The distributors finally got in some of the new ST Micro STM32F2 series uControllers and I grabbed a few. I was able to "shoehorn" one into a ver5 board as the pinout is close to compatible with the performance STM32F1 series. Spent a few days rewriting the device drivers and am very impressed with this controller's performance.
I was able to bump up the sample rate to around 276.8KHz for all 12 sensors for a total of ~3.32 million samples per second. Despite this more than doubling of work load, I ended up with around 70% idle time, up from 60% of the STM32F1. Keep in mind that at a 120MHz clock rate, this 70% free cycles represents more than twice as much free number crunching capability than the STM32F1 at 60% idle. I also found that the DMA to be much better with full FIFO available on each DMA channel and an easier to use triple ADC.
The result is a much cleaner interpretation of the sensor data which translates to a smoother and more stable platform.
Comments
Awesome job, and BTW, were was this video taken? the landscape and free space looks awesome 0.0
I am interested in joining this project. I want to contribute to the state estimator design and improving the control law.
I typically implement all the state-estimators as S-Functions in Simulink, before porting it on board. Is this how you do it? I currently have an EKF for ins-gps integration, my UKF seems to perform only on par with the EKF.
Wow!!!!!
the m4 will be available from nxp in october.
it is a dual core mcu :)
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