通过stm32f103c8t6和MPU9250控制的智能稳定照明灯(源码+文档)

# 开发环境说明 ## IDE等 - 开发IDE： VSCODE - 编译软件： arm-none-eabi-gcc, cmake ubuntu下安装： apt install arm-none-eabi-gcc - 烧录软件1: stlink ```shell # 安装依赖 $ sudo apt-get install libusb-1.0 $ sudo apt-get install cmake $ sudo apt-get install libgtk-3-dev $ sudo apt install libreadline-dev # 安装JLink $ git clone https://github.com/stlink-org/stlink $ cd stlink $ cmake $ make $ cd bin $ sudo cp st-* /usr/local/bin $ sudo cp -r ../../config/chips /usr/local/share/stlink $ cd ../lib $ sudo cp *.so* /lib32 $ cd ../.. $ sudo cp config/udev/rules.d/49-stlinkv* /etc/udev/rules.d/ $ sudo apt install stlink-tools $ sudo apt install stlink-gui $ st-flash --version v1.7.0 # 安装flymcu $ sudo apt-get install stm32flash ``` ## 编译 ```shell $ 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 6月 11 23:15 . drwxrwxr-x 6 eagle 4.0K 6月 11 23:15 .. -rwxrwxr-x 1 eagle 18K 6月 11 23:15 gimbal.bin -rwxrwxr-x 1 eagle 360K 6月 11 23:15 gimbal.elf -rw-rw-r-- 1 eagle 51K 6月 11 23:15 gimbal.hex -rw-rw-r-- 1 eagle 433K 6月 11 23:15 gimbal.lss -rw-rw-r-- 1 eagle 213K 6月 11 23:15 gimbal.map drwxrwxr-x 11 eagle 4.0K 6月 11 23:15 CMakeFiles -rw-rw-r-- 1 eagle 1017 1月 14 08:26 cmake_install.cmake -rw-rw-r-- 1 eagle 27K 1月 14 08:26 Makefile ``` ## 烧录 方式一： ST-LINK ``` $ cd src $ sudo st-flash write gimbal.bin 0x8000000 ``` 或者打开st-link软件，点击连接，选择gimbal.bin文件，点击烧录按钮。  方式2：flymcu的stm32flash 需要boot0置1， boot1置0不动。 ```shell # boot0跳线置1 $ sudo stm32flash -w gimbal.hex -v -g 0x0 /dev/ttyUSB0 ``` 完成烧录后再将boot0跳线改回置0 ## 依赖 依赖： python3, python-pip3, python serial 安装python serial: https://www.geeksforgeeks.org/how-to-install-python-serial-package-on-linux/ 如果执行报错： usr/bin/env: ‘python’: No such file or directory 执行以下命令解决： sudo ln -s /usr/bin/python3 /usr/bin/python - 串口调试工具： comtool 安装： sudo pipe3 install comtool # 问题与注意事项 - 1 中控的中断优先级一定要设置正确，否则有诡异问题。UART2的中断优先级要低于configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY配置（即数字比这个大）。另外一定要加这句： ```C NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); /* 设置优先级分组为4组，即抢占优先级范围为0-15 */ ``` - 2 使用串口工具进行命令下发调试时，注意一定要在命令后面带上换行符，因为命令接收以换行符为结束标识，没有换行符会一直收集命令。 # 参考 https://github.com/larriti/stm32f10x-template https://github.com/erhankur/stm32f103-bluepill # CMake-based STM32F103C8 Template (Blue Pill) --- Based on https://github.com/ahessling/STM32F4Template As an addition; * style fixer tool (astyle) can be use 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 ```