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Linux hardware communication
1.Introduction to Linux Robot Communication Fundamentals Tutorial
Robotic systems are not just about algorithms and control; underlying communication is equally important.
In actual projects, the host computer often needs to exchange data with various hardware devices, such as communicating with an STM32, reading sensor data, controlling motor drivers, connecting to a LiDAR, exchanging data with other computing nodes, etc.
Ultimately, these functions all depend on communication.
1.1.Common Communication Methods
In Linux robot development, common communication methods mainly include:
| Communication method | Common scenarios | Typical uses |
|---|---|---|
| UART / USB Serial | STM32, ESP32, sensors, debug modules | Communication between host computer and lower-level device, simple device control |
| CAN / CAN FD | Motor drivers, chassis control boards, vehicle buses | Multi-node device communication, motor control, chassis control |
| TCP / UDP | LiDAR, network cameras, multi-program communication, remote control | Network device communication, communication between host computers |
| Modbus RTU / TCP | PLC, frequency converters, industrial sensors | Industrial device communication |
| EtherCAT | Servo drives, industrial robots, motion control systems | High-real-time multi-axis control |
| I2C | IMU, temperature and humidity sensors, OLED, ADC | Embedded Linux direct connection to low-speed sensors |
| SPI | High-speed ADC, screens, some sensor modules | Embedded Linux direct connection to high-speed peripherals |
These communication methods each have their applicable scenarios, and there is no absolute good or bad. In actual engineering, the choice is usually made based on hardware interfaces, real-time requirements, the number of devices, and project complexity.
1.2.Before discussing hardware, we must first cover knowledge related to Linux hardware binding and similar topics.
To be updated