BetaFlight飞控AOCODAF435V2MPU6500固件编译
BetaFlight飞控AOCODAF435V2MPU6500固件编译
- 1. 源由
- 2. 准备
-
- 2.1 板子
- 2.2 代码
- 2.3 工具
- 3. 配置修改
- 4. 编译
-
- 4.1 获取代码
- 4.2 获取配置
- 4.3 编译固件
- 4.4 DFU烧录
- 4.5 版本核对
- 5. 总结
- 6. 跟踪问题
- 7. 附录
1. 源由
刚拿到一块Aocoda F405V2 (MPU6500) + AT32F435飞控板(替换主控芯片)。
- Aocoda-RC F405V2 FC(STM32F405RGT6 v.s. AT32F435RGT7) IO Definitions
- STM32F405RGT6 v.s. AT32F435RGT7 Comparison for Flight Controller
准备尝鲜使用github最新betaflight代码，应该是4.5的了。
2. 准备
2.1 板子
默认已经烧录了atbetaflight固件 v4.3.2，硬件IMU/Baro/MAX7456都已经找到。
2.2 代码
本次代码版本，详见下面git log -n 1。
betaflight 最新代码
commit eee0cb54677aaf4daae28fd7068460abbffa53c8 (HEAD -> master, origin/master, origin/HEAD)
Author: Steve Evans
Date: Sat Oct 21 23:40:46 2023 +0100
Fix buffer overflow in JETIEXBUS character reception (#13130)
* Fix buffer overflow in jetiexbus character reception
* Update src/main/rx/jetiexbus.c
Co-authored-by: Mark Haslinghuis
---------
Co-authored-by: Mark Haslinghuis
config 最新配置
commit 6fa050144d5e6bccf0f50ac67d014491ddb10a71 (HEAD -> master, origin/master, origin/HEAD)
Author: Steve Evans
Date: Thu Oct 19 19:17:18 2023 +0100
Add ICM42688P to SKYSTARSF405 (#193)
2.3 工具
Betaflight Configurator需要升级到10.10版本或者之后。
注：之前的版本无法识别AT32芯片。
Root cause：Artery AT32F435/7 DFU and VCP support #3259
注：首先要确保AT32 DFU驱动正确识别硬件。上图是10.9版本，DFU识别芯片，但是配置工具枚举失败。
3. 配置修改
鉴于该板子整体采用了简单替换。根据之前的一些经验，基于AOCODAF405V2MPU6500修改，新增目标AOCODAF435V2MPU6500。
- Betaflight飞控之4.5版本配置文件调整
- BetaFlight统一硬件AOCODARC H7DUAL配置文件讨论
- BetaFlight统一硬件资源简单配置修改
注：以下配置只是现抄版本，确保固件编译正常。可能存在部分IO功能异常问题，需要后续试飞调试确认。
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see 4. 编译
4.1 获取代码
$ git clone [email protected]:betaflight/betaflight.git
$ cd betaflight
4.2 获取配置
$ cd src/
$ git clone [email protected]:betaflight/config.git
$ cd ..
4.3 编译固件
$ make AOCODAF435V2MPU6500
$ ls obj
betaflight_4.5.0_AT32F435G_AOCODAF435V2MPU6500.hex
注：可参考iNav飞控AOCODARC-F7MINI固件编译
4.4 DFU烧录
按住Reset按钮，通过USB给飞控上电，进入DFU模式。
4.5 版本核对
5. 总结
- betaflight固件版本、飞控配置 ==》 基本正常
- Gyro/Acc/Baro以及传感数据 ==》基本正常
- Gyro校准，Pitch/Roll/Yaw ==》基本正常
- 【已解决】OSD MAX7456 芯片 SPI未发现 ==》异常 //atbetaflight正常
- 【已解决】芯片内部温度：
Vref=0. 0V, Core temp=-281degC==》异常 //atbetaflight正常 - 【待验证】怀疑存在问题：电机页面提示需要4个电机配置 ==》异常 //待确认TIMER_PIN_MAP
6. 跟踪问题
【1】 AT32F435 internal reference voltage issue “Vref=0. 0V” #13133
【2】 AT32F435 OSD_CS resouce allocate issue #13134
【3】How was the fourth parameter determined in TIMER_PIN_MAP? #13135
【4】 VCP hangs on AT32 while getting dma list of valid resource #13138
7. 附录
betaflight 4.5 基本正常工作：
- betaflight(AocodaRC)
- AOCODAF435V2MPU6500/config.h
# status
MCU AT32F435 Clock=288MHz, Vref=3.29V, Core temp=63degC
Stack size: 2048, Stack address: 0x2002fff0
Configuration: CONFIGURED, size: 4057, max available: 16384
Devices detected: SPI:1, I2C:1
Gyros detected: gyro 1 locked dma
GYRO=MPU6500, ACC=MPU6500, BARO=DPS310
OSD: MAX7456 (30 x 13)
System Uptime: 7 seconds, Current Time: 2023-10-24T06:02:28.061+00:00
CPU:20%, cycle time: 124, GYRO rate: 8064, RX rate: 15, System rate: 9
Voltage: 0 * 0.01V (0S battery - NOT PRESENT)
I2C Errors: 0
FLASH: JEDEC ID=0x00ef4018 16M
GPS: NOT ENABLED
Arming disable flags: RXLOSS ANGLE CLI MSP
# version
# Betaflight / AT32F435G (A435) 4.5.0 Oct 24 2023 / 13:58:02 (4f17fe0aa) MSP API: 1.46
# config rev: 6ab06df
# board: manufacturer_id: SJET, board_name: AOCODAF435V2MPU6500
