability software platform with high performance to achieve moreintelligent and complex function added later.