CN203759547U - Orientation control system based on triaxial accelerator - Google Patents

Abstract

The utility model discloses an orientation control system based on a triaxial accelerator, comprising a single-chip computer and a triaxial acceleration sensor, a display screen, an upper computer, and a minitype vibration motor which are respectively connected to the single-chip computer. The beneficial effects of the orientation control system based on a triaxial accelerator achieves transplantation of a MuC/OS-II operation system, data sampling of the triaxial accelerator sensor, displaying two-dimensional image character information on the TFT display screen and the serial port communication between the single-chip computer and the upper computer. Meanwhile the upper computer of the orientation control system realizes OpenGL three dimensional scene construction, orientation of the virtual three dimensional small ball can be controlled, a three dimensional small ball collision recognition function is added, and the operation and stoppage of upper computer can be set through the keyboard.

Description

A kind of azimuth control system based on three axis accelerometer

Technical field

The utility model relates to a kind of azimuth control system, and more specifically, it relates to a kind of azimuth control system based on three axis accelerometer.

Background technology

Along with the fast development of micromachining technology (hereinafter referred MEMS, Micro Electro ?Mechanical System), the various devices based on MEMS technology also arise at the historic moment.MEMS device mainly comprises micro mechanism, microsensor, miniature actuator and corresponding several parts for the treatment of circuit.Adopt the microsensor, microactrator, micro parts, Micromechanical Optics device, microelectronic vacuum, power electronic devices etc. of MEMS fabrication techniques to have very wide application prospect in Aeronautics and Astronautics, automobile, biomedicine, environmental monitoring, military affairs and field of consumer electronics.

3-axis acceleration sensor is as the exemplary electronic device based on MEMS technology, can provider to, double-click, rock, the measuring ability such as inclination and vibration.Because of advantages such as its lower cost, small size, low-power consumption, high-performance, large-scale application is in the design of consumer electronics product.Relatively successfully application has attitude and action control identification, interesting expanded function, power consumption control etc.

Along with the maturation of MEMS technology, the indices of micromechanics 3-axis acceleration sensor has all reached the requirement of present stage application and development substantially.Its object is exactly will obtain measurement target at the position relationship with respect to terrestrial gravitation direction, the data that general reaction is x, y, z three axles.These data can be that analog quantity can be also digital quantity, depend on the signal processing circuit type of selected sensor.Application developer is by obtaining three groups of data, and on computers it processed, and just can obtain the angle inclined degree of measurement target thing on three reference axis, thereby judge the relative attitude of measurement target thing in space.

At present, micromechanics 3-axis acceleration sensor is widely used in consumer electronics, the fields such as automotive electronics, medical insurance, Industry Control.But complicated due to the restriction of its scope of application and development process, has caused its exploitation threshold not decrease along with the optimization of its properties of product.

Summary of the invention

The purpose of this utility model is to overcome deficiency of the prior art, provides a kind of rational in infrastructure, applied widely, and development process is the azimuth control system based on three axis accelerometer simply.

The purpose of this utility model is achieved through the following technical solutions.This azimuth control system based on three axis accelerometer, comprises single-chip microcomputer and the 3-axis acceleration sensor being connected respectively at single-chip microcomputer, display screen, host computer, micro-burst motor;

Described single-chip microcomputer is the STM32F103ZET6 single-chip microcomputer of ST company, hereinafter to be referred as STM32; PA9-US1-TX (P6.8), the PA10-US1-RX (P6.9) of its CPU, PA9-US2-TX (P2.5), PA10-US2-RX (P2.6) realize two-way RS-232 interface by MAX3232, be connected on XS5 and XS17 interface, for same host computer communication;

Described 3-axis acceleration sensor is the ADXL345 type three axle digital accelerometes of ADI company; The SCL of 3-axis acceleration sensor module is connected with the PA9 of STM32, and SDA is connected with the PA10 of STM32;

Described display screen is 2.4 cun of integrated ILI9325 controllers of TFT display, LCD sheet selects CS to adopt FSMC_NE1 (P8.8), FSMC_A16 (P5.8) selects as the RS of LCD, FSMC_nWE (P8.6) as LCD /WE, FSMC_nOE (P8.5) as LCD /RD, the PE1 (P9.8) of STM32 for the RESET pin of LCD, D1～D8, the D10～D17 of FSMC_D0～FSMC_D15 and LCD interconnect; Touch interface and adopt SPI1 interface, sheet is elected PB7-SPI1-CS3 as; Because LCD use constant current source backlight chip PT4101 controls, adopt pwm control signal control light and shade backlight, pwm signal is controlled by PD13-LIGHT-PWM; The interruption application line that touches circuit is received by PB6-7846-INT.

The beneficial effects of the utility model are: rational in infrastructure, applied widely, development process is simple.

Brief description of the drawings

Fig. 1 is the utility model hardware frame schematic diagram;

Fig. 2 is ADXL345 module peripheral circuit diagram;

Fig. 3 is ADXL345 and STM32 connecting circuit figure;

Fig. 4 is TFT display module and STM32 connecting circuit figure;

Fig. 5 is RS232 level shifting circuit figure;

Fig. 6 is hardware catenation principle figure;

Embodiment

Below in conjunction with drawings and Examples, the utility model is described further.Although the utility model is described in connection with preferred embodiment, should know, do not represent that the utility model is limited in described embodiment.On the contrary, the utility model is by alternative, modified and the equivalent contained in the scope of the present utility model that can be included in attached claims restriction.

Overall design:

The hardware design of this control system is mainly the STM32F103ZET6 single-chip microcomputer based on ST company, sensor is the ADXL345 type three axle digital accelerometes of application ADI company, and [4] also adopt the tangible display screen of 3.2 inches of Thin Film Transistor (TFT) (TFT:Thin Film Transistor) by the control of ILI9320 liquid crystal and ADS7841 analog-digital chip co-controlling.And adopt A1234 type micro-burst motor to carry out the collision perceptional function of extension system.

Its main operation is such, according to object motion attitude, collection provides three axles (X-Y-Z) acceleration (z) numerical value of α x-α y-α, and collected data are sent to STM32 single-chip microcomputer by iic bus in this moment to ADXL345.Single-chip microcomputer is carried out three axle pitch angle with respect to original state that algorithm process obtains object (β x-β y-β z), and carry out the attitude in this moment of judgment object according to three axle angles of inclination after the data of receiving from ADL345.Finally controlled the motion orientation state of 2D object on TFT screen.Motor behavior that simultaneously can simultaneous display 3D object on host computer, and to the behavior process monitor and record.

Processor of single chip computer module:

STM32 series 32 bit flash memory controllers are that ST company releases for Embedded Application development field specially based on ARM Cortox-M3 kernel, are mainly MCU and provide solution cheaply to 32 frameworks.Benefit from the Thumb-2 instruction set that the enhanced functional of Cortox-M3 structure and the code density of improvement in performance are higher, STM32 series processors has not only significantly improved Response time, have minimum in the industry power consumption simultaneously concurrently, there is the feature of high integration and easy exploiting.

The STM32-V3 development board that the design adopts is based on STM32F103VET6 processor.Aspect storage capacity, it has the ROM of 128K and the SRAM up to 20K.Aspect computing power, its maximum operation frequency 72MH, allows to carry out monocycle multiplication and hardware division.Aspect peripheral hardware, it has nearly 80 quick I/O mouths, all I/O mouths 16 external interrupt of all can videoing; Nearly 9 communication interfaces, comprising 2 I2C interfaces, 3 USART interfaces, 2 SPI interfaces, CAN interface and USB2.0 interfaces.The interface that the design relates to mainly contains JTAG debugging interface, RS232 interface, and for controlling the FSMC interface of TFT LCDs, and the general GPIO mouth for being connected with three axle digital acceleration sensors of being drawn by wire jumper post.

3-axis acceleration sensor module:

ADXL345 is a little and thin super low-power consumption three axis accelerometer, resolution high (13), reach ± 16g of measurement range.Digital output data is 16 two's complement forms, can pass through SPI (3 lines or 4 lines) or the access of I2C digital interface.

This 3-axis acceleration sensor is made up of two parts: gravity sensing unit and signaling conversion circuit, wherein a pole plate being movable to is placed in the middle of being equivalent to two fixing capacitor plates in gravity sensing unit.In the time having acceleration to act on system, middle plate off normal rest condition.Use middle plate off normal rest condition.With the range observation accekeration of middle plate off normal rest condition.Between change of distance and pole plate, capacitance presents proportionate relationship, and the computing formula of capacitance is as follows:

The area that wherein A is pole plate, δ be polar plate spacing from, ε is electric medium constant.

ADXL345 is applicable to mobile device application very much.It can measure static weight acceleration in tilt detection application, can also measure motion or impact the dynamic acceleration causing.Its high resolving power (3.9mg/LSB), can measure the angle change less than 1.0 °.

This device provides multiple special detection function.The threshold value that movable and inactive measuring ability arranges by the acceleration on comparison arbitrary axis and user detects and having or not motion to occur.Knock measuring ability and can detect singly shaking of any direction and two vibration work.Whether freely falling body measuring ability can detection means drop.

These functions can independently be mapped in two interrupt output pins.Its exclusive integrated memory management system adopts one 32 grades first in first out (FIFO) impact dampers, can be used for storing data, thereby host-processor load is down to minimum, and reduces total system power consumption.Low-power consumption mode is supported based drive intelligent electric power management, thereby carries out threshold value sensing and acceleration of motion measurement with extremely low power consumption.

The design adopts ADXL345 module peripheral circuit as shown in Figure 2:

Because I2C bus interface on the STM32 sheet of V3 development board is shared by other hardware, only way can only adopt the existing Simulation with I 2C interface of I/O cause for gossip.The SCL of 3-axis acceleration sensor module is connected with the PA9 of STM32, and SDA is connected with the PA10 of STM32.Concrete connection hardware circuit is as shown in Figure 3:

TFT display apparatus module:

2.4 cun of integrated ILI9325 controllers of TFT display, adopt FSMC (the Flexible Static Memory Controller) function of STM32, LCD sheet selects CS to adopt FSMC_NE1 (P8.8), FSMC_A16 (P5.8) selects as the RS of LCD, FSMC_nWE (P8.6) as LCD /WE, FSMC_nOE (P8.5) as LCD /RD, the PE1 (P9.8) of STM32 for the RESET pin of LCD, FSMC_D0 ... D1...D8, the D10 of FSMC_D15 and LCD ... D17 interconnects.Touch interface and adopt SPI1 interface, sheet is elected PB7-SPI1-CS3 as.Because LCD use constant current source backlight chip PT4101 controls, adopt pwm control signal control light and shade backlight, pwm signal is controlled by PD13-LIGHT-PWM.The interruption application line that touches circuit is received by PB6-7846-INT.Concrete connecting circuit is as shown in Figure 4:

RS232 communication module:

STM32V3 exploitation version has two-way RS-232 interface, PA9-US1-TX (P6.8), the PA10-US1-RX (P6.9) of CPU, PA9-US2-TX (P2.5), PA10-US2-RX (P2.6) realize two-way RS-232 interface by MAX3232, are connected on XS5 and XS17 interface.As shown in Figure 5.

Owing to not being equipped with RS232 interface in many existing notebook computers, in order to address this problem, can, by connecting RS232-USB patchcord, the RS232 interface on development board be connected with the USB interface of host computer computer.For the desk-top engineering machine of being furnished with RS232 interface, totally unnecessary like this, directly connect and can complete data transmission by RS232 connecting line.

Hardware connection mode:

First the power supply interface connection on STM32-V3 development board to be turned to A type usb line by a Type B and be connected to PC above, power for exploitation version provides stable 5V by the USB interface on PC.Then jtag interface winding displacement being connected on STM32-V3 development board is connected with J-Link emulator, then turns the USB interface on A type usb line connection PC by a Type B.Then, serial ports male and female conversion extended line one end is connected to development board, the other end turns USB line with RS232 and is connected.Connected mode is as shown in Figure 6:

What in connection procedure, the most easily make mistakes is exactly 3-axis acceleration module, in the time connecting this module, can distinguish by the color of winding displacement, and when winding displacement picks out from module, yellow line is VCC, it should be noted that this VCC magnitude of voltage is 3.3V; Green line is GND, and blue line is SDA, and purple line is SCL.When winding displacement access STM32-V3 exploitation, due to the one section of flat cable extension of having transferred, winding displacement color changes.Yellow line is VCC, and orange line is GND, and red line is SDA, and brown line is SCL.

JLink emulator arranges:

After connecting the hardware interface of Jink, can't directly carry out debugging on sheet, need in Keil uVision4, carry out correct configuration to its corresponding option.Cursor is placed on the icon of project file folder, click right, selects Options for Target Flash ... option, selects Use Cortex-M/R JLINK/J-Trace at Link configuration page.Then click Settings, selecting Download Function at Flash Download configuration page is Erase Full Chip, and in Programming Algorithm, selects STM32F10x High-density Flash type.

ADXL345 not only can adopt I2C bus mode to carry out data transmission, can also adopt spi bus mode simultaneously.Be compared to I2C, SPI has higher clock work frequency as three-wire interface, and does not need pull-up resistor.Only have a data line because I2C only has as two line interfaces, can only be operated under semiduplex mode, SPI can move under full-duplex mode.Except the advantage aspect transfer rate, spi bus is without pull-up resistor, and antijamming capability is also on I2C.Unique blemish in an otherwise perfect thing is exactly can take more bus number for communication, but for the resourceful STM32 single-chip microcomputer of pin, what too large burden this can not be yet.

Claims (1)

1. the azimuth control system based on three axis accelerometer, is characterized in that: comprise single-chip microcomputer and the 3-axis acceleration sensor being connected respectively at single-chip microcomputer, display screen, host computer, micro-burst motor;

Described single-chip microcomputer is the STM32F103ZET6 single-chip microcomputer of ST company, hereinafter to be referred as STM32; PA9-US1-TX (P6.8), the PA10-US1-RX (P6.9) of its CPU, PA9-US2-TX (P2.5), PA10-US2-RX (P2.6) realize two-way RS-232 interface by MAX3232, be connected on XS5 and XS17 interface, for same host computer communication;

Described 3-axis acceleration sensor is the ADXL345 type three axle digital accelerometes of ADI company; The SCL of 3-axis acceleration sensor module is connected with the PA9 of STM32, and SDA is connected with the PA10 of STM32;

Described display screen is 2.4 cun of integrated ILI9325 controllers of TFT display, LCD sheet selects CS to adopt FSMC_NE1 (P8.8), FSMC_A16 (P5.8) selects as the RS of LCD, FSMC_nWE (P8.6) as LCD /WE, FSMC_nOE (P8.5) as LCD /RD, the PE1 (P9.8) of STM32 for the RESET pin of LCD, D1～D8, the D10～D17 of FSMC_D0～FSMC_D15 and LCD interconnect; Touch interface and adopt SPI1 interface, sheet is elected PB7-SPI1-CS3 as; Because LCD use constant current source backlight chip PT4101 controls, adopt pwm control signal control light and shade backlight, pwm signal is controlled by PD13-LIGHT-PWM; The interruption application line that touches circuit is received by PB6-7846-INT.