摘要：以八位單片機為核心的嵌入式系統早已廣泛應用于各個領域，這些應用大多還處于單機使用的嵌入式底層階段。其特點是以MCU為核心，與一些簡單的傳感器及監測、指示、和顯示等設備配合，實現一定的測量、顯示、信息處理及控制等功能。雖然在許多應用中利用了CAN、RS-232和RS-485等總線將MCU組網。但這種網絡的應用空間有限，相關的通信協議也比較單一，并且沒有和廣泛應用的Internet連接。目前，Internet已成為社會重要的基礎信息設施，是信息流通的重要渠道。嵌入式系統必將與Internet完美融合，方便、低廉的將信息傳送到世界上的任何一個地方。
ARM體系的處理器是目前嵌入式系統中使用最廣泛的處理器。它采用了RISC技術，具有體積小、低功耗、低成本、高性能等特點，芯片內部大量使用寄存器，指令執行速度更快，指令長度固定等特點，使得它的處理速度快，執行效率高。由于Linux對于ARM技術的支持，具有內核可裁減，代碼開放的特點，把Linux應用到嵌入式系統中，能充分發揮ARM和Linux的優勢。
本文首先說明了所構建的基于ARM的自主移動的嵌入式系統的總體結構，然后進行了系統的硬件設計，接著針對系統的硬件設備移植了啟動代碼，最后說明了uCLinux內核配備和移植相應的的方法和說明，最終開發設計出一個基于ARM的自主移動機器人的嵌入式系統核心。本文最后進行了總結與展望。
關鍵詞: 嵌入式系統； ARM； 板級設計；設備驅動程序
Abstract:Embedded system with eight bit microcomputer as the core is applied in various fields. These applications mainly stay in embed bottom floor stage of microcomputer. Its characteristics are taking MCU as core, with simple sensors and monitoring, prescription, and display device etc to realize certain functions such as measuring, displaying, information processing and controlling. Though CAN, RS-232 and RS-485 buses are applied to make up MCU network, this application space is very limited, relative protocols are somewhat simple, and there is no connection to broadly used Internet. Currently, Internet becomes important information infrastructure and main access of information communication. Embedded system must perfectly combined with Internet so as to transfer information to everywhere in the world.
Processor in ARM system is mostly used in current embedded system. It takes RISC technology, with characteristics such as small volume, low power consumption, advanced function. Registers are greatly used in inner chip, instruction executes fast and with fixed length, which enables processor works fast with high effectiveness. As Linux supports ARM technology, has inner core can be downsizing and open codes, so applying Linux to embedded system can give fully play to ARM and Linux advantages.
General structure of automatically mobile embedded system based on ARM is explained in this paper, then system hardware design, replanting starting code to system hardware device, finally uCLinux inner core configuration and the method &instruction of replanting. Embedded system core in automatically mobile robotics based on ARM is designed and developed eventually, which is concluded and prospected at the end of the paper.
Key words: Embedded system； ARM；The board-grade design；Driver
