在2023年，betaflight腾飞，而cleanflight已经结束更新，但是用cleanflight的原因是因为他最后版本支持stm32f103系列。不用betaflight因为手头还没有f405和f411，只有一个不支持的f407和f401，所以。。
接下来开始步骤：
下载地面站cleanflight和betaflight，在github上自行搜索，关键词cleanflight ，接着下载cleanflight和betaflight支持的固件，关键词cleanflight firmware。
使用的stm32f103c8t6板子选择src/main/target/NAZE
这里使用的是cleanflight的，2023年的betaflight还是支持f103的，编译步骤也是一样，但是要和适配版本的地面站配合使用。
下载交叉编译器
打开make/tool.mk文件可以看到，这个便是交叉编译器的网址，在浏览器打开会直接下载工具。
这里展示的交叉编译环境是虚拟机Ubuntu，将下载的交叉编译工具解压到/opt文件夹下，并在~/.bashrc文件添加gcc和g++的路径
sudo tar -xvf yourcross-tools.tar.bz2 -C /opt
# <<< cleanflight_gcc for NAZE <<<
export PATH=${PATH}:/opt/your-crosstools/bin
# >>> cleanflight_gcc for NAZE >>>
编译目标飞控
make TARGET=NAZE
make clean TARGET=NAZE 编译默认的发现FLASH溢出问题。通过去除部分功能减少体积
编译成功会在obj下生成hex文件，其中_.hex有元数据签名块，会加大hex体积，用.hex即可。
修改target.h文件
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight is distributed in the hope that it
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define USE_TELEMETRY_IBUS
#define USE_TARGET_CONFIG
#define TARGET_VALIDATECONFIG
#define USE_HARDWARE_REVISION_DETECTION
#define TARGET_BUS_INIT
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define LED0_PIN PB3
#define LED1_PIN PB4
#define USE_BEEPER
#define BEEPER_PIN PA12
#if defined(AFROMINI)
#define BEEPER_INVERTED
#define TARGET_BOARD_IDENTIFIER "AFMN"
#elif defined(BEEBRAIN)
#define BRUSHED_MOTORS
#undef USE_SERVOS
#define TARGET_BOARD_IDENTIFIER "BEBR"
#define USE_TARGET_CONFIG
#define DEFAULT_FEATURES FEATURE_MOTOR_STOP
#else
#define TARGET_BOARD_IDENTIFIER "AFNA"
// Beeper configuration is handled in 'config.c', since it is dependent on hardware revision
#endif
//#define BARO_XCLR_PIN PC13
//#define BARO_EOC_PIN PC14
#define INVERTER_PIN_UART2 PB2 // PB2 (BOOT1) abused as inverter select GPIO
#define USE_RX_MSP
#define USE_EXTI
#define MAG_INT_EXTI PC14
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define MMA8451_INT_PIN PA5
#define USE_MPU_DATA_READY_SIGNAL
#define USE_MAG_DATA_READY_SIGNAL
#define USE_SPI
#define USE_SPI_DEVICE_2
#define NAZE_SPI_INSTANCE SPI2
#define NAZE_SPI_CS_PIN PB12
// We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
#define FLASH_CS_PIN NAZE_SPI_CS_PIN
#define FLASH_SPI_INSTANCE NAZE_SPI_INSTANCE
#define GYRO_1_CS_PIN NAZE_SPI_CS_PIN
#define GYRO_1_SPI_INSTANCE NAZE_SPI_INSTANCE
#define USE_FLASHFS
#define USE_FLASH_M25P16
#define USE_GYRO
// #define USE_GYRO_MPU3050
#define USE_GYRO_MPU6050
// #define USE_GYRO_MPU6500
// #define USE_GYRO_SPI_MPU6500
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACC
//#define USE_ACC_ADXL345
//#define USE_ACC_BMA280
//#define USE_ACC_MMA8452
#define USE_ACC_MPU6050
// #define USE_ACC_MPU6500
// #define USE_ACC_SPI_MPU6500
//#define ACC_ADXL345_ALIGN CW270_DEG
//#define ACC_MMA8452_ALIGN CW90_DEG
//#define ACC_BMA280_ALIGN CW0_DEG
// Barometer dropped to make flash space
//#define USE_BARO
//#define USE_BARO_MS5611 // needed for Flip32 board
//#define USE_BARO_BMP280
// Compass dropped to make flash space
//#define USE_MAG
//#define USE_MAG_HMC5883
//#define MAG_HMC5883_ALIGN CW180_DEG
// Rangefinder dropped to make flash space
//#define USE_RANGEFINDER
//#define USE_RANGEFINDER_HCSR04
//#define RANGEFINDER_HCSR04_TRIGGER_PIN PB0
//#define RANGEFINDER_HCSR04_ECHO_PIN PB1
//#define RANGEFINDER_HCSR04_TRIGGER_PIN_PWM PB8
//#define RANGEFINDER_HCSR04_ECHO_PIN_PWM PB9
#define USE_UART1
#define USE_UART2
/* only 2 uarts available on the NAZE, add ifdef here if present on other boards */
//#define USE_UART3
// #define USE_SOFTSERIAL1
// #define USE_SOFTSERIAL2
#define SERIAL_PORT_COUNT 4
#define SOFTSERIAL1_RX_PIN PA6 // PWM 5
#define SOFTSERIAL1_TX_PIN PA7 // PWM 6
#define SOFTSERIAL2_RX_PIN PB0 // PWM 7
#define SOFTSERIAL2_TX_PIN PB1 // PWM 8
#define UART3_RX_PIN PB11
#define UART3_TX_PIN PB10
#define USE_I2C
#define USE_I2C_DEVICE_2
#define I2C_DEVICE (I2CDEV_2)
// #define SOFT_I2C // enable to test software i2c
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
// #define SOFT_I2C_PB67
#define USE_ADC
#define CURRENT_METER_ADC_PIN PB1
#define VBAT_ADC_PIN PA4
#define RSSI_ADC_PIN PA1
#define EXTERNAL1_ADC_PIN PA5
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
// IO - assuming all IOs on 48pin package
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC ( BIT(13) | BIT(14) | BIT(15) )
#define USABLE_TIMER_CHANNEL_COUNT 14
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
通过注释USE_XX减少体积，这里去掉了软串口和不要的MPU6050，实际上什么功能都可以不要，毕竟目的只是尝试使用。
下载程序
hex二进制文件得到可以用stm32CubeProgramer或者其他方法烧录，这边用stlink下载，当然可以串口和jlink下载。
地面站查看
用ch340连接PA9和PA10串口引脚（电平3.3v）
连接电脑并查看端口，点击连接便会有以下界面
进阶使用以后更新。。