QNX를 이용한 무인잠수정의 실시간 운용시스템 개발환경 구축에 관한 연구

Abstract

This paper presents a QNX-based real-time operating system (RTOS) for unmanned underwater vehicles. VxWorks is the most reliable RTOS and one can find many board support packages of various I/O devices for VxWorks RTOS. VxWorks originated from UNIX system is powerful for VME based Motorola target systems and other types of CPU such as Intel processor types. However, it is expensive and one has to purchase it again when he changes a target CPU board. QNX is an RTOS compatible with the Intel microprocessor only and it is an efficient RTOS for applications with multiple CPU boards because it is transparent to other nodes in message passing. A CompactPCI bus CPU board is useful to control unmanned underwater vehicles because of its small size and compactness. This paper briefly reviews the architecture of QNX and the structure of device driver for QNX, and illustrates how to make the device drivers for AD, DA, DIO and RS232 serial boards mounted on a carrier board with CompactPCI bus.