APM编译记录-基于OMNIBUSF4-V3飞控板
APM编译记录-基于OMNIBUSF4-V3飞控板
- APM编译记录
- Bootloader问题
- 固件编译
APM编译记录
初次使用APM，根据博客文章以及结合官方教程摸索，发现和PX4还是有挺大差别的，目前系统已经换到chibios了，不是原来的nuttx。
感谢梦萦蓝天的教程
先给出参考的链接： 参考博主的帖子
APM官网教程
本记录是基于Ubuntu环境已经搭好并且编译环境也已搭建完成。
Bootloader问题
编译好apm的bootloader之后使用openocd连接jlink下载进飞控，然后使用 reset 复位之后 发现再也连接不上飞控了。
连接信息没有出现error 字眼，但在最后两行出现：
in procedure 'init'
in procedure 'ocd_bouncer'
经过各种验证，是由于apm的omnibusf4目标基于omnibusf4pro目标的，而这个目标的hwdef_bl.dat里面没有配置 SWD导致 烧录后直接禁用掉了SWD功能，经过拉高boot0再上电然后可以连接上了，但没从根本上解决。
解决办法：在ardupilot/libraies/AP_HAL_ChibiOS/hwdef/omnibusf4pro目录下的hwdef_bl.dat文件最后面 加上下面两行
# debug
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
重新编译BootLoader然后烧录，问题解决。
固件编译
编译正常使用一切正常，但想在VS Code里面debug 编译目标需要加–debug指令，编译出来的固件flash 超出了大约14K，解决办法是在ardupilot/build/omnibusf4下面的ldscript.ld文件修改固件最大容量
把
MEMORY
{
flash : org = 0x08010000, len = 960K
ram0 : org = 0x20000000, len = 131072
}
INCLUDE common.ld
修改为：
MEMORY
{
flash : org = 0x08010000, len = 980K
ram0 : org = 0x20000000, len = 131072
}
INCLUDE common.ld
固件容量从960K变为980K，重新编译没有问题，进行debug发现会死在加载不到1024K地址的错误提示信息，没办法，只能删减功能。APM利用宏定义的方式选择开启或关闭一些功能，并不像PX4那样利用cmake的路径包含方式。
修改的文件在ardupilot/ArduCopter目录下的APM_Config.h
原本它是注释掉了所有，我把一些给打开表明禁用掉这些功能。
// User specific config file. Any items listed in config.h can be overridden here.
// If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
// valid! You should switch to using a HAL_BOARD flag in your local config.mk.
// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
#define LOGGING_ENABLED DISABLED // disable logging to save 11K of flash space
#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
//#define AC_FENCE DISABLED // disable fence to save 2k of flash
#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash
//#define PROXIMITY_ENABLED DISABLED // disable proximity sensors
//#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
//#define AC_AVOID_ENABLED DISABLED // disable stop-at-fence library
//#define AC_OAPATHPLANNER_ENABLED DISABLED // disable path planning around obstacles
//#define AC_TERRAIN DISABLED // disable terrain library
//#define PARACHUTE DISABLED // disable parachute release to save 1k of flash
//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
#define FRSKY_TELEM_ENABLED DISABLED // disable FRSky telemetry
#define ADSB_ENABLED DISABLED // disable ADSB support
//#define PRECISION_LANDING DISABLED // disable precision landing using companion computer or IRLock sensor
//#define BEACON_ENABLED DISABLED // disable beacon support
#define SPRAYER_ENABLED DISABLED // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
//#define WINCH_ENABLED DISABLED // disable winch support
//#define GRIPPER_ENABLED DISABLED // disable gripper support
//#define RPM_ENABLED DISABLED // disable rotations per minute sensor support
//#define MAGNETOMETER DISABLED // disable magnetometer support
//#define STATS_ENABLED DISABLED // disable statistics support
//#define MODE_ACRO_ENABLED DISABLED // disable acrobatic mode support
//#define MODE_AUTO_ENABLED DISABLED // disable auto mode support
//#define MODE_BRAKE_ENABLED DISABLED // disable brake mode support
//#define MODE_CIRCLE_ENABLED DISABLED // disable circle mode support
//#define MODE_DRIFT_ENABLED DISABLED // disable drift mode support
//#define MODE_FLIP_ENABLED DISABLED // disable flip mode support
//#define MODE_FOLLOW_ENABLED DISABLED // disable follow mode support
//#define MODE_GUIDED_ENABLED DISABLED // disable guided mode support
//#define MODE_GUIDED_NOGPS_ENABLED DISABLED // disable guided/nogps mode support
//#define MODE_LOITER_ENABLED DISABLED // disable loiter mode support
//#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support
//#define MODE_RTL_ENABLED DISABLED // disable rtl mode support
//#define MODE_SMARTRTL_ENABLED DISABLED // disable smartrtl mode support
//#define MODE_SPORT_ENABLED DISABLED // disable sport mode support
//#define MODE_SYSTEMID_ENABLED DISABLED // disable system ID mode support
//#define MODE_THROW_ENABLED DISABLED // disable throw mode support
//#define MODE_ZIGZAG_ENABLED DISABLED // disable zigzag mode support
//#define OSD_ENABLED DISABLED // disable on-screen-display support
//#define BUTTON_ENABLED DISABLED // disable button support
// features below are disabled by default on all boards
//#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
//#define ADVANCED_FAILSAFE ENABLED // enabled advanced failsafe which allows running a portion of the mission in failsafe events
// other settings
//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)
//#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation
// User Hooks : For User Developed code that you wish to run
// Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
//#define USERHOOK_VARIABLES "UserVariables.h"
// Put your custom code into the UserCode.cpp with function names matching those listed below and ensure the appropriate #define below is uncommented below
//#define USERHOOK_INIT userhook_init(); // for code to be run once at startup
//#define USERHOOK_FASTLOOP userhook_FastLoop(); // for code to be run at 100hz
//#define USERHOOK_50HZLOOP userhook_50Hz(); // for code to be run at 50hz
//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); // for code to be run at 10hz
//#define USERHOOK_SLOWLOOP userhook_SlowLoop(); // for code to be run at 3.3hz
//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); // for code to be run at 1hz
//#define USERHOOK_AUXSWITCH ENABLED // for code to handle user aux switches
//#define USER_PARAMS_ENABLED ENABLED // to enable user parameters
重新编译发现固件小了二十多K左右，然后启用debug打断点测试成功。
打断点注意在程序必定会进去的地方打才能保证所操作的是对的，Copter.cpp文件的fast_loop()函数是一定会进去的，在里面打就好了。
初次入坑，陈述不对之处请朋友多多指正。