zubax_gnss移植到STM32F407

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 MakefileSERIAL_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