Research And Design On Core System Of Flight Control Computer Based On Dual ARM

Flight control computer is the core of the UAV flight control system. The hardware and softwareplatform of the flight control computer are asking for higher performances with the UAV flightenvelope expansion and the more complex task environments, and the quality of theperformance directly determines whether the UAV’s missions can be completed. This paper applysthe ARM processor LPC3250to the microprocessor of the flight control computer and designs a kindof compact, high performance digital core system for small UAV.The thesis focuses on the hardware and software components of the core system of UAV flightcontrol computer. For hardware components, revolving around the dual ARM processors, the powersupply circuit, memory circuit, clock circuit, reset circuit etc. dual CPU auxiliary circuits have beendesigned, also the analog to digital conversion module （AD）, digital to analogconversion module （DA）, asynchronous serial communication interfaces module （UART）,digital I/O module（DIO）and dual CPU communication module have been completed in accordancewith UAV’s mission requirements; For software components, the real time operating system has beentransplanted to the dual core system and the paper has completed each module’s driver design andproposed the design principles of the flight control software.Firstly, the paper introduces the flight control computer’s hardware and softwarecomponents and analyzes their deficiencies. Then the paper proposes a ARM processor based anddual core architecture for hardware design and a software design based on μC/OS—Ⅱ real timekernel.The paper classifies the flight control computer’s tasks for flight control and navigation, oneCPU for flight control and another for navigation solutions of the dual core architecture flightcontrol system. For hardware design, adopting the method of "core system plus external interface",and the schematic and PCB design of the minimum system and peripheral interfaces have beencompleted, the core system integrates of the dual CPU auxiliary circuits and theexternal interface integrates of the A/D, D/A, UART, DIO, and the dual port RAM is used for dualcore system’s data communication; For software design, the μC/OS—Ⅱ embeded real timeoperating system has been transplanted for the hardware platform, the article has given thedetailed transplanting processes and completed the drivers for interfaces, also, explored the flightcontrol software design principles under the μC/OS—Ⅱ. Finally, the μC/OS—Ⅱ transplanting code and interfaces’ drivers have been tested underthe ADS1.2integrated development environment. Meanwhile, the real time and reliability of dualcore system’s data communication under the dual port RAM has been tested and verified and theexperiments have demonstrated the feasibility and accuracy of the hardware and software design.The paper confirms that the core system of flight control computer based on dual ARM is stable andreliable, and the paper lays a solid foundation for the following research on complete dual core flightcontrol computer system.