zubax_gnss移植到STM32F407

最新推荐文章于 2025-05-28 09:35:30 发布

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最新推荐文章于 2025-05-28 09:35:30 发布

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分类专栏： STM32 ArduPilot/PX4/Pixhawk 文章标签： zubax-gnss stm32f407

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本文介绍如何为STM32F407芯片配置ChibiOS实时操作系统，包括必要的源码下载、配置文件修改、编译等步骤。文中详细解释了如何设置SPI、USB和USART等外设，并提供了调试和测试的方法。

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源码下载：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

目的：zubax_gnss\bootloader\src\os_config

# 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

目的：zubax_gnss\bootloader\src\os_config

# 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