目录
- LibOpenCM3(一) Linux下命令行开发环境配置
- LibOpenCM3(二) 项目模板 Makefile分析
- LibOpenCM3(三) .ld文件(连接器脚本)和startup代码说明
- LibOpenCM3(四) VSCode IDE 环境配置
- LibOpenCM3(五) 基础功能: 系统时钟, GPIO, 定时器
LibOpenCM3 项目模板
项目模板地址: https://github.com/libopencm3/libopencm3-template
如果仅仅用IDE开发, 并不需要了解 Makefile 结构. 对于需要实现自动化发布和测试的项目, Makefile 几乎是默认的选项, 了解 Makefile 工作机制对项目长期的开发和维护都是很有帮助的.
文件结构
├── libopencm3 # libopencm3 封装库
│ ├── COPYING.GPL3
│ ├── COPYING.LGPL3
│ ├── doc
│ ├── HACKING
│ ├── HACKING_COMMON_DOC
│ ├── include
│ ├── ld
│ ├── lib # 编译后, 链接库 .a 文件的存放目录
│ ├── locm3.sublime-project
│ ├── Makefile # libopencm3 项目 Makefile
│ ├── mk
│ │ ├── gcc-config.mk
│ │ ├── gcc-rules.mk
│ │ ├── genlink-config.mk # 用于生成ld文件
│ │ ├── genlink-rules.mk # 用于生成ld文件
│ │ └── README
│ ├── README.md
│ ├── scripts
│ └── tests
├── LICENSE
├── my-common-code # 用于演示的公用代码部分
│ ├── api-asm.h
│ ├── api-asm.S
│ ├── api.c
│ └── api.h
├── my-project # 用于演示的用户项目代码部分
│ ├── Makefile # 用户项目 Makefile
│ └── my-project.c
├── README.md
└── rules.mk # 全局规则
其中, libopencm3 的 Makefile 用于将 libopencm3 编译生成链接库, 用户项目的 Makefile 用于引用 libopencm3 以及包含公用代码生成最终的 elf 和 bin, 以及生成 ld 文件.
libopencm3 的 Makefile
libopencm3 的 Makefile 主要用于将 libopencm3 编译为链接库库
# 注: 如果工具链未加入PATH, 可以在这里加上路径
PREFIX ?= arm-none-eabi-
# 注: 这个perl脚本貌似是用来检查代码注释的格式的
STYLECHECK := scripts/checkpatch.pl
STYLECHECKFLAGS := --no-tree -f --terse --mailback
# 注: 这里设置的编译的范围, 默认是编译全部型号, 这会消耗很长的时间, 如果只需要编译某一个型号, 可以在make时直接指定
# 例如 TARGETS=stm32/f1 make
# 这里的名称要和 lib 下的目录名严格一致, 因为下面会用这个拼接完整目录
#
TARGETS ?= stm32/f0 stm32/f1 stm32/f2 stm32/f3 stm32/f4 stm32/f7 \
stm32/l0 stm32/l1 stm32/l4 \
stm32/g0 \
stm32/h7 \
gd32/f1x0 \
lpc13xx lpc17xx lpc43xx/m4 lpc43xx/m0 \
lm3s lm4f msp432/e4 \
efm32/tg efm32/g efm32/lg efm32/gg efm32/hg efm32/wg \
efm32/ezr32wg \
sam/3a sam/3n sam/3s sam/3u sam/3x sam/4l \
sam/d \
vf6xx \
swm050 \
pac55xx
# Be silent per default, but 'make V=1' will show all compiler calls.
# 注: 使用V=1输出编译时的完整命令, 例如 TARGETS=stm32/f1 make V=1
ifneq ($(V),1)
Q := @
# Do not print "Entering directory ...".
MAKEFLAGS += --no-print-directory
endif
# Avoid the use of shell find, for windows compatibility
IRQ_DEFN_FILES := $(foreach TARGET,$(TARGETS),$(wildcard include/libopencm3/$(TARGET)/irq.json))
STYLECHECKFILES := $(wildcard include/*/*.h include/*/*/*.h include/*/*/*/*.h)
STYLECHECKFILES += $(wildcard lib/*/*.h lib/*/*/*.h lib/*/*/*/*.h)
STYLECHECKFILES += $(wildcard lib/*/*.c lib/*/*/*.c lib/*/*/*/*.c)
# 注: 默认的目标是 all -> build -> lib
all: build
build: lib
%.genhdr:
@printf " GENHDR $*\n";
# 注: irq2nvic_h 是个 python 脚本, 用JSON定义的中断编号生成 nvic.h 头文件
$(Q)./scripts/irq2nvic_h ./$*;
%.cleanhdr:
@printf " CLNHDR $*\n";
$(Q)./scripts/irq2nvic_h --remove ./$*
# 注: 根据 TARGETS 拼接目录
LIB_DIRS:=$(wildcard $(addprefix lib/,$(TARGETS)))
# 注: $(IRQ_DEFN_FILES:=.genhdr) 这个表达式, 实际上是批量替换, 替换的左边扩展名为空,
# 所以其作用是将 IRQ_DEFN_FILES 中每一个值, 加上了.genhdr, 去执行 %.genhdr 的规则
$(LIB_DIRS): $(IRQ_DEFN_FILES:=.genhdr)
$(Q)$(RM) .stamp_failure_$(subst /,_,$@)
@printf " BUILD $@\n";
$(Q)$(MAKE) --directory=$@ PREFIX="$(PREFIX)" || \
echo "Failure building: $@: code: $$?" > .stamp_failure_$(subst /,_,$@)
lib: $(LIB_DIRS)
$(Q)$(RM) .stamp_failure_tld
$(Q)for failure in .stamp_failure_*; do \
[ -f $$failure ] && cat $$failure >> .stamp_failure_tld || true; \
done;
$(Q)[ -f .stamp_failure_tld ] && cat .stamp_failure_tld && exit 1 || true;
# 注: 执行 doc 目录下的 make
html doc:
$(Q)$(MAKE) -C doc html TARGETS="$(TARGETS)"
# 注: 清理, 这些$(XXX:=.xxx)也是批量替换用法
clean: $(IRQ_DEFN_FILES:=.cleanhdr) $(LIB_DIRS:=.clean) $(EXAMPLE_DIRS:=.clean) doc.clean styleclean genlinktests.clean
%.clean:
$(Q)if [ -d $* ]; then \
printf " CLEAN $*\n"; \
$(MAKE) -C $* clean || exit $?; \
fi;
$(Q)$(RM) .stamp_failure_*;
stylecheck: $(STYLECHECKFILES:=.stylecheck)
styleclean: $(STYLECHECKFILES:=.styleclean)
# the cat is due to multithreaded nature - we like to have consistent chunks of text on the output
%.stylecheck: %
$(Q)if ! grep -q "* It was generated by the irq2nvic_h script." $* ; then \
$(STYLECHECK) $(STYLECHECKFLAGS) $* > $*.stylecheck; \
if [ -s $*.stylecheck ]; then \
cat $*.stylecheck; \
else \
rm -f $*.stylecheck; \
fi; \
fi;
%.styleclean:
$(Q)rm -f $*.stylecheck;
LDTESTS :=$(wildcard ld/tests/*.data)
genlinktests: $(LDTESTS:.data=.ldtest)
genlinktests.clean:
$(Q)rm -f $(LDTESTS:.data=.out)
%.ldtest:
@if ./scripts/genlinktest.sh $* >/dev/null; then\
printf " TEST OK : $*\n"; \
else \
printf " TEST FAIL : $*\n"; \
fi;
.PHONY: build lib $(LIB_DIRS) doc clean generatedheaders cleanheaders stylecheck genlinktests genlinktests.clean
rule.mk 分析
多匹配的优先级选择, 参考 How Patterns Match 模式匹配的工作机制
# This version of rules.mk expects the following to be defined before
# inclusion..
### REQUIRED ###
# OPENCM3_DIR - duh
# PROJECT - will be the basename of the output elf, eg usb-gadget0-stm32f4disco
# CFILES - basenames only, eg main.c blah.c
# CXXFILES - same for C++ files. Must have cxx suffix!
# DEVICE - the full device name, eg stm32f405ret6
# _or_
# LDSCRIPT - full path, eg ../../examples/stm32/f4/stm32f4-discovery/stm32f4-discovery.ld
# OPENCM3_LIB - the basename, eg: opencm3_stm32f4
# OPENCM3_DEFS - the target define eg: -DSTM32F4
# ARCH_FLAGS - eg, -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
# (ie, the full set of cpu arch flags, _none_ are defined in this file)
#
### OPTIONAL ###
# INCLUDES - fully formed -I paths, if you want extra, eg -I../shared
# BUILD_DIR - defaults to bin, should set this if you are building multiarch
# OPT - full -O flag, defaults to -Os
# CSTD - defaults -std=c99
# CXXSTD - no default.
# OOCD_INTERFACE - eg stlink-v2
# OOCD_TARGET - eg stm32f4x
# both only used if you use the "make flash" target.
# OOCD_FILE - eg my.openocd.cfg
# This overrides interface/target above, and is used as just -f FILE
### TODO/FIXME/notes ###
# No support for stylecheck.
# No support for BMP/texane/random flash methods, no plans either
# No support for magically finding the library.
# C++ hasn't been actually tested with this..... sorry bout that. ;)
# Second expansion/secondary not set, add this if you need them.
# 注: 指定默认的中间文件目录
BUILD_DIR ?= bin
OPT ?= -Os
CSTD ?= -std=c99
# Be silent per default, but 'make V=1' will show all compiler calls.
# If you're insane, V=99 will print out all sorts of things.
V?=0
ifeq ($(V),0)
Q := @
NULL := 2>/dev/null
endif
# Tool paths.
PREFIX ?= arm-none-eabi-
CC = $(PREFIX)gcc
CXX = $(PREFIX)g++
LD = $(PREFIX)gcc
OBJCOPY = $(PREFIX)objcopy
OBJDUMP = $(PREFIX)objdump
OOCD ?= openocd
OPENCM3_INC = $(OPENCM3_DIR)/include
# Inclusion of library header files
INCLUDES += $(patsubst %,-I%, . $(OPENCM3_INC) )
# 注: 格式 $(SRC:%.c=%.o) 批量替换, 在SRC中找到所有.c 结尾的文件，然后把所有的.c换成.o
# 等价于 $(patsubst %.c, %.o, $(SRC))
OBJS = $(CFILES:%.c=$(BUILD_DIR)/%.o)
OBJS += $(CXXFILES:%.cxx=$(BUILD_DIR)/%.o)
OBJS += $(AFILES:%.S=$(BUILD_DIR)/%.o)
GENERATED_BINS = $(PROJECT).elf $(PROJECT).bin $(PROJECT).map $(PROJECT).list $(PROJECT).lss
TGT_CPPFLAGS += -MD
TGT_CPPFLAGS += -Wall -Wundef $(INCLUDES)
TGT_CPPFLAGS += $(INCLUDES) $(OPENCM3_DEFS)
TGT_CFLAGS += $(OPT) $(CSTD) -ggdb3
TGT_CFLAGS += $(ARCH_FLAGS)
TGT_CFLAGS += -fno-common
TGT_CFLAGS += -ffunction-sections -fdata-sections
TGT_CFLAGS += -Wextra -Wshadow -Wno-unused-variable -Wimplicit-function-declaration
TGT_CFLAGS += -Wredundant-decls -Wstrict-prototypes -Wmissing-prototypes
TGT_CXXFLAGS += $(OPT) $(CXXSTD) -ggdb3
TGT_CXXFLAGS += $(ARCH_FLAGS)
TGT_CXXFLAGS += -fno-common
TGT_CXXFLAGS += -ffunction-sections -fdata-sections
TGT_CXXFLAGS += -Wextra -Wshadow -Wredundant-decls -Weffc++
TGT_ASFLAGS += $(OPT) $(ARCH_FLAGS) -ggdb3
TGT_LDFLAGS += -T$(LDSCRIPT) -L$(OPENCM3_DIR)/lib -nostartfiles
TGT_LDFLAGS += $(ARCH_FLAGS)
TGT_LDFLAGS += -specs=nano.specs
TGT_LDFLAGS += -Wl,--gc-sections
# OPTIONAL
#TGT_LDFLAGS += -Wl,-Map=$(PROJECT).map
ifeq ($(V),99)
TGT_LDFLAGS += -Wl,--print-gc-sections
endif
# Linker script generator fills this in for us.
# 注: 判断变量是否为空的格式 ifeq ($(TEST),) TEST := $(something else) endif
ifeq (,$(DEVICE))
LDLIBS += -l$(OPENCM3_LIB)
endif
# nosys is only in newer gcc-arm-embedded...
#LDLIBS += -specs=nosys.specs
LDLIBS += -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
# Burn in legacy hell fortran modula pascal yacc idontevenwat
.SUFFIXES:
.SUFFIXES: .c .S .h .o .cxx .elf .bin .list .lss
# Bad make, never *ever* try to get a file out of source control by yourself.
%: %,v
%: RCS/%,v
%: RCS/%
%: s.%
%: SCCS/s.%
# 注: 默认目标, 需要产生项目elf和bin文件
all: $(PROJECT).elf $(PROJECT).bin
# 注: flash目标, 需要 项目.flash, 会定向到 %.flash 任务
flash: $(PROJECT).flash
# error if not using linker script generator
ifeq (,$(DEVICE))
$(LDSCRIPT):
ifeq (,$(wildcard $(LDSCRIPT)))
$(error Unable to find specified linker script: $(LDSCRIPT))
endif
else
# if linker script generator was used, make sure it's cleaned.
# 将 ld 文件加入二进制文件列表, 用于 clean 的时候清除
GENERATED_BINS += $(LDSCRIPT)
endif
# Need a special rule to have a bin dir
# 注: 匹配 BUILD_DIR 目录下的 .o 文件目标, 检查 .c 文件, 并对应的调用 CC 进行编译
# 匹配规则和优先级顺序参考 GNU Make 手册的 10.5.4 How Patterns Match
$(BUILD_DIR)/%.o: %.c
@printf " CC\t$<\n"
@mkdir -p $(dir $@)
$(Q)$(CC) $(TGT_CFLAGS) $(CFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
$(BUILD_DIR)/%.o: %.cxx
@printf " CXX\t$<\n"
@mkdir -p $(dir $@)
$(Q)$(CXX) $(TGT_CXXFLAGS) $(CXXFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
$(BUILD_DIR)/%.o: %.S
@printf " AS\t$<\n"
@mkdir -p $(dir $@)
$(Q)$(CC) $(TGT_ASFLAGS) $(ASFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
# 注: LIBDEPS 定义在 genlink-config.mk, 指向 libopencm3/lib/libopencm3_xxxx.a 文件,
# 根据设置的 DEVICE 不同, 名称不同
$(PROJECT).elf: $(OBJS) $(LDSCRIPT) $(LIBDEPS)
@printf " LD\t$@\n"
$(Q)$(LD) $(TGT_LDFLAGS) $(LDFLAGS) $(OBJS) $(LDLIBS) -o $@
# 注: 用 .elf 文件生成 .bin 文件
%.bin: %.elf
@printf " OBJCOPY\t$@\n"
$(Q)$(OBJCOPY) -O binary $< $@
%.lss: %.elf
$(OBJDUMP) -h -S $< > $@
%.list: %.elf
$(OBJDUMP) -S $< > $@
# 注: 烧录
%.flash: %.elf
@printf " FLASH\t$<\n"
ifeq (,$(OOCD_FILE))
$(Q)(echo "halt; program $(realpath $(*).elf) verify reset" | nc -4 localhost 4444 2>/dev/null) || \
$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
-f target/$(OOCD_TARGET).cfg \
-c "program $(realpath $(*).elf) verify reset exit" \
$(NULL)
else
$(Q)(echo "halt; program $(realpath $(*).elf) verify reset" | nc -4 localhost 4444 2>/dev/null) || \
$(OOCD) -f $(OOCD_FILE) \
-c "program $(realpath $(*).elf) verify reset exit" \
$(NULL)
endif
clean:
rm -rf $(BUILD_DIR) $(GENERATED_BINS)
.PHONY: all clean flash
-include $(OBJS:.o=.d)
my-project 的 Makefile
用户项目的 Makefile 主要用于定义一些路径和名称变量, 最后是引用 genlink-config.mk, rules.mk, genlink-rules.mk 这三个文件进行编译
# 注: 设置项目输出的固件文件名
PROJECT = awesomesauce
# 注: 编译中间产物的存放目录
BUILD_DIR = bin
# 注: 下面会将这个目录设置为 VPATH, 用于放置共用代码或其它的库
SHARED_DIR = ../my-common-code
# 注: 编译项目时需要添加的C文件
CFILES = my-project.c
CFILES += api.c
# 注: 汇编文件
AFILES += api-asm.S
# TODO - you will need to edit these two lines!
# 注: MCU型号, 用于生成ld文件
DEVICE=stm32f103c6t6
# 注: 用于 openocd 下载和调试的配置文件, 如果不用 openocd, 可以不管
OOCD_FILE = board/stm32f4discovery.cfg
# 注: 如果不设置PATH, 这里要把工具链的路径加上
PREFIX ?= /opt/gcc-arm/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-
# You shouldn't have to edit anything below here.
VPATH += $(SHARED_DIR)
# 注: 头文件路径, libopencm3在rules.mk中会包含, 这里不需要写
INCLUDES += $(patsubst %,-I%, . $(SHARED_DIR))
OPENCM3_DIR=../libopencm3
include $(OPENCM3_DIR)/mk/genlink-config.mk
include ../rules.mk
include $(OPENCM3_DIR)/mk/genlink-rules.mk
参考
- Makefile cheatsheet https://devhints.io/makefile