原标题：基于Atmel ATSAM4S16-AU主控芯片的的四轴飞行器解决方案

方案介绍

四轴飞行器是一种有四个螺旋桨且螺旋桨呈十字形布局的小型飞行器,属于多旋翼飞行器中最基本的一种。四轴飞行器具有可靠的稳定性,在复杂、危险的环境下可完成特定的飞行任务。它的应用十分广泛,可用于救援物资投放、航拍,桥梁检测,定点巡航等应用,具有不可估量的市场潜。

ATSAM4S16-AU 属于 Atmel 推出的 SAM4S 系列,Atmel® SAM4S 系列拓展了 Atmel ortex-M 产品组合,增强了性能,提高了电源效率,具有 2MB 闪存和 160KB SRAM 的较高存储密度,有用于连接、系统控制和模拟接口的丰富外设套件,它丰富的接口资源更适用于要将所有数据连入的飞控 MCU。

更重要的是,四轴飞行器有很多来自 IMU 的数据需要处理,而且还有复杂的控制算法,对于主控 MCU 的性能要求较高,ATSAM4S16-AU 为 Cortex-M4 内核,继承了 ARM 的优良性能,主频可达 120 MHz,可以完成四轴飞行器复杂的功能和精准的控制,且采用封装为 100-LQFP,较小的尺寸更加适用对于体积要求较高的飞行器。

【ATSAM4S16-AU】

描述ICMCU32BIT1MBFLASH100LQFP

制造商标准提前期12周

详细描述ARM®Cortex®-M4微控制器ICSAM4S32-位120MHz1MB(1Mx8)闪存100-LQFP(14x14)

类别集成电路(IC)

嵌入式-微控制器

制造商MicrochipTechnology

系列SAM4S

包装托盘

零件状态在售

核心处理器ARM®Cortex®-M4

核心尺寸32-位

速度120MHz

连接性EBI/EMI,I2C,IrDA,存储卡,SPI,SSC,UART/USART,USB

外设欠压检测/复位,DMA,POR,PWM,WDT

I/O数79

程序存储容量1MB(1Mx8)

程序存储器类型闪存

EEPROM容量-

RAM容量128Kx8

电压-电源(Vcc/Vdd)1.62V~3.6V

数据转换器A/D16x12b,D/A2x12b

振荡器类型内部

工作温度-40°C~85°C(TA)

封装/外壳100-LQFP

供应商器件封装100-LQFP(14x14)

基本零件编号ATSAM4S16

【ATSAM4S16C】

Features:

ARM Cortex-M4 running at up to 120 MHz

Memory Protection Unit (MPU)

DSP Instructions, Floating Point Unit (FPU), Thumb®-2 instruction set

1024 Kbytes Dual-Bank embedded Flash, ECC, Security Bit and Lock Bits

128 Kbytes embedded SRAM

16 Kbytes ROM with embedded boot loader routines (UART, USB) and IAP routines

Device Overview

Summary

For New Designs, we highly recommend to consider Revision B for Prototypes and Production.

Microchip's ARM®-based SAM 4S16 microcontroller builds on the high-performance 32-bit Cortex®-M4 core.

The SAM4S16 features:

Maximum operating speed of 120MHz

1MB of flash memory and 128KB of SRAM

1.62V to 3.6V supply

Power consumption 200uA/MHz in dynamic mode at low operating frequency, 30mA at 100MHz and 3uA at 1.8V in back-up mode with the RTC running

External bus interface supports SRAM, PSRAM, NOR Flash, LCD module and NAND Flash

Extensive peripheral set for connectivity, system control and analog interfacing

Native support for Microchip QTouch capacitive touch technology for implementation of buttons, sliders and wheels

Pin-to-pin compatible with Microchip SAM7S, SAM3N and SAM3S MCUs

Parallel Input/Output (IO) data capture mode

Get started with your application development now with the SAM4S evaluation kit, integrating a comprehensive development tool and software package. To reduce your time-to-market, Microchip and industry-leading third parties provide a worldwide support ecosystem.

Additional Features

Microcontroller Features

Core

ARM Cortex-M4 running at up to 120 MHz

Memory Protection Unit (MPU)

DSP Instructions, Floating Point Unit (FPU), Thumb®-2 instruction set

Memories

1024 Kbytes embedded Flash, ECC, Security Bit and Lock Bits

128 Kbytes embedded SRAM

16 Kbytes ROM with embedded boot loader routines (UART, USB) and IAP routines

8-bit Static Memory Controller (SMC): SRAM, PSRAM, NOR and NAND Flash support

External Bus Interface - 8-bit data, 4 chip selects, 24-bit address

System

Embedded voltage regulator for single-supply operation

Power-on-Reset (POR), Brown-out Detector (BOD) and Dual Watchdog for Safe Operation

Quartz or ceramic resonator oscillators: 3 to 20 MHz with clock failure detection and 32.768 kHz for RTT or system clock

RTC with Gregorian and Persian Calendar Mode, Waveform Generation in Backup mode

RTC counter calibration circuitry compensates for 32.768 kHz crystal frequency inaccuracy

Slow clock internal RC oscillator as permanent low-power mode device clock

High-precision 8/12 MHz factory-trimmed internal RC oscillator with 4 MHz default frequency for device startup, in-application trimming access for frequency adjustment

Two PLL up to 240 MHz for Device Clock and for USB

Temperature Sensor

Low-power tamper detection on two inputs, anti-tampering by immediate clear of general-purpose backup registers (GPBR)

22 Peripheral DMA Controllers

Low Power modes

Sleep, Wait and Backup modes; consumption down to 1 μA in Backup mode

Package

100-lead LQFP, 14 x 14 mm, pitch 0.5 mm

100-lead TFBGA, 9 x 9 mm, pitch 0.8 mm

100-lead VFBGA, 7 x 7 mm, pitch 0.65 mm

Temperature operating range

Revision A - Industrial (-40° C to +85° C), Revision B -(-40° C to +105° C)

Peripheral Features

USB 2.0 Device: 12 Mbps, 2668 byte FIFO, up to 8 bidirectional Endpoints, on-chip transceiver

Up to two USARTs with ISO7816, IrDA®, RS-485, SPI, Manchester and Modem Mode

Two 2-wire UARTs

Up to two 2-Wire Interface modules (I2C-compatible), one SPI, one Serial Synchronous Controller (I2S), one high-speed Multimedia Card Interface (SDIO/SD Card/MMC)

Two 3-channel 16-bit Timer Counters with capture, waveform, compare and PWM mode, Quadrature decoder logic and 2-bit Gray up/down counter for stepper motor

4-channel 16-bit PWM with complementary output, fault input, 12-bit dead time generator counter for motor control

32-bit Real-time Timer and RTC with calendar, alarm and 32 kHz trimming features

256-bit General Purpose Backup Registers (GPBR)

32-bit Cyclic Redundancy Check Calculation Unit (CRCCU) for data integrity check of off-/on-chip memories

I/O

79 I/O Lines with external interrupt capability (edge or level sensitivity), debouncing, glitch filtering and on-die series resistor termination

Three 32-bit Parallel Input/Output Controllers, Peripheral DMA-assisted Parallel Capture mode

Analog Features

16-channel, 1Msps ADC with differential input mode and programmable gain stage and auto calibration

One 2-channel 12-bit 1Msps DAC

One Analog Comparator with flexible input selection, selectable input hysteresis

Debugger Development Support

Serial Wire/JTAG Debug Port(SWJ-DP)

Debug access to all memories and registers in the system, including Cortex-M4 register bank when the core is running, halted, or held in reset.

Serial Wire Debug Port (SW-DP) and Serial Wire JTAG Debug Port (SWJ-DP) debug access.

Flash Patch and Breakpoint (FPB) unit for implementing breakpoints and code patches.

Data Watchpoint and Trace (DWT) unit for implementing watchpoints, data tracing, and system profiling.

Instrumentation Trace Macrocell (ITM) for support of printf style debugging.

IEEE1149.1 JTAG Boundary-scan on all digital pins.

Integrated Software Libraries and Tools

ASF-Atmel software Framework – SAM software development framework

Integrated in the Atmel Studio IDE with a graphical user interface or available as standalone for GCC, IAR compilers.

DMA support, Interrupt handlers Driver support

USB, TCP/IP, Wi-Fi and Bluetooth, Numerous USB classes, DHCP and Wi-Fi encryption Stacks

RTOS integration, FreeRTOS is a core component

Parametrics

Name

Value

Part Family

ATSAM4S16C

Max CPU Speed MHz

120

Program Memory Size (KB)

1024

SRAM (KB)

128

Auxiliary Flash (KB)

0.512

SDIO/SD-CARD/eMMC

1

Temperature Range (C)

-40 to 85

Operating Voltage Range (V)

1.62 to 3.6

Direct Memory Access Channels

22

SPI

3

I2C

2

Peripheral Pin Select / Pin Muxing

Yes

Number of USB Modules

1

ADC Input

15

Max ADC Resolution (Bits)

12

Max ADC Sampling Rate (ksps)

1000

Number of DACs

1

Input Capture

12

Max 16-bit Digital Timers

6

Parallel Port

EBI

Number of Comparators

1

Internal Oscillator

4,8,12Mhz,32Khz

Hardware RTCC/RTC

Yes

Max I/O Pins

79

Pincount

100

Quadrature Encoder Interface

2