Project files

Development Environment Description

IDEs etc.

• Development IDE: VSCode

• Compilation software: arm-none-eabi-gcc, cmake

Installation on Ubuntu: apt install arm-none-eabi-gcc

• Flashing software 1: stlink

# Install dependencies
$ sudo apt-get install libusb-1.0
$ sudo apt-get install cmake
$ sudo apt-get install libgtk-3-dev
$ sudo apt install libreadline-dev

# Install JLink
$ sudo apt install stlink-tools
$ sudo apt install stlink-gui

$ st-flash --version
        v1.7.0

Compilation

$ mkdir build
$ cd build
$ cmake -G "Unix Makefiles" -D "CMAKE_TOOLCHAIN_FILE=../CMake/GNU-ARM-Toolchain.cmake" ..
$ make
$ ll src
total 1.0M
drwxrwxr-x  3 eagle 4.0K Jun  11 23:15 .
drwxrwxr-x  6 eagle 4.0K Jun  11 15:15 ..
-rwxrwxr-x  1 eagle  18K Jun  11 23:15 body_control.bin
-rwxrwxr-x  1 eagle 360K Jun  11 23:15 body_control.elf
-rw-rw-r--  1 eagle  51K Jun  11 23:15 body_control.hex
-rw-rw-r--  1 eagle 334K Jun  11 23:15 body_control.lss
-rw-rw-r--  1 eagle 213K Jun  11 23:15 body_control.map
drwxrwxr-x 11 eagle 4.0K Jun  11 23:15 CMakeFiles
-rw-rw-r--  1 eagle 1017 Jan  14 08:26 cmake_install.cmake
-rw-rw-r--  1 eagle  27K Jan  14 08:26 Makefile

Flashing

Method 1: ST-LINK

$ cd src
$ sudo st-flash write body_control.bin 0x8000000

$ If flashing in WSL, execute the following in Windows Terminal:
   1 usbipd list
   2 usbipd bind --busid 2-4
   3 usbipd attach --wsl --busid 2-4

Alternatively, open the ST-LINK software, click Connect, select the body_control.bin file, and click the Flash button.

After flashing is complete, change the BOOT0 jumper back to 0.

Dependencies

Dependencies: python3, python-pip3, python serial

Install python serial: https://www.geeksforgeeks.org/how-to-install-python-serial-package-on-linux/ (opens in a new tab)

If an error occurs: usr/bin/env: ‘python’: No such file or directory

Run the following command to resolve it:

sudo ln -s /usr/bin/python3 /usr/bin/python

• Serial debugging tool: VS Code Serial Monitor extension

Issues and Notes

• 1 The interrupt priority of the central controller must be set correctly; otherwise, strange issues may occur. The interrupt priority of UART2 must be lower than the configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY configuration (i.e., the number should be larger). Also, make sure to add this line:

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);           /* Set priority grouping to 4, i.e., preemption priority range is 0-15 */

• 2 When using a serial tool to send and debug commands, ensure that a newline character is appended to the end of each command, as the command reception uses the newline character as the termination identifier. Without a newline, the system will keep collecting the command.

References

https://github.com/larriti/stm32f10x-template (opens in a new tab)

https://github.com/erhankur/stm32f103-bluepill (opens in a new tab)

CMake-based STM32F103C8 Template (Blue Pill)

Based on https://github.com/ahessling/STM32F4Template (opens in a new tab)

As an addition;

• Style fixer tool (astyle) can be used with ./code-format.sh
• make monitor will open picocom serial terminal

Build

./build.sh
cd build
make

Download binary

make flash  # this will run openocd if it is found during cmake process

Serial terminal

make monitor # this will run picocom with 115200 8N1

Of course you can run all commands in one shot

make flash monitor

Debug

make gdb # this will run gdb and openocd in the background.

todo: kill openocd upon gdb termination