iNav飞控AOCODARC-F7MINI固件编译

已于 2024-04-12 16:29:39 修改
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分类专栏： xFlight 文章标签： 嵌入式硬件 iNav stm32 1024程序员节
于 2023-01-16 08:59:29 首次发布
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iNav飞控AOCODARC-F7MINI固件编译

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：STM32F722RET6
  • 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

在这里插入图片描述

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
* master
  remotes/origin/DzikuVx-patch-1
  remotes/origin/HEAD -> origin/master
  remotes/origin/MrD-Add-groups-to-programming-for-ease-of-reading
  remotes/origin/MrD_Add-Tramp-table-for-Foxeer-Reaper
  remotes/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
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/flight/pid_autotune.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/flight/wind_estimator.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/servo_sbus.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/piniobox.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/serial.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/serial_4way.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/serial_4way_avrootloader.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/serial_4way_stk500v2.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/rcdevice.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/rcdevice_cam.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/msp/msp_serial.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/programming/logic_condition.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/programming/global_variables.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
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/battery.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/boardalignment.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/compass.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/diagnostics.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/gyro.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/initialisation.c.obj
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
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/sensors/temperature.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/blackbox/blackbox.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/blackbox/blackbox_encoding.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/blackbox/blackbox_io.c.obj
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
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/cms/cms_menu_builtin.c.obj
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 Used
        ITCM_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
【2】Compile issue: CMake was not initialized yet #9391

4. 补充

4.1 ubuntu22.04 docker 安装 & 权限

$ ./build.sh help
*** Building targets [help]

*** CMake was not initialized yet, doing it now.

CMake Error: Error: generator : Ninja
Does not match the generator used previously: Unix Makefiles
Either remove the CMakeCache.txt file and CMakeFiles directory or choose a different binary directory.

安装docker，并处理docker运行的权限问题。

# sudo apt-get install docker.io
# sudo chmod 666 /var/run/docker.sock

4.2 CMake was not initialized yet

inav/build$ cmake -DCOMPILER_VERSION_CHECK=OFF ..
-- found arm-none-eabi-gcc 10.3.1 at /usr/lib/ccache/arm-none-eabi-gcc
-- toolchain: arm-none-eabi, WARNINGS_AS_ERRORS: OFF
-- Could not find openocd, debugging won't be available
-- DEBUG_HARDFAULTS: OFF, SEMIHOSTING: OFF
-- DEBUG_HARDFAULTS: OFF, SEMIHOSTING: OFF
CMake Error at cmake/settings.cmake:34 (message):
  Could not find ruby
Call Stack (most recent call first):
  cmake/main.cmake:95 (enable_settings)
  cmake/stm32.cmake:369 (setup_firmware_target)
  cmake/stm32f4.cmake:84 (target_stm32)
  cmake/stm32f4.cmake:110 (target_stm32f4xx)
  src/main/target/AIKONF4/CMakeLists.txt:1 (target_stm32f405xg)


-- Configuring incomplete, errors occurred!
See also "/home/daniel/AocodaRC/inav/build/CMakeFiles/CMakeOutput.log".
See also "/home/daniel/AocodaRC/inav/build/CMakeFiles/CMakeError.log".




inav/build$ cmake ..
-- found arm-none-eabi-gcc 10.3.1 at /usr/lib/ccache/arm-none-eabi-gcc
-- toolchain: arm-none-eabi, WARNINGS_AS_ERRORS: OFF
-- Could not find openocd, debugging won't be available
-- DEBUG_HARDFAULTS: OFF, SEMIHOSTING: OFF
-- DEBUG_HARDFAULTS: OFF, SEMIHOSTING: OFF
CMake Error at cmake/settings.cmake:34 (message):
  Could not find ruby
Call Stack (most recent call first):
  cmake/main.cmake:95 (enable_settings)
  cmake/stm32.cmake:369 (setup_firmware_target)
  cmake/stm32f4.cmake:84 (target_stm32)
  cmake/stm32f4.cmake:110 (target_stm32f4xx)
  src/main/target/AIKONF4/CMakeLists.txt:1 (target_stm32f405xg)


-- Configuring incomplete, errors occurred!
See also "/home/daniel/AocodaRC/inav/build/CMakeFiles/CMakeOutput.log".
See also "/home/daniel/AocodaRC/inav/build/CMakeFiles/CMakeError.log".

安装依赖环境：

$ sudo apt install git make ruby cmake gcc

重新构建build目录：

$ cd inav
$ rm -rf build
$ mkdir build
$ cd build
$ cmake ..

如果想运行相对比较独立的交叉编译器：

$ cmake -DCOMPILER_VERSION_CHECK=OFF ..

编译目标板固件：(AOCODARCF435V2来自src/main/target目录)

$ make AOCODARCF435V2

注：参考inav Building in Linux

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