@[TOC](Aocoda-RC F405V2 FC(STM32F405RGT6 v.s. AT32F435RGT7) IO Definitions)

1. 源由

Aocoda-RC F405V2飞控支持betaflight/inav/Ardupilot固件，是一款固件兼容性非常不错的开源硬件。

之前我们对比过STM32F405RGT6 v.s. AT32F435RGT7 Comparison for Flight Controller，整体对比：

1. 性能上显著提升
2. 引脚定义基本一致
3. 容量上最大支持4MB

通过betaflight开源，可以非常快速的了解硬件的引脚对应关系:

• AOCODAF405V2MPU6000
• AOCODAF405V2MPU6500

若将该芯片直接替换成AT32F435RGT7，在硬件升级上需要做哪些改动或者调整/优化？

2. 功能引脚对比

STM32F405RGT6飞控引脚连线参考图：

2.1 SPI

2.1.1 Gyro

#define GYRO_1_CS_PIN        PA4
#define SPI1_SCK_PIN         PA5
#define SPI1_SDI_PIN         PA6
#define SPI1_SDO_PIN         PA7

#define GYRO_1_EXTI_PIN      PC4

2.1.2 OSD

#define MAX7456_SPI_CS_PIN   PA13
#define SPI2_SCK_PIN         PB13
#define SPI2_SDI_PIN         PB14
#define SPI2_SDO_PIN         PB15

2.1.3 Flash

#define FLASH_CS_PIN         PC0
#define SPI3_SCK_PIN         PB3
#define SPI3_SDI_PIN         PB4
#define SPI3_SDO_PIN         PB5

2.2 I2C

#define I2C1_SCL_PIN         PB6
#define I2C1_SDA_PIN         PB7

2.3 USB

#define USB_DETECT_PIN       PB12

2.4 UART

# The normal usage of this ordering is:
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL1: GPS
# 3) SERIAL2: RC input
# 4) SERIAL3: ESC Telemetry
# 5) SERIAL4: VTX
# 6) SERIAL5: Telemetry

2.4.1 UART1

#define UART1_TX_PIN         PA9
#define UART1_RX_PIN         PA10

2.4.2 UART2

#define UART2_TX_PIN         PA2
#define UART2_RX_PIN         PA3

注：PA3有定时器资源，可用于单线协议。

2.4.3 UART3

#define UART3_TX_PIN         PC10
#define UART3_RX_PIN         PC11

2.4.4 UART4

#define UART4_TX_PIN         PA0
#define UART4_RX_PIN         PA1

2.4.5 UART5

#define UART5_TX_PIN         PC12
#define UART5_RX_PIN         PD2

2.5 Motor

#define MOTOR1_PIN           PC6
#define MOTOR2_PIN           PC7
#define MOTOR3_PIN           PC8
#define MOTOR4_PIN           PC9
#define MOTOR5_PIN           PA15
#define MOTOR6_PIN           PA8
#define MOTOR7_PIN           PB10
#define MOTOR8_PIN           PB11

TIMER_PIN_MAP( 1, PC6 , 2,  1) \
TIMER_PIN_MAP( 2, PC7 , 2,  1) \
TIMER_PIN_MAP( 3, PC8 , 2,  1) \
TIMER_PIN_MAP( 4, PC9 , 2,  0) \
TIMER_PIN_MAP( 5, PA15, 1,  0) \
TIMER_PIN_MAP( 6, PA8 , 1,  1) \
TIMER_PIN_MAP( 7, PB10, 1,  0) \
TIMER_PIN_MAP( 8, PB11, 1,  0) \

2.6 ADC

#define ADC_VBAT_PIN         PC2
#define ADC_RSSI_PIN         PC3
#define ADC_CURR_PIN         PC1

2.7 LED & LED stripe

2.7.1 LED

#define LED0_PIN             PC13

2.7.2 LED stripe

#define LED_STRIP_PIN        PB1

TIMER_PIN_MAP( 9, PB1 , 2,  0)

2.8 Buzzer

#define BEEPER_PIN           PB8

3. 总结

3.1 电气特性差异

• STM32F405RGT6 : VCAP_1/VCAP_2
  

• AT32F435RGT7: PH3/PH2
  
  

3.2 功能引脚差异

基本一致。

3.3 未使用功能引脚

4. 参考资料

【1】STM32F405/415
【2】AT32F435 Series
【3】STM32F405RGT6 v.s. AT32F435RGT7 Comparison for Flight Controller