ArduPilot硬件AOCODARC H7DUAL配置文件讨论

1. 源由

手头资源紧张(只有一架完整的模型飞机)，但是又想切换ArduPilot飞行（后续打算将wfb-ng挂上，将图像加密（直接/中转）传输回来）。

尽管前期使用Kakute F7 AIO做了F450的试飞，但是当时存在几个问题：

• 1）GPS定位时好时坏；
• 2）F450上没有摄像头；
• 3）没有完整的进行过巡航/自动返航/高空定位/全程视频远航。

【1】ArduPilot飞控之DIY-F450计划
【2】QGroundControl之安装调试
【3】ArduPilot Kakute F7 AIO DIYF450 之GPS配置
【4】ArduPilot Kakute F7 AIO DIYF450 without GPS配置
【5】ArduPilot之posHold&RTL实测
【6】Betaflight BN880 GPS 简单测试

鉴于目前手头的飞控板尚未得到ArduPilot官方支持，在做厂家“小白鼠”之前，尽量知道所以然，在上手飞，对于仅有的模型来说，损失概率可以大大降低。

因此，首先有必要分析和研究下AOCODARC H7DUAL这块飞控的相关配置信息，从源由确保配置信息是正确的（这里得益于ArduPilot切换ChibiOS之后的架构设计，目前飞控板配置在OS这层就已经解耦）。

2. 厂家配置

APM-AOCODARCH7DUAL.rar

./AOCODARC-H7DUAL/
├── defaults.parm
├── hwdef-bl.dat
└── hwdef.dat

• 控制器：STM32H743VI H6
• 陀螺仪：BMI270
• 气压计：DPS310
• 黑匣子：128MB
• PWM输出：10CH
• 舵机输出：2CH
• 通用串口：8CH
• 输入电源：3-6SLipo
• 输出电源：5V/2.5A, 9V/3A
• 重量：8.8g
• 外形尺寸：37mm x 37mm
• 安装孔位：30.5mm x 30.5mm

注：这个H7Dual厂家有两款，一款是BMI270 x 2，另一款是MPU6000 + BMI270。笔者手上这块是BMI270x2。

3. 研读分析

这里主要有三个配置文件组成：

1. 编译环境变量：defaults.parm
2. bootloader配置：hwdef-bl.dat
3. 飞控配置：hwdef.dat

当前review最新代码

# git log -n 1
commit 1359b43742922008e43c178423f9e0cbeaafcd67 (HEAD -> master, origin/master, origin/HEAD)
Author: Peter Barker <[email protected]>
Date:   Tue May 23 23:33:21 2023 +1000

    Tools: build_binaries.py: avoid exception while handling exception

    From the build server:

      File "./build_binaries.py", line 570, in get_exception_stacktrace
        ret = "%s\n" % e
      File "/usr/lib/python3.8/subprocess.py", line 113, in __str__
        if self.returncode and self.returncode < 0:

唯一的差异就是增加了原厂提供的配置文件

# git status
On branch master
Your branch is up to date with 'origin/master'.

Untracked files:
  (use "git add ..." to include in what will be committed)
        libraries/AP_HAL_ChibiOS/hwdef/AOCODARC-H7DUAL/

nothing added to commit but untracked files present (use "git add" to track)

3.1 defaults.parm

# cat AOCODARC-H7DUAL/defaults.parm
# logging
LOG_BACKEND_TYPE    4
LOG_FILE_BUFSIZE    4

从目前最新代码库上情况看，使用这个defaults.parm文件来做配置的板子不多。

# grep "LOG_FILE_BUFSIZE" -rn .
./skyviper-journey/defaults.parm:310:LOG_FILE_BUFSIZE       1
./AOCODARC-H7DUAL/defaults.parm:3:LOG_FILE_BUFSIZE    4
# grep "LOG_BACKEND_TYPE" -rn .
./skyviper-journey/defaults.parm:309:LOG_BACKEND_TYPE       2
./AOCODARC-H7DUAL/defaults.parm:2:LOG_BACKEND_TYPE    4

该文件在编译过程中被脚本自动调用执行。

# grep "defaults.parm" -rn .
./scripts/chibios_hwdef.py:2744:        # see if board has a defaults.parm file or a --default-parameters file was specified
./scripts/chibios_hwdef.py:2745:        defaults_filename = os.path.join(os.path.dirname(args.hwdef[0]), 'defaults.parm')
./HolybroG4_GPS/hwdef.dat:136:# we setup a small defaults.parm
./f405-MatekGPS/hwdef.dat:56:# we setup a small defaults.parm
./HolybroGPS/hwdef.dat:148:# we setup a small defaults.parm
./C-RTK2-HP/hwdef.dat:101:# we setup a small defaults.parm
./rGNSS/hwdef.dat:117:# we setup a small defaults.parm
./Sierra-F412/hwdef.dat:126:# we setup a small defaults.parm
./HolybroG4_Compass/hwdef.dat:100:# we setup a small defaults.parm
./FreeflyRTK/hwdef.dat:125:# we setup a small defaults.parm
./CubeOrangePlus-bdshot/hwdef.dat:14:env DEFAULT_PARAMETERS libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/defaults.parm
./skyviper-v2450/hwdef.dat:66:env DEFAULT_PARAMETERS 'Tools/Frame_params/SkyViper-2450GPS/defaults.parm'
./AeroFox-PMU/hwdef.inc:47:# setup a small defaults.parm
./AeroFox-GNSS_F9P/hwdef.dat:42:# we setup a small defaults.parm
./Sierra-F405/hwdef.dat:47:# we setup a small defaults.parm
./CubeOrange-bdshot/hwdef.dat:14:env DEFAULT_PARAMETERS libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm
./CUAV_GPS/hwdef.dat:138:# we setup a small defaults.parm
./Sierra-F9P/hwdef.dat:117:# we setup a small defaults.parm
./MatekL431/hwdef.inc:47:# we setup a small defaults.parm

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py给出信息表明，该文件主要是配置一些编译时的环境变量。

    def write_env_py(self, filename):
        '''write out env.py for environment variables to control the build process'''

        # see if board has a defaults.parm file or a --default-parameters file was specified
        defaults_filename = os.path.join(os.path.dirname(args.hwdef[0]), 'defaults.parm')
        defaults_path = os.path.join(os.path.dirname(args.hwdef[0]), args.params)

        if not args.bootloader:
            if os.path.exists(defaults_path):
                self.env_vars['DEFAULT_PARAMETERS'] = os.path.abspath(self.default_params_filepath)
                print("Default parameters path from command line: %s" % self.default_params_filepath)
            elif os.path.exists(defaults_filename):
                self.env_vars['DEFAULT_PARAMETERS'] = os.path.abspath(defaults_filename)
                print("Default parameters path from hwdef: %s" % defaults_filename)
            else:
                print("No default parameter file found")

        # CHIBIOS_BUILD_FLAGS is passed to the ChibiOS makefile
        self.env_vars['CHIBIOS_BUILD_FLAGS'] = ' '.join(self.build_flags)
        pickle.dump(self.env_vars, open(filename, "wb"))

libraries/AP_Logger/AP_Logger.给出LOG_BACKEND_TYPE 4块设备外部Flash定义。

    enum class Backend_Type : uint8_t {
        NONE       = 0,
        FILESYSTEM = (1<<0),
        MAVLINK    = (1<<1),
        BLOCK      = (1<<2),
    };

LOG_FILE_BUFSIZE 4可能之文件缓存使用4KB，工程里面没有找到对应的定义。

# grep "LOG_FILE_BUFSIZE" -rn .
./libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param:307:LOG_FILE_BUFSIZE,16
./libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param:310:LOG_FILE_BUFSIZE,16
./libraries/AP_Logger/AP_Logger.cpp:100:    // @Description: If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.
./libraries/AP_Logger/AP_Logger.cpp:194:    // convert from 8 bit to 16 bit LOG_FILE_BUFSIZE
./libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/defaults.parm:310:LOG_FILE_BUFSIZE       1
./libraries/AP_HAL_ChibiOS/hwdef/AOCODARC-H7DUAL/defaults.parm:3:LOG_FILE_BUFSIZE    4
./Tools/Frame_params/Solo_Copter-4.param:95:LOG_FILE_BUFSIZE,8
./Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params:325:LOG_FILE_BUFSIZE,16
./Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params:282:LOG_FILE_BUFSIZE,16
./Tools/Frame_params/Sub/bluerov2-3_5_4.params:278:LOG_FILE_BUFSIZE,16
./Tools/Frame_params/Sub/bluerov2-3_5.params:285:LOG_FILE_BUFSIZE,16
./Tools/Frame_params/Sub/bluerov2-4_0_0.params:325:LOG_FILE_BUFSIZE,16
./Tools/Frame_params/Sub/bluerov2-3_5_2.params:282:LOG_FILE_BUFSIZE,16
./Tools/Frame_params/Sub/bluerov2-heavy-3_5_4.params:278:LOG_FILE_BUFSIZE,16
./Tools/Frame_params/Solo_Copter-3.6_GreenCube.param:80:LOG_FILE_BUFSIZE,8
./Tools/Frame_params/Solo_Copter-3.5_GreenCube.param:74:LOG_FILE_BUFSIZE,32
./Tools/Frame_params/Solo_Copter-4_GreenCube.param:94:LOG_FILE_BUFSIZE,8
./Tools/Frame_params/SkyViper-2450GPS/defaults.parm:187:LOG_FILE_BUFSIZE       1
./Tools/Replay/LR_MsgHandler.cpp:304:        "LOG_FILE_BUFSIZE",
./Tools/autotest/default_params/vee-gull 005.param:345:LOG_FILE_BUFSIZE,16
Binary file ./modules/mavlink/pymavlink/tests/test.BIN matches
./modules/mavlink/pymavlink/tests/test.BIN.py3.dumped:682:2017-10-29 12:47:13.02: PARM {TimeUS : 81877832, Name : LOG_FILE_BUFSIZE, Value : 16.0}
./modules/mavlink/pymavlink/tests/test.BIN.dumped:682:2017-10-29 12:47:13.02: PARM {TimeUS : 81877832, Name : LOG_FILE_BUFSIZE, Value : 16.0}
./ArduPlane/ReleaseNotes.txt:2018: - raise default LOG_FILE_BUFSIZE on boards with more memory

3.2 hwdef-bl.dat

注：逐行增加注释方式研读。

# hw definition file for processing by chibios_pins.py
#

# MCU class and specific type
MCU STM32H7xx STM32H743xx  //STM32H7系列，型号H743

# board ID for firmware load
APJ_BOARD_ID 99  //ID：99，要确保bootloader和飞控配置一致

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000  //晶振频率

FLASH_SIZE_KB 2048   //芯片存储容量 2MB

# bootloader starts at zero offset
FLASH_RESERVE_START_KB 0  //bootloader位置，通常0地址

# use last 2 pages for flash storage
# H743 has 16 pages of 128k each
STORAGE_FLASH_PAGE 14  //bootloader和application使用一共14 pages，2 pages用于参数保存

# the location where the bootloader will put the firmware
# the H743 has 128k sectors
FLASH_BOOTLOADER_LOAD_KB 128  //application起始位置


# order of UARTs (and USB). Allow bootloading on USB and telem1
SERIAL_ORDER OTG1 #UART7  //这里定义了一个USB串口

# UART7 (telem1)
#PE7 UART7_RX UART7 NODMA
#PE8 UART7_TX UART7 NODMA

# PA10 IO-debug-console  //OTG USB+/-信号定义
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD  //JTAG引脚定义
PA14 JTCK-SWCLK SWD

PE3 LED_BOOTLOADER OUTPUT LOW  //其中一个PE03作为指示灯，并且低电平点亮
define HAL_LED_ON 0

# Add CS pins to ensure they are high in bootloader  //芯片的一些CS引脚，感觉bootloader不用检查这些外设（也可以节省代码空间），毕竟应用会进行初始化。
PC15 IMU1_CS CS
PB12 MAX7456_CS CS
PE11 IMU2_CS CS
PD3 FLASH_CS CS

3.3 hwdef.dat

注：逐行增加注释方式研读。

# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32H7xx STM32H743xx  //STM32H7系列，型号H743

# board ID for firmware load
APJ_BOARD_ID 99  //ID：99，要确保bootloader和飞控配置一致

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000  //晶振频率

FLASH_SIZE_KB 2048   //芯片存储容量 2MB
env OPTIMIZE -Os  //size 优化，这个可以根据具体情况选择，详见gcc参考资料

# bootloader takes first sector
FLASH_RESERVE_START_KB 128  //application起始位置


# ChibiOS system timer
STM32_ST_USE_TIMER 12   //使用定时器12作为系统脉搏
define CH_CFG_ST_RESOLUTION 16  //定时器精度 16bit

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for IMU1 (MPU6000)
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1
PC15 IMU1_CS CS

# SPI2 for MAX7456 OSD
PB12 MAX7456_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI3 - external  //板载Flash W25N01G
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PD3 FLASH_CS CS

# external CS pins
PD4 EXT_CS1 CS   //问题1：Betaflight配置文件也没有对应的描述，该引脚用于什么用途？
PE2 EXT_CS2 CS   //OTG USB Detect

# SPI4 for IMU2 (BMI270)
PE11 IMU2_CS CS
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4


# two I2C bus
I2C_ORDER I2C2 I2C1

# I2C1  //磁力计
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# I2C2  //气压计
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# ADC
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)  //问题2：引脚Betaflight配置文件中未见，这里貌似MatekH743的双电调供电，需要原理图确认？
PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)  //问题3：引脚Betaflight配置文件中未见，这里貌似MatekH743的双电调供电，需要原理图确认？

define HAL_BATT_MONITOR_DEFAULT 4  //电源配置参数
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_CURR_PIN 11
define HAL_BATT2_VOLT_PIN 18
define HAL_BATT2_CURR_PIN 7
define HAL_BATT_VOLT_SCALE 11.0
define HAL_BATT_CURR_SCALE 40.0
define HAL_BATT2_VOLT_SCALE 11.0

PC4 PRESSURE_SENS ADC1 SCALE(2)  //空速计
define HAL_DEFAULT_AIRSPEED_PIN 4

PC5 RSSI_ADC ADC1  //模拟RSSI ADC输入
define BOARD_RSSI_ANA_PIN 8

# LED
# green LED1 marked as B/E
# blue LED0 marked as ACT
PE3 LED0 OUTPUT LOW GPIO(90) # blue
PE4 LED1 OUTPUT LOW GPIO(91) # orange
define HAL_GPIO_A_LED_PIN 91
define HAL_GPIO_B_LED_PIN 90
define HAL_GPIO_LED_OFF 1

# order of UARTs (and USB)  //含USB 一共7个串口（串口5未定义），问题4：为什么不定义串口5？
SERIAL_ORDER OTG1 UART4 UART8 USART2 USART3 USART6 UART7 USART1


# USART1 (RC input), SERIAL7
PA9  USART1_TX USART1
PA10 TIM1_CH3 TIM1 RCININT PULLDOWN LOW

# USART2 (GPS1), SERIAL3
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3 (GPS2), SERIAL4
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# UART4 (telem1), SERIAL1
PB8 UART4_RX UART4
PB9 UART4_TX UART4

# USART6 (spare)
PC6 USART6_TX USART6
PC7 USART6_RX USART6

# UART7 (spare)
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# UART8 (telem2), SERIAL2
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# CAN bus  //没有CanBus
#PD0 CAN1_RX CAN1
#PD1 CAN1_TX CAN1
#PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)

# Motors
PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56)
PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)
PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58) NODMA  //问题5：没有DMA dshot协议还能支持吗，目前ArduPilot支持bitbang方式使用dshot吗？
PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59) NODMA
PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA
PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA 
#PA8  TIM1_CH1  TIM1  PWM(13) GPIO(62) # for WS2812 LED  this will be affects RC input  //问题6：是什么原因引起LED灯带不能使用，DMA，timer不够；灯带GPIO有定义，还能使用吗？

# Beeper
PA15 TIM2_CH1 TIM2 GPIO(80) ALARM

#use LED-STRIP output as general purpose GPIO
PA8 GP_GPIO OUTPUT LOW GPIO(70)

# microSD support
#PC8 SDMMC1_D0 SDMMC1
#PC9 SDMMC1_D1 SDMMC1
#PC10 SDMMC1_D2 SDMMC1
#PC11 SDMMC1_D3 SDMMC1
#PC12 SDMMC1_CK SDMMC1
#PD2 SDMMC1_CMD SDMMC1

# GPIOs
PD10  PINIO1 OUTPUT GPIO(81) LOW
PD11  PINIO2 OUTPUT GPIO(82) LOW

DMA_PRIORITY S* TIM3* TIM2*
DMA_NOSHARE SPI1* SPI4* TIM3* TIM2*

define HAL_STORAGE_SIZE 16384  //问题7：不是有2个pages用于storage，为什么这里只用了16KB？

# use last 2 pages for flash storage
# H743 has 16 pages of 128k each
STORAGE_FLASH_PAGE 14
#STORAGE_FLASH_PAGE 1

# spi devices
SPIDEV mpu6000     SPI1 DEVID1 IMU1_CS      MODE3  1*MHZ  4*MHZ   //一个型号是MPU6000 + BMI270
SPIDEV bmi270_1      SPI1 DEVID1 IMU1_CS      MODE3 10*MHZ 10*MHZ  //一个型号是BMI270 + BMI270
SPIDEV bmi270_2      SPI4 DEVID1 IMU2_CS      MODE3 10*MHZ 10*MHZ
#SPIDEV dataflash   SPI3 DEVID1 FLASH_CS     MODE0  32*MHZ 32*MHZ
SPIDEV dataflash SPI3 DEVID1 FLASH_CS     MODE3 104*MHZ 104*MHZ
SPIDEV osd         SPI2 DEVID4 MAX7456_CS   MODE0  10*MHZ 10*MHZ


//问题8：为什么不做DMA_NOSHARE SPI1* SPI4*？

# SPI3 external connections
#SPIDEV pixartflow   SPI3 DEVID1  EXT_CS1  MODE3   2*MHZ  2*MHZ

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

# two IMUs
IMU Invensense SPI:mpu6000 ROTATION_YAW_270
IMU BMI270 SPI:bmi270_1 ROTATION_ROLL_180_YAW_90
IMU BMI270 SPI:bmi270_2 ROTATION_ROLL_180_YAW_270

# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
BARO MS56XX I2C:0:0x77
BARO DPS310 I2C:0:0x76
BARO BMP280 I2C:0:0x76

#define HAL_OS_FATFS_IO 1
#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV

4. 参考资料

【1】wfb-ng 开源工程结构&代码框架简明介绍
【2】BetaFlight统一硬件AOCODARC H7DUAL配置文件讨论
【3】ArduPilot飞控AOCODARC-H7DUAL固件编译
【4】Using Tabula to Parse PDF Tables
【5】gcc - Options That Control Optimization

5. 附录 - ArduPilot on Chibios

ArduPilot on Chibios

6. 问题汇总

注：上述问题已经反馈厂家，不过板子尚未得到ArduPilot官方支持。因此后续要使用，可能需要仔细的调整。

【已解】问题1：Betaflight配置文件也没有对应的描述，该引脚用于什么用途？

答：PE2用在OTG USB Detect引脚上；PD4 在Matek H743板子上用在光流计上，AOCODARC可能原理图上没有用到这个pin脚。

---

# external CS pins
PD4 EXT_CS1 CS
PE2 EXT_CS2 CS

问题2/3：引脚Betaflight配置文件中未见，这里貌似MatekH743的双电调供电，需要原理图确认？

PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)

问题4：为什么不定义串口5？

# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART4 UART8 USART2 USART3 USART6 UART7 USART1

问题5：没有DMA dshot协议还能支持吗，目前ArduPilot支持bitbang方式使用dshot吗？

# Motors
PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56)
PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)
PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58) NODMA
PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59) NODMA
PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA
PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA 

问题6：是什么原因引起LED灯带不能使用，DMA，timer不够；灯带GPIO有定义，还能使用吗？

#PA8  TIM1_CH1  TIM1  PWM(13) GPIO(62) # for WS2812 LED  this will be affects RC input

#use LED-STRIP output as general purpose GPIO
PA8 GP_GPIO OUTPUT LOW GPIO(70)

问题7：不是有2个pages用于storage，为什么这里只用了16KB？

define HAL_STORAGE_SIZE 16384

问题8：为什么调整DMA优先级？

TIM2（Beeper）这个优先级需要特别之处吗？
TIM3用于那个外设？

MatekH743

DMA_PRIORITY S*
DMA_NOSHARE SPI1* SPI4*

AOCODARC H743

DMA_PRIORITY S* TIM3* TIM2*
DMA_NOSHARE SPI1* SPI4* TIM3* TIM2*

问题9：Gyro上的Interrupt引脚，ArduPilot上都不用定义吗？

【已解】问题10：UART1定义感觉与芯片规格书有差异。

答：Matek H743也有类似RcInput定义，这里进行了引脚重新规划。

# USART6 (RC input), SERIAL7
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
PC6 USART6_TX USART6 NODMA

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7. 参考资料

【1】ArduPilot开源飞控系统之简单介绍

MatekH743定义与功能规格书一致。

# USART1 (telem2)
PA10 USART1_RX USART1
PA9  USART1_TX USART1

AOCODARC H743定义与功能规格书有差异。

# USART1 (RC input)
PA9  USART1_TX USART1
PA10 TIM1_CH3 TIM1 RCININT PULLDOWN LOW