STM32L151とCubeMXでfreeRTOS: No Coding, No Life.

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STM32L151とCubeMXでfreeRTOS　[電子工作] [編集]

例によってLaunchpadのGNU ARM Embedded Toolchain環境とOpenOCD+CMSIS-DAP

罠っていうかSTM32L1用のFWバグってるじゃんという

1. CubeMXでプロジェクト作成

[Pinout]

・[Middlewares]-[FREERTOS]-[Enabled]をチェック

※以下はそれぞれのボードに合わせて
・[Peripherals]-[RCC]-[High Speed Clock (HSE)]を'Crystal/Ceramic Resonator'
・[SYS]-[Debug]を'Serial Wire'

※テスト用のLED出力ピン
・PC13
GPIO_Output, ラベル='LED1'
・PC14
GPIO_Output, ラベル='LED2'

[Clock Configuration]

System Clock MuxでHSEを選択

[Configuration]

FREERTOSの設定

[Config parametes]

・[Memory management settings]-[Memory Management scheme]がデフォルトで'heap_4'なので'heap_1'に変更
（しなくてもいいけど）

[Task and Queues]

・LED1TaskとLED2Taskを、それぞれosPriorityNormalで設定

-> [Project]-[Settings]-[Project]で[Toolchain / IDE]を'SW4STM32'にして、Code Generate

2. makefile

こんな感じ

PROJECT = stm32l151
 
DIR=~/gcc-arm/bin
CC=$(DIR)/arm-none-eabi-gcc
NM=$(DIR)/arm-none-eabi-nm
CP=$(DIR)/arm-none-eabi-objcopy
OD=$(DIR)/arm-none-eabi-objdump
SZ=$(DIR)/arm-none-eabi-size

# SEMIHOST_LIB = --specs=rdimon.specs -lrdimon
NANOLIB = --specs=nosys.specs --specs=nano.specs

OPENOCD=~/openocd
TARGETCNF=stm32l1.cfg
#INTERFACECNF=stlink-v2-1.cfg
INTERFACECNF=cmsis-dap.cfg

DEFS = -DUSE_HAL_DRIVER -DSTM32L151xB -DGCC_ARMCM3

MCU = cortex-m3
MCFLAGS  = -MD -mcpu=$(MCU) -march=armv7-m -mtune=$(MCU)
MCFLAGS += -std=gnu99
MCFLAGS += -mthumb -mlittle-endian -mno-unaligned-access -mno-sched-prolog
# MCFLAGS += -mfloat-abi=hard  -mfpu=fpv4-sp-d16
MCFLAGS += -fno-strict-aliasing -fsigned-char
MCFLAGS += -ffunction-sections -fdata-sections
MCFLAGS += -fno-schedule-insns2
MCFLAGS += -fno-common -fno-hosted
MCFLAGS += -mthumb-interwork
MCFLAGS += -fmessage-length=0
MCFLAGS += -ffreestanding
MCFLAGS += -fno-move-loop-invariants
MCFLAGS += -fsingle-precision-constant
# MCFLAGS += -nostartfiles
MCFLAGS += -Wl,--gc-sections
# MCFLAGS += -u _printf_float

STM32_INCLUDES = \
	-IInc \
	-IDrivers/CMSIS/Device/ST/STM32L1xx/Include \
	-IDrivers/CMSIS/Include \
	-IDrivers/STM32L1xx_HAL_Driver/Inc/Legacy \
	-IDrivers/STM32L1xx_HAL_Driver/Inc \
	-IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS \
	-IMiddlewares/Third_Party/FreeRTOS/Source/include \
	-IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3

# OPTIMIZE = -gdwarf-2 -O0 -flto-partition=none -fipa-sra
OPTIMIZE = -Os -finline -finline-functions-called-once

CFLAGS  = $(MCFLAGS) $(OPTIMIZE) $(NANOLIB) $(SEMIHOST_LIB) $(DEFS) $(STM32_INCLUDES)
CFLAGS += -Wl,-cref -T STM32L151C8Tx_FLASH.ld
AFLAGS  = $(MCFLAGS)

CSRC = \
	$(wildcard Src/*.c) \
	$(wildcard Drivers/STM32L1xx_HAL_Driver/Src/*.c) \
	$(wildcard Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/*.c) \
	$(wildcard Middlewares/Third_Party/FreeRTOS/Source/*.c) \
	$(wildcard Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/*.c) \
	$(wildcard Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/*.c) \
	$(wildcard Middlewares/Third_Party/FreeRTOS/Source/portable/*.c)

ASRC = startup/startup_stm32l151xb.s

COBJ = $(CSRC:.c=.o)
AOBJ = $(ASRC:.s=.o)

all: build size

build: elf hex lst sym

elf: $(PROJECT).elf
hex: $(PROJECT).hex
lst: $(PROJECT).lst
sym: $(PROJECT).sym

%.hex: %.elf
	@echo
	$(CP) -O ihex $< $@

%.lst: %.elf
	@echo
	$(OD) -h -S -C $< > $@

%.sym: %.elf
	@echo
	$(NM) -n $< > $@

size:
	@echo
	$(SZ) $(PROJECT).hex
	$(SZ) $(PROJECT).elf
	$(SZ) -A -x $(PROJECT).elf

%.elf: $(AOBJ) $(COBJ)
	@echo
	$(CC) $(CFLAGS) $^ -o $@

$(COBJ) : %.o : %.c
	@echo
	$(CC) -c $(CFLAGS) $< -o $@

$(AOBJ) : %.o : %.s
	@echo
	$(CC) -c $(CFLAGS) $< -o $@

clean:
	@echo
	find . -name '*.o' -print -or -name '*.d' -print | xargs rm -f
	rm -f $(PROJECT).elf $(PROJECT).hex $(PROJECT).lst $(PROJECT).sym

flash: $(PROJECT).elf
#	$(OPENOCD)/src/openocd -s $(OPENOCD)/tcl -f board/st_nucleo_l1.cfg -c "program $^ verify reset exit"

	$(OPENOCD)/src/openocd -s $(OPENOCD)/tcl -f interface/$(INTERFACECNF) -f target/$(TARGETCNF) -c "program $^ verify reset exit"

3. ソース修正！

クロックソースをMSI以外にしている場合、'STM32Cube FW_L1 V1.6.0'のSystemClock_Config()ではバグっていて起動しません。
（コンパイルオプションと運次第では起動することもある）

void SystemClock_Config(void)の下記の部分で、RCC_OSCILLATORTYPE_MSIを削除

    /**Initializes the CPU, AHB and APB busses clocks 
    */
//  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE|RCC_OSCILLATORTYPE_MSI;
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

やらなくてもいいけれど、使わないMSIを止めたい場合は
HAL_RCC_ClockConfigでSYSCLKSourceを変更した後で

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSE;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }

    /* ADD: stop MSI after changing SYSCLKSource */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_MSI;
  RCC_OscInitStruct.MSIState = RCC_MSI_OFF;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

4. テスト用のTaskの実装

適当に

 /* StartLED1Task function */
void StartLED1Task(void const * argument)
{

  /* USER CODE BEGIN 5 */
  /* Infinite loop */
  for(;;)
  {
    HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, SET);
    osDelay(500);
    HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, RESET);
    osDelay(500);
  }
  /* USER CODE END 5 */ 
}

/* StartLED2Task function */
void StartLED2Task(void const * argument)
{
  /* USER CODE BEGIN StartLED2Task */
  /* Infinite loop */
  for(;;)
  {
    HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, SET);
    osDelay(1000);
    HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, RESET);
    osDelay(1000);
  }
  /* USER CODE END StartLED2Task */
}