Flymaple_V1.1_SKU_DFR0188_-DFRobot

Introduction

Flymaple is a Quadcopter controller board, based on the Maple Project. The FlyMaple embeds a STM32F103RET6 (ARM Cortex-M3) as it's main MCU. It integrates a 3-Axis accelerometer,a 3-Axis gyroscope,a 3-Axis compass and a barometric pressure sensor. By using the 10 dgrees of freedom IMUs and powerful 72MHz high-performation microcontroller, flymaple is powerful enough to handle a complex algorithm and manage a robot motion system at the same time.

The design of flymaple is based on the maple, which is an arduino sytle ARM processor. The Maple IDE will make Processing/Arduino programmers feel right at home. If you're familiar with Arduino then you can get started with the Maple IDE quite easily.

Flymaple is aimed to run on the balancing robots,mobile platform,helicopters and quadcopters which require IMUs and high performance real time controllers. It has an amazing scalability, because it's compatible with the Arduino shields. FlyMaple extends 6 PWM channels and 8 channels for GPIO for controlling ESC/Servo and capturing RC receiver input.

Applications

Specification

Windows System Driver

Note:

To load any program:

Board Overview

Tutorial

Sample Code

#include <stdio.h>
#include "wirish.h"
#include "i2c.h"

extern uint16 MotorData[6];  //Motor control command

extern volatile unsigned int chan1PPM;  //PPM command
extern volatile unsigned int chan2PPM;
extern volatile unsigned int chan3PPM;
extern volatile unsigned int chan4PPM;


char str[512];

////////////////////////////////////////////////////////////////////////////////////
//Function:  void setup()
//Para: None
//Return:    None
//Initialize function
///////////////////////////////////////////////////////////////////////////////////
void setup()
{
  motorInit();       //Init Motors
  capturePPMInit();  //捕获遥控器接收机PPM输入信号功能初始化

  //configure I2C port 1 (pins 5, 9) with no special option flags (second argument)
  i2c_master_enable(I2C1, 0);  //设置I2C1接口，主机模式

  initAcc();            //初始化加速度计
  initGyro();           //初始化陀螺仪
  bmp085Calibration();  //初始化气压高度计
  compassInit(false);   //初始化罗盘
  //compassCalibrate(1);  //校准一次罗盘，gain为1.3Ga
  //commpassSetMode(0);  //设置为连续测量模式

}
////////////////////////////////////////////////////////////////////////////////////
//函数原型:  void loop()
//参数说明:  �
//返回值:    �
//说明:      主函数，程序主循环
///////////////////////////////////////////////////////////////////////////////////
void loop()
{
  //***************ADXL345加速度读取测试例子*****************************
  int16 acc[3];
  getAccelerometerData(acc);  //读取加速度
  SerialUSB.print("Xacc=");
  SerialUSB.print(acc[0]);
  SerialUSB.print("    ");
  SerialUSB.print("Yacc=");
  SerialUSB.print(acc[1]);
  SerialUSB.print("    ");
  SerialUSB.print("Zacc=");
  SerialUSB.print(acc[2]);
  SerialUSB.print("    ");
  //delay(100);
  //***********************************************************/


  //***************ITG3205加速度读取测试例子*****************************
    int16 gyro[4];
    getGyroscopeData(gyro);    //读取陀螺仪

    SerialUSB.print("Xg=");
    SerialUSB.print(gyro[0]);
    SerialUSB.print("    ");
    SerialUSB.print("Yg=");
    SerialUSB.print(gyro[1]);
    SerialUSB.print("    ");
    SerialUSB.print("Zg=");
    SerialUSB.print(gyro[2]);
    SerialUSB.print("    ");
    //SerialUSB.print("temperature=");
    //SerialUSB.print(gyro[3]);
    //SerialUSB.print("    ");
    //delay(100);
  //*********************************************************************/
  //****************************BMP085 气压计测试例子******************
  int16 temperature = 0;
  int32 pressure = 0;
  int32 centimeters = 0;
  temperature = bmp085GetTemperature(bmp085ReadUT());
  pressure = bmp085GetPressure(bmp085ReadUP());
  centimeters = bmp085GetAltitude(); //获得海拔高度，单位厘米
  //SerialUSB.print("Temperature: ");
  SerialUSB.print(temperature, DEC);
  SerialUSB.print(" *0.1 deg C ");
  //SerialUSB.print("Pressure: ");
  SerialUSB.print(pressure, DEC);
  SerialUSB.print(" Pa ");
  SerialUSB.print("Altitude: ");
  SerialUSB.print(centimeters, DEC);
   SerialUSB.print(" cm ");
  //SerialUSB.println("    ");
  //delay(1000);
  //********************************************************************/
  //******************************HMC5883罗盘测试****************************
  float Heading;
  Heading = compassHeading();
  //SerialUSB.print("commpass: ");
  SerialUSB.print(Heading, DEC);
  SerialUSB.println(" degree");
  delay(100);
 //***************************************************************************/
  /*************************电机驱动测试***************************************************************
  MotorData[0] = 1;  //首先将PWM设置为最低以开启电调
  MotorData[1] = 1;
  MotorData[2] = 1;
  MotorData[3] = 1;
  MotorData[4] = 1;
  MotorData[5] = 1;
  motorCcontrol();   //计算各个电机控制量之差,将这个值用于定时器产生中断改变相应电机脉冲高电平时间
  delay(1000);
  MotorData[0] = 500;  //控制6个电调使电机按照一半速度运行
  MotorData[1] = 500;
  MotorData[2] = 500;
  MotorData[3] = 500;
  MotorData[4] = 500;
  MotorData[5] = 500;
  motorCcontrol();   //计算各个电机控制量之差,将这个值用于定时器产生中断改变相应电机脉冲高电平时间
  while(1);
  *********************************************************************************************************/
  /********************无线遥控器RC 的 PPM 捕获测试****************************************************
  SerialUSB.print("PPM Channel 1: ");
  SerialUSB.print(chan1PPM, DEC);
  SerialUSB.print("  ");
  SerialUSB.print("PPM Channel 2: ");
  SerialUSB.print(chan2PPM, DEC);
  SerialUSB.print("  ");
  SerialUSB.print("PPM Channel 3: ");
  SerialUSB.print(chan3PPM, DEC);
  SerialUSB.print("  ");
  SerialUSB.print("PPM Channel 4: ");
  SerialUSB.print(chan4PPM, DEC);
  SerialUSB.println("  ");
  delay(100);
  ***************************************************************************************************/
}

Expected Results

This sample code is a piece of the whole library code for the motor functions, you need to download the library to run the whole sketch which contains this motors code.

More Documents

FAQ

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