主要需要改的部分:
1.board_config.h /firmware/src/drivers/boards/px4fmu-v2
#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
#define PX4IO_SERIAL_TX_DMAMAP -DMAMAP_USART6_TX_2
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY //84M
#define PX4IO_SERIAL_BITRATE 115200 /*1.5Mbps -> max rate for IO */
上述部分换成对应串口
Serial1-USART2-ttyS1 Serial2-USART3-ttyS2 Serial3-Uart4 Serial4-Uart8
Serial5-Uart7 ttyS8- frsky_telemetry USART –ttyS4 UART3-ttyS3
ttyS6- frsky_telemetry USART6 –ttyS4
注USART2:PX4IO_SERIAL_TX_DMAMAP 只能define DMAMAP_USART3_TX_2;
目前飞控板能用的串口主要是Serial1(USART2)、Serial2(USART3)、USART6.