ArduPilot 支持各种各样的飞行控制器，新的控制器一直在增加。本页阐述了将ArduPilot移植到新电路板的步骤，重点是使用ChibiOS移植到基于STM32的电路板（最常见的类型）。 ChibiOS

考虑加入ArduPilot/ChibiOS gitter channel与其他开发人员讨论该主题。

1-开始

  • 确定新飞行控制器使用哪个微控制器。如果它是我们已经支持的CPU（STM32F42x，STM32F40x STM32F41x，STM32F745，STM32F765或STM32F777，其中“x”可以是任何数字），那么端口应该相对简单。如果它是另一个CPU，请在ArduPilot/ChibiOS gitter channelping我们，以获取有关如何继续操作的建议。
  • 确定晶体频率（通常为8Mhz或24Mhz）。参考原理图或读取晶体上的写字，通常是一个小银色方块。

2-为电路板创建一个hwdef.dat文件

  • 在libraries/AP_HAL_ChibiOS/hwdef为您的电路板创建一个子目录（即“new-board”）。此目录名最终将在构建过程中使用（即“waf configure -board new-board”），因此请保持名称相对较短。
  • 将与您的电路板CPU类似的现有模板hwdef.dat复制/重命名为上面创建的目录。例如，如果电路板具有STMF40x芯片，将f405-min/hwdef.dat文件复制到新目录中。

3-为电路板配置和构建最小固件

按照Building the code说明或阅读BUILD.md文件，其中包括执行以下操作：

  • cd ardupilot（或者你git-cloneArduPilot的地方）
  • ./waf configure --board new-board
  • ./waf copter

如果成功，构建应该在build / new-board / bin / arducopter.apj中生成.apj文件

4-将ArduPilot兼容的引导加载程序上传到电路板

Some boards come with a bootloader pre-installed while others rely on the board manufacturer to use dfu <http://dfu-util.sourceforge.net/>__ to install the firmware to the board. In either case, in order to conveniently load ArduPilot to the board over USB, an ArduPilot compatible bootloader must be uploaded to the board using dfu <http://dfu-util.sourceforge.net/>. “dfu” can be downloaded from here <http://dfu-util.sourceforge.net/>.

The source code for the bootloaders can be found in AP_Bootloader <https://github.com/ArduPilot/ardupilot/tree/master/Tools/AP_Bootloader>__ but pre-compiled binaries are available for many boards in the Tools/Bootloaders <http://firmware.ardupilot.org/Tools/Bootloaders>__ directory on our firmware server. Please refer to the README.txt <https://github.com/ArduPilot/ardupilot/blob/master/Tools/bootloaders/README.txt>__ to see if one of the existing bootloaders is compatible for the new board.

.. note::

please see the section at the end of this document on how to create a bootloader for your board

.. note::

Your board must be plugged into USB and in DFU mode. DFU mode is usually entered by shorting two pins together on the board. Please see your board’s documentation for details on how to accomplish this.

Upload the bootloader to the board dfu-util -a 0 --dfuse-address 0x08000000 -D new-board-bootloader.bin -R

Step 5 - upload the minimal firmware onto the board

If using Mission Planner to load the firmware to the board:

  • connect the board to the windows PC with a USB cable
  • go to MP’s Initial Setup » Install Firmware screen and click on the Load custom firmware and select the .apj file and press OK. If the “Load custom firmware” link it not available go to the Config/Tuning » Planner page and set the “Layout” to “Advanced”

  • if the MP fails to load the firmware to the board it is possible the “APJ_BOARD_ID” from your hwdef.dat file does not match the .apj firmware file. The board-id in the bootloader is listed in the bootloader’s README.txt <https://github.com/ArduPilot/ardupilot/blob/master/Tools/bootloaders/README.txt>__ file. A temporary work around is to change the APJ_BOARD_ID in the hwdef.dat file to match the bootloader’s. Longer term a bootloader specific to the new board needs to be created so that ground stations can differentiate this board from others and automatically load the correct firmware.

    .. note::

    Any time you make a change to the board definition file, you must clean up the build, and reconfigure WAF before re-compiling:

  • ./waf distclean
  • ./waf configure --board new-board

.. note::

Windows7/8 users may need to create a .ini file to allow the USB device to be recognised.  On Windows10 the board should be recognised automatically.

If using waf to upload (Linux, MacOSX only):

  • connect the board to the PC with a USB cable
  • commands are in BUILD.md <https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md>__ but in short, ./waf copter --upload

After uploading, most likely no LEDs on the board will light up but it should be possible to connect to the board from your favourite ground station. An error message should appear on the ground station HUD complaining, “failed to init barometer”.

Step 6 - fill in the hwdef.dat to specify pins used for each peripheral function

  • read the fmuv3 hwdef.dat file <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat>__ (used for The Cube) to understand the full list of hardware configurations that must be specified.
  • start filling in the new board’s hwdef.dat file for each bus (SPI, I2C, UART, CAN, etc). Ideally you can refer to the board’s schematic to determine how pins should be configured but if the schematic is not available a trial-and-error approach may work because on each CPU, there are a limited number of pins that can be used for each peripheral function. See the STM*.py scripts in the AP_HAL_ChibiOS/hwdef/scripts directory <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_ChibiOS/hwdef/scripts>__ as a guide as to what pins can be used for each peripheral function
  • as you enter new values into the hwdef.dat file you can re-compile and upload the firmware to test whether each peripheral function has begun working.

.. tip::

to quickly check if the hwdef.dat file has any errors, run the `libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py>`__ script on the new hwdef.dat file and look for errors and warnings in the output

Step 7 - bring up the sensors

similar to step 6, add the sensor related configuration to the hwdef.dat file start with the baro first, then IMU, then compass and finally any other sensors the default sensor orientation should also be filled in along with other things

upload and the firmware and test the sensors are working.

Step 8 - enable parameter storage

For boards with storage, the storage method used (either FRAM or Flash) should be specified in the hwdef.dat file.

For an example of how FRAM is enabled, search for “ramtron” in the fmuv3 hwdef.dat <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat>__ file. In short you add a couple of lines like this:

  • # enable RAMTROM parameter storage
  • define HAL_WITH_RAMTRON 1

For boards using Flash, the bootloader load address needs to be selected so that loading the code does not erase the parameters. See the FLASH_RESERVE_START_KB value in skyviper-f412 <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat>__ and skyviper-v2450 <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat>__ as a reference.

It is also possible to use ardupilot on a board with no storage. In this case configuration parameters will have their default values at startup.

The paramter defaults can be defined by creating a new file in the /Tools/Frame_params <https://github.com/ArduPilot/ardupilot/tree/master/Tools/Frame_params>__ directory and then add a reference to this file at the bottom of the hwdef.dat file like this:

  • env DEFAULT_PARAMETERS '<path to defaults file>’

Here is how it was done for the skyviper <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat#L56>__

Creating a Bootloader

When doing an initial port you may be happy to use a bootloader that was built for another board. That gets you going quickly, but also means the bootloader will not have the right board ID for your board, and may not have the right LED displays.

To create a bootloader that is just right for your board you need to build the a hwdef-bl.dat for your board. That goes in the same directory as your hwdef.dat, and has the same format, but should not include things like I2C, SPI or CAN peripherals. There are lots of examples of hwdef-bl.dat files already in the hwdef directory you can use as examples.

The key things you must have in your hwdef-bl.dat are:

  • You must set FLASH_BOOTLOADER_LOAD_KB to the location in kilobytes where the main code will start. This should be the same as FLASH_RESERVE_START_KB from your main hwdef.dat.
  • you must set FLASH_RESERVE_START_KB to zero (so the bootloader is placed at the start of flash)
  • Your UART_ORDER will control what ports the bootloader will be active on. Just having OTG1 for USB is fine, or you can list some serial UARTs.

To build the bootloader you do the following:

  • ./waf configure --board YourBoard --bootloader
  • ./waf clean
  • ./waf bootloader

Next Steps

If you have gotten this far, congratulations you have ported ArduPilot to a new board! Please reach out to the other developers on the ArduPilot/ChibiOS gitter channel <https://gitter.im/ArduPilot/ChibiOS>__ to announce your success.

For widely available boards it is very likely we will help you get the board on the official list of supported boards including automatic firmware builds, easy uploading through the ground stations and onto our wiki! In any case, we welcome new ports so please contact us.