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
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
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
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/__/__/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c.obj
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Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/flight/pid_autotune.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/flight/power_limits.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/osd_dji_hd.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/io/lights.c.obj
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
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/programming/programming_task.c.obj
Building C object src/main/target/AOCODARCF7MINI/CMakeFiles/AOCODARCF7MINI_V1.elf.dir/__/__/programming/pid.c.obj
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