无刷电机小车开发记录02——BSP导入RT-Thread Studio

RTThread物联网操作系统 2023-09-05 973

描述

前情提要

上一篇文章记录了一下如何创建GD32E503的BSP。但由于时间关系只实现了MDK版本的工程模板，后面如果需要提交BSP时再去补全IAR版本的。但对于我个人而言，IAR只在读书时玩蓝牙开发的时候用过，而MDK虽然用的比较多但最近几年也很少用了。感觉还是VSCode等编辑器用起来更舒服一些，而对于RTT系统的开发，我个人还是更倾向于使用官方的RTThreadStudioIDE进行开发。于是今天想想办法怎么移到RTTStudio上去。

面临的问题

上篇文章已经发现，目前官方的固件库竟然没有GCC版本的启动文件，所以要想办法弄个启动文件
RTTStudio自带的GCC编译器版本太老，不支持编译M33内核，所以要升级GCC
计划用开源的DAP调试器进行调试，但同样RTTStudio自带的pyocd调试工具版本太老，需要升级

添加GCC版本的启动文件

拷贝启动文件模板

从GD32F4xx固件包内把GCC文件夹拷贝到新添加的GDE50x固件包的对应位置，并把汇编文件名称修改为gd32e50x的，注意，GD32E50x分了高密度版（hd）和互联版(cl)，我这里暂且只修改了一份我用到的高密度版本的。cl版本的也类似修改即可。

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修改启动文件

众所周知，汇编的启动文件要干的事情就是做一些芯片启动的前期初始化工作，搭建C代码的运行环境。所以这里也并不需要对照汇编指令，把每条语句的功能都搞明白，只需大致了解一下即可。一眼望去，感觉这个汇编文件主要做了三大事情。

第一，定义中断向量；

第二，定义启动入口；

第三，声明中断函数。

而启动入口相关的不用修改，都是先调用SystemInit函数做一些时钟等基础初始化，然后再调用entry或者main函数执行后续的代码。

所以这里主要修改的就是中断向量的定义和中断函数的声明，按照armcc版本的进行修改即可：

1; * Copyright (c) 2006-2021, RT-Thread Development Team 2; * 3; * SPDX-License-Identifier: Apache-2.0 4; * 5; * Change Logs: 6; * Date Author Notes 7; * 2018-05-22 tanek first implementation 8; */ 9.syntax unified 10.cpu cortex-m33 11.fpu softvfp 12.thumb 13.global g_pfnVectors 14.global Default_Handler 15 .section .isr_vector,"a",%progbits 16 .type g_pfnVectors, %object 17g_pfnVectors: 18 .word _estack // Top of Stack 19 .word Reset_Handler // Reset Handler 20 .word NMI_Handler // NMI Handler 21 .word HardFault_Handler // Hard Fault Handler 22 .word MemManage_Handler // MPU Fault Handler 23 .word BusFault_Handler // Bus Fault Handler 24 .word UsageFault_Handler // Usage Fault Handler 25 .word 0 // Reserved 26 .word 0 // Reserved 27 .word 0 // Reserved 28 .word 0 // Reserved 29 .word SVC_Handler // SVCall Handler 30 .word DebugMon_Handler // Debug Monitor Handler 31 .word 0 // Reserved 32 .word PendSV_Handler // PendSV Handler 33 .word SysTick_Handler // SysTick Handler 34 // external interrupts handler 35 .word WWDGT_IRQHandler // 16:Window Watchdog Timer 36 .word LVD_IRQHandler // 17:LVD through EXTI Line detect 37 .word TAMPER_IRQHandler // 18:Tamper through EXTI Line detect 38 .word RTC_IRQHandler // 19:RTC through EXTI Line 39 .word FMC_IRQHandler // 20:FMC 40 .word RCU_CTC_IRQHandler // 21:RCU and CTC 41 .word EXTI0_IRQHandler // 22:EXTI Line 0 42 .word EXTI1_IRQHandler // 23:EXTI Line 1 43 .word EXTI2_IRQHandler // 24:EXTI Line 2 44 .word EXTI3_IRQHandler // 25:EXTI Line 3 45 .word EXTI4_IRQHandler // 26:EXTI Line 4 46 .word DMA0_Channel0_IRQHandler // 27:DMA0 Channel0 47 .word DMA0_Channel1_IRQHandler // 28:DMA0 Channel1 48 .word DMA0_Channel2_IRQHandler // 29:DMA0 Channel2 49 .word DMA0_Channel3_IRQHandler // 30:DMA0 Channel3 50 .word DMA0_Channel4_IRQHandler // 31:DMA0 Channel4 51 .word DMA0_Channel5_IRQHandler // 32:DMA0 Channel5 52 .word DMA0_Channel6_IRQHandler // 33:DMA0 Channel6 53 .word ADC0_1_IRQHandler // 34:ADC0 and ADC1 54 .word USBD_HP_CAN0_TX_IRQHandler // 35:USBD HP or CAN0 TX 55 .word USBD_LP_CAN0_RX0_IRQHandler // 36:USBD LP or CAN0 RX0 56 .word CAN0_RX1_IRQHandler // 37:CAN0 RX1 57 .word CAN0_EWMC_IRQHandler // 38:CAN0 EWMC 58 .word EXTI5_9_IRQHandler // 39:EXTI5 to EXTI9 59 .word TIMER0_BRK_TIMER8_IRQHandler // 40:TIMER0 Break and TIMER8 60 .word TIMER0_UP_TIMER9_IRQHandler // 41:TIMER0 Update and TIMER9 61 .word TIMER0_TRG_CMT_TIMER10_IRQHandler // 42:TIMER0 Trigger and Commutation and TIMER10 62 .word TIMER0_Channel_IRQHandler // 43:TIMER0 Channel Capture Compare 63 .word TIMER1_IRQHandler // 44:TIMER1 64 .word TIMER2_IRQHandler // 45:TIMER2 65 .word TIMER3_IRQHandler // 46:TIMER3 66 .word I2C0_EV_IRQHandler // 47:I2C0 Event 67 .word I2C0_ER_IRQHandler // 48:I2C0 Error 68 .word I2C1_EV_IRQHandler // 49:I2C1 Event 69 .word I2C1_ER_IRQHandler // 50:I2C1 Error 70 .word SPI0_IRQHandler // 51:SPI0 71 .word SPI1_I2S1ADD_IRQHandler // 52:SPI1 or I2S1ADD 72 .word USART0_IRQHandler // 53:USART0 73 .word USART1_IRQHandler // 54:USART1 74 .word USART2_IRQHandler // 55:USART2 75 .word EXTI10_15_IRQHandler // 56:EXTI10 to EXTI15 76 .word RTC_Alarm_IRQHandler // 57:RTC Alarm 77 .word USBD_WKUP_IRQHandler // 58:USBD Wakeup 78 .word TIMER7_BRK_TIMER11_IRQHandler // 59:TIMER7 Break and TIMER11 79 .word TIMER7_UP_TIMER12_IRQHandler // 60:TIMER7 Update and TIMER12 80 .word TIMER7_TRG_CMT_TIMER13_IRQHandler // 61:TIMER7 Trigger and Commutation and TIMER13 81 .word TIMER7_Channel_IRQHandler // 62:TIMER7 Channel Compare 82 .word ADC2_IRQHandler // 63:ADC2 83 .word EXMC_IRQHandler // 64:EXMC 84 .word SDIO_IRQHandler // 65:SDIO 85 .word TIMER4_IRQHandler // 66:TIMER4 86 .word SPI2_I2S2ADD_IRQHandler // 67:SPI2 or I2S2ADD 87 .word UART3_IRQHandler // 68:UART3 88 .word UART4_IRQHandler // 69:UART4 89 .word TIMER5_DAC_IRQHandler // 70:TIMER5 and DAC0 DAC1 Underrun error 90 .word TIMER6_IRQHandler // 71:TIMER6 91 .word DMA1_Channel0_IRQHandler // 72:DMA1 Channel0 92 .word DMA1_Channel1_IRQHandler // 73:DMA1 Channel1 93 .word DMA1_Channel2_IRQHandler // 74:DMA1 Channel2 94 .word DMA1_Channel3_4_IRQHandler // 75:DMA1 Channel3 and Channel4 95 .word 0 // 76:Reserved 96 .word 0 // 77:Reserved 97 .word 0 // 78:Reserved 98 .word CAN1_TX_IRQHandler // 79:CAN1 TX 99 .word CAN1_RX0_IRQHandler // 80:CAN1 RX0 100 .word CAN1_RX1_IRQHandler // 81:CAN1 RX1 101 .word CAN1_EWMC_IRQHandler // 82:CAN1 EWMC 102 .word 0 // 83:Reserved 103 .word 0 // 84:Reserved 104 .word SHRTIMER_IRQ2_IRQHandler // 85:SHRTIMER IRQ2 105 .word SHRTIMER_IRQ3_IRQHandler // 86:SHRTIMER IRQ3 106 .word SHRTIMER_IRQ4_IRQHandler // 87:SHRTIMER IRQ4 107 .word SHRTIMER_IRQ5_IRQHandler // 88:SHRTIMER IRQ5 108 .word SHRTIMER_IRQ6_IRQHandler // 89:SHRTIMER IRQ6 109 .word 0 // 90:Reserved 110 .word 0 // 91:Reserved 111 .word SHRTIMER_IRQ0_IRQHandler // 92:SHRTIMER IRQ0 112 .word SHRTIMER_IRQ1_IRQHandler // 93:SHRTIMER IRQ1 113 .word 0 // 94:Reserved 114 .word 0 // 95:Reserved 115 .word 0 // 96:Reserved 116 .word 0 // 97:Reserved 117 .word I2C2_EV_IRQHandler // 98:I2C2 Event 118 .word I2C2_ER_IRQHandler // 99:I2C2 Error 119 .word USART5_IRQHandler // 100:USART5 120 .word I2C2_WKUP_IRQHandler // 101:I2C2 Wakeup 121 .word USART5_WKUP_IRQHandler // 102:USART5 Wakeup 122 .word 0 // 103:Reserved 123 .size g_pfnVectors, .-g_pfnVectors 124 .section .text.Reset_Handler 125 .weak Reset_Handler 126 .type Reset_Handler, %function 127Reset_Handler: 128 ldr r1, =_sidata 129 ldr r2, =_sdata 130 ldr r3, =_edata 131 subs r3, r2 132 ble fill_bss_start 133loop_copy_data: 134 subs r3, #4 135 ldr r0, [r1,r3] 136 str r0, [r2,r3] 137 bgt loop_copy_data 138fill_bss_start: 139 ldr r1, =__bss_start 140 ldr r2, =__bss_end 141 movs r0, 0 142 subs r2, r1 143 ble startup_enter 144loop_fill_bss: 145 subs r2, #4 146 str r0, [r1, r2] 147 bgt loop_fill_bss 148startup_enter: 149 bl SystemInit 150 bl entry 151 /* Exception Handlers */ 152 .weak NMI_Handler 153 .type NMI_Handler, %function 154NMI_Handler: 155 b . 156 .size NMI_Handler, . - NMI_Handler 157 .weak MemManage_Handler 158 .type MemManage_Handler, %function 159MemManage_Handler: 160 b . 161 .size MemManage_Handler, . - MemManage_Handler 162 .weak BusFault_Handler 163 .type BusFault_Handler, %function 164BusFault_Handler: 165 b . 166 .size BusFault_Handler, . - BusFault_Handler 167 .weak UsageFault_Handler 168 .type UsageFault_Handler, %function 169UsageFault_Handler: 170 b . 171 .size UsageFault_Handler, . - UsageFault_Handler 172 .weak SVC_Handler 173 .type SVC_Handler, %function 174SVC_Handler: 175 b . 176 .size SVC_Handler, . - SVC_Handler 177 .weak DebugMon_Handler 178 .type DebugMon_Handler, %function 179DebugMon_Handler: 180 b . 181 .size DebugMon_Handler, . - DebugMon_Handler 182 .weak PendSV_Handler 183 .type PendSV_Handler, %function 184PendSV_Handler: 185 b . 186 .size PendSV_Handler, . - PendSV_Handler 187 .weak SysTick_Handler 188 .type SysTick_Handler, %function 189SysTick_Handler: 190 b . 191 .size SysTick_Handler, . - SysTick_Handler 192 /* IQR Handler */ 193 .section .text.Default_Handler,"ax",%progbits 194 .type Default_Handler, %function 195Default_Handler: 196 b . 197 .size Default_Handler, . - Default_Handler 198 .macro IRQ handler 199 .weak handler 200 .set handler, Default_Handler 201 .endm 202 IRQ WWDGT_IRQHandler 203 IRQ LVD_IRQHandler 204 IRQ TAMPER_IRQHandler 205 IRQ RTC_IRQHandler 206 IRQ FMC_IRQHandler 207 IRQ RCU_CTC_IRQHandler 208 IRQ EXTI0_IRQHandler 209 IRQ EXTI1_IRQHandler 210 IRQ EXTI2_IRQHandler 211 IRQ EXTI3_IRQHandler 212 IRQ EXTI4_IRQHandler 213 IRQ DMA0_Channel0_IRQHandler 214 IRQ DMA0_Channel1_IRQHandler 215 IRQ DMA0_Channel2_IRQHandler 216 IRQ DMA0_Channel3_IRQHandler 217 IRQ DMA0_Channel4_IRQHandler 218 IRQ DMA0_Channel5_IRQHandler 219 IRQ DMA0_Channel6_IRQHandler 220 IRQ ADC0_1_IRQHandler 221 IRQ USBD_HP_CAN0_TX_IRQHandler 222 IRQ USBD_LP_CAN0_RX0_IRQHandler 223 IRQ CAN0_RX1_IRQHandler 224 IRQ CAN0_EWMC_IRQHandler 225 IRQ EXTI5_9_IRQHandler 226 IRQ TIMER0_BRK_TIMER8_IRQHandler 227 IRQ TIMER0_UP_TIMER9_IRQHandler 228 IRQ TIMER0_TRG_CMT_TIMER10_IRQHandler 229 IRQ TIMER0_Channel_IRQHandler 230 IRQ TIMER1_IRQHandler 231 IRQ TIMER2_IRQHandler 232 IRQ TIMER3_IRQHandler 233 IRQ I2C0_EV_IRQHandler 234 IRQ I2C0_ER_IRQHandler 235 IRQ I2C1_EV_IRQHandler 236 IRQ I2C1_ER_IRQHandler 237 IRQ SPI0_IRQHandler 238 IRQ SPI1_I2S1ADD_IRQHandler 239 IRQ USART0_IRQHandler 240 IRQ USART1_IRQHandler 241 IRQ USART2_IRQHandler 242 IRQ EXTI10_15_IRQHandler 243 IRQ RTC_Alarm_IRQHandler 244 IRQ USBD_WKUP_IRQHandler 245 IRQ TIMER7_BRK_TIMER11_IRQHandler 246 IRQ TIMER7_UP_TIMER12_IRQHandler 247 IRQ TIMER7_TRG_CMT_TIMER13_IRQHandler 248 IRQ TIMER7_Channel_IRQHandler 249 IRQ ADC2_IRQHandler 250 IRQ EXMC_IRQHandler 251 IRQ SDIO_IRQHandler 252 IRQ TIMER4_IRQHandler 253 IRQ SPI2_I2S2ADD_IRQHandler 254 IRQ UART3_IRQHandler 255 IRQ UART4_IRQHandler 256 IRQ TIMER5_DAC_IRQHandler 257 IRQ TIMER6_IRQHandler 258 IRQ DMA1_Channel0_IRQHandler 259 IRQ DMA1_Channel1_IRQHandler 260 IRQ DMA1_Channel2_IRQHandler 261 IRQ DMA1_Channel3_4_IRQHandler 262 IRQ CAN1_TX_IRQHandler 263 IRQ CAN1_RX0_IRQHandler 264 IRQ CAN1_RX1_IRQHandler 265 IRQ CAN1_EWMC_IRQHandler 266 IRQ SHRTIMER_IRQ2_IRQHandler 267 IRQ SHRTIMER_IRQ3_IRQHandler 268 IRQ SHRTIMER_IRQ4_IRQHandler 269 IRQ SHRTIMER_IRQ5_IRQHandler 270 IRQ SHRTIMER_IRQ6_IRQHandler 271 IRQ SHRTIMER_IRQ0_IRQHandler 272 IRQ SHRTIMER_IRQ1_IRQHandler 273 IRQ I2C2_EV_IRQHandler 274 IRQ I2C2_ER_IRQHandler 275 IRQ USART5_IRQHandler 276 IRQ I2C2_WKUP_IRQHandler 277 IRQ USART5_WKUP_IRQHandler

导入RTTStudioIDE

导入工程

有了GCC版本的启动文件，那不妨先用RTTStudio导入一下工程，然后再根据错误想办法解决。点击“文件”菜单内的“导入”图标，打开导入对话框：

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选择“RT-Thread Bsp到工作空间中”，然后点击下一步按钮：

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根据自己的实际情况填写内容，然后点击“完成按钮”进行导入：

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如下是我导入后的项目资源列表，会把所需的内容都拷贝到工程内部：

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编译根据错误解决问题

不妨先编译一下工程，发现报了一些错误，这是必然的，因为还有很多操作没做呢。那首当其冲的错误就是如下的GCC不支持m33内核的问题。

1arm-none-eabi-gcc: error: unrecognized argument in option '-mcpu=cortex-m33+nodsp' 2arm-none-eabi-gcc: note: valid arguments to '-mcpu=' are: arm1020e arm1020t arm1022e arm1026ej-s arm10e arm10tdmi arm1136j-s arm1136jf-s arm1156t2-s arm1156t2f-s arm1176jz-s arm1176jzf-s arm2 arm250 arm3 arm6 arm60 arm600 arm610 arm620 arm7 arm70 arm700 arm700i arm710 arm7100 arm710c arm710t arm720 arm720t arm740t arm7500 arm7500fe arm7d arm7di arm7dm arm7dmi arm7m arm7tdmi arm7tdmi-s arm8 arm810 arm9 arm920 arm920t arm922t arm926ej-s arm940t arm946e-s arm966e-s arm968e-s arm9e arm9tdmi cortex-a12 cortex-a15 cortex-a15.cortex-a7 cortex-a17 cortex-a17.cortex-a7 cortex-a5 cortex-a53 cortex-a57 cortex-a57.cortex-a53 cortex-a7 cortex-a72 cortex-a72.cortex-a53 cortex-a8 cortex-a9 cortex-m0 cortex-m0.small-multiply cortex-m0plus cortex-m0plus.small-multiply cortex-m1 cortex-m1.small-multiply cortex-m3 cortex-m4 cortex-m7 cortex-r4 cortex-r4f cortex-r5 cortex-r7 cortex-r8 ep9312 exynos-m1 fa526 fa606te fa626 fa626te fa726te fmp626 generic-armv7-a iwmmxt iwmmxt2 marvell-pj4 mpcore mpcorenovfp native strongarm strongarm110 strongarm1100 strongarm1110 xgene1 xscale 3make: *** [rt-thread/src/subdir.mk rt-thread/src/clock.o] Error 1

更新GCC

去arm官网，下载最新版本的gcc-arm-none-eabi:

GCC下载地址: https://developer.arm.com/downloads/-/gnu-rm

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把解压后的GCC文件夹拷贝到RTTStudio的GCC工具路径内，为了减小点路径长度，可以把文件夹名字重命名为”10.3”:

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点击“构建配置”工具图标，打开配置对话框，在“设置”栏的“Toolchains”图页内就可以配置GCC相关信息了。GCC应该是向下兼容的，这里不妨选择”global”进行全局设置：

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点击“浏览”按钮，选择刚加入的GCC工具路径，要选择到里面的bin级目录：

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添加“cmsis_gcc.h”头文件

点击“应用并关闭”按钮，完成修改，再次编译，发现之前不支持M33内核的错误不见了。不过错误反而变多了，也很正常，因为之前就没进行到GCC编译这一步，很多错误自然出现不了，不用着急，先看第一个错误：

1D:RT-ThreadStudioworkspaceFOC_MiniCarlibrariesGD32E50x_Firmware_LibraryCMSIS/cmsis_compiler.h:54:12: fatal error: cmsis_gcc.h: No such file or directory 2 54 | #include "cmsis_gcc.h"

报的是固件库缺少“cmsis_gcc.h”文件。也对，官方固件并没有做GCC的支持，怎么会有这个头文件呢。那继续从其它固件那里拷贝一份到当前工程内即可，当然为了之前做的BSP的完整性，也可以同时往其对应位置拷贝一份：

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再次编译，呕吼！错误更多了，依然不急，先看第一个错误：

1D:RT-ThreadStudioworkspaceFOC_MiniCarlibrariesGD32E50x_Firmware_LibraryCMSIS/core_cm33.h:2668:10: fatal error: mpu_armv8.h: No such file or directory 2 2668 | #include "mpu_armv8.h"

提示找不到”mpu_armv8.h”头文件。这里比较奇怪，m33内核确实属于armv8架构，但官方固件库内却找不到此头文件，倒是在其它的BSP内搜到了此头文件，于是随便拷贝一个到工程内即可，比如我是从瑞萨的一个BSP内拷贝的。当然，这里也可以关掉mpu的配置宏，不用mpu。

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