Ardupilot开源飞控之ChibiOS简介

1. 源由

随着雅特力AT32芯片逐步被移植到开源飞控系统：

• betaflight
• inav
• px4

但是，目前Ardupilot尚未支持，其主要原因是ChibiOS尚不支持雅特力芯片。虽然有一些项目在做这方面的Porting工作，但是显然尚未达到可以在或者接近可以在Ardupilot上使用的程度。

本章节，来一起看下ChibiOS相关的介绍。

2. ChibiOS简介

官方ChibiOS项目：https://github.com/ChibiOS/ChibiOS

ChibiOS是一个完整的嵌入式应用程序开发环境。平台包括RTOS、HAL、外围驱动程序、支持文件和工具，所有这些都旨在使开发过程无缝、高效。
ChibiOS还集成了外部开源组件，为嵌入式设备提供完整的解决方案。ChibiOS组件可在开源许可证：GPL3或Apache 2.0下使用，还有几个商业许可选项。

• 官方文档
• 技术文档
• 教程资料

---

Ardupilot ChibiOS项目： https://github.com/ArduPilot/ChibiOS

Artery(AT32) porting项目： //Artery官网没有相关porting动作，不过开源github有相关项目。

• https://github.com/dron0gus/artery
• https://github.com/dron0gus/ChibiOS

3. ChibiOS基础

基础内容整理如下：

【1】ChibiOS简介1/5
【2】ChibiOS简介2/5
【3】ChibiOS简介3/5
【4】ChibiOS简介4/5
【5】ChibiOS简介5/5

工程目录结构：

*****************************************************************************
*** Files Organization                                                    ***
*****************************************************************************

--{root}                        - ChibiOS directory.
  +--readme.txt                 - This file.
  +--documentation.html         - Shortcut to the web documentation page.
  +--license.txt                - GPL license text.
  +--demos/                     - Demo projects, one directory per platform.
  +--docs/                      - Documentation.
  |  +--common/                 - Documentation common build resources.
  |  +--hal/                    - Builders for HAL.
  |  +--nil/                    - Builders for NIL.
  |  +--rt/                     - Builders for RT.
  +--ext/                       - External libraries, not part of ChibiOS.
  +--os/                        - ChibiOS components.
  |  +--common/                 - Shared OS modules.
  |  |  +--abstractions/        - API emulator wrappers.
  |  |  |  +--cmsis_os/         - CMSIS OS emulation layer for RT.
  |  |  |  +--nasa_osal/        - NASA Operating System Abstraction Layer.
  |  |  +--ext/                 - Vendor files used by the OS.
  |  |  +--ports/               - RTOS ports usable by both RT and NIL.
  |  |  +--startup/             - Startup support.
  |  +--ex/                     - EX component.
  |  |  +--dox/                 - EX documentation resources.
  |  |  +--include/             - EX header files.
  |  |  +--devices /            - EX complex drivers.
  |  +--hal/                    - HAL component.
  |  |  +--boards/              - HAL board support files.
  |  |  +--dox/                 - HAL documentation resources.
  |  |  +--include/             - HAL high level headers.
  |  |  +--lib/                 - HAL libraries.
  |  |  |  +--complex/          - HAL collection of complex drivers.
  |  |  |  |  +--mfs/           - HAL managed flash storage driver.
  |  |  |  |  +--serial_nor/    - HAL managed flash storage driver.
  |  |  |  +--fallback/         - HAL fall back software drivers.
  |  |  |  +--peripherals/      - HAL peripherals interfaces.
  |  |  |  +--streams/          - HAL streams.
  |  |  +--osal/                - HAL OSAL implementations.
  |  |  |  +--lib/              - HAL OSAL common modules.
  |  |  +--src/                 - HAL high level source.
  |  |  +--ports/               - HAL ports.
  |  |  +--templates/           - HAL driver template files.
  |  |     +--osal/             - HAL OSAL templates.
  |  +--oslib/                  - RTOS modules usable by both RT and NIL.
  |  |  +--include/             - OSLIB high level headers.
  |  |  +--src/                 - OSLIB high level source.
  |  |  +--templates/           - OSLIB configuration template files.
  |  +--nil/                    - NIL RTOS component.
  |  |  +--dox/                 - NIL documentation resources.
  |  |  +--include/             - NIL high level headers.
  |  |  +--src/                 - NIL high level source.
  |  |  +--templates/           - NIL configuration template files.
  |  +--rt/                     - RT RTOS component.
  |  |  +--dox/                 - RT documentation resources.
  |  |  +--include/             - RT high level headers.
  |  |  +--src/                 - RT high level source.
  |  |  +--templates/           - RT configuration template files.
  |  +--various/                - Various portable support files.
  +--test/                      - Kernel test suite source code.
  |  +--lib/                    - Portable test engine.
  |  +--hal/                    - HAL test suites.
  |  |  +--testbuild/           - HAL build test and MISRA check.
  |  +--nil/                    - NIL test suites.
  |  |  +--testbuild/           - NIL build test and MISRA check.
  |  +--rt/                     - RT test suites.
  |  |  +--testbuild/           - RT build test and MISRA check.
  |  |  +--coverage/            - RT code coverage project.
  +--testex/                    - EX integration test demos.
  +--testhal/                   - HAL integration test demos.

4. AT32 F435 v.s. STM32 F405

AT32 F435 和 STM32 F405 两颗芯片非常接近，但是其MCU的寄存器差异确挺大的，因此适配和移植存在一定的障碍。

• STM32F405RGT6 v.s. AT32F435RGT7 Comparison for Flight Controller
• Aocoda-RC F405V2 FC(STM32F405RGT6 v.s. AT32F435RGT7) IO Definitions

这个ChibiOS的的porting和基于bare-metal loop模式的betaflight和inav飞控移植还是有一定距离的。接下来，希望通过Step by Step的方式先进行差异分析。没有基础，什么都是空的，对于完全不熟悉的东西，首先要搞清楚的就是定义，差异，基础概念，一口吃不成个胖子。

Step by Step Spec研读分析：

【1】AT32 F435简介1/N Security Library
【2】AT32 F435简介2/N Features
【3】AT32 F435简介3/N Memory Mapping
【4】AT32 F435简介4/N ChibiOS porting plan
【5】ArduPilot之开源代码waf编译
【6】ArduPilot之开源代码waf-configure编译
【7】待续。。。

注：N表示总共多少篇研读。目前，尚没有概念，先用个不确定数N吧。

5. 参考资料

【1】ArduPilot开源飞控系统之简单介绍
【2】 ChibiOS官方文档
【3】AT32F435飞控之MAMBA MK5 F435 Anti-Interference