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Configuring the environment

Install Compiler gcc-arm-none-eabi

Install the following libraries:
 sudo apt-get install lib32z1 lib32ncu..."
2019-07-29T06:04:49Z
Created page with "__TOC__  <h1> Configuring the environment  </h1>  <h2> Install Compiler gcc-arm-none-eabi </h2>  Install the following libraries:   <pre> sudo apt-get install lib32z1 lib32ncu..."
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__TOC__



<h1> Configuring the environment  </h1>



<h2> Install Compiler gcc-arm-none-eabi </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
Nucleo OLD Boards - Revision history

Aguti: Created page with "__TOC__

Configuring the environment

Install Compiler gcc-arm-none-eabi

Aguti: Created page with "TOC
