Desenvolvimento de um VeÃculo Aéreo Não-Tripulado - LARA ...
Desenvolvimento de um VeÃculo Aéreo Não-Tripulado - LARA ...
Desenvolvimento de um VeÃculo Aéreo Não-Tripulado - LARA ...
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COC12 C12<br />
COU5<br />
Cap<br />
15<br />
16<br />
100nF<br />
PIU5015 STB VCC PIU5016<br />
1<br />
MUX PIU501 SEL<br />
GND<br />
GND<br />
2<br />
4<br />
COR14<br />
RADIO_INPUT_6_PREBUF PIU502 1A 1Y PIU504 PIR1401 PIR1402<br />
3<br />
AVR_OUTPUT_6 PIU503 1B<br />
Res1<br />
5<br />
7<br />
COR13<br />
RADIO_INPUT_5_PREBUF PIU505 2A 2Y PIU507 220 PIR1301 PIR1302<br />
6<br />
AVR_OUTPUT_5 PIU506 2B<br />
Res1<br />
11<br />
9<br />
COR16<br />
RADIO_INPUT_8_PREBUF PIU5011 3A 3Y PIU509 PIR1601 PIR1602 220<br />
10<br />
AVR_OUTPUT_8 PIU5010 3B<br />
Res1<br />
14<br />
12<br />
COR15<br />
RADIO_INPUT_7_PREBUF PIU5014 4A 4Y PIU5012 220 PIR1501 PIR1502<br />
13<br />
AVR_OUTPUT_7 PIU5013 4B<br />
Res1<br />
COR17<br />
220<br />
8<br />
MUX_CONTROL PIR1702 PIR1701 MUX PIU508 GND<br />
Res1<br />
PIR1802<br />
1K COR18<br />
M74HC157M1R<br />
Res1 GND<br />
MUX<br />
10K<br />
GND<br />
RADIO_INPUT_1_PREBUF<br />
RADIO_INPUT_2_PREBUF<br />
RADIO_INPUT_3_PREBUF<br />
RADIO_INPUT_4_PREBUF<br />
RADIO_INPUT_5_PREBUF<br />
RADIO_INPUT_6_PREBUF<br />
RADIO_INPUT_7_PREBUF<br />
RADIO_INPUT_8_PREBUF<br />
PIR1801<br />
GND<br />
COU3<br />
1<br />
20<br />
PIU301 OE1 VCC PIU3020<br />
19<br />
PIU3019 OE2<br />
2 PIU302<br />
3 PIU303<br />
4<br />
PIU304<br />
5<br />
PIU305<br />
6<br />
PIU306<br />
7 PIU307<br />
8<br />
PIU308<br />
9<br />
PIU309<br />
10<br />
PIU3010<br />
GND<br />
A1<br />
A2<br />
A3<br />
A4<br />
A5<br />
A6<br />
A7<br />
A8<br />
GND<br />
18<br />
Y1 PIU3018<br />
17<br />
Y2 PIU3017<br />
16<br />
Y3 PIU3016<br />
15<br />
Y4 PIU3015<br />
14<br />
Y5 PIU3014<br />
13<br />
Y6 PIU3013<br />
12<br />
Y7 PIU3012<br />
11<br />
Y8 PIU3011<br />
SN74ABT540DBLE<br />
Input Protection<br />
+3V3<br />
PIC101<br />
PIC102<br />
GND<br />
COC1 C1<br />
Cap<br />
100nF<br />
RADIO_INPUT_1<br />
RADIO_INPUT_2<br />
RADIO_INPUT_3<br />
RADIO_INPUT_4<br />
RADIO_INPUT_5<br />
RADIO_INPUT_6<br />
RADIO_INPUT_7<br />
RADIO_INPUT_8<br />
+5<br />
PIC1201<br />
PIC1202<br />
Note: This is an INVERTERa<br />
Software must check for lowering edges<br />
RADIO_OUTPUT_6<br />
RADIO_OUTPUT_5<br />
RADIO_OUTPUT_8<br />
RADIO_OUTPUT_7<br />
MUX<br />
GND<br />
RADIO_INPUT_2_PREBUF<br />
AVR_OUTPUT_2<br />
RADIO_INPUT_1_PREBUF<br />
AVR_OUTPUT_1<br />
RADIO_INPUT_4_PREBUF<br />
AVR_OUTPUT_4<br />
RADIO_INPUT_3_PREBUF<br />
AVR_OUTPUT_3<br />
COU4<br />
15<br />
PIU4015 STB<br />
1 PIU401 SEL<br />
PIU402 2<br />
3 PIU403<br />
5<br />
PIU405<br />
6 PIU406<br />
11 PIU4011<br />
10 PIU4010<br />
PIU4014 14<br />
13<br />
PIU4013<br />
8 PIU408<br />
GND<br />
1A<br />
1B<br />
2A<br />
2B<br />
3A<br />
3B<br />
4A<br />
4B<br />
GND<br />
M74HC157M1R<br />
16<br />
VCC PIU4016<br />
+5<br />
C11 COC11<br />
Cap<br />
100nF<br />
GND<br />
4<br />
COR10<br />
1Y PIU404PIR1001<br />
PIR1002<br />
Res1<br />
7<br />
COR9<br />
2Y PIU407 220 PIR901 PIR902<br />
Res1<br />
9<br />
COR12<br />
3Y PIU409PIR1201<br />
PIR1202 220<br />
Res1<br />
12<br />
COR11<br />
4Y PIU4012 220<br />
PIR1101 PIR1102<br />
Res1<br />
220<br />
GND<br />
COJ1<br />
PIJ101 1 22 PIJ1022<br />
RADIO_5V<br />
COR1<br />
2 23<br />
COR8 RADIO_5V<br />
PIJ102<br />
PIJ1023<br />
RADIO_INPUT_1_PREBUF<br />
3 24<br />
PIR102 PIR101 PIJ103<br />
PIJ1024 PIR801 PIR802<br />
Res1<br />
Res1<br />
GND 220<br />
4 19 220<br />
PIJ104<br />
PIJ1019<br />
RADIO_5V<br />
COR2<br />
5 20<br />
COR7 RADIO_5V<br />
PIJ105<br />
PIJ1020<br />
RADIO_INPUT_2_PREBUF<br />
6 21<br />
PIR202 PIR201 PIJ106<br />
PIJ1021 PIR701 PIR702<br />
Res1<br />
Res1<br />
GND 220<br />
7 16 220<br />
PIJ107<br />
PIJ1016<br />
RADIO_5V<br />
COR3<br />
8 17<br />
COR6 RADIO_5V<br />
PIJ108<br />
PIJ1017<br />
RADIO_INPUT_3_PREBUF<br />
9 18<br />
PIR302 PIR301 PIJ109<br />
PIJ1018 PIR601 PIR602<br />
Res1<br />
Res1<br />
GND 220<br />
10 13 220<br />
PIJ1010<br />
PIJ1013<br />
RADIO_5V<br />
COR4<br />
11 14<br />
COR5 RADIO_5V<br />
PIJ1011<br />
PIJ1014<br />
RADIO_INPUT_4_PREBUF<br />
12 15<br />
PIR402 PIR401 PIJ1012<br />
PIJ1015 PIR501 PIR502<br />
Res1<br />
Res1<br />
220 HDR3x8 220<br />
PWM Inputs<br />
PIC1101<br />
PIC1102<br />
RADIO_OUTPUT_2<br />
RADIO_OUTPUT_1<br />
RADIO_OUTPUT_4<br />
RADIO_OUTPUT_3<br />
GND<br />
GND<br />
GND<br />
GND<br />
Figura 3.26: Circuito <strong>de</strong> proteção dos rádios e chaveamento <strong>de</strong> emergência<br />
Outro ponto que <strong>de</strong>ve ser ressaltado é que o barramento SPI é utilizado para programação dos<br />
AVRs. Dessa forma, quando <strong>um</strong> AVR é programado, os sinais estão sendo enviados para ambos<br />
dos AVRs. Para permitir a programação, <strong>um</strong> j<strong>um</strong>per permite que o usuário conecte a linha reset<br />
da programadora ao AVR específico.<br />
O AVR <strong>de</strong> leitura também utiliza o conversor analógico/digital para amostrar a tensão <strong>de</strong><br />
alimentação dos servos, gerada pelo ESC. Para tal, é utilizado <strong>um</strong> divisor <strong>de</strong> tensão com dois<br />
resistores <strong>de</strong> 10 kΩ, a fim <strong>de</strong> <strong>de</strong>ixar a tensão <strong>de</strong> entrada do conversor analógico/digital entre 0 e<br />
2,5 V. Os resistores especificados são <strong>de</strong> 1% e baixo coeficiente térmico.<br />
Os circuitos dos AVR <strong>de</strong> leitura e escrita estão na Figura 3.27.<br />
RADIO_5V<br />
PIR2002<br />
AVR_VCC<br />
COU1<br />
COR20<br />
AVR_VCC<br />
COU2<br />
6<br />
19<br />
Res1<br />
6<br />
19<br />
PIU106 VCC<br />
ADC6 PIU1019<br />
PIU206<br />
4<br />
22<br />
10K<br />
VCC<br />
ADC6 PIU2019<br />
PIC501<br />
PIC601<br />
PIR2001<br />
PIC801<br />
PIC901<br />
4<br />
22<br />
PIU104 VCC<br />
ADC7 PIU1022<br />
PIU204<br />
C5 C6<br />
VCC<br />
ADC7 PIU2022<br />
COC5<br />
COC6<br />
PIR2102 C8 COC8<br />
COC9 C9<br />
PIC502 Cap<br />
PIC602 Cap 18<br />
23<br />
COR21<br />
PIC802 Cap<br />
PIC902 Cap<br />
PIU1018 AVCC PC0 (ADC0/PCINT8) PIU1023<br />
100nF 100nF<br />
RADIO_INPUT_1<br />
PIU2018 18<br />
24<br />
Res1<br />
AVCC PC0 (ADC0/PCINT8) PIU2023 23<br />
100nF 100nF<br />
AVR_OUTPUT_1<br />
24<br />
PC1 (ADC1/PCINT9) PIU1024 RADIO_INPUT_2<br />
20<br />
25<br />
10K<br />
PC1 (ADC1/PCINT9) PIU2024 AVR_OUTPUT_2<br />
PIR2101<br />
20<br />
25<br />
PIU1020 AREF PC2 (ADC2/PCINT10) PIU1025 RADIO_INPUT_3<br />
PIU2020 AREF PC2 (ADC2/PCINT10) PIU2025 AVR_OUTPUT_3<br />
PIC701<br />
26<br />
PIC1001<br />
26<br />
PC3 (ADC3/PCINT11) PIU1026<br />
C7<br />
RADIO_INPUT_4<br />
PC3 (ADC3/PCINT11) PIU2026<br />
COC7<br />
27<br />
COC10 C10<br />
AVR_OUTPUT_4<br />
27<br />
Cap<br />
PC4 (ADC4/SDA/PCINT12) PIU1027 RADIO_INPUT_5<br />
PC4 (ADC4/SDA/PCINT12) PIU2027<br />
28<br />
GND<br />
Cap<br />
AVR_OUTPUT_5<br />
PIC702<br />
PIC1002<br />
100nF<br />
PC5 (ADC5/SCL/PCINT13) PIU1028 RADIO_INPUT_6<br />
PC5 (ADC5/SCL/PCINT13) PIU2028 28<br />
29<br />
100nF<br />
AVR_OUTPUT_6<br />
29<br />
PC6 (RESET/PCINT14) PIU1029 AVR1_RESET<br />
PC6 (RESET/PCINT14) PIU2029 AVR2_RESET<br />
GND<br />
30<br />
GND<br />
30<br />
PD0 (RXD/PCINT16) PIU1030 SPEKTRUM_SERIAL<br />
PD0 (RXD/PCINT16) PIU2030<br />
31<br />
COJ5<br />
SPEKTRUM_SERIAL<br />
31<br />
PD1 (TXD/PCINT17) PIU1031<br />
PD1 (TXD/PCINT17) PIU2031 GENERATE_SPEKTRUM_SIGNAL<br />
32<br />
32<br />
PD2 (INT0/PCINT18) PIU1032 RADIO_INPUT_7<br />
2 PIJ502 +3V3<br />
PD2 (INT0/PCINT18) PIU2032<br />
1<br />
1<br />
PD3 (PCINT19/OC2B/INT1) PIU101 RADIO_INPUT_8<br />
1 PIJ501 AVR_VCC<br />
PD3 (PCINT19/OC2B/INT1) PIU201 AVR_OUTPUT_7<br />
2<br />
2<br />
PD4 (PCINT20/XCK/T0) PIU102 MUX_CONTROL<br />
PD4 (PCINT20/XCK/T0) PIU202 AVR_OUTPUT_8<br />
9<br />
AVR Power Supply<br />
9<br />
PD5 (PCINT21/OC0B/T1) PIU109 GENERATE_SPEKTRUM_SIGNAL<br />
PD5 (PCINT21/OC0B/T1) PIU209 AVR2_DRDY<br />
10<br />
UNCONNECT J5 to program AVRsa<br />
10<br />
PD6 (PCINT22/OC0A/AIN0) PIU1010<br />
PD6 (PCINT22/OC0A/AIN0) PIU2010<br />
PWM_DATA_LED SERIAL_DATA_LED<br />
11<br />
COJ6<br />
11<br />
PD7 (PCINT23/AIN1) PIU1011<br />
PD7 (PCINT23/AIN1) PIU2011<br />
GND PIJ601 1 2 PIJ602 GND<br />
12<br />
12<br />
PID201<br />
PID301<br />
PB0 (PCINT0/CLKO/ICP1) PIU1012 PWM_DATA_LED AVR_RESET PIJ603 3 4 PIJ604 AVR_SCK<br />
PB0 (PCINT0/CLKO/ICP1) PIU2012<br />
13<br />
13<br />
PB1 (PCINT1/OC1A) PIU1013 SERIAL_DATA_LED AVR_MOSI PIJ605 5 6 PIJ606 AVR_MISO<br />
PB1 (PCINT1/OC1A) PIU2013<br />
COD2<br />
COD3<br />
14<br />
14<br />
LED0<br />
LED0<br />
PB2 (PCINT2/SS/OC1B) PIU1014 AVR1_CS<br />
AVR_VCC PIJ607 7 8 PIJ608 AVR_VCC<br />
PB2 (PCINT2/SS/OC1B) PIU2014 AVR2_CS<br />
15<br />
15<br />
PB3 (PCINT3/OC2A/MOSI) PIU1015 AVR_MOSI<br />
PIJ609 9 10 PIJ6010<br />
PB3 (PCINT3/OC2A/MOSI) PIU2015<br />
PID202<br />
PID302<br />
AVR_MOSI<br />
16<br />
16<br />
PB4 (PCINT4/MISO) PIU1016 AVR_MISO<br />
PB4 (PCINT4/MISO) PIU2016 AVR_MISO<br />
PIR2402 PIR2502 3<br />
17<br />
COJ3 AVR ISP<br />
3<br />
17<br />
COR24<br />
COR25<br />
PIU103<br />
GND<br />
PB5 (SCK/PCINT5) PIU1017 AVR_SCK<br />
PIU203 GND<br />
PB5 (SCK/PCINT5) PIU2017 AVR_SCK<br />
5<br />
7<br />
5<br />
7<br />
PIU105<br />
Res1<br />
Res1<br />
GND PB6 (PCINT6/XTAL1/TOSC1) PIU107<br />
3 PIJ303 AVR1_RESET PIU205 GND PB6 (PCINT6/XTAL1/TOSC1) PIU207<br />
21<br />
8<br />
21<br />
8<br />
PIU1021<br />
220<br />
220<br />
GND PB7 (PCINT7/XTAL2/TOSC2) PIU108 AVR1_DRDY<br />
2 PIJ302 AVR_RESET PIU2021 GND PB7 (PCINT7/XTAL2/TOSC2) PIU208<br />
PIR2401<br />
PIR2501<br />
1 PIJ301 AVR2_RESET<br />
ATmega88A-AU<br />
ATmega88A-AU<br />
GND<br />
Programming Select<br />
GND<br />
GND<br />
GND<br />
This AVR is responsible for reading the radios (PWM or serial) and<br />
sending the data to the main controller.<br />
This AVR is responsible for generating the output PWM signals.<br />
This will also control the MUX for safety switching.<br />
AVR 1 - Signal Rea<strong>de</strong>r<br />
AVR 2 - Signal Generator<br />
Figura 3.27: Circuito dos AVRs <strong>de</strong> leitura e geração <strong>de</strong> PWMs<br />
53
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