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 <SteveCEvans@users.noreply.github.com>
Date:   Sat Oct 21 23:40:46 2023 +0100Fix buffer overflow in JETIEXBUS character reception (#13130)* Fix buffer overflow in jetiexbus character reception* Update src/main/rx/jetiexbus.cCo-authored-by: Mark Haslinghuis <mark@numloq.nl>---------Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

config 最新配置

commit 6fa050144d5e6bccf0f50ac67d014491ddb10a71 (HEAD -> master, origin/master, origin/HEAD)
Author: Steve Evans <SteveCEvans@users.noreply.github.com>
Date:   Thu Oct 19 19:17:18 2023 +0100Add 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 <http://www.gnu.org/licenses/>.*/#pragma once#define FC_TARGET_MCU     AT32F435G#define BOARD_NAME        AOCODAF435V2MPU6500
#define MANUFACTURER_ID   SJET#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define USE_BARO_BMP280
#define USE_BARO_DPS310
#define USE_FLASH
#define USE_FLASH_W25Q128FV
#define USE_MAX7456#define BEEPER_PIN           PB8
#define MOTOR1_PIN           PC6
#define MOTOR2_PIN           PC7
#define MOTOR3_PIN           PC8
#define MOTOR4_PIN           PC9
#define MOTOR5_PIN           PA15
#define MOTOR6_PIN           PA8
#define MOTOR7_PIN           PB10
#define MOTOR8_PIN           PB11
#define RX_PPM_PIN           PA3
#define LED_STRIP_PIN        PB1
#define UART1_TX_PIN         PA9
#define UART2_TX_PIN         PA2
#define UART3_TX_PIN         PC10
#define UART4_TX_PIN         PA0
#define UART5_TX_PIN         PC12
#define UART1_RX_PIN         PA10
#define UART2_RX_PIN         PA3
#define UART3_RX_PIN         PC11
#define UART4_RX_PIN         PA1
#define UART5_RX_PIN         PD2
#define I2C1_SCL_PIN         PB6
#define I2C1_SDA_PIN         PB7
#define LED0_PIN             PC13
#define SPI1_SCK_PIN         PA5
#define SPI2_SCK_PIN         PB13
#define SPI3_SCK_PIN         PB3
#define SPI1_SDI_PIN         PA6
#define SPI2_SDI_PIN         PB14
#define SPI3_SDI_PIN         PB4
#define SPI1_SDO_PIN         PA7
#define SPI2_SDO_PIN         PB15
#define SPI3_SDO_PIN         PB5
#define ESCSERIAL_PIN        PC11
#define ADC_VBAT_PIN         PC2
#define ADC_RSSI_PIN         PC3
#define ADC_CURR_PIN         PC1
#define FLASH_CS_PIN         PC0
#define MAX7456_SPI_CS_PIN   PA13
#define GYRO_1_EXTI_PIN      PC4
#define GYRO_1_CS_PIN        PA4
#define USB_DETECT_PIN       PB12#define TIMER_PIN_MAPPING \TIMER_PIN_MAP( 0, RX_PPM_PIN    , 2,  0) \TIMER_PIN_MAP( 1, MOTOR1_PIN    , 2,  1) \TIMER_PIN_MAP( 2, MOTOR2_PIN    , 2,  1) \TIMER_PIN_MAP( 3, MOTOR3_PIN    , 2,  1) \TIMER_PIN_MAP( 4, MOTOR4_PIN    , 2,  0) \TIMER_PIN_MAP( 5, MOTOR5_PIN    , 1,  0) \TIMER_PIN_MAP( 6, MOTOR6_PIN    , 1,  1) \TIMER_PIN_MAP( 7, MOTOR7_PIN    , 1,  0) \TIMER_PIN_MAP( 8, MOTOR8_PIN    , 1,  0) \TIMER_PIN_MAP( 9, LED_STRIP_PIN , 2,  0)#define ADC_INSTANCE ADC3
#define ADC3_DMA_OPT        1#define MAG_I2C_INSTANCE (I2CDEV_1)
#define USE_BARO
#define BARO_I2C_INSTANCE (I2CDEV_1)
#define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
#define DEFAULT_DSHOT_BURST DSHOT_DMAR_OFF
#define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_OFF
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 500
#define BEEPER_INVERTED
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI2
#define FLASH_SPI_INSTANCE SPI3
#define USE_SPI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1

4. 编译

4.1 获取代码

$ git clone git@github.com:betaflight/betaflight.git
$ cd betaflight

4.2 获取配置

$ cd src/
$ git clone git@github.com:betaflight/config.git
$ cd ..

4.3 编译固件

$ make AOCODAF435V2MPU6500
$ ls obj
betaflight_4.5.0_AT32F435G_AOCODAF435V2MPU6500.hex

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

1. betaflight固件版本、飞控配置 ==》 基本正常
2. Gyro/Acc/Baro以及传感数据 ==》基本正常
3. Gyro校准，Pitch/Roll/Yaw ==》基本正常
4. OSD MAX7456 芯片 SPI未发现 ==》异常 //atbetaflight正常
5. 芯片内部温度：Vref=0. 0V, Core temp=-281degC ==》异常 //atbetaflight正常
6. 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