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| − | <h1> Configuring the environment </h1> | + | <h1> Installing the environment </h1> |
| − | | + | <h2> Linux </h2> |
| − | <h2> Install Compiler gcc-arm-none-eabi </h2> | + | <h2> Windows </h2> |
| − | | + | <h2> MAC </h2> |
| − | Install the following libraries:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | sudo apt-get install lib32z1 lib32ncurses5 lib32bz2-1.0
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Download last version of GCC ARM Embedded from:
| + | |
| − | https://launchpad.net/gcc-arm-embedded/+download
| + | |
| − | | + | |
| − | Untar the compiler:
| + | |
| − | <pre>
| + | |
| − | tar -xvjf gcc-arm-none-eabi-<VERSION>.tar.bz2
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Copy it to a common place:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | sudo cp -r gcc-arm-none-eabi-<VERSION> /opt/compilerNucleoST
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | <h2> Install OpenOCD On-Chip Debugger</h2> | + | |
| − | | + | |
| − | Instal dependencies:
| + | |
| − | <pre>
| + | |
| − | sudo apt-get install flex bison libgmp3-dev libmpfr-dev libncurses5-dev libmpc-dev autoconf texinfo build-essential \\
| + | |
| − | libftdi-dev libusb-1.0-0-dev libexpat1-dev
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Download last version of Openocd from:
| + | |
| − | http://openocd.org/
| + | |
| − | | + | |
| − | Untar openocd:
| + | |
| − | <pre>
| + | |
| − | tar -xvzf openocd-<VERSION>.tar.gz
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Go into the directory:
| + | |
| − | <pre>
| + | |
| − | cd openocd-<VERSION>
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Configure openocd compilation:
| + | |
| − | <pre>
| + | |
| − | ./configure --prefix=/opt/openocdNucleoST --enable-maintainer-mode --enable-stlink
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Compile it:
| + | |
| − | <pre>
| + | |
| − | make
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Install:
| + | |
| − | <pre>
| + | |
| − | sudo make install
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Prepare its use according to udev:
| + | |
| − | <pre>
| + | |
| − | sudo cp -r contrib/99-openocd.rules /etc/udev/rules.d/
| + | |
| − | sudo udevadm control --reload-rules
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | In order to run openocd as a non root user, you must to add your user name to plugdev group.
| + | |
| − | <ul>
| + | |
| − | <li> Edit /etc/group </li>
| + | |
| − | <li> Find plugdev </li>
| + | |
| − | <li> Add your user after the colon symbol (e.g. plugdev:x:46:user1), or after the last user by adding a coma in between (e.g. plugdev:x:46:user1,user2,user3)
| + | |
| − | </ul>
| + | |
| − | | + | |
| − | For connection, check in [http://wiki.robolabo.etsit.upm.es/index.php/Nucleo_Boards#GDB_Debug GDB Section]
| + | |
| − | | + | |
| − | | + | |
| − | <!-- In order to connect to the device:
| + | |
| − | <pre>
| + | |
| − | openocd -s /opt/openocdNucleoST/share/openocd/scripts/ -f openocd.cfg -c "init" -c "halt" -c "reset halt"
| + | |
| − | </pre>
| + | |
| − | where openocd.cfg should be on your working dir. -->
| + | |
| − | | + | |
| − | <h1> Hello World experiment </h1>
| + | |
| − | | + | |
| − | <h2> Download STMCube </h2> | + | |
| − | | + | |
| − | STMicroelectronics introduces STMCube as an initiative to ease developers life. They are sharing packages containing libraries, documentation and examples. Packages are delivered per series (such as STM32CubeF4 for STM32F4 series)
| + | |
| − | | + | |
| − | Go to:
| + | |
| − | http://www.st.com/web/catalog/tools/FM147/CL1794/SC961/SS1743/LN1897?icmp=tt2930_gl_pron_oct2015&sc=stm32cube-pr14
| + | |
| − | | + | |
| − | and select the STMCubeXX according to your microcontroller (e.g. STM32CubeL4 for STM32L4 series) and load it in a prefered directory:
| + | |
| − | | + | |
| − | Untar STM32CubeXX:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | unzip stm32cubexx.zip
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | This will create a Firmware directory which will be referred in this tutorial as <STM32_CUBE_FW_ROOTDIR>.
| + | |
| − | | + | |
| − | <h2> Create the experiment </h2>
| + | |
| − | The example is done for a toggle led experiment.
| + | |
| − | It will be compiled for a specific nucleo board, named in this tutoral as <BOARD>.
| + | |
| − | | + | |
| − | Create experiment dir in your prefered directory:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | mkdir helloWorld
| + | |
| − | mkdir helloWorld/bin
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Copy experiment sources:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | cp -r <STM32_CUBE_FW_ROOTDIR>/Projects/<BOARD>/Examples/GPIO/GPIO_IOToggle/Src helloWorld/src
| + | |
| − | cp -r <STM32_CUBE_FW_ROOTDIR>/Projects/<BOARD>/Examples/GPIO/GPIO_IOToggle/Inc helloWorld/include
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Copy STM32 libraries:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | cp -r <STM32_CUBE_FW_ROODIR>/Drivers/ helloWorld/lib
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Copy startup code to src dir:
| + | |
| − | <pre>
| + | |
| − | cp <STM32_CUBE_FW_ROOTDIR>/Projects/<BOARD>/Templates/SW4STM32/startup_<NUCLEO_BOARD>.s helloWorld/src
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | where <NUCLE_BOARD> refers to your nucleo board model.
| + | |
| − | | + | |
| − | <b> Important</b> If SW4STM32 does not exists use TrueStudio instead.
| + | |
| − | | + | |
| − | <br>
| + | |
| − | Copy linker file:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | cp <STM32_CUBE_FW_ROOTDIR>/Projects/<BOARD>/Templates/SW4STM32/<BOARD>_Nucleo/<NUCLEO_BOARD>_FLASH.ld helloWorld/
| + | |
| − | </pre>
| + | |
| − | where <NUCLE_BOARD> refers to your nucleo board model.
| + | |
| − | | + | |
| − | <b> Important</b> If TrueStudio does not exists use SW4STM32 instead.
| + | |
| − | | + | |
| − | <br>
| + | |
| − | Create an environment file to export PATH:
| + | |
| − | <pre>
| + | |
| − | cd helloWorld
| + | |
| − | echo $PATH > env.sh
| + | |
| − | </pre>
| + | |
| − | Edit env.sh and at the begining of the line include:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | export PATH=/opt/openocdNucleoST/bin:/opt/compilerNucleoST/bin:
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Your file should look like this:
| + | |
| − | <pre>
| + | |
| − | export PATH=/opt/openocdNucleoST/bin:/opt/compilerNucleoST/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Download [[media:makefileNucleoST2.make | <i> Makefile</i>]], rename it as "Makefile" and copy it to <HELLOWORLD> dir.
| + | |
| − | | + | |
| − | Open makefile and substitute:
| + | |
| − | | + | |
| − | <ul>
| + | |
| − | <li> <b> <PROJECT_NAME> </b> with the name you want to give to your project
| + | |
| − | <li> <b> <STM32_NUCLEO_BOARD> </b> with the nucleo board name (e.g. STM32F4xx).
| + | |
| − | <li> <b> <STM32_LNKER_FILE> </b> with the name of the linker file in <HELLOWORLD> dir (e.g. STM32F446RETx_FLASH.ld)
| + | |
| − | <li> <b> <STM32_MICROCONTROLLER> </b> with the compilation directive of your specific microcontroller (e.g. STM32L053xx) found in your CMSIS STincludes dir (e.g. lib/CMSIS/Device/ST/STM32L0xx/Include/stm32l0xx.h)
| + | |
| − | <li> <b> <CPU_INFO> </b> with the mcpu of the controller found in <i> src/startup_stm32XXX </i> file near the <i> .cpu </i> directive (e.g. cortex-m0plus)
| + | |
| − | <li> <b> <STARTUP_NAME> </b> with the name of your startup filename. (e.g. startup_stm32f446xx) found in src dir (important: name it without extension).
| + | |
| − | </ul>
| + | |
| − | | + | |
| − | <b> Important </b> If working with Cortex-M4 add the following lines to the CFLAGS definition:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | -mfpu=fpv4-sp-d16 \
| + | |
| − | -mfloat-abi=softfp \
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | After this, everything should be ready:
| + | |
| − | | + | |
| − | Export you <i>PATH</i>
| + | |
| − | <pre>
| + | |
| − | source env.sh
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Compile:
| + | |
| − | <pre>
| + | |
| − | make
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Copy the bin/<FILE>.bin to the disc that is created when the board is connected to the PC.
| + | |
| − | An LED should be blinking.
| + | |
| − | | + | |
| − | <b> NOTE </b> It is interesting to clean the project before submitting to any repository.
| + | |
| − | <i> lib </i> dir is full of unusfull information:
| + | |
| − | <ul>
| + | |
| − | <li> In <i> lib/BSP </i> keep only the dir that refers to your board
| + | |
| − | <li> In <i> lib/CMSIS </i> keep only the <i> Device </i> and <i> Include </i> dirs
| + | |
| − | <li> In <i> lib/HAL_DRIVER </i> dir, keep only the <i> Inc </i> and <i> Src </i> dirs.
| + | |
| − | </ul>
| + | |
| − | | + | |
| − | <h1> FreeRTOS Port </h1>
| + | |
| − | | + | |
| − | Before proceed with this section, you should have already implemented the [http://wiki.robolabo.etsit.upm.es/index.php/Nucleo_Boards#Hello_World_experiment previous section]
| + | |
| − | | + | |
| − | <h2> Download and prepare sources </h2>
| + | |
| − | | + | |
| − | Download last version of FreeRTOS from: http://www.freertos.org/
| + | |
| − | | + | |
| − | Unzip it:
| + | |
| − | <pre>
| + | |
| − | unzip FreeRTOS<VERSION>.zip
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Copy FreeRTOS source to your working dir
| + | |
| − | <pre>
| + | |
| − | cp -r <FREERTOS_DIR>/FreeRTOS/ helloWorld/
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Go in <i> helloworld/FreeRTOS </i> dir and remove all but <i> Source </i> dir
| + | |
| − | | + | |
| − | Go in <i> helloworld/FreeRTOS/Source/portable </i> dir and remove all but <i> GCC </i> dir and <i> <MemMag> </i> dir
| + | |
| − | | + | |
| − | Go in <i> helloworld/FreeRTOS/Source/portable/GCC </i> dir and remove all but your CPU related (e.g. ARM_C0 for Cortex-M0)
| + | |
| − | | + | |
| − | | + | |
| − | <h2> Configure FreeRTOS </h2>
| + | |
| − | This is the most complex task, but this manual is not intended for it.
| + | |
| − | | + | |
| − | If you have a board already supported by FreeRTOS which is provided in the Demo examples, copy the <i> FreeRTOSConfig.h </i> found in those examples to your <i> helloworld/include </i> dir.
| + | |
| − | | + | |
| − | If not, download this [[media:FreeRTOSConfig_STM32L0.h | <i> FreeRTOSConfig.h </i>]], rename it as "FreeRTOSConfig.h", copy it to <i> <HELLOWORLD>/include </i> dir and work on it.
| + | |
| − | | + | |
| − | Go in your <i> helloworld/src/stmXXXX_it.c </i> file and comment the <i> SVC_Handler, PendSV_Handler and SysTick_Handler </i> functions
| + | |
| − | | + | |
| − | Download [[media:makefileNucleoST2FreeRTOS.make | <i> Makefile</i>]], rename it as "Makefile" and copy it to <HELLOWORLD> dir.
| + | |
| − | | + | |
| − | Open makefile and substitute:
| + | |
| − | | + | |
| − | <ul>
| + | |
| − | <li> <b> <PROJECT_NAME> </b> with the name you want to give to your project
| + | |
| − | <li> <b> <STM32_NUCLEO_BOARD> </b> with the nucleo board name (e.g. STM32F4xx).
| + | |
| − | <li> <b> <STM32_LNKER_FILE> </b> with the name of the linker file in <HELLOWORLD> dir (e.g. STM32F446RETx_FLASH.ld)
| + | |
| − | <li> <b> <STM32_MICROCONTROLLER> </b> with the compilation directive of your specific microcontroller (e.g. STM32L053xx) found in your CMSIS STincludes dir (e.g. lib/CMSIS/Device/ST/STM32L0xx/Include/stm32l0xx.h)
| + | |
| − | <li> <b> <CPU_INFO> </b> with the mcpu of the controller found in <i> src/startup_stm32XXX </i> file near the <i> .cpu </i> directive (e.g. cortex-m0plus)
| + | |
| − | <li> <b> <STARTUP_NAME> </b> with the name of your startup filename. (e.g. startup_stm32f446xx) found in src dir (important: name it without extension).
| + | |
| − | <li> <b> <RTOS_GCC_CPUINFO> </b> with the name of the mcpu of the controller of the FreeRTOS dir (e.g. ARM_CM0) found in <i> RTOS_SOURCE_DIR/portable/GCC/ </i>
| + | |
| − | </ul>
| + | |
| − | | + | |
| − | <b> Important </b> If working with Cortex-M4 add the following lines to the CFLAGS definition:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | -mfpu=fpv4-sp-d16 \
| + | |
| − | -mfloat-abi=softfp \
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | <h2> Create a Basic Task </h2>
| + | |
| − | | + | |
| − | Open your <i> main.c </i>
| + | |
| − | | + | |
| − | Include FreeRTOS libs:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | /* Scheduler includes. */
| + | |
| − | #include "FreeRTOS.h"
| + | |
| − | #include "task.h"
| + | |
| − | #include "queue.h"
| + | |
| − | #include "semphr.h"
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Define a task and its handler
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | xTaskHandle ledpTask_Handle;
| + | |
| − | void Ledp_Task();
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | In the <i>main</i> function, comment the while loop and provide instead the following code to create a task and start the scheduler:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | xTaskCreate(Ledp_Task, "Ledp_Task", 70, NULL, 1, &ledpTask_Handle);
| + | |
| − | vTaskStartScheduler();
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Create a Task (function) with the following code:
| + | |
| − | <pre>
| + | |
| − | void Ledp_Task (void * pvParams)
| + | |
| − | {
| + | |
| − | while(1)
| + | |
| − | {
| + | |
| − | HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
| + | |
| − | vTaskDelay(1000);
| + | |
| − | }
| + | |
| − | }
| + | |
| − | | + | |
| − | </pre>
| + | |
| − | | + | |
| − | After this, everything should be ready:
| + | |
| − | | + | |
| − | Export you <i>PATH</i>
| + | |
| − | <pre>
| + | |
| − | source env.sh
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Compile:
| + | |
| − | <pre>
| + | |
| − | make
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Copy the bin/<FILE>.bin to the disc that is created when the board is connected to the PC.
| + | |
| − | An LED should be blinking.
| + | |
| − | | + | |
| − | <h1> GDB Debug </h1>
| + | |
| − | | + | |
| − | It is mandatory openocd is installed in your system (see [http://wiki.robolabo.etsit.upm.es/index.php/Nucleo_Boards#Install_OpenOCD_On-Chip_Debugger OpenOCD section])
| + | |
| − | | + | |
| − | You need an openocd.cfg file which is related to your board and jtag.
| + | |
| − | | + | |
| − | [[media:openocdL0.cfg | <i> Here</i>]] we provide a file with the configuration of an stlink and a STM32L053 mcu:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | source [find interface/stlink-v2-1.cfg]
| + | |
| − | | + | |
| − | transport select hla_swd
| + | |
| − | | + | |
| − | set WORKAREASIZE 0x2000
| + | |
| − | source [find target/stm32l0.cfg]
| + | |
| − | | + | |
| − | reset_config srst_only
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | However, find your jtag filename in <i>interface</i> of your openocd sources and your mcu filename on the <i>target</i> dir.
| + | |
| − | | + | |
| − | Once the file is configured, load the PATH
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | source env.sh
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Connect to your board:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | openocd -s /opt/openocdNucleoST/share/openocd/scripts/ -f openocd.cfg -c "init" -c "halt" -c "reset halt"
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Output should be something similar to:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | Open On-Chip Debugger 0.9.0 (2016-07-05-21:42)
| + | |
| − | Licensed under GNU GPL v2
| + | |
| − | For bug reports, read
| + | |
| − | http://openocd.org/doc/doxygen/bugs.html
| + | |
| − | adapter speed: 300 kHz
| + | |
| − | adapter_nsrst_delay: 100
| + | |
| − | Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
| + | |
| − | none separate
| + | |
| − | srst_only separate srst_nogate srst_open_drain connect_deassert_srst
| + | |
| − | Info : Unable to match requested speed 300 kHz, using 240 kHz
| + | |
| − | Info : Unable to match requested speed 300 kHz, using 240 kHz
| + | |
| − | Info : clock speed 240 kHz
| + | |
| − | Info : STLINK v2 JTAG v24 API v2 SWIM v11 VID 0x0483 PID 0x374B
| + | |
| − | Info : using stlink api v2
| + | |
| − | Info : Target voltage: 3.246505
| + | |
| − | Info : stm32l0.cpu: hardware has 4 breakpoints, 2 watchpoints
| + | |
| − | Info : Unable to match requested speed 300 kHz, using 240 kHz
| + | |
| − | Info : Unable to match requested speed 300 kHz, using 240 kHz
| + | |
| − | adapter speed: 240 kHz
| + | |
| − | target state: halted
| + | |
| − | target halted due to debug-request, current mode: Thread
| + | |
| − | xPSR: 0xf1000000 pc: 0x08000244 msp: 0x20002000
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | If the terminal gets there and does not return, you are now connected to the board.
| + | |
| − | | + | |
| − | Open a new terminal and load the PATH
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | source env.sh
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Launch ARM GDB
| + | |
| − | <pre>
| + | |
| − | arm-none-eabi-gdb
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Connect GDB to openocd
| + | |
| − | <pre>
| + | |
| − | target remote :3333
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Reset the board
| + | |
| − | <pre>
| + | |
| − | monitor reset halt
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Import the file
| + | |
| − | <pre>
| + | |
| − | file bin/ledp.elf
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Load the binaries into the mcu
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | load
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Reset the board
| + | |
| − | <pre>
| + | |
| − | monitor reset halt
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | | + | |
| − | Run the board
| + | |
| − | <pre>
| + | |
| − | continue
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | The board should be blinking at this point
| + | |
| − | | + | |
| − | <h1> Semihosting on STM32F4 </h1>
| + | |
| − | Semihosting is a neat way to redirect STDOUT and STDIN from an embedded system to a debug window on a PC. This allows you to output messages using printf functions without having to use/configure an RS232 or USB Virtual COM Port, and can also read input from the PC's keyboard via scanf functions.
| + | |
| − | | + | |
| − | <h2> Configuration </h2>
| + | |
| − | | + | |
| − | Add the following linker flags to the Makefile file:
| + | |
| − | <pre>
| + | |
| − | --specs=rdimon.specs -Wl,--start-group -lgcc -lc -lm -lrdimon -Wl,--end-group \
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Include the library "stdio.h" to the main.h file.
| + | |
| − | | + | |
| − | Add the following function prototype to the main.c file and call the function at the begining of the main, previous to any printf() statement:
| + | |
| − | <pre>
| + | |
| − | extern void initialise_monitor_handles(void);
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Enable de semihosting option at the GDB terminal:
| + | |
| − | <pre>
| + | |
| − | monitor arm semihosting enable
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Finally, add printf() statements in your code, compile with make and execute.
| + | |
| − | | + | |
| − | <b> Important </b> Output window will be the terminal executing the OpenOCD GDB Server, not the GDB terminal.
| + | |
| − | | + | |
| − | <b> Important </b> Semihosting is not compatible with the use of FreeRTOS.
| + | |
| − | | + | |
| − | <h2> Example of GDB connection </h2>
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | (gdb) target remote :3333
| + | |
| − | Remote debugging using :3333
| + | |
| − | 0x08001154 in ?? ()
| + | |
| − | (gdb) monitor reset halt
| + | |
| − | target state: halted
| + | |
| − | target halted due to debug-request, current mode: Thread
| + | |
| − | xPSR: 0x01000000 pc: 0x08001154 msp: 0x20020000
| + | |
| − | (gdb) monitor arm semihosting enable
| + | |
| − | semihosting is enabled
| + | |
| − | (gdb) file bin/Semihosting.elf
| + | |
| − | A program is being debugged already.
| + | |
| − | Are you sure you want to change the file? (y or n) y
| + | |
| − | Load new symbol table from "bin/ControladorP.elf"? (y or n) y
| + | |
| − | Reading symbols from bin/Semihosting.elf...done.
| + | |
| − | (gdb) load
| + | |
| − | Loading section .isr_vector, size 0x1c4 lma 0x8000000
| + | |
| − | Loading section .text, size 0x2e60 lma 0x80001c4
| + | |
| − | Loading section .rodata, size 0x14 lma 0x8003024
| + | |
| − | Loading section .init_array, size 0x8 lma 0x8003038
| + | |
| − | Loading section .fini_array, size 0x4 lma 0x8003040
| + | |
| − | Loading section .data, size 0x430 lma 0x8003044
| + | |
| − | Start address 0x8000220, load size 13428
| + | |
| − | Transfer rate: 17 KB/sec, 2238 bytes/write.
| + | |
| − | (gdb) monitor reset halt
| + | |
| − | target state: halted
| + | |
| − | target halted due to debug-request, current mode: Thread
| + | |
| − | xPSR: 0x01000000 pc: 0x08000220 msp: 0x20020000
| + | |
| − | (gdb) c
| + | |
| − | Continuing.
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | <h2> Example of use </h2>
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | #include "main.h"
| + | |
| − | | + | |
| − | extern void initialise_motor_handles(void);
| + | |
| − | uint32_t a;
| + | |
| − | | + | |
| − | int main(void)
| + | |
| − | {
| + | |
| − | initialise_motor_handles();
| + | |
| − | a = 0;
| + | |
| − | while(1)
| + | |
| − | {
| + | |
| − | a++;
| + | |
| − | printf("Current value for a is: %d\n", a);
| + | |
| − | HAL_Delay(1000);
| + | |
| − | }
| + | |
| − | }
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | <h1> Eclipse Environment </h1>
| + | |
| − | It is mandatory to install the Base Environment first
| + | |
| − | | + | |
| − | <h2> Install Eclipse </h2>
| + | |
| − | (More info at: http://help.eclipse.org/mars/index.jsp?topic=%2Forg.eclipse.cdt.doc.user%2Fgetting_started%2Fcdt_w_import.htm)
| + | |
| − | | + | |
| − | Download last version of Eclipse IDE for C/C++ Developers from: http://www.eclipse.org/downloads/
| + | |
| − | | + | |
| − | Untar eclipse:
| + | |
| − | <pre>
| + | |
| − | tar -xvzf eclipse-cpp-mars-1-linux-gtk-x86_64.tar.gz
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Go into directory and execute eclipse:
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | cd eclipse
| + | |
| − | ./eclipse
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | Define workspace (e.g. /home/<USER>/stm32EclipseWorkspace)
| + | |
| − | | + | |
| − | <h3> Install C/C++ Developping tools </h3>
| + | |
| − | | + | |
| − | Go to Help -> Install New Sofware -> add <br>
| + | |
| − | - Name: CDT-Mars <br>
| + | |
| − | - Location: http://download.eclipse.org/tools/cdt/releases/8.8 <br>
| + | |
| − | | + | |
| − | | + | |
| − | - Click Ok <br>
| + | |
| − | - Select: CDT Optional Features -> C/C++ GDB Hardware Debugging <br>
| + | |
| − | - Next, Next, Agree, Finish <br>
| + | |
| − | - Restart <br>
| + | |
| − | | + | |
| − | <br>
| + | |
| − | <h3> Install GNU ARM Plugins </h3>
| + | |
| − | | + | |
| − | Go to Help -> Install New Sofware -> add <br>
| + | |
| − | - Name: GNU ARM Eclipse Plugins <br>
| + | |
| − | - Location: http://gnuarmeclipse.sourceforge.net/updates <br>
| + | |
| − | | + | |
| − | | + | |
| − | - Click Ok <br>
| + | |
| − | - Select All <br>
| + | |
| − | - Next, Next, Agree, Finish <br>
| + | |
| − | - You will be asked to accept some specific not known content, do it <br>
| + | |
| − | - Restart <br>
| + | |
| − | | + | |
| − | | + | |
| − | <h2> Import Project </h2>
| + | |
| − | (More info at: http://gnuarmeclipse.github.io/plugins/install/)
| + | |
| − | | + | |
| − | Go to File -> New -> C Project <br>
| + | |
| − | - Name: test <br>
| + | |
| − | - Location: Select where the code is <br>
| + | |
| − | - Project type -> Makefile project -> Empty Project -> Cross ARM GCC <br>
| + | |
| − | | + | |
| − | - Next, Next <br>
| + | |
| − | | + | |
| − | Toolchain: <br>
| + | |
| − | - Name: GNU Tools for ARM Embedded Processors (arm-none-eabi-gcc) <br>
| + | |
| − | - Path: /opt/compilerNucleoST (if installed as in previous section, if not check where did you do it!!) <br>
| + | |
| − | | + | |
| − | - Finish <br>
| + | |
| − | | + | |
| − | If everything ok, you are able to compile with the hammer.
| + | |
| − | | + | |
| − | <h2> Set OpenOCD </h2>
| + | |
| − | (More info at: https://balau82.wordpress.com/2014/02/23/stm32-p152-development-with-eclipse-on-linux/)
| + | |
| − | | + | |
| − | - Run -> External tools -> External Tools Configurations <br>
| + | |
| − | - Program -> New <br>
| + | |
| − | - Location: /opt/openocdNucleoST/bin/openocd (if installed as in previous section, if not check where did you do it!!) <br>
| + | |
| − | - Working Directory: A Dir where there is the openocd.cfg (typically where our porject is) <br>
| + | |
| − | - Arguments: -f openocd.cfg -c "init" -c "halt" -c "reset halt"
| + | |
| − | - Apply
| + | |
| − | | + | |
| − | <h2> Set GDB </h2>
| + | |
| − | (More info at: https://pixhawk.org/dev/jtag/gdb_eclipse)
| + | |
| − | | + | |
| − | Go to Run -> Debug Configurations <br>
| + | |
| − | Create a GDB Hardware Debugging <br>
| + | |
| − | In Main: <br>
| + | |
| − | - Application: The .elf file that will be generated by the project (e.g. helloWorld.elf) <br>
| + | |
| − | - Project: The project location <br>
| + | |
| − | - Use workspace settings <br>
| + | |
| − | - Select legacy GDB Hardware Debugging Launcher by clinking Select other <br>
| + | |
| − | | + | |
| − | In Debugger: <br>
| + | |
| − | - GDB Command: /opt/compilerNucleoST/bin/arm-none-eabi-gdb <br>
| + | |
| − | - Standard(Linux) <br>
| + | |
| − | - Version: mi <br>
| + | |
| − | - Use remote target <br>
| + | |
| − | - JTag: TCP/IP <br>
| + | |
| − | - IP: localhost <br>
| + | |
| − | - Port: 3333 <br>
| + | |
| − | | + | |
| − | In Startup: <br>
| + | |
| − | - Un-click Reset and Delay <br>
| + | |
| − | - Un-click Halt <br>
| + | |
| − | - In command box type: <br>
| + | |
| − | - monitor reset halt <br>
| + | |
| − | - Click Load Image <br>
| + | |
| − | - Click Load symbols <br>
| + | |
| − | - In Run Commands write: <br>
| + | |
| − | - set $pc = Reset_Handler <br>
| + | |
| − | - stepi <br>
| + | |
| − | | + | |
| − | Finally click Apply
| + | |
