CN106371454B - One kind, which is examined, beats integrated UAV Flight Control System Multi-serial port router - Google Patents
One kind, which is examined, beats integrated UAV Flight Control System Multi-serial port router Download PDFInfo
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- CN106371454B CN106371454B CN201610740251.2A CN201610740251A CN106371454B CN 106371454 B CN106371454 B CN 106371454B CN 201610740251 A CN201610740251 A CN 201610740251A CN 106371454 B CN106371454 B CN 106371454B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/30—Peripheral units, e.g. input or output ports
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Abstract
It is examined the present invention relates to one kind and beats integrated UAV Flight Control System Multi-serial port router design, including：Unified power supply module, core processor, SPI turn four serial port communication chips, and TTL turns 232 signal level conversion chips, and TTL turns 422 signal level conversion chips；Turn the communication multilevel type of four sub- serial ports of four serial ports according to the multilevel type selection SPI of external transmission signal, welding TTL is selected to turn 232 signal level conversion chips either TTL according to type and turn 422 signal level conversion chips；Three sub- serial ports of core processor are reserved as a Transistor-Transistor Logic level serial ports backup serial ports and two 232 communication level backup serial ports；Core processor, which according to the one or more serial ports determined as receiving terminal receives the information that peripheral hardware transmits and integrate, to be issued the one or more serial ports for being determined as transmitting terminal and passes to other peripheral hardwares, is realized more than one turn, the transmission mechanisms of more turns one communications.The present invention can be as driving in the transmission communicated between the more equipment on unmanned plane machine or ground.
Description
Technical field
It is examined the present invention relates to one kind and beats integrated UAV Flight Control System Multi-serial port router, can be increasingly extensive nothing
Man-machine airborne equipment provides the mutually independent reliable communication between ground installation and supports.
Background technology
Unmanned plane takes off as a kind of novel aircraft for the overload-resistant design of shock resistance, increase endurance and voyage, raising
Landing flexibility, raising flight control mobility, reduction cost and risk etc. provide possibility, as it is in various fields
Application, such as one kind are examined and beat integrated unmanned plane, and airborne equipment is also being continuously increased, while different airborne equipments is in addition to machine
Upper communication, it is also necessary to mutually communicated with ground installation, such as the base station of differential GPS and movement station, on machine flight control system with
Ground station control system etc..The measure of finite process generally respectively take independent radio communicate working method, airborne equipment it
Between equipped with respectively independent signal level modular converter, communicate between airborne equipment and ground installation, be furnished between a pair of of equipment
A pair of of radio communication, and while the job requirements of unmanned plane and required precision increasingly increase, the increase of these ancillary equipments
Just reaction is brought to " small, fast, clever " feature of unmanned plane, the communication inspection of equipment is also troublesome.The present invention is based on nobody
The characteristics of machine portable work, propose a kind of UAV Flight Control System multi-serial ports communication router design, it can be solved
Communication between airborne equipment or between ground installation, while design and employ volume minimum, function collection are complete
Principle can meet the needs of unlike signal level conversion is with communication, greatly reduce the quality of unmanned plane ancillary equipment.
Invention content
The technology of the present invention solves the problems, such as：It is increasingly increased same in unmanned plane airborne equipment and ground installation communication need
When, provide a kind of small, light-weight, UAV system multi-serial ports communication router easy to use can to set on machine
It is standby to be in communication with each other or the unified integrated radio station all the way of airborne equipment is in communication with each other, then carried out by ground equal modules with ground installation
Information decomposition gives respective standalone module.
The technical solution of the present invention：One kind, which is examined, beats integrated UAV Flight Control System Multi-serial port router, including：
Unified power supply module, core processor, SPI turn four serial port communication chips, three TTL turn 232 signal level conversion chips and two
A TTL turns 422 signal level conversion chips；Unified power supply module gives each chip power supply；Core processor is connected by SPI interface
SPI turns four serial port communication chips, and core processor turns four of four serial ports according to the multilevel type selection SPI of external transmission signal
The communication multilevel type of substring mouth connects two TTL according to type selection and turns 232 signal level conversion chips or two TTL
Turn 422 signal level conversion chips；Three sub- serial ports of core processor are as a Transistor-Transistor Logic level serial ports backup serial ports and two
232 communication level backup serial ports are reserved, and USART2 connects third TTL with USART3 and turns 232 signal level conversion chips；Core
Processor carries out full duplex communication with external equipment with four sub- serial ports that SPI is converted by three serial ports itself and connects, when more
External equipment is needed with (communication apparatus number is no more than serial ports sum) during ground installation progress both-way communication on a unmanned plane machine,
Peripheral hardware selects corresponding electric level interface to transmit signal message by electrical level transferring chip according to the signal level type of itself on machine
It is uniformly processed to core processor, is integrated into signal all the way and ground communications terminal, the identical communication in ground are passed to by link
Routing module by corresponding serial ports receives this to be integrated information and passes to core processor and pass through into row information dividing processing all the way
Corresponding interface passes to each corresponding ground external equipment；When ground installation needs to transmit letter to external equipment on unmanned plane machine
During breath, by the corresponding interface of serial communication routing module on ground, the peripheral hardware on machine transmits information process to ground multiple equipment
Core processor is uniformly processed integration and serial communication routing module identical on machine is passed to by link, and routing mould is communicated on machine
Block passes to external equipment on each corresponding machine into row information dividing processing by corresponding interface, so as to fulfill on unmanned plane with
Independent communication between the more equipment in ground.
Input power 5V is turned the unified power supply of 3V3 outputs, the work core that selected needs are powered by the unified power supply module
Piece is 3V3 normal working voltages, saves the space shared by power pack element.
The core processor requires memory space bigger under identical encapsulation, and processing data leeway is more sufficient, at core
Three sub- serial ports fix 232 communication level backup string to reason device as a fixed Transistor-Transistor Logic level serial ports backup serial ports and two in itself
Mouth is reserved, and SPI interface turns four serial port communication chips 3 by SPI and increases four serial ports, and has may be selected for signal level
Property, you can the output of 232 level of selection or the output of 422 level；There are seven serial ports on core processor hardware, realize more than one turn,
More turns one and the arbitrary distribution of the serial ports working method more than more turns.
The SPI turns multi-serial ports communication chip operation pattern and substring mouth operating mode is configured by software, low in energy consumption,
Have a variety of power-down operations, outside control is few, using flexible, programming using it is simple, it can be achieved that four serial ports full duplex works simultaneously
Pattern.
In order to save volume, the small chip of encapsulation volume that electrical level transferring chip selection multichannel integrates, TTL turns 232 level
Conversion chip is that two-way integrates transceiver, and TTL turns 422 electrical level transferring chip, one Ge Shi, tetra- tunnels and receives one, tetra- roads of Ge Shi hair
One, reaches the small target of encapsulation volume.
The core processor turns four sub- serial ports of four serial ports according to the multilevel type selection SPI of external transmission signal
When communicating multilevel type, 232 level are selected first, when needing 422 level, are not dismantling component, i.e. two TTL turn 232
Two TTL are directly welded on the basis of signal level conversion chip and turn 422 signal level conversion chips, using reserved eight zero Europe
The design that the direct-connected TTL of nurse resistance turns 232 signal transmitting and receiving channels achievees the purpose that 422 input-output operations of convenient and efficient change.
When external equipment needs to carry out both-way communication with ground installation on multiple unmanned plane machines, communication apparatus number cannot surpass
Cross serial ports sum.
The advantage of the invention is that small, user uses efficient and convenient, versatile and flexible, the communication signal level of serial ports distribution
Type is various, can meet on machine and mutually communicate, while airborne equipment in the signal transmission of ground installation communication with driving demand, power
It is small, mitigate the carrying weight of unmanned plane significantly and reliable communication transfer is provided.
Description of the drawings
Fig. 1 is the connection diagram of hardware design module of the present invention；
Fig. 2 is the corresponding example chip demonstration graph of number of each module chip of hardware design of the present invention；
Fig. 3 is the schematic diagram of serial ports working method of the present invention distribution；
The exemplary software workflow schematic diagram of Fig. 4 present invention.
Specific embodiment
As shown in Figure 1, one kind of the present invention, which is examined, beats integrated UAV Flight Control System Multi-serial port router, including：System
One power supply module 1, core processor 2, SPI turn four serial port communication chips 3, and TTL turns 232 signal level conversion chips 4,5,8,
TTL turns 422 signal level conversion chips 6,7；Unified power supply module 1 provides 3V3 to other chips and unifies normal working voltage, core
The one of serial ports of heart processor 2 itself (hereinafter referred to as " serial ports a "), direct-connected external channel is reserved as TTL signal level；Core
Other two serial ports (hereinafter referred to as " serial ports b, c ") of heart processor 2 itself, is fixedly connected with 232 signal level conversion chips 4, output
232 signal levels；Core processor 2 connects SPI by spi bus and turns four serial port communication chips 3 increase, four serial ports (hereinafter referred to as
" serial ports d, e, f, g "), according to the signal condition of peripheral hardware information, flexibly selection 232 signal level conversion chips 5,8 of connection or
TTL turns 422 signal level conversion chips 6,7, and input and output are 232 level or 422 level.
Design on above-mentioned hardware can meet serial ports a~g full duplex operating modes, can communicate between each other, on hardware
The input and output demand of three kinds of level signals can be met, Transistor-Transistor Logic level signal has all the way, 232 level signals at least two-way, and most six
Road, most four tunnels of 422 level signals.The principle kept in chip selection is that " encapsulation volume is small, and number of chips is few, memory space
The principle of foot ", all functional chips include core processor 2, and SPI turns four serial port communication chips 3, and TTL turns 232 signal levels
It is all that minimum is encapsulated in congenerous type chip that 4,5,8 and TTL of conversion chip, which turns 422 signal level conversion chips 6,7, together
When ensure that enough memory spaces of core processor 2, TTL turns 232 4,5,8 and TTL of signal level conversion chip and turns 422 signals
The multiple signals Integrated Trait of electrical level transferring chip 6,7, an an equal amount of chip are responsible for the level conversion of multiple signals, core
Enumerating for figure two may be selected in sheet type.Hardware plan design in summary, which ensures that Multi-serial port router-module is compact, portable to be made
With convenient characteristic.
It is shown according to fig. 3, the transmitting-receiving working method of each serial ports is distributed, first according to the class of external equipment signal level
The interface of the corresponding level of type selection, Transistor-Transistor Logic level selection serial ports a, selects to 232 lever selections serial ports b~g, 422 lever selections
D~g is selected to property, it, can here when needing 422 electric level interface in the case of welded 232 level switch module 4,5,8
232 level conversion input/output terminal of Zero-ohm resistor short circuit is selected, 422 level switch modules 6,7 are welded, such as 9 institutes in Fig. 2
Show.The receiving of core processor 2 into row information, which is handled and integrated, issues corresponding link communication interface, and link passes to ground,
The identical route communication module connection in ground connects into symmetry status with the routing module on machine, core processor 2 into
The receiving of row information, which is handled and distributed, issues corresponding each communication external equipment.
The processing that information is responsible in Software for Design part is integrated or is distributed：Serial ports a~g has respectively independent structure to become
Amount, the membership table row of structure are identical, including receiving data buffer storage array DATA [100] temporarily, finish receiving data buffer storage number
Group DATALOCK [100], count pick up cnt, finish receiving mark Rxactive, and number mark aTxactive is sent out to serial ports a, to
Serial ports b sends out number mark bTxactive, and number mark cTxactive is sent out to serial ports c, number mark dTxactive is sent out to serial ports d, to string
Mouth e hair number mark eTxactive, send out number mark fTxactive to serial ports f, number mark gTxactive, mark amount are sent out to serial ports g
Effectively it is 1, structure initialization of variable is set as 0.
Serial ports a, b, c are interrupted and are interrupted using serial ports, serial ports d~g uses four strings of SPI extensions as the serial ports of itself
Mouthful, interruption is recognized using external interrupt by a universal I/O port of processor, as Multi-serial port router, is only responsible for
It the reception of information completely and distributes packing and retransmits away, the interrupt priority level of each serial ports transceiving data is identical.
Peripheral data information is directed to different peripheral hardwares, and the data packet of transmission includes special data packet frame head and postamble also just
It is data packet opening flag byte and end mark byte and data length information byte, data school searching section, it may be determined that
Be that a kind of data are surrounded by oneself determining serial ports whereabouts, software section receives the serial ports of peripheral hardware information according to the spy of transmission data
Different property ensures to receive the integrality of data, while after serial ports one complete data packet of reception is received, by interim order caching
Array of data, which copies to, finishes receiving data buffer storage data, while according to the serial ports whereabouts for determining transmission, by corresponding transmission
Whereabouts serial ports X hairs number mark XTxactive puts 1, while the mark Rxactive that finishes receiving of serial ports puts 1, and triggering sends program
Data buffer storage data will be finished receiving to send by corresponding serial ports X transmitting terminals.
The reception data of each serial ports carry out in respective interrupt service routine, and while (1) cycles in principal function are only
It does transmission effectively to judge, i.e., when the reception mark of serial ports a~g any one serial ports puts 1, and triggers directive property and send serial ports mark
Will XTxactive puts 1, sends the transmission program execution that effective discriminant function triggers corresponding serial ports immediately.
Specific implementation process is：
(1) the serial ports work distribution of Multi-serial port routing module is carried out according to the initial serial ports allocation flow of Fig. 3
Wherein Transistor-Transistor Logic level signal is only supported all the way, and 232 signal levels could support up six tunnels, and 422 signal levels could support up
Four tunnels, 232 signal level of signal level of general peripheral hardware is in the majority, and it is most that this module just designs 232 signal paths.When needing to connect
In the case that the peripheral hardware of 422 level signals and 232 level signal modular converters 4,5,8 all have existed, the present invention reserved eight
The TTL of a direct-connected serial ports e~g of Zero-ohm resistor turns in the input and output of 232 level signal channels, can not dismantle 232 level
Signal conversion module 4,5,8 and burn-on Zero-ohm resistor and 422 level signal modular converters 6,7 switch to 422 input and output, such as scheme
Shown in 9 position of label in 2.
(2) determine the data packet characterisitic parameter of access external equipment, i.e., including opening flag position, data length, check bit,
End mark position and the serial ports whereabouts of such data packet, it is corresponding that above-mentioned parameter is transmitted in received data packet function to receive
Specified transmitting terminal serial ports is passed to after complete parameter, and receiver function is written to the receiving terminal serial ports interruption clothes of access external equipment
In program of being engaged in.
(3) initialization of (a) serial ports are set, and the requirement corresponding to external equipment corresponds to the baud of modification receiving terminal transmitting terminal serial ports
Rate.
(4) module powers on, initialization of (a) serial ports, and while (1) cycles are doing the judgement whether sent always.When receiving terminal string
After mouth Y receives data, into interrupt service routine, receiver function judges to receive the integrality of data, the spy of inspection data packet
Property parameter, if judging, the data packet that receives instantly is effective, i.e., by the opening flag position of data packet, data length, check bit,
End mark position interim will receive data buffer storage data and be copied to after determining this data packet correctly completely receives partial data caching
Array, the mark Y.Rxactive that finishes receiving for receiving serial ports Y put 1, then simultaneously will be right according to the serial ports whereabouts of such data packet
The transmitting terminal serial ports X hairs number mark XTxactive answered puts 1, sends mark position 1, the transmission for just triggering while (1) judges letter
Number, which starts, sends serial ports program, first sets to 0 the mark Y.Rxactive that finishes receiving for receiving serial ports Y, then will receive partial data
Caching array is sent from transmitting terminal serial ports X, corresponding after judging that receiving partial data caching array is all sent
Transmitting terminal serial ports X hairs number mark Y.XTxactive is set to 0.
(5) it if continuing to data, works according to the program flow loops in (4).
Fig. 4 accesses peripheral data packet with serial ports a, and serial ports d sends description software workflow.
Wherein serial ports a structures variable has Struct Serialport a={ char DATA [100]；char DATA_
Lock[100]；int cnt；int Rxactive；int aTxactive；int bTxactive；int cTxactive；int
dTxactive；int eTxactive；int fTxactive；int gTxactive；, it has illustrated before each variable meaning.
When multiple serial datas are integrated into a serial ports or a serial data is assigned to multiple serial ports, software work is appealed
Making flow can meet.Either more than one turn or more turns one, as long as the characteristic ginseng for a kind of data packet for receiving peripheral hardware is determined
Number, and this kind of data packet determines meeting there are one the transmission serial ports direction specified, and corresponds to the reception letter for passing to and receiving serial ports
Number, software carries out the reception data of complete data packet and transmission data operation by processing, such as the process flow of Fig. 4
It is similar, according to more than one turn or more turns one transmission mechanism complete assigned work.
Claims (7)
1. one kind, which is examined, beats integrated UAV Flight Control System Multi-serial port router, it is characterised in that：Including unified power supply module,
Core processor, SPI turn four serial port communication chips, three TTL turn 232 signal level conversion chips and two TTL turn 422 signals
Electrical level transferring chip；Unified power supply module gives each chip power supply；Core processor connects SPI turns of four serial ports by SPI interface and leads to
Chip is interrogated, core processor turns the communication of four sub- serial ports of four serial ports according to the multilevel type selection SPI of external transmission signal
Multilevel type connects two TTL according to type selection and turns 232 signal level conversion chips or two TTL turns of 422 signal levels
Conversion chip；Three sub- serial ports of core processor are standby as a Transistor-Transistor Logic level serial ports backup serial ports and two 232 communication level
Part serial ports is reserved, and USART2 connects third TTL with USART3 and turns 232 signal level conversion chips；Core processor passes through this
Three serial ports of body carry out full duplex communication with external equipment with four sub- serial ports that SPI is converted and connect, when on multiple unmanned plane machines
When external equipment needs to carry out both-way communication with ground installation, external equipment is selected according to the signal level type of itself on unmanned plane
It selects corresponding electric level interface signal message is passed to by core processor by electrical level transferring chip and be uniformly processed, be integrated into and believe all the way
Number ground communications terminal is passed to by link, it is whole all the way that the identical communication routing module in ground by corresponding serial ports receives this
It closes information and passes to core processor and passed into row information dividing processing by corresponding interface and set outside each corresponding ground
It is standby；When ground installation needs to transmit information to external equipment on unmanned plane machine, ground multiple equipment is led to by the serial ports on ground
The news corresponding interface of routing module external equipment transmission information on machine is uniformly processed integration by core processor and passes through chain
Road passes to serial communication routing module identical on machine, and communication routing module is connect into row information dividing processing by correspondence on machine
External equipment on each corresponding machine is passed in oral instructions, so as to fulfill the independent communication on unmanned plane between the more equipment in ground.
Integrated UAV Flight Control System Multi-serial port router is beaten 2. examining according to claim 1, it is characterised in that：It is described
Input power 5V is turned the unified power supply of 3V3 outputs by unified power supply module, and the operating die that selected needs are powered is that 3V3 is normal
Operating voltage saves the space shared by power pack element.
Integrated UAV Flight Control System Multi-serial port router is beaten 3. examining according to claim 1, it is characterised in that：It is described
Core processor requires memory space bigger under identical encapsulation, and processing data leeway is more sufficient, core processor three in itself
Substring mouth is fixed 232 communication level backup serial ports as a fixed Transistor-Transistor Logic level serial ports backup serial ports and two and is reserved, and SPI connects
Mouth turns four serial port communication chips by SPI and increases four serial ports, and have the alternative of signal level, you can selection
232 level export or the output of 422 level；There are seven serial ports on core processor hardware, realize more than one turn, more turns one and more
Turn the arbitrary distribution of more serial ports working methods.
Integrated UAV Flight Control System Multi-serial port router is beaten 4. examining according to claim 1, it is characterised in that：It is described
SPI turns four serial port communication chip operating modes and substring mouth operating mode is configured by software, has a variety of power-down operations, real
Existing four serial ports while full duplex operating mode.
Integrated UAV Flight Control System Multi-serial port router is beaten 5. examining according to claim 1, it is characterised in that：Level
The small chip of the encapsulation volume that integrates of conversion chip selection multichannel, it is that two-way integrates transmitting-receiving one that TTL, which turns 232 electrical level transferring chips,
Body, TTL turn 422 electrical level transferring chip, one Ge Shi, tetra- tunnels and receive one, the other is four roads hair one.
Integrated UAV Flight Control System Multi-serial port router is beaten 6. examining according to claim 1, it is characterised in that：It is described
Core processor turns the communication multilevel type of four sub- serial ports of four serial ports according to the multilevel type selection SPI of external transmission signal
When, 232 level are selected first, when needing 422 level, are not dismantling component, i.e. two TTL turn the conversion of 232 signal levels
Two TTL are directly welded on the basis of chip and turn 422 signal level conversion chips, it is direct-connected using reserved eight Zero-ohm resistors
The design that TTL turns 232 signal transmitting and receiving channels achievees the purpose that 422 input-output operations of convenient and efficient change.
Integrated UAV Flight Control System Multi-serial port router is beaten 7. examining according to claim 1, it is characterised in that：When more
When external equipment needs to carry out both-way communication with ground installation on a unmanned plane machine, communication apparatus number is no more than serial ports sum.
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| CN107888701B (en) * | 2017-11-29 | 2024-02-23 | 深圳市科比特航空科技有限公司 | Unmanned aerial vehicle multi-serial port communication radio station |
| CN110645834A (en) * | 2019-08-29 | 2020-01-03 | 北京宏大和创防务技术研究院有限公司 | Intelligent wushu ware station control system |
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