Quadcopter Siv Zybo Zynq-7000 Board: 5 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29

Ua ntej peb pib, ntawm no yog qee yam uas koj xav tau rau txoj haujlwm: Tshooj List1x Digilent Zybo Zynq-7000 board 1x Quadcopter Ncej tuaj yeem nce Zybo (Adobe Illustrator file rau lasercutting txuas) 4x Turnigy D3530/14 1100KV Brushless Motors 4x Turnigy ESC Basic -18A Kev Tswj Tus Kheej 4x Tus Kws Tshaj Lij (cov no xav tau kom loj txaus los nqa koj lub quadcopter) 2x nRF24L01+ transceiver 1x IMU BNO055Software RequirementsXilinx Vivado 2016.2 NCO NTSOOV: Cov motors saum toj no tsis yog lub cav nkaus xwb uas tuaj yeem siv tau. Lawv tsuas yog cov uas tau siv hauv txoj haujlwm no. Tib yam mus rau seem ntawm seem thiab software xav tau. Vam tias, qhov ntawd yog kev nkag siab tsis tau hais thaum nyeem Cov Lus Qhia no.

Kauj ruam 1: Tau txais PWM Module Khiav

Txoj haujlwm yooj yim SystemVerilog (lossis lwm qhov program HDL) txhawm rau sau npe HI lub qhov rooj thiab LO lub tog raj kheej siv cov hloov pauv nkag. Nqe PWM nrog ib tus ESC thiab Turnigy Brushless Motor. Txheeb xyuas cov ntaub ntawv hauv qab no txhawm rau nrhiav seb yuav ntsuas li cas ESC. Qhov kawg cov lej tau txuas hauv qib 5 rau PWM tus qauv. Tus pib PWM tau txuas nrog hauv cov kauj ruam no EES Cov Ntaub Ntawv: Turnigy ESC Cov Ntaub Ntawv PDF (Yam uas yuav tsum tau them sai sai rau yog hom sib txawv uas koj tuaj yeem xaiv siv HI thiab LO lub qhov rooj)

Kauj Ruam 2: Teeb Tus Qauv Tsim

Tsim Tsim Tsim Ob npaug nias qhov tsim tawm tshiab Txawv XPS teeb tsa rub tawm ntawm no: https://github.com/ucb-bar/fpga-zynq/tree/master/z… Hloov kho chaw PS-PL Configuration M AXI GP0 interface Peripheral I/ O Pins Ethernet 0 USB 0 SD 0 SPI 1 UART 1 I2C 0 TTC0 SWDT GPI MIOMIO Configuration Timer 0 WatchdogClock Configuration FCLK_CLK0 thiab teeb tsa zaus rau 100 MHzMake I2C thiab SPI sab nraud Txuas FCLK_CLK0 rau M_AXI_GP0_ACLK Khiav block automation Tsim qhov chaw"

Kauj ruam 3: Calibrate IMU

BNO055 transceiver siv I2C kev sib txuas lus. (Tus Kws Pib Qhia Ntawv Nyeem Ntawv: https://learn.sparkfun.com/tutorials/i2c) Tus neeg tsav tsheb khiav IMU nyob ntawm no: https://github.com/BoschSensortec/BNO055_driver NPE055. Vim li no, hom kev ua haujlwm tsim nyog yog hom IMU. Qhov no tau hloov pauv los ntawm kev sau tus lej binary xxxx1000 rau OPR_MODE sau npe, qhov twg 'x' yog 'tsis quav ntsej'. Teem cov khoom no rau 0.

Kauj Ruam 4: Sib koom Wireless Transceiver

Lub wireless transceiver siv SPI kev sib txuas lus. Txuas nrog yog daim ntawv qhia tshwj xeeb rau nRF24L01+ Cov lus qhia zoo ntawm nrf24l01+ tab sis nrog arduino:

Kauj Ruam 5: Ua Haujlwm Zybo FPGA

Cov txheej txheem no yog cov qauv kawg siv rau kev tswj hwm ntawm quadcopter's PWM. motor_ctl_wrapper.sv Lub Hom Phiaj: Lub tshuab qhwv yuav siv cov Euler cov ces kaum thiab lub tog raj kheej feem pua. Nws tawm cov nyiaj them PWM uas yuav tso cai rau lub quadcopter kom ruaj khov. Qhov thaiv no muaj, vim tias quadcopters nquag cuam tshuam rau huab cua thiab xav tau qee yam kev ruaj ntseg. Peb tab tom siv Euler cov ces kaum, vim peb tsis npaj rau ntawm qhov tig los yog lub kaum hnyav uas yuav ua rau Gimbal Xauv. 8] Euler Y, [7: 0] Throttle Percentage}, Clock (clk), Synchronous CLR (sclr) Output: Motor 1 PWM, Motor 2 PWM, Motor 3 PWM, Motor 4 PWM, Throttle Percentage PWM Throttle Percentage PWM siv rau kev pib ua ESC, uas yuav xav tau qhov ntshiab 30% - 70% ntau ntawm PWM, tsis yog ib qho los ntawm Lub Cev Tsav Tsheb 1-4 PWM qhov tseem ceeb. Multipliers (Block Memory (BRAM)) clock_div.sv (AKA pwm_fsm.sv) Lub Hom Phiaj: Tswj cov cuab yeej, suav nrog MUX, PWM tso tawm, thiab sclr rau motor_ctl_wrapper. Ib Lub Xeev Finite Lub Tshuab (FSM) tau siv rau ib yam: tswj hwm lwm yam khoom siv. Ib qho kev sib txawv loj los ntawm lub hom phiaj no tuaj yeem ua rau FSM xav ua tus qauv ntawm hom sib txawv ntawm cov qauv (txee, ntxiv, thiab lwm yam.). Pwm_fsm muaj 3 lub xeev: INIT, CLR, thiab FLYINIT: Tso cai rau tus neeg siv rau program ESC raws li xav. Xa qhov teeb liab xaiv rau mux_pwm uas tso ncaj PWM rau txhua lub tshuab. Loops rov mus rau nws tus kheej kom txog thaum GO == '1'. CLR: Tshem cov ntaub ntawv hauv motor_ctl_wrapper thiab pwm tawm cov qauv. FLY: Loop tas mus li kom ruaj ntseg lub quadcopter (tshwj tsis yog peb rov pib dua). Xa cov nyiaj them PWM los ntawm mux_pwmInput: GO, RESET, clkOutput: RST rau lwm qhov qauv teeb tsa, FullFlight kom teeb tsa hom FLY, Lub Sijhawm los khiav atmux_pwm.sv: