基于Xscale与FPGA的微小型飞行器控制系统的硬件设计

Design of the Control System Hardware Based on Xscale and FPGA for Microminiature Aerial Vehicles

以微小型飞行器为控制对象,设计了一种基于Xscale+FPGA的双芯片微小型数字控制系统.该系统用基于Xscale架构的微处理器处理导航算法和控制算法,用FPGA处理外部信号核心.选择嵌入式Linux作为软件平台,完成了Bootloader设计、嵌入式Linux的裁减和主要器件FPGA的驱动设计.针对FPGA所需处理的信号,设计了用于A/D采样的硬件电路,采用硬件描述语言对电路模块进行了软件设计.实验测试结果表明,该系统具有较高的集成度和较好的实时性.

Aimed at microminiature aerial vehicles （MAV） design, a hardware design solution of control system based on FPGA cooperating with Xscale is presented. The micro processor based on Xscale architecture is the main processing kernel of the flight control system, and is used to calculate the navigation and control algorithm. FPGA is the peripheral chip, used to process most of the input signals. Embedded Linux OS is selected as the software platform for flight control system. Bootloader is transplanted, that functions in establishing software run-time environment to boot the Linux kernel. Embedded Linux streamlined and FPGA driving program developed. Considering the need of signal processing, the A/D convertion circuit is designed, which is designed with hardware design language. Results of tests showed that the hardware platform of micro digital control system had the characteristics of compact size, low weight and cost, which made it more applicable to the MAV.