iNav飞控AOCODARC-F7MINI固件编译

  • 1. 编译目标（AOCODARC-F7MINI）
  • 2. 编译步骤
    • Step 1 软件配置环境准备
    • Step 2 获取开源代码
    • Step 3 构建命令介绍
    • Step 4 厂家目标板查询
    • Step 5 目标固件编译
    • Step 6 目标固件清理
  • 3. 参考资料

iNav是一款非常出色的飞控航模开源软件，而且是基于GPL V3协议，所以相应的代码修改，必须开源出来。与PX4的BSD协议不一样，通常商业角度更多倾向于BSD协议。

本次编译主要是针对AOCODARC-F7MINI飞控板，采用最新的代码分支进行编译，以便进行功能验证。

1. 编译目标（AOCODARC-F7MINI）

  • 控制器：STM32H722RET6
  • 陀螺仪：MPU6500
  • 气压计：BMP280
  • 黑匣子：16MB
  • PWM输出：8CH
  • 通用串口：5CH
  • 输入电源：3-6SLipo
  • 输出电源：5V/2.5A, 9V/3A
  • 重量：6g
  • 外形尺寸：29mm x 29mm
  • 安装孔位：20mm x 20mm

2. 编译步骤

Step 1 软件配置环境准备

这里基于Ubuntu准备相关的软件配置环境。

$ sudo apt-get update
$ sudo apt-get install git
$ sudo apt-get install gitk git-gui

$ uname -a
Linux daniel-ThinkPad-SL410 5.15.0-58-generic #64~20.04.1-Ubuntu SMP Fri Jan 6 16:42:31 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 20.04.5 LTS
Release:        20.04
Codename:       focal

Step 2 获取开源代码

$ git clone git@github.com:iNavFlight/inav.git
Cloning into 'inav'...
remote: Enumerating objects: 110541, done.
remote: Counting objects: 100% (9/9), done.
remote: Compressing objects: 100% (9/9), done.
remote: Total 110541 (delta 1), reused 1 (delta 0), pack-reused 110532
Receiving objects: 100% (110541/110541), 257.08 MiB | 541.00 KiB/s, done.
Resolving deltas: 100% (81311/81311), done.
Updating files: 100% (3094/3094), done.$ cd inav$ $ git branch -a  //当前是master主干分支
* masterremotes/origin/DzikuVx-patch-1remotes/origin/HEAD -> origin/masterremotes/origin/MrD-Add-groups-to-programming-for-ease-of-readingremotes/origin/MrD_Add-Tramp-table-for-Foxeer-Reaperremotes/origin/MrD_Add-defines-for-the-BF-OSD-charset
... ...

Step 3 构建命令介绍

在inav目录下，直接敲build.sh，脚本会显示命令所支持的参数，通常作为用户来说，没必要耗费大量的时间去构建所有目标板的固件，我们只需要确认并编译自己硬件的固件即可。

$ ./build.sh
Usage syntax: ./build.sh <TARGET>Notes:* You can specify multiple targets../build.sh <TARGET_1> <TARGET_2> <TARGET_N>* To get a list of all targets use "help". Hint: pipe the output through a pager../build.sh help | less* To build all targets use "all"./build.sh all* To clean a target prefix it with "clean_"../build.sh clean_MATEKF405SE* To clean all targets just use "clean"../build.sh clean

Step 4 厂家目标板查询

当前手头硬件板子是否在inav的支持列表中，查询方式如下：

$ ./build.sh help | grep AOCODARCF7MINI
... AOCODARCF7MINI_V1
... AOCODARCF7MINI_V1.bin
... AOCODARCF7MINI_V1_bl
... AOCODARCF7MINI_V1_bl.bin
... AOCODARCF7MINI_V1_for_bl
... AOCODARCF7MINI_V1_for_bl.bin
... AOCODARCF7MINI_V1_with_bl
... AOCODARCF7MINI_V2
... AOCODARCF7MINI_V2.bin
... AOCODARCF7MINI_V2_bl
... AOCODARCF7MINI_V2_bl.bin
... AOCODARCF7MINI_V2_for_bl
... AOCODARCF7MINI_V2_for_bl.bin
... AOCODARCF7MINI_V2_with_bl
... clean_AOCODARCF7MINI_V1
... clean_AOCODARCF7MINI_V2
... openocd_AOCODARCF7MINI_V1
... openocd_AOCODARCF7MINI_V2
... openocd_cfg_AOCODARCF7MINI_V1
... openocd_cfg_AOCODARCF7MINI_V2
... openocd_flash_AOCODARCF7MINI_V1
... openocd_flash_AOCODARCF7MINI_V2
... svd_AOCODARCF7MINI_V1
... svd_AOCODARCF7MINI_V2
... AOCODARCF7MINI_V1.elf
... AOCODARCF7MINI_V1_bl.elf
... AOCODARCF7MINI_V1_for_bl.elf
... AOCODARCF7MINI_V2.elf
... AOCODARCF7MINI_V2_bl.elf
... AOCODARCF7MINI_V2_for_bl.elf

Step 5 目标固件编译

手头的板子已经与厂家技术支持确认是AOCODARC-F7MINI V1硬件。

$ ./build.sh AOCODARCF7MINI_V1
*** Building targets [AOCODARCF7MINI_V1]Generating AOCODARCF7MINI_V1/settings_generated.h, AOCODARCF7MINI_V1/settings_generated.c
Building ASM object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/startup/startup_stm32f722xx.s.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/__/__/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/__/__/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/__/__/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc_ex.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/programming/logic_condition.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/crsf.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/fport.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/fport2.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/ghst.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/ibus.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/jetiexbus.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/mavlink.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/msp.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/msp_override.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/frsky_crc.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/rx.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/sbus.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/sbus_channels.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/spektrum.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/srxl2.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/rx/sumd.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/scheduler/scheduler.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/acceleration.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/esc_sensor.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/irlock.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/blackbox/blackbox.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_battery.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_blackbox.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_imu.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_ledstrip.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_misc.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_mixer_servo.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_navigation.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_osd.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_saveexit.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_vtx.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/rangefinder_msp.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/rangefinder_benewake.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/opflow_cxof.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/opflow_msp.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/dashboard.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/displayport_frsky_osd.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/displayport_max7456.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/displayport_msp.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/displayport_msp_bf_compat.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/displayport_oled.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/displayport_msp_osd.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/displayport_srxl.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/displayport_hott.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/flashfs.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/gps.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/gps_ublox.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/gps_nmea.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/gps_msp.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/ledstrip.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/osd.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/osd_canvas.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/osd_common.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/osd_grid.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/osd_hud.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/smartport_master.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/vtx.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/vtx_string.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/vtx_smartaudio.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/vtx_tramp.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/vtx_ffpv24g.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/vtx_control.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation_fixedwing.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation_fw_launch.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation_geo.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation_multicopter.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation_pos_estimator.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation_pos_estimator_agl.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation_pos_estimator_flow.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/navigation_rover_boat.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/navigation/sqrt_controller.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/barometer.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/pitotmeter.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/rangefinder.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/opflow.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/crsf.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/srxl.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/frsky.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/frsky_d.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/ghst.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/hott.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/jetiexbus.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/ibus_shared.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/ibus.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/ltm.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/mavlink.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/msp_shared.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/smartport.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/sim.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/telemetry/telemetry.c.obj
Linking C executable ../../../../bin/AOCODARCF7MINI_V1.elf
Memory region         Used Size  Region Size  %age UsedITCM_RAM:        6720 B        16 KB     41.02%ITCM_FLASH:          0 GB        16 KB      0.00%
ITCM_FLASH_CONFIG:          0 GB        16 KB      0.00%ITCM_FLASH1:          0 GB       480 KB      0.00%FLASH:         848 B        16 KB      5.18%FLASH_CONFIG:          0 GB        16 KB      0.00%FLASH1:      463438 B       480 KB     94.29%TCM:       18312 B        64 KB     27.94%RAM:       82480 B       192 KB     41.95%MEMORY_B1:          0 GB         0 GB
Built target AOCODARCF7MINI_V1.elf
Built target AOCODARCF7MINI_V1*** Built targets in ./build:
./build/inav_6.0.0_AOCODARCF7MINI_V1.hex (2023-01-16 08:50:59)

此时已经生成./build/inav_6.0.0_AOCODARCF7MINI_V1.hex固件，可以采用configurator进行烧录。

Step 6 目标固件清理

有的时候可能调整了配置，甚至改动了代码，不采用增量式编译(防止有些改动没有起到效果)而希望全新编译固件。

$ ./build.sh clean_AOCODARCF7MINI_V1
*** Building targets [clean_AOCODARCF7MINI_V1]Removing intermediate files for AOCODARCF7MINI_V1
Built target clean_AOCODARCF7MINI_V1*** Built targets in ./build:
stat: cannot stat './build/*.hex': No such file or directory

当clean结束后，在进行固件编译。

3. 参考资料

【1】Github iNav

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  3. 中移4G模块-ML302-OpenCpu开发-(固件编译和烧录)

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