"Background
Last year, Intel huge investment in China's drone manufacturer YUneec, causing a sensation, whether the drone will be the pig who takes off at the air? If you trace the source, you will find that the drone development has now been in the past 100 years. It has always been subject to technical, policy and other factors, and the drone has slowly develops and is mainly concentrated in the military field. However, in recent years, it is born in the development of micro-electrical control technology, and a novel drone product is born, that is, the general cognitive multi-rotator, in which four axes can calculate typical representatives, regardless of Size or market maturity has a relatively large "voice", I believe many engineers, DIY enthusiasts, students and friends have come into contact. But if you think about it, what is the main factor in measuring the standard of four-axis aircraft? If the engineer has developed, what points should be paid attention to in the development, how to improve these elements as possible? Today, the pavilion is a four-axis aircraft solution in Yingfailing. To introduce a reliable, low-power four-axis aircraft scheme Kit_Xmci45_larix_pinu_1, not only allows your flight to continue, more saving You 30% of the project development cycle (this article only discusses the main flying control, electrical tones in the four-axis aircraft, does not involve the extra expansion of the four-axis aircraft, such as shooting, graphics, etc.), first come first.
4-axis aircraft solution Kit_Xmci45_larix_pinu_1
As can be seen from the Buffalo's box, this four-axis aircraft program is the complete system solution, and the main control is based on the high-end XMC4500 series microcontroller of British Ling.
The accessories in the box are very simple, including a four-axis aircraft hardware solution (flying + electric tone) and a paper instruction document.
It is also skillful that the four-axis aircraft scheme obtained by the pavilion is is a hardware program for the UFO competition, and the complete system contains the main flight control and electrical tuning function in the four-axis aircraft. Therefore, it is very convenient to form a simple, complete four-axis aircraft only need to add racks, motors, and lithium batteries. What's more, Yingfailing itself recommends the corresponding motor, lithium battery specifications in the documentation, more convenient engineers, players themselves. However, many friends will think of another aspect, correspondingly, because of the flight control, the electric tuning board is limited, so the general structure and performance of the four-axis aircraft are basically fixed, want to try different sizes, four axes of performance Aircraft players may have to consider other solutions.
Core main control XMC4500
The core main control of the four-axis aircraft in English is used by its own high-performance mixed signal microcontroller XMC4500 series. The specific model is XMC4500F100K1024, which belongs to a high-profile product in the XMC4500 family.
XMC4500F100K1024 microcontroller characteristics:
Based on the ARM Cortex-M4 processor, with DSP, FPU unit, 120MHz, integrated 1MB flash, 160kb SRAM,
Integrated IEEE1588 Standard Ethernet Mac, 10 / 100Mbit / S Transmission Rate
Integrated USB PHY, support USB2.0 HOST, full rate USB OTG; integrated CAN controller, up to 1Mbit / s rate
Six universal serial interfaces for UART, DUAL-SPI, Quad-SPI, IIS, IIC, LIN
LED and Touch Controller (LEDTS); SD and Multimedia Storage Interface (SDMMC)
External bus interface unit: Support and external storage and external portions such as SRAM, SDRAM, NOR, NAND, etc.
4 12-bit ADC, 2 12-bit DAC; CCU4 * 4, CCU8 * 1, POSIF * 2, WDT, DTS, RTC, SCU, etc.
As we all know, Yingfine semiconductor is good at microcontroller products in the field of industrial control, automotive electronics, motor control. XMC4500F100K1024 is just this type, and its integrated powerful peripheral function is sufficient to make it cross-domain, such as the field of industrial control. Ethernet interface, touch controller, USB HOST / OTG interface; CAN, Lin bus, multimedia interface for automotive electronics; Of course, here we focus on integrating unique CCU4, CCU8, POSIF, etc. Several important features.
The POSIF unit includes a position interface of the photoelectric encoder and the Hall sensor, the main function is to demodulate the position signal provided by the sensor and transmit the demomposed signal to the CCU unit.
The XMC4500F100K1024 microcontroller has 4 CCU4 units and 2 CCU8 units, each of the CCU4 units contains 4 timers, each timer supports the maximum 16-bit count range, and can be connected in series, up to the highest Supports 64-bit counting ranges. The CCU4 unit is connected to the POSIF unit to realize the position and speed measurement in the motor, and the CCU8 unit is mainly used for PWM wave generation, which enables motor control, power conversion, and the like, which are more than enough for the four-axis aircraft.
MCU related development board wonderful recommendation:
XMC48 W / EtherCAT Suite A Cortex-M4 kernel is suitable for high energy efficiency microcontroller series for industrial connection, industrial control, power conversion, and detection.
XMC 2GO Development Kit A Cortex M0 kernel is designed to evaluate the performance of XMC1100 MCU and powerful free toolchain Dave.
XMC1200 LED Evaluation Suite A Cortex-M0 core is suitable for LED lighting, digital power conversion, intelligent sensors, etc., and integrated into a leading 65-nanometer manufacturing process.
Fly control board
Understand the main controller of the four-axis aircraft, let's see other hardware components of the flight control board, in order to facilitate viewing, first remove the four electric tones on the board.
The workmanship of the flight control board is very strong. After all, it is not necessary to fall many times when I actually debug it, and the size of the flight control board in Bette is not small, which is a pair of PCB strength and onboard devices. Not small challenges, in addition to the XMC4500 main controller, flight control panel-board devices, and functional interfaces also contain:
Based on the transfer of the microcontroller XMC4200 Series microcontroller, with MicroSB interface
A MicroSB interface (XMC4500), GPS signal interface, lithium battery voltage monitoring interface, wireless control signal interface
LED indicator, LED driver BCR321U, reset button, Origa 2L certification
RN42 Bluetooth module for connectivity control with mobile APP
Pneumometer DPS310, used to calculate the level of the four-axis aircraft
The 9-axis sensor MPU 9250 includes an acceleration (a horizontal reference to the four-axis aircraft), the magnetometer (providing a four-axis aircraft), the gyroscope (measurement angular velocity, which reflects the change of its own angle) function
Among them, the power supply of the flying control board supports 7.4 ~ 12.6V power supply, and the power supply has converted into 5V DC output through the IFX91041V50 5V DCDC switch of Yingfei Ling to 5V DC output, and then supplied to microcontrol from the IFX1117MEV33 LDO output 3.3V voltage. The sensor is powered.
Electric toner
The electric tumble is also the motor drive plate we said, including a half-bridge circuit consisting of a motor controller, a half bridge drive circuit, and a MOS tube, as shown in the following figure.
The motor control IC uses the XMC1302 microcontroller of British, for the XMC1000 series microcontroller of the British Ling family. Everyone should not be too strange, it is based primarily based on the ARM Cortex-M0 kernel, including 3 product lines: The XMC1100 series belongs to the entry-type product, and the XMC1200 series is mainly used for LED display and interaction control, and the XMC1300 series is mainly used for real-time control, such as motor drive, and its hardware system block diagram is shown below.
XMC1302 microcontroller characteristics:
32-bit ARM Cortex-M0 processor, 8KB ON-Chip ROM, 16KB SRAM, 200KB Flash
Two universal serial interface channels (USIC): can be used as UART, SPI, I2C, I2S, LIN interface
AD conversion, 3 analog comparators, temperature sensors
Industrial Control Peripherals: CCU4, CCU8, POSIF, BCCU
System Control Unit: WDT, RTC, SCU (for system configuration and control)
As in XMC4500, as a series of products for motor control, XMC1302 also includes many special units, CCU4, CCU8, POSIF, providing engineers with a convenient development environment. Infineon XMC1302 Microcontroller + Yingfiling Half Bridge Drive IC IR2301S + Yingfine BSC0925ND MOS Tube Composition Half Bridge circuit output drive three-phase motor U, V, W signal, is the core of the entire four-axis aircraft electrode.
After reading the flight control board + electric tuning board, if you have a little somewhat horror, the solution used in addition to the individual sensors, other core devices are not in English, unknowing, unknown, British Flying Ling The product has penetrated into various fields, whereby the range of its product line is wide.
MCU related development board wonderful recommendation:
XMC48 W / EtherCAT Suite A Cortex-M4 kernel is suitable for high energy efficiency microcontroller series for industrial connection, industrial control, power conversion, and detection.
XMC 2GO Development Kit A Cortex M0 kernel is designed to evaluate the performance of XMC1100 MCU and powerful free toolchain Dave.
XMC1200 LED Evaluation Suite A Cortex-M0 core is suitable for LED lighting, digital power conversion, intelligent sensors, etc., and integrated into a leading 65-nanometer manufacturing process.
Development environment
When we really get the British Flying four-axis aircraft kit, how do we start? Development Kit Unique Paper Document Description provides four-axis aircraft IDE tool downloads and flying control boards, and the source code for the electrical tuning board.
Dava 3.1 version download
Yingfine four-axis aircraft flying control board, electric tuning board, hardware information, software source code download
For XMC series microcontrollers, Yingfine provides special IDE development tool Dave, the latest version of the official website updates to Dave V4, the minimum configuration is 4GB, and it is provided with this set of Flying four-axis aircraft kit. Source codes, but only provide support for Dave3, so you want to make it easier to develop, or it is recommended to install Dave 3 versions. When installing Dava, you will prompt the installation debugger's driver file, which is the driver of J-Link, and the default selection is available.
Fly control code download
Installation, Open Dave Software, click File -> IMPORT
Select Dave Project for the next step
Choose Download the Fly Control and the Source of the Electric Slab Source Code
The software defaults is the code file of the flight control board, that is, the core_larix_v1.0 below.
Click the debug icon to compile and download debugging. Here is something to pay attention to, you need to take the jump on the flight control board when downloading commissioning.
The picture below shows the computer CPU process, 12 years of computer, i5 processor, but the CPU's usage is 100%, which can be seen that the DVAE tool is compiled to the computer configuration requirements or quite high.
MCU related development board wonderful recommendation:
XMC48 W / EtherCAT Suite A Cortex-M4 kernel is suitable for high energy efficiency microcontroller series for industrial connection, industrial control, power conversion, and detection.
XMC 2GO Development Kit A Cortex M0 kernel is designed to evaluate the performance of XMC1100 MCU and powerful free toolchain Dave.
XMC1200 LED Evaluation Suite A Cortex-M0 core is suitable for LED lighting, digital power conversion, intelligent sensors, etc., and integrated into a leading 65-nanometer manufacturing process.
Electric tone code download
After the flight control board code is downloaded, it is also necessary to download the code of the electric tuning board. Unlike the flight control board to directly use the onboard XMC4200 debugger, the electric tuning is only reserved for the debug interface of the SWD protocol signal, and it needs to be used Additional emulator, the author uses J-Link. The connection is shown below.
Download with Dave Software
You can also use J-Link J-Flash download software directly.
Select microcontroller model xmc1302-0128
Select debug interface protocol SWD
Select compilation to complete .HEX file download
Select burning
Four small plates of the electric tonar need to download, repeat the above steps, is the time, it is still relatively simple.
Flying control and electrical code download, install the rack, motor, lithium battery, and then pass the official free Android system app, you can control the motor through the Bluetooth Connection Plate, of course, this is just the simplest way, if Want to take off, fly stability, but also adjust the code parameters of the flying control board according to the size of the frame size of DIY. Since the author does not have a suitable rack, the motor and other parts, the subsequent operation has helplessly.
Small knot
Introduced the four-axis aircraft assessment kit Kit_Xmci45_larix_pinu_1, the high-performance PCB workmanship, the entire evaluation board, the entire evaluation board, the flying control board, the flying control board based on high performance, powerful ARM Cortex -M4 processor XMC4500, onboard based debugger module based on XMC4200; electric tuning board based on English-flying version of the XMC1302 series microcontroller, with a plate-loaded half-bridge drive IC and MOS tube, form an efficient three-phase motor Driver circuit. The assessment kit cooperates with British powerful free Dave IDE tools, free information documents, code, engineers can quickly get started the development and debugging of the four-axis aircraft, and can expand rich features through the peripheral interface reserved by Flight Control. . If you use English, the ready-made assessment kit is directly developed directly to the prototype development of the four-axis aircraft.R & D cycle. Of course, although this can be a set of complete fool-style four-axis aircraft DIY kits, but from getting started to really achieve stable flight difficulty or not small, the author is recommended to use the user who has a certain understanding of the four-axis aircraft. Love board network will also launch a gift of related suites, and interesting friends must not miss it.
Original declaration: This article is originally created by the panel network, declined!
MCU related development board wonderful recommendation:
XMC48 W / EtherCAT Suite A Cortex-M4 kernel is suitable for high energy efficiency microcontroller series for industrial connection, industrial control, power conversion, and detection.
XMC 2GO Development Kit A Cortex M0 kernel is designed to evaluate the performance of XMC1100 MCU and powerful free toolchain Dave.
XMC1200 LED Evaluation Suite A Cortex-M0 core is suitable for LED lighting, digital power conversion, intelligent sensors, etc., and integrated into a leading 65-nanometer manufacturing process. "
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