在linux下编译stm32采用交叉编译的方式,编译器使用arm-none-eabi-gcc
,ubuntu可直接使用apt下载
sudo apt-get install arm-none-eabi-gnu
也可以到GNU Arm Embedded Toolchain 官网下载
注:arm-none-eabi是用于arm架构裸机开发的意思,eabi(Embedded Application Binary Interface)
openocd可以配合jlink或者stlink进行下载烧录,可以直接用apt下载
sudo apt-get install openocd
openocd命令比较多,常用的halt、reset、flash write_image、flash erase_sector等,还有待摸索
比较推荐clion,可以安装openocd和μCL两个插件,断点调试会比较轻松,具体见参考文章1
正常的增加c文件和include就不多说了,参考文章2里有附带例程,下面说下比较重要的几个地方
添加芯片定义和使用的库定义,这里用的stm32f407标准库,hal库见参考文章
add_definitions(-DSTM32F40_41xxx)
add_definitions(-DUSE_STDPERIPH_DRIVER)
可以将一些功能相同的部分组成静态库
注:遇到的坑,汇编文件放在一起编译不过,但单独编译成静态库可以通过
add_library(cmsis_lib
USER/system_stm32f4xx.c
startups/true_studio.S)
添加可执行,并链接
add_executable(${PROJECT_NAME}.elf ${USER_SOURCES} ${SYS_SOURCES} ${MOTOR_SOURCES} ${LINKER_SCRIPT})
target_link_libraries(${PROJECT_NAME}.elf cmsis_lib hardware_lib fw_lib)
生成hex、bin文件
set(HEX_FILE ${PROJECT_SOURCE_DIR}/build/${PROJECT_NAME}.hex)
set(BIN_FILE ${PROJECT_SOURCE_DIR}/build/${PROJECT_NAME}.bin)
add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
COMMAND ${CMAKE_OBJCOPY} -Oihex $ ${HEX_FILE}
COMMAND ${CMAKE_OBJCOPY} -Obinary $ ${BIN_FILE}
COMMENT "Building ${HEX_FILE} \nBuilding ${BIN_FILE}")
在cmake编译时增加编译选项-DCMAKE_TOOLCHAIN_FILE=STM32Toolchain.cmake
SET(CMAKE_SYSTEM_NAME Generic)
SET(CMAKE_SYSTEM_VERSION 1)
# specify the cross compiler
SET(CMAKE_C_COMPILER_WORKS 1)
SET(CMAKE_C_COMPILER arm-none-eabi-gcc)
SET(CMAKE_CXX_COMPILER arm-none-eabi-g++)
#Uncomment for software floating point
SET(LINKER_SCRIPT STM32F4xx_StdPeriph_Templates/SW4STM32/STM32F40_41xxx/STM32F417IGHx_FLASH.ld)
SET(COMMON_FLAGS "-mcpu=cortex-m4 -mthumb -mthumb-interwork -mfloat-abi=hard -mfpu=fpv4-sp-d16 -ffunction-sections -fdata-sections -g -fno-common -fmessage-length=0")
SET(CMAKE_CXX_FLAGS_INIT "${COMMON_FLAGS} -std=c++11")
SET(CMAKE_C_FLAGS_INIT "${COMMON_FLAGS} -std=gnu99")
SET(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nosys.specs -Wl,-gc-sections,-M=binary.map -T ${LINKER_SCRIPT}")
LINKER_SCRIPT
和startup
需要在STM32F4xx_DSP_StdPeriph_Lib中去找
LINKER_SCRIPT: STM32F4xx_StdPeriph_Templates/SW4STM32/STM32F40_41xxx/STM32F417IGHx_FLASH.ld
startup: STM32F4xx_StdPeriph_Templates/Libraries/CMSIS/Device/ST/STM32F4xx/Source/Templates/TrueSTUDIO/startup_stm32f40_41xxx.s
貌似SW4STM32和TrueSTUDIO的都可以用,其他的不行
进入settings->Build,Execution,Deployment
[OpenOCD Support]
OpenOCD Home 改成安装目录, 我的是/usr
Toolchains
Debugger改成arm-none-eabi-gdb
,其他的不用动,在STM32Toolchain.cmake 我们已经指定好了
这个选项貌似是全局的?调其他工程时记得改回来
CMake
CMake options: -DCMAKE_TOOLCHAIN_FILE=STM32Toolchain.cmake
μCL
Path to OpenOCD executable: penocd的可执行目录,我的是/usr/bin/openocd
openocd选择 board/stm3241g_eval_stlink.cfg
由于修改了cmake option 所以每次cmakelists reload的时候,需要手动点击Reset Cache and Reload Project
undefined reference to `_exit'
undefined reference to `_sbrk'
undefined reference to `_write'
...
这一类错误多半是linker_flags没加--specs=nosys.specs
选项造成的
其他问题想起来再加吧…
1 STM32 & Clion
2 CLion for embedded development