Vamiriri veNASA space agency, mubvunzurudzo neSpectrum IEEE, yakaratidza ruzivo nezve vemukati veautonomous reconnaissance helikopta Ingenuity, iyo yakabudirira kumhara paMars nezuro sechikamu cheMars 2020 mishoni. Chinhu chakakosha chepurojekiti yaive kushandiswa kwebhodhi rekutonga rakavakirwa paSnapdragon 801 SoC kubva kuQualcomm, iyo inoshandiswa mukugadzira mafoni. Ingenuity's software yakavakirwa paLinux kernel uye yakavhurika sosi yekubhururuka software. Zvinocherechedzwa kuti iyi ndiyo yekutanga kushandiswa kweLinux mumidziyo inotumirwa kuMars. Zvakare, kushandiswa kweiyo yakavhurika sosi software uye inowanikwa yakawanda yehardware zvikamu zvinoita kuti zvibvire kune vanofarira kuunganidza madhironi akafanana ega.
Sarudzo iyi imhaka yekuti kudzora drone inobhururuka kunoda simba remakomputa rakawanda pane kudzora Mars rover, iyo ine machipisi akagadzirwa akanyanya kuchengetedzwa nemwaranzi. Semuenzaniso, kuchengetedza ndege kunoda control loop inomhanya pa500 cycles pasekondi uye kuongororwa kwemifananidzo pamafuremu makumi matatu pasekondi.
Iyo Snapdragon 801 SoC (quad core, 2.26 GHz, 2 GB RAM, 32 GB Flash) inopa simba musimboti weLinux-based system nharaunda, iyo inobata mabasa epamusoro-soro senge kutenderera kwekuona kunoenderana nekuongorora kwekamera, manejimendi data, kugadzirisa. mirairo, kugadzira telemetry uye kuchengetedza isina waya yekutaurirana chiteshi.
Iyo processor yakabatana uchishandisa UART interface kune maviri mamicrocontrollers (MCU Texas Instruments TMS570LC43x, ARM Cortex-R5F, 300 MHz, 512 KB RAM, 4 MB Flash, UART, SPI, GPIO), iyo inoita mabasa ekudzora ndege. Maviri mamicrocontrollers anoshandiswa kudzoreredza kana kutadza uye kugamuchira zvakafanana ruzivo kubva kune sensors. Imwe chete microcontroller inoshanda, uye yechipiri inoshandiswa seyakasara uye kana ikakundikana inokwanisa kutora kutonga. Iyo MicroSemi ProASIC3L FPGA ine basa rekufambisa data kubva kune ma sensors kuenda kune ma microcontrollers uye yekudyidzana nema actuators anodzora mablades, ayo anochinjawo kune yakasarudzika microcontroller kana yakundikana.
Pakati pemidziyo, iyo drone inoshandisa laser altimeter kubva kuSparkFun Electronics, kambani inogadzira yakavhurika-sosi hardware uye ndeimwe yevasiki vetsananguro yeyakavhurika-sosi hardware (OSHW). Zvimwe zvakajairika zvikamu zvinosanganisira iyo gimbal stabilizer (IMU) uye vhidhiyo makamera anoshandiswa mune smartphones. Imwe VGA kamera inoshandiswa kutarisa nzvimbo, kutungamira uye kumhanya kuburikidza nefuremu-ne-frame kuenzanisa. Yechipiri 13-megapixel ruvara kamera inoshandiswa kutora mifananidzo yenzvimbo.
Izvo zvikamu zvesoftware yekudzora ndege zvakagadziridzwa kuNASA JPL (Jet Propulsion Laboratory) kune madiki uye ekupedzisira-madiki ekugadzira Earth satellite (cubesats) uye akagadzirwa kwemakore akati wandei sechikamu chepuratifomu yakavhurika F Prime (F'), yakagoverwa pasi pe Apache 2.0 rezinesi.
F Prime inopa maturusi ekukurumidza kusimudzira masisitimu ekudzora ndege uye zvine hukama zvakamisikidzwa maapplication. Iyo software yendege yakakamurwa kuita zvikamu zvega zvine zvakanyatsotsanangurwa programming interfaces. Pamusoro pezvikamu zvine hunyanzvi, C ++ dhizaini inopihwa nekumisikidzwa kwezvinhu zvakadai semeseji queuing uye multithreading, pamwe nematurusi ekuenzanisira anotendera iwe kubatanidza zvikamu uye otomatiki kodhi.
Source: opennet.ru