Drones powered by ESP32；基于 ESP32 的四旋翼无人机.zip

# Introduction ## ESP-Drone **Drones powered by ESP32&ESP-IDF&Crazyflie** ### Introduction > Notice: This repository has been moved to espressif/esp-drone **ESP-Drone** is an open source **drone solution** based on espressif **ESP32-S2 / ESP32** Wi-Fi chip, which can be controlled through **Wi-Fi** network using mobile APP or gamepad. ESP-Drone supports multiple fly modes, `stabilize`, `height-hold`, `position-hold` and more. ESP-Drone solution has **simple hardware structure**,**clear and extendible code architecture**, can be used in **STEAM education** and other fields. The main code ported from **Crazyflie** open source project, using the **GPL3.0** open source protocol. **For User**: [01-ESP-Drone Operate Guide](https://qljz1993.gitbook.io/esplane/v/english/operater-guide/00esplane-shang-wei-ji-an-zhuang-zhi-yin) **For Developer**: [01-ESP-Drone Develop Guide](https://qljz1993.gitbook.io/esplane/v/english/developer-guide/00esplane-kai-fa-zhi-yin)   ### Implemented Features 1. Stabilize mode 2. Height-hold mode (through cfcilent) 3. position-hold mode (through cfcilent) 4. cfclient supported 5. ESPilot supported ### Configuration #### Sensor | Sensor | Interface | Comment | |--|--|--| | MPU6050 | I2C0 | must | | VL53L1X | I2C0 | altitude hold | | ~~HMC5883L~~ | AUX_I2C | MPU6050 slave | | ~~MS5611~~ | AUX_I2C | MPU6050 slave | |PMW3901| HSPI | | #### LED | State | LED | Action | |--|--|--| |SENSORS READY|BLUE|SOLID| |SYSTEM READY|BLUE|SOLID| |UDP_RX|GREEN|BLINK| #### PIN | Pin | Function | Remarks | | :---: | :---: | :---: | | GPIO11 | I2C0_SDA | MPU6050 dedicated| | GPIO10 | I2C0_SCL | MPU6050 dedicated| | GPIO37 | SPI_MISO | MISO | | GPIO35 | SPI_MOSI |MOSI | | GPIO36 | SPI_CLK|SCLK| | GPIO34 | SPI_CS0|CS0* | | GPIO40 | I2C1_SDA|VL53L1X| | GPIO41 | I2C1_SCL |VL53L1X| | GPIO12 | interrupt | MPU6050 interrupt | | GPIO39 | BUZ_1|BUZZ+ | | GPIO38 |BUZ_2| BUZZ- | | GPIO8 | LED\_RED | LED\_1 | | GPIO9 | LED\_GREEN | LED\_2 | | GPIO7 | LED\_BLUE | LED\_3 | | GPIO5 | MOT\_1 | | | GPIO6 | MOT\_2 | | | GPIO3 | MOT\_3 | | | GPIO4 | MOT\_4 | | | GPIO2 | ADC\_7\_BAT | VBAT/2 | | GPIO1 |EXT_IO1 | | #### Deck Extend PIN | Left | IO |Function | Right | IO |Function| | :---: | :---: | :---: | :---: | :---: | :---:| |SPI_CS0 | GPIO34 | | VDD_33 | IO || |SPI_MOSI |GPIO35 | |I2C0_SDA |GPIO11| | | SPI_CLK| GPIO36| | I2C0_SCL|GPIO10 | | | SPI_MISO|GPIO37 | | GND| | | | GND| | | AUX_SCL| | | | I2C1_SDA| GPIO40| | AUX_SDA| | | | I2C1_SCL|GPIO41 | | BUZ_2|GPIO38 | | | EXT_IO1| GPIO1| | BUZ_1|GPIO39 | | #### Camera | IO | Function | Others | | :---: | :---: | :---: | |GPIO13 | CAM_VSYNC| | |GPIO14 | CAM_HREF| | |GPIO15 | CAM_Y9| | |GPIO16 | CAM_XCLK| | |GPIO17 |CAM_Y8 | | |GPIO18 |CAM_RESET | |GPIO19 |CAM_Y7 | | |GPIO20 | CAM_PCLK| | |GPIO21 | CAM_Y6| || |GPIO33 |CAM_Y2 | || |GPIO45 | CAM_Y4| |GPIO46 |CAM_Y3 | #### Modify ESP-IDF component Open the linker script template of ESP32(S2) `${IDF_PATH}/components/esp32/ld/esp32.project.ld.in` or` ${IDF_PATH}/components/esp32s2/ld/esp32s2.project.ld.in` , add the following code to the end of `.flash.rodata` section. ``` /* Parameters and log system datas */ _param_start = .; KEEP(*(.param)) KEEP(*(.param.*)) _param_stop = .; . = ALIGN(4); _log_start = .; KEEP(*(.log)) KEEP(*(.log.*)) _log_stop = .; . = ALIGN(4); ``` The code above can place variables with '.param.* ' or '.log.* ' section attribute in a continuous storage area, to speed up the traversal of variables. ### Third Party Copyrighted Code Additional third party copyrighted code is included under the following licenses. | Component | License | Origin |commit id | | :---: | :---: | :---: |:---: | | core/crazyflie | GPL-3.0 |[Crazyflie](https://github.com/bitcraze/crazyflie-firmware) |a2a26abd53a5f328374877bfbcb7b25ed38d8111| | lib/dsp_lib | | [esp32-lin](https://github.com/whyengineer/esp32-lin/tree/master/components/dsp_lib) |6fa39f4cd5f7782b3a2a052767f0fb06be2378ff| ### THANKS 1. Thanks to the Bitcraze for the great [Crazyflie project](https://www.bitcraze.io/%20) 2. Thanks to Espressif for the powerful [ESP-IDF environment](https://docs.espressif.com/projects/esp-idf/en/latest/esp32s2/get-started/index.html) 3. Thanks to WhyEngineer for the useful [ESP-DSP lib](https://github.com/whyengineer/esp32-lin/tree/master/components/dsp_lib)