第 13 節
Linux hardware communication
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Linux Robot Communication Basic Tutorial Introduction
A robot system isn't just about algorithms and control; underlying communication is also very important.
In real-world 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 LiDAR, and exchanging data with other compute nodes.
Ultimately, these functions all rely on communication.
Common communication methods
In Linux robot development, common communication methods mainly include:
| Communication method | Common scenarios | Typical Applications |
|---|---|---|
| UART / USB Serial | STM32, ESP32, sensors, debugging module | Host computer and slave computer communication, simple device control |
| CAN / CAN FD | motor driver, chassis control board, vehicle bus | Multi-node device communication, motor control, chassis control |
| TCP / UDP | LiDAR, network camera, multi-program communication, remote control | Network device communication, communication between host computers |
| Modbus RTU / TCP | PLC, variable frequency drives, industrial sensors | Industrial Equipment Communication |
| EtherCAT | Servo drives, industrial robots, motion control systems | High real-time multi-axis control |
| I2C | IMU, temperature and humidity sensor, OLED, ADC | Embedded Linux Direct Connection to Low-Speed Sensors |
| SPI | high-speed ADC, screen, some sensor modules | Embedded Linux directly connecting high-speed peripherals |
Each of these communication methods has its own applicable scenarios, and there is no absolute good or bad. In actual engineering, the choice is usually based on hardware interfaces, real-time requirements, number of devices, and project complexity.
Before discussing hardware, we need to first cover knowledge related to Linux hardware binding, etc.
Pending update