Nucleo Boards
Contents
Configuring the environment
Install Compiler gcc-arm-none-eabi
Download last version of GCC ARM Embedded from: https://launchpad.net/gcc-arm-embedded/+download
Untar the compiler:
tar -xvjf gcc-arm-none-eabi-<VERSION>.tar.bz2
Copy it to a common place:
sudo cp -r gcc-arm-none-eabi-<VERSION> /opt/compilerNucleoST
Install OpenOCD On-Chip Debugger
Instal dependencies:
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
Download last version of Openocd from: http://openocd.org/
Untar openocd:
tar -xvzf openocd-<VERSION>.tar.gz
Go into the directory:
cd openocd-<VERSION>
Configure openocd compilation:
./configure --prefix=/opt/openocdNucleoST --enable-maintainer-mode --enable-stlink
Compile it:
make
Install:
sudo make install
Prepare its use according to udev:
sudo cp -r contrib/99-openocd.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules
In order to connect to the device:
openocd -s /opt/openocdNucleoST/share/openocd/scripts/ -f openocd.cfg -c "init" -c "halt" -c "reset halt"
where openocd.cfg should be on your working dir.
Hello World experiment
Download STMCube
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)
and select the STMCubeXX according to your microcontroller (e.g. STM32CubeL4 for STM32L4 series) and load it in a prefered directory:
Untar STM32CubeXX:
unzip stm32cubexx.zip
This will create a Firmware directory which will be referred in this tutorial as <STM32_CUBE_FW_ROOTDIR>.
Create the experiment
The example is done for a toggle led experiment. It will be compiled for a specific nucleo board, named in this tutoral as <STM32_NUCLEO_BOARD>.
Create experiment dir in your prefered directory:
mkdir helloWorld mkdir helloWorld/bin
Copy experiment sources:
cp -r <STM32_CUBE_FW_ROOTDIR>/Projects/<STM32_NUCLEO_BOARD>/Examples/GPIO/GPIO_IOToggle/Src hellowWorld/src cp -r <STM32_CUBE_FW_ROOTDIR>/Projects/<STM32_NUCLEO_BOARD>/Examples/GPIO/GPIO_IOToggle/Inc helloWorld/include
Copy STM32 libraries:
cp -r <STM32_CUBE_FW_ROODIR>/Drivers/ helloWorld/lib
Copy startup code to src dir:
cp <STM32_CUBE_FW_ROOTDIR>/Projects/<STM32_NUCLEO_BOARD>/Templates/SW4STM32/startup_<NUCLEO_BOARD>.s helloWorld/src
where <NUCLE_BOARD> refers to your nucleo board model.
Important If SW4STM32 does not exists use TrueStudio instead.
Copy linker file:
cp <STM32_CUBE_FW_ROOTDIR>/Projects/<STM32_NUCLEO_BOARD>/Templates/SW4STM32/<STM32_NUCLEO_BOARD>_Nucleo/<NUCLEO_BOARD>_FLASH.ld helloWorld/
where <NUCLE_BOARD> refers to your nucleo board model.
Important If TrueStudio does not exists use SW4STM32 instead.
Create an environment file to export PATH:
cd helloWorld echo $PATH > env.sh
Edit env.sh and at the begining of the line include:
export PATH=/opt/openocdNucleoST/bin:/opt/compilerNucleoST/bin:
Your file should look like this:
export PATH=/opt/openocdNucleoST/bin:/opt/compilerNucleoST/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games
Download Makefile, rename it as "Makefile" and copy it to <HELLOWORLD> dir.
Open makefile and substitute:
- <PROJECT_NAME> with the name you want to give to your project
- <STM32_NUCLEO_BOARD> with the nucleo board name (e.g. STM32F4xx).
- <STM32_LNKER_FILE> with the name of the linker file in <HELLOWORLD> dir (e.g. STM32F446RETx_FLASH.ld)
- <STM32_MICROCONTROLLER> with the compilation directive of your microcontroller (e.g. STM32F446xx) found in src/system_stm32xxxx.c
- <CPU_INFO> with the mcpu of the controller (e.g. cortex-m0plus)
- <STARTUP_NAME> with the name of your startup filename. (e.g. startup_stm32f446xx) found in src dir (important: name it without extension).
After this, everything should be ready:
Export you PATH
source env.sh
Compile:
make
Copy the bin/<FILE>.bin to the disc that is created when the board is connected to the PC. An LED should be blinking.
NOTE It is interesting to clean the project before submitting to any repository. lib dir is full of unusfull information:
- In lib/BSP keep only the dir that refers to your board
- In lib/CMSIS keep only the Device and Include dirs
- In lib/HAL_DRIVER dir, keep only the Inc and Src dirs.
FreeRTOS Port
Before proceed with this section, you should have already implemented the previous [[1]]
Download and prepare sources
Download last version of FreeRTOS from: http://www.freertos.org/
Unzip it:
unzip FreeRTOS<VERSION>.zip
Copy FreeRTOS source to your working dir
cp -r <FREERTOS_DIR>/FreeRTOS/ helloWorld/
Go in helloworld/FreeRTOS dir and remove all but Source dir
Go in helloworld/FreeRTOS/Source/portable dir and remove all but GCC dir and <MemMag> dir
Go in helloworld/FreeRTOS/Source/portable/GCC dir and remove all but your CPU related (e.g. ARM_C0 for Cortex-M0)
Configure FreeRTOS
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 FreeRTOSConfig.h found in those examples to your helloworld/include dir.
If not, download this FreeRTOSConfig.h , rename it as "FreeRTOSConfig.h", copy it to <HELLOWORLD>/include dir and work on it.
Go in your helloworld/src/stmXXXX_it.c file and comment the SVC_Handler, PendSV_Handler and SysTick_Handler functions
Download Makefile, rename it as "Makefile" and copy it to <HELLOWORLD> dir.
Open makefile and substitute:
- <PROJECT_NAME> with the name you want to give to your project
- <STM32_NUCLEO_BOARD> with the nucleo board name (e.g. STM32F4xx).
- <STM32_LNKER_FILE> with the name of the linker file in <HELLOWORLD> dir (e.g. STM32F446RETx_FLASH.ld)
- <STM32_MICROCONTROLLER> with the compilation directive of your microcontroller (e.g. STM32F446xx) found in src/system_stm32xxxx.c
- <CPU_INFO> with the mcpu of the controller (e.g. cortex-m0plus)
- <STARTUP_NAME> with the name of your startup filename. (e.g. startup_stm32f446xx) found in src dir (important: name it without extension).
- <RTOS_GCC_CPUINFO> with the name of the mcpu of the controller of the FreeRTOS dir (e.g. ARM_CM0) found in RTOS_SOURCE_DIR/portable/GCC/
After this, everything should be ready:
Export you PATH
source env.sh
Compile:
make
