ESP-Drone
简介
本人有幸参加上海乐鑫组织的线下活动，通过两天的学习与交流逐渐掌握了ESP32-S2的环境搭建、代码编译等工作。同时，也根据自己所学专业知识，修改部分代码，以便和大家交流，欢迎留言。
ESP-Drone 是基于乐鑫 ESP32-S2/ESP32 开发的小型无人机解决方案，可使用手机 APP 或游戏手柄通过 Wi-Fi 网络进行连接和控制。目前已支持自稳定飞行、定高飞行、定点飞行等多种模式。该方案硬件结构简单，代码架构清晰完善，方便功能扩展，可用于 STEAM 教育等领域。控制系统代码来自 Crazyflie 开源工程，使用 GPL3.0 开源协议。
实物图片
官方教程
- 从这里开始: Getting Started
- 硬件原理图：Hardware
- iOS APP 源代码: ESP-Drone-iOS
- Android APP 源代码: ESP-Drone-Android
开发笔记
一、 3D建模
通过Solidworks(2018)绘制，方便3D打印以及导出外形图到AD
二、气压计MS5611移植与调试
- 去除宏定义
define SENSORS_ENABLE_PRESSURE_MS561
-
修改
i2cdevWriteReg8函数(官方已修改)bool i2cdevWriteReg8(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress, uint16_t len, uint8_t *data) { if (xSemaphoreTake(dev->isBusFreeMutex, (TickType_t)5) == pdFALSE) { return false; } i2c_cmd_handle_t cmd = i2c_cmd_link_create(); i2c_master_start(cmd); i2c_master_write_byte(cmd, (devAddress << 1) | I2C_MASTER_WRITE, I2C_MASTER_ACK_EN); if(memAddress != I2CDEV_NO_MEM_ADDR) { i2c_master_write_byte(cmd, memAddress, I2C_MASTER_ACK_EN); } i2c_master_write(cmd, (uint8_t *)data, len, I2C_MASTER_ACK_EN); i2c_master_stop(cmd); esp_err_t err = i2c_master_cmd_begin(dev->def->i2cPort, cmd, (TickType_t)5); i2c_cmd_link_delete(cmd); xSemaphoreGive(dev->isBusFreeMutex);
if defined CONFIG_I2CBUS_LOG_READWRITES
if (!err) {
char str[length * 5 + 1];
for (size_t i = 0; i < length; i++) {
sprintf(str + i * 5, "0x%s%X ", (data[i] < 0x10 ? "0" : ""), data[i]);
}
I2CBUS_LOG_RW("[port:%d, slave:0x%X] Write %d bytes to register 0x%X, data: %s",
port, devAddr, length, regAddr, str);
}endif
if defined CONFIG_I2CBUS_LOG_ERRORS
if defined CONFIG_I2CBUS_LOG_READWRITES
else {else
if (err) {endif
I2CBUS_LOGE("[port:%d, slave:0x%X] Failed to write %d bytes to__ register 0x%X, error: 0x%X",
port, devAddr, length, regAddr, err);
}endif
if (err == ESP_OK) {
return TRUE;
} else {
return false;
}}
- 修改`i2cdevReadReg8`函数bool i2cdevReadReg8(I2C_Dev dev, uint8_t devAddress, uint8_t memAddress, uint16_t len, uint8_t data) { if (xSemaphoreTake(dev->isBusFreeMutex, (TickType_t)5) == pdFALSE) { return false; }
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
if(memAddress != I2CDEV_NO_MEM_ADDR)
{
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (devAddress << 1) | I2C_MASTER_WRITE, I2C_MASTER_ACK_EN);
i2c_master_write_byte(cmd, memAddress, I2C_MASTER_ACK_EN);
}
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (devAddress << 1) | I2C_MASTER_READ, I2C_MASTER_ACK_EN);
i2c_master_read(cmd, data, len, I2C_MASTER_LAST_NACK);
i2c_master_stop(cmd);
esp_err_t err = i2c_master_cmd_begin(dev->def->i2cPort, cmd, (TickType_t)5);
i2c_cmd_link_delete(cmd);
xSemaphoreGive(dev->isBusFreeMutex);if defined CONFIG_I2CBUS_LOG_READWRITES
if (!err) {
char str[length * 5 + 1];
for (size_t i = 0; i < length; i++) {
sprintf(str + i * 5, "0x%s%X ", (data[i] < 0x10 ? "0" : ""), data[i]);
}
I2CBUS_LOG_RW("[port:%d, slave:0x%X] Read_ %d bytes from register 0x%X, data: %s", port, devAddr, length, regAddr, str);
}endif
if defined CONFIG_I2CBUS_LOG_ERRORS
if defined CONFIG_I2CBUS_LOG_READWRITES
else {}else
if (err) {endif
I2CBUS_LOGE("[port:%d, slave:0x%X] Failed to read %d bytes from register 0x%X, error: 0x%X",
port, devAddr, length, regAddr, err);
}endif
if (err == ESP_OK) {
return TRUE;
} else {
return false;
}}
- 修改`ms5611ReadPROM`函数 bool ms5611ReadPROM() { uint8_t buffer[MS5611_PROM_REG_SIZE]; uint16_t pCalRegU16 = (uint16_t )&calReg; int32_t i = 0; bool status = false;
for (i = 0; i < MS5611_PROM_REG_COUNT; i++) {
// start read sequence
status = i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR,
MS5611_PROM_BASE_ADDR + (i * MS5611_PROM_REG_SIZE));
// Read conversion
if (status) {
status = i2cdevReadReg8(I2Cx, devAddr,I2CDEV_NO_MEM_ADDR, MS5611_PROM_REG_SIZE, buffer);
pCalRegU16[i] = ((uint16_t)buffer[0] << 8) | buffer[1];
}
}
return status;}
### 尽量使用已有函数，减少编译错误
- 在`sensorsDeviceInit`函数中添加 mpu6050SetI2CMasterModeEnabled(false);//set MPU6050_USERCTRL_I2C_MST_EN_BIT = 0
并在`sensorsSetupSlaveRead`函数中注释此行//mpu6050SetI2CMasterModeEnabled(false);
### 因为`sensorsDeviceInit`函数之后有读取操作，又MS5611挂载在MPU6050的I2C上，所以把Bypass提前设置好
- 编辑`processBarometerMeasurements`函数define LPS25H_LSB_PER_MBAR 4096UL
define LPS25H_LSB_PER_CELSIUS 480UL
define LPS25H_TEMP_OFFSET (42.5f)
void processBarometerMeasurements(const uint8_t *buffer) { //TODO: replace it to MS5611 static uint32_t rawPressure = 0; static int16_t rawTemp = 0;
// Check if there is a new pressure update if (buffer[0] & 0x02) { rawPressure = ((uint32_t) buffer[3] << 16) | ((uint32_t) buffer[2] << 8) | buffer[1]; } // Check if there is a new temp update if (buffer[0] & 0x01) { rawTemp = ((int16_t) buffer[5] << 8) | buffer[4]; }
sensorData.baro.pressure = (float) rawPressure / LPS25H_LSB_PER_MBAR; sensorData.baro.temperature = LPS25H_TEMP_OFFSET + ((float) rawTemp / LPS25H_LSB_PER_CELSIUS); sensorData.baro.asl = ms5611PressureToAltitude(&sensorData.baro.pressure); }
- 至此ESP-DRONE的MS5611移植成功
可以在`ms5611SelfTest`函数中添加debug函数DEBUG_PRINTI("temperature = %f,pressure = %f\n",temperature,pressure);
作者所处环境温度34.65摄氏度，压力1002.41Pa
## 三、增加相关注释
## 四、修改控制频率
- **controllerPid**函数中，将**attitudeControllerCorrectRatePID**(角速度环)设置为1000HZ，将**attitudeControllerCorrectAttitudePID**(角度环)函数和**velocityController**(速度环)函数设置为500HZ，**positionController**(位置环)设置为200HZ。
## 五、编译指令(Linux环境)
- 进入源文件目录
- 键入`. $HOME/esp/esp-idf/export.sh`,设置环境变量
- 键入`idf.py set-target esp32s2`,设置“目标”芯片
- 键入`idf.py -p /dev/ttyUSB0 flash monitor`,一次性执行构建、烧录和监视过程(默认USB0)
- 键入`Ctrl+]`,退出IDF监视器
## 六、待解决问题
* [x] 官方源码启用MS5611后，无法检测，显示`MS5611 I2C connection [FAIL]`
* [ ] 安装激光以及光流传感器后，静止状态下水平仪飘忽不定
## 七、与[官方源码](https://github.com/espressif/esp-drone)的同步记录
* [x] 减少任务堆栈的大小以节省RAM(Aug 19, 2020)
* [x] 修复`undefined_error_during_link`BUG(Aug 31, 2020)
* [x] 电池电压测量(Aug 31, 2020)
* [x] 检测已连接传感器，自动切换对应的状态观测器(Sep 3, 2020)
## 视频记录
[B站](https://www.bilibili.com/video/BV16Z4y1K7jY)
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