zubax_gnss移植到STM32F407

今天药忘吃喽~ 2022-06-06 09:12 231阅读 0赞

`源码下载：`[https://github.com/Zubax/zubax\_gnss.git][https_github.com_Zubax_zubax_gnss.git]

源码默认支持STM32F107芯片  
STM32 HAL库测试：`zubax_gnss\bootloader\zubax_chibios\chibios\testhal\STM32`  
STM32 ChibiOS/RT系统测试：`zubax_gnss\bootloader\zubax_chibios\chibios\demos\STM32`

**拷贝STM32F407默认配置文件**  
这三个文件是ChibiOS/RT系统主要的配置文件

`源：zubax_gnss\bootloader\zubax_chibios\chibios\demos\STM32\RT-STM32F407-DISCOVERY`  
![1][]

`目的：zubax_gnss\bootloader\src\os_config`  
![2][]

# vi mcuconf.h
    
    #define STM32_SPI_USE_SPI3 TRUE //使用SPI3
    #define STM32_USB_USE_OTG1 TRUE //使用USB1
    #define STM32_SERIAL_USE_USART1 TRUE //使用UART1
    
    # vi halconf.h
    #define HAL_USE_SPI TRUE //使能SPI
    #define HAL_USE_SERIAL_USB TRUE //使能SERIAL_USB
    #define HAL_USE_USB TRUE //使能USB
    
    # vi chconf.h
    #define CH_DBG_ENABLE_STACK_CHECK TRUE //DEBUG使用

**拷贝board.h**  
`源：zubax_gnss\bootloader\zubax_chibios\chibios\os\hal\boards\ST_STM32F4_DISCOVERY`  
![3][]

`目的：zubax_gnss\bootloader\src\os_config`  
![4][]

# vi board.h
    
    #define GPIO_PORT_LED_CAN1 GPIOF //用户程序CAN状态灯定义
    #define GPIO_PIN_LED_CAN1 9
    #define GPIO_PORT_LED_CAN2 GPIOF
    #define GPIO_PIN_LED_CAN2 10
    #define DEBUG_BUILD 1 //DEBUG开关

**修改Makefile**

# vi Makefile
    
    SERIAL_CLI_PORT_NUMBER = 3  //UART调试口选择。-DSTDOUT_SD=SD$(SERIAL_CLI_PORT_NUMBER)
    
    include zubax_chibios/rules_stm32f446.mk

**firmware中还需配置**  
`pal_lld.h：（zubax_gnss\firmware\zubax_chibios\chibios\os\hal\ports\STM32\LLD\GPIOv2\pal_lld.h）`  
因为F407使用的是GPIOv2

#define pal_lld_setport(port, bits) (((ioportid_t)(port))->BSRR.H.set = (uint16_t)(bits))   //添加强制类型转换，不然编译报错
    
    #define PAL_MODE_STM32_ALTERNATE_PUSHPULL   16  //GPIOv2中没有定义
    #define PAL_MODE_STM32_ALTERNATE_OPENDRAIN  17

`air_sensor.cpp：zubax_gnss\firmware\src\air_sensor.cpp`

driver_(&SPID3, (GPIO_TypeDef*)GPIO_PORT_BAROMETER_CHIP_SELECT, GPIO_PIN_BAROMETER_CHIP_SELECT) //同上

**配置board.cpp**  
`board.cpp：\zubax_gnss\firmware\src\board`

const PALConfig pal_default_config = {
    #if STM32_HAS_GPIOA
      {VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
       VAL_GPIOA_ODR,   VAL_GPIOA_AFRL,   VAL_GPIOA_AFRH},
    #endif
    #if STM32_HAS_GPIOB
      {VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
       VAL_GPIOB_ODR,   VAL_GPIOB_AFRL,   VAL_GPIOB_AFRH},
    #endif
    #if STM32_HAS_GPIOC
      {VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
       VAL_GPIOC_ODR,   VAL_GPIOC_AFRL,   VAL_GPIOC_AFRH},
    #endif
    #if STM32_HAS_GPIOD
      {VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
       VAL_GPIOD_ODR,   VAL_GPIOD_AFRL,   VAL_GPIOD_AFRH},
    #endif
    #if STM32_HAS_GPIOE
      {VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
       VAL_GPIOE_ODR,   VAL_GPIOE_AFRL,   VAL_GPIOE_AFRH},
    #endif
    #if STM32_HAS_GPIOF
      {VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
       VAL_GPIOF_ODR,   VAL_GPIOF_AFRL,   VAL_GPIOF_AFRH},
    #endif
    #if STM32_HAS_GPIOG
      {VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
       VAL_GPIOG_ODR,   VAL_GPIOG_AFRL,   VAL_GPIOG_AFRH},
    #endif
    #if STM32_HAS_GPIOH
      {VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
       VAL_GPIOH_ODR,   VAL_GPIOH_AFRL,   VAL_GPIOH_AFRH},
    #endif
    #if STM32_HAS_GPIOI
      {VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
       VAL_GPIOI_ODR,   VAL_GPIOI_AFRL,   VAL_GPIOI_AFRH}
    #endif
    };

**编译**

# git submodule update --init --recursive //子模块更新
    # cd firmware
    # make binaries RELEASE=1
    
    # ls build/ -l
    -rwxrwxr-x 1 thomas thomas 5257152 Nov  4 18:59 compound.elf
    -rw-rw-r-- 1 thomas thomas  213040 Nov  4 18:59 com.zubax.gnss-2.2-4.0.16f8c7b.application.bin
    -rw-rw-r-- 1 thomas thomas  278569 Nov  4 18:59 com.zubax.gnss-2.2-4.0.16f8c7b.compound.bin //包含bootloader和application
    -rw-rw-r-- 1 thomas thomas 2560450 Nov  4 18:59 com.zubax.gnss.map

[https_github.com_Zubax_zubax_gnss.git]: https://github.com/Zubax/zubax_gnss.git
[1]: /images/20220606/cdf9491ffad9453785e97927128d6af2.png
[2]: /images/20220606/071d76699d80478898734d3a7f540676.png
[3]: /images/20220606/b8146955e11e40fda84e846f56c67f4e.png
[4]: /images/20220606/5b7d4e34ebe74cfb8b4211c2363f9571.png