【21ic分享赛】微型四旋翼航拍器

只看该作者 · 2016-7-26 10:56

微型四旋翼航拍器，飞行器稳定，算法成熟，
本四旋翼航拍器采用OV7725C彩色摄像头，飞控板主控芯片为STM32，遥控器主控芯片为STM32。本系统在正常飞行过程中，通过按下遥控器右键即可拍下此刻的照片，并实时存储到SD卡中。四轴和遥控器均已集成锂电池智能充电功能，通过USB数据线直接插入电脑即可充电，充电时间在40min左右，具体时间需要看剩余电量，。

只看该作者 · 2016-7-26 10:57

遥控器原理图

只看该作者 · 2016-7-26 10:58

四轴原理图

只看该作者 · 2016-7-26 11:03

部分程序源代码
#include "include.h"

int main(void)
{
   SystemInit();  //配置系统时钟
   IAC_Init();    //系统初始化
   Param_Load();  //加载参数
   EN_TIM3();    //开定时中断
   while(1)
   {
//delay_ms(10);
RC_Analy();       //提取遥控器数据
   }
}
#include "include.h"

extern const uint8 gImage_**[];
extern MY_MENU  MAIN_MENU[5];

int main(void)
{
SystemInit();
IAC_Init();
GUI_SetColor(1,0);
GUI_LoadPic(0,0,( uint8*)gImage_**,128,64);  //OLED加载**
OLED_Refresh_Gram();
EnTIM3();    //开定时中断
    while(1)
{
GUI_ICOMenuClass3(MAIN_MENU);
}
}
void TIM3_IRQHandler(void)       //2.5ms中断一次
{
if(TIM3->SR & TIM_IT_Update)
{
      TIM3->SR = ~TIM_FLAG_Update;//清除中断标志

if(rcsentFlag)  //进入飞行界面才可以发送数据
      RC_Sent();

LED_Sailing(35);
}
}
void SystemCoreClockUpdate (void)
{
  uint32_t tmp = 0, pllmull = 0, pllsource = 0;

#ifdef  STM32F10X_CL
  uint32_t prediv1source = 0, prediv1factor = 0, prediv2factor = 0, pll2mull = 0;
#endif /* STM32F10X_CL */

#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL)
  uint32_t prediv1factor = 0;
#endif /* STM32F10X_LD_VL or STM32F10X_MD_VL or STM32F10X_HD_VL */

  /* Get SYSCLK source -------------------------------------------------------*/
  tmp = RCC->CFGR & RCC_CFGR_SWS;

  switch (tmp)
  {
case 0x00:  /* HSI used as system clock */
   SystemCoreClock = HSI_VALUE;
   break;
case 0x04:  /* HSE used as system clock */
   SystemCoreClock = HSE_VALUE;
   break;
case 0x08:  /* PLL used as system clock */

   /* Get PLL clock source and multiplication factor ----------------------*/
   pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
   pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;

#ifndef STM32F10X_CL
   pllmull = ( pllmull >> 18) + 2;

   if (pllsource == 0x00)
   {
      /* HSI oscillator clock divided by 2 selected as PLL clock entry */
      SystemCoreClock = (HSI_VALUE >> 1) * pllmull;
   }
   else
   {
#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL)
   prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1;
   /* HSE oscillator clock selected as PREDIV1 clock entry */
   SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
#else
      /* HSE selected as PLL clock entry */
      if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET)
      {/* HSE oscillator clock divided by 2 */
      SystemCoreClock = (HSE_VALUE >> 1) * pllmull;
      }
      else
      {
      SystemCoreClock = HSE_VALUE * pllmull;
      }
#endif
   }
#else
   pllmull = pllmull >> 18;

   if (pllmull != 0x0D)
   {
      pllmull += 2;
   }
   else
   { /* PLL multiplication factor = PLL input clock * 6.5 */
      pllmull = 13 / 2;
   }

   if (pllsource == 0x00)
   {
      /* HSI oscillator clock divided by 2 selected as PLL clock entry */
      SystemCoreClock = (HSI_VALUE >> 1) * pllmull;
   }
   else
   {/* PREDIV1 selected as PLL clock entry */

      /* Get PREDIV1 clock source and division factor */
      prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC;
      prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1;

      if (prediv1source == 0)
      {
      /* HSE oscillator clock selected as PREDIV1 clock entry */
      SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
      }
      else
      {/* PLL2 clock selected as PREDIV1 clock entry */

      /* Get PREDIV2 division factor and PLL2 multiplication factor */
      prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4) + 1;
      pll2mull = ((RCC->CFGR2 & RCC_CFGR2_PLL2MUL) >> 8 ) + 2;
      SystemCoreClock = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull;
      }
   }
#endif /* STM32F10X_CL */
   break;

default:
   SystemCoreClock = HSI_VALUE;
   break;
  }

  /* Compute HCLK clock frequency ----------------*/
  /* Get HCLK prescaler */
  tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
  /* HCLK clock frequency */
  SystemCoreClock >>= tmp;
}