为ALIENTEK 阿波罗STM32F429开发板移植openvela(精简版)

本文介绍了为ALIENTEK阿波罗STM32F429开发板移植openvela操作系统的过程。

enuaaHD

309人浏览 · 2026-03-27 23:41:52

enuaaHD · 2026-03-27 23:41:52 发布

为ALIENTEK 阿波罗STM32F429开发板移植openvela(精简版)

本指南（参考为STM32F407 开发板移植 openvela）详细介绍了如何为 ALIENTEK 阿波罗STM32F429开发板（后文简称“开发板”）移植openvela 操作系统。核心板的主控芯片为 STM32F429IGT6。由于 NuttX 官方已提供对 STM32F429I 系列芯片的支持，本指南将重点阐述板级支持包（Board Support Package, BSP）的适配过程。

文章目录

为ALIENTEK 阿波罗STM32F429开发板移植openvela(精简版)

准备工作

在开始之前，请确保您已完成以下准备工作：

获取源码：参考文档快速入门下载最新代码。
了解 openvela 架构：建议您预先阅读 openvela 架构以理解其分层设计。
查阅系统启动流程文档，获取更详细的启动时序和函数调用关系图。
准备好硬件及配套软件。

一、移植原理与启动流程

openvela 的移植本质上是为操作系统框架提供一套与特定硬件交互的接口。这些接口构成了板级支持包（BSP），它位于 nuttx/boards/ 目录下。本指南将通过实现一个最小功能的 BSP，让openvela在开发板上启动并运行。

关键启动函数

openvela 在启动过程中，会按照特定顺序调用一系列由 BSP 提供的函数来完成硬件初始化。要成功启动系统，您必须在 BSP 中实现以下关键函数：

函数	描述
void stm32_boardinitialize(void)	由系统启动代码 __start 调用。这是最早执行的板级初始化函数，用于配置最基础的硬件，如时钟和调试串口。
void board_late_initialize(void)	如果配置了 CONFIG_BOARD_LATE_INITIALIZE，此函数会在 OS 初始化后期被调用，通常用于初始化那些依赖 OS 服务的驱动。
int stm32_bringup(void)	如果配置 CONFIG_BOARD_LATE_INITIALIZE 选项，由 board_late_initialize() 调用；如果没有配置 CONFIG_BOARD_LATE_INITIALIZE 选项，由 board_app_initialize(arg) 调用。在 stm32_bringup 里将实现驱动的初始化。
int board_app_initialize(uintptr_t arg)	由 boardctl() 接口通过 BOARDIOC_INIT 命令触发，用于执行应用层或用户自定义的初始化。

此外，如果您的系统配置CONFIG_ARCH_LEDS用于显示系统状态（如启动、Panic），则还需要实现以下函数：

函数	描述
void board_autoled_initialize(void)	初始化用于系统状态指示的 LED 引脚，通常设置为 GPIO 输出模式。
void board_autoled_on(int led)	根据系统状态（如 LED_STARTED）点亮指定的 LED。
void board_autoled_off(int led)	根据系统状态（如 LED_PANIC 结束）熄灭指定的 LED。

硬件配置：时钟与引脚

除了实现函数接口，您还需要在板级头文件board.h中定义宏，以配置 STM32 的时钟树、外设引脚功能等。这些宏将被芯片级的驱动代码（如 stm32_rcc.c）使用。
以下是开发板时钟树的配置示例，它描述了如何将 25MHz 的外部高速晶振（HSE）通过 PLL 倍频至 168MHz 作为系统主时钟（SYSCLK）。

/* Clocking *****************************************************************/

/* The APOLLO Discovery board features a single 25MHz crystal.

 *  Space is provided for a 32kHz RTC backup crystal, but it is not stuffed.
    *
 *  This is the canonical configuration:
 *  System Clock source           : PLL (HSE)
 *  SYSCLK(Hz)                    : 168000000    Determined by PLL
 *  configuration
 *  HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
 *  AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
 *  APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
 *  APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
 *  HSE Frequency(Hz)             : 25000000     (STM32_BOARD_XTAL)
 *  PLLM                          : 25           (STM32_PLLCFG_PLLM)
 *  PLLN                          : 336          (STM32_PLLCFG_PLLN)
 *  PLLP                          : 2            (STM32_PLLCFG_PLLP)
 *  PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
 *  Main regulator output voltage : Scale1 mode  Needed for high speed
 *  SYSCLK
 *  Flash Latency(WS)             : 5
 *  Prefetch Buffer               : OFF
 *  Instruction cache             : ON
 *  Data cache                    : ON
 *  Require 48MHz for USB OTG FS, : Enabled
 *  SDIO and RNG clock
 */

二、代码实现步骤

本节将指导您完成本项目的文件创建和代码编写。

1.创建代码目录结构

首先，在nuttx/boards/arm/stm32/目录下，创建一个名为 apollo-stm32f429i的新目录，并建立如下的子目录和文件结构。
代码路径: nuttx/boards/arm/stm32/apollo-stm32f429i/

apollo-stm32f429i
├── CMakeLists.txt
├── configs                           # defconfig 配置路径
│   └── nsh
│       └── defconfig                 # NuttShell (NSH) 的默认配置
├── include
│   └── board.h                       # 板级硬件配置头文件
├── Kconfig                           # 板级 Kconfig 配置文件
├── scripts                           # 链接脚本
│   ├── ld.script                     # 链接器脚本
│   └── Make.defs                     # 板级 Make 定义
└── src
    ├── CMakeLists.txt
    ├── Make.defs
    ├── stm32_appinit.c               # 实现 board_app_initialize
    ├── stm32_autoleds.c              # 实现系统状态 LED 控制
    ├── stm32_boot.c                  # 实现 stm32_boardinitialize
    ├── stm32_bringup.c               # 实现驱动初始化
    ├── apollo-stm32f429i.h           # 板级私有头文件，定义 GPIO
    └── stm32_userleds.c              # 实现用户层 LED 驱动接口

2.实现核心初始化函数

在 src/ 目录下，您需要创建并填充以下 C 文件。

`stm32_boot.c`：早期硬件初始化

此文件负责实现 stm32_boardinitialize()，用于在系统启动的最初阶段配置必要的硬件。

/****************************************************************************
 * boards/arm/stm32/apollo-stm32f429i/src/stm32_boot.c
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <debug.h>

#include <nuttx/board.h>
#include <arch/board/board.h>

#include "arm_internal.h"
#include "apollo-stm32f429i.h"
#include "stm32_ccm.h"

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: stm32_boardinitialize
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.
 *   This entry point is called early in the initialization -- after all
 *   memory has been configured and mapped but before any devices have been
 *   initialized.
 *
 ****************************************************************************/

void stm32_boardinitialize(void)
{

#ifdef CONFIG_ARCH_LEDS
  /* Configure on-board LEDs if LED support has been selected. */

  board_autoled_initialize();
#endif
}

/****************************************************************************
 * Name: board_late_initialize
 *
 * Description:
 *   If CONFIG_BOARD_LATE_INITIALIZE is selected, then an additional
 *   initialization call will be performed in the boot-up sequence to a
 *   function called board_late_initialize(). board_late_initialize() will be
 *   called immediately after up_initialize() is called and just before the
 *   initial application is started.  This additional initialization phase
 *   may be used, for example, to initialize board-specific device drivers.
 *
 ****************************************************************************/

#ifdef CONFIG_BOARD_LATE_INITIALIZE
void board_late_initialize(void)
{
  /* Perform board-specific initialization */

  stm32_bringup();
}
#endif

`stm32_bringup.c`：设备驱动初始化

此文件中的 stm32_bringup() 函数负责初始化并注册所有板载设备的驱动程序。

/****************************************************************************
 * boards/arm/stm32/apollo-stm32f429i/src/stm32_bringup.c
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>

#include <nuttx/board.h>
#include <nuttx/fs/fs.h>
#include <nuttx/kmalloc.h>

#include "stm32.h"
#include "apollo-stm32f429i.h"

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: stm32_bringup
 *
 * Description:
 *   Perform architecture-specific initialization
 *
 *   CONFIG_BOARD_LATE_INITIALIZE=y :
 *     Called from board_late_initialize().
 *
 *   CONFIG_BOARD_LATE_INITIALIZE=y && CONFIG_BOARDCTL=y :
 *     Called from the NSH library
 *
 ****************************************************************************/

int stm32_bringup(void)
{
  int ret;

#ifdef HAVE_PROC
  /* mount the proc filesystem */

  ret = nx_mount(NULL, CONFIG_NSH_PROC_MOUNTPOINT, "procfs", 0, NULL);
  if (ret < 0)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to mount the PROC filesystem: %d\n", ret);
      return ret;
    }
#endif
    
  UNUSED(ret);
  return OK;
}

`stm32_appinit.c`：应用初始化桥梁

主要实现 int board_app_initialize(uintptr_t arg) 函数：

如果打开 CONFIG_BOARD_LATE_INITIALIZE ，stm32_bringup() 将由board_late_initialize()调用。
如果没有打开 CONFIG_BOARD_LATE_INITIALIZE，stm32_bringup() 将由 board_app_initialize(arg) 调用。

/****************************************************************************
 * boards/arm/stm32/apollo-stm32f429i/src/stm32_appinit.c
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <sys/types.h>

#include <nuttx/board.h>

#include "apollo-stm32f429i.h"

#ifdef CONFIG_BOARDCTL

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: board_app_initialize
 *
 * Description:
 *   Perform application specific initialization.  This function is never
 *   called directly from application code, but only indirectly via the
 *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
 *
 * Input Parameters:
 *   arg - The boardctl() argument is passed to the board_app_initialize()
 *         implementation without modification.  The argument has no
 *         meaning to NuttX; the meaning of the argument is a contract
 *         between the board-specific initialization logic and the
 *         matching application logic.  The value could be such things as a
 *         mode enumeration value, a set of DIP switch switch settings, a
 *         pointer to configuration data read from a file or serial FLASH,
 *         or whatever you would like to do with it.  Every implementation
 *         should accept zero/NULL as a default configuration.
 *
 * Returned Value:
 *   Zero (OK) is returned on success; a negated errno value is returned on
 *   any failure to indicate the nature of the failure.
 *
 ****************************************************************************/

int board_app_initialize(uintptr_t arg)
{
#ifdef CONFIG_BOARD_LATE_INITIALIZE
  /* Board initialization already performed by board_late_initialize() */

  return OK;
#else
  /* Perform board-specific initialization */

  return stm32_bringup();
#endif
}

#endif /* CONFIG_BOARDCTL */

3.实现 LED 驱动

openvela将 LED 分为两类：一类用于指示系统状态（autoleds），另一类供用户应用程序控制（userleds）。

`stm32_autoleds.c`：系统状态 LED

该文件实现 board_autoled_* 系列函数，来控制实现 LED 的亮灭，由系统内核在特定事件（如启动、断言失败）发生时自动调用。此部分实现参照nuttx/boards/arm/stm32/stm32f429i-disco/src/stm32_autoleds.c

/****************************************************************************
 * boards/arm/stm32/apollo-stm32f429i/src/stm32_autoleds.c
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <stdint.h>
#include <stdbool.h>
#include <debug.h>

#include <nuttx/board.h>
#include <arch/board/board.h>

#include "chip.h"
#include "arm_internal.h"
#include "stm32.h"
#include "apollo-stm32f429i.h"

#ifdef CONFIG_ARCH_LEDS

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

/* The following definitions map the encoded LED setting to GPIO settings */

#define STM32F4_LED1      (1 << 0)
#define STM32F4_LED2      (1 << 1)

#define ON_SETBITS_SHIFT  (0)
#define ON_CLRBITS_SHIFT  (4)
#define OFF_SETBITS_SHIFT (8)
#define OFF_CLRBITS_SHIFT (12)

#define ON_BITS(v)        ((v) & 0xff)
#define OFF_BITS(v)       (((v) >> 8) & 0x0ff)
#define SETBITS(b)        ((b) & 0x0f)
#define CLRBITS(b)        (((b) >> 4) & 0x0f)

#define ON_SETBITS(v)     (SETBITS(ON_BITS(v))
#define ON_CLRBITS(v)     (CLRBITS(ON_BITS(v))
#define OFF_SETBITS(v)    (SETBITS(OFF_BITS(v))
#define OFF_CLRBITS(v)    (CLRBITS(OFF_BITS(v))

#define LED_STARTED_ON_SETBITS       ((STM32F4_LED1) << ON_SETBITS_SHIFT)
#define LED_STARTED_ON_CLRBITS       ((STM32F4_LED2) << ON_CLRBITS_SHIFT)
#define LED_STARTED_OFF_SETBITS      (0 << OFF_SETBITS_SHIFT)
#define LED_STARTED_OFF_CLRBITS      ((STM32F4_LED1|STM32F4_LED2) << OFF_CLRBITS_SHIFT)

#define LED_HEAPALLOCATE_ON_SETBITS  ((STM32F4_LED2) << ON_SETBITS_SHIFT)
#define LED_HEAPALLOCATE_ON_CLRBITS  ((STM32F4_LED1) << ON_CLRBITS_SHIFT)
#define LED_HEAPALLOCATE_OFF_SETBITS ((STM32F4_LED1) << OFF_SETBITS_SHIFT)
#define LED_HEAPALLOCATE_OFF_CLRBITS ((STM32F4_LED2) << OFF_CLRBITS_SHIFT)

#define LED_IRQSENABLED_ON_SETBITS   ((STM32F4_LED1|STM32F4_LED2) << ON_SETBITS_SHIFT)
#define LED_IRQSENABLED_ON_CLRBITS   ((STM32F4_LED2) << ON_CLRBITS_SHIFT)
#define LED_IRQSENABLED_OFF_SETBITS  ((STM32F4_LED2) << OFF_SETBITS_SHIFT)
#define LED_IRQSENABLED_OFF_CLRBITS  ((STM32F4_LED1) << OFF_CLRBITS_SHIFT)

#define LED_STACKCREATED_ON_SETBITS  ((STM32F4_LED1) << ON_SETBITS_SHIFT)
#define LED_STACKCREATED_ON_CLRBITS  ((STM32F4_LED1|STM32F4_LED2) << ON_CLRBITS_SHIFT)
#define LED_STACKCREATED_OFF_SETBITS ((STM32F4_LED1|STM32F4_LED2) << OFF_SETBITS_SHIFT)
#define LED_STACKCREATED_OFF_CLRBITS ((STM32F4_LED1|STM32F4_LED2) << OFF_CLRBITS_SHIFT)

#define LED_INIRQ_ON_SETBITS         ((STM32F4_LED2) << ON_SETBITS_SHIFT)
#define LED_INIRQ_ON_CLRBITS         ((0) << ON_CLRBITS_SHIFT)
#define LED_INIRQ_OFF_SETBITS        ((0) << OFF_SETBITS_SHIFT)
#define LED_INIRQ_OFF_CLRBITS        ((STM32F4_LED2) << OFF_CLRBITS_SHIFT)

#define LED_SIGNAL_ON_SETBITS        ((STM32F4_LED2) << ON_SETBITS_SHIFT)
#define LED_SIGNAL_ON_CLRBITS        ((0) << ON_CLRBITS_SHIFT)
#define LED_SIGNAL_OFF_SETBITS       ((0) << OFF_SETBITS_SHIFT)
#define LED_SIGNAL_OFF_CLRBITS       ((STM32F4_LED2) << OFF_CLRBITS_SHIFT)

#define LED_ASSERTION_ON_SETBITS     ((STM32F4_LED2) << ON_SETBITS_SHIFT)
#define LED_ASSERTION_ON_CLRBITS     ((0) << ON_CLRBITS_SHIFT)
#define LED_ASSERTION_OFF_SETBITS    ((0) << OFF_SETBITS_SHIFT)
#define LED_ASSERTION_OFF_CLRBITS    ((STM32F4_LED2) << OFF_CLRBITS_SHIFT)

#define LED_PANIC_ON_SETBITS         ((STM32F4_LED2) << ON_SETBITS_SHIFT)
#define LED_PANIC_ON_CLRBITS         ((0) << ON_CLRBITS_SHIFT)
#define LED_PANIC_OFF_SETBITS        ((0) << OFF_SETBITS_SHIFT)
#define LED_PANIC_OFF_CLRBITS        ((STM32F4_LED2) << OFF_CLRBITS_SHIFT)

/****************************************************************************
 * Private Data
 ****************************************************************************/

static const uint16_t g_ledbits[8] =
{
  (LED_STARTED_ON_SETBITS       | LED_STARTED_ON_CLRBITS |
  LED_STARTED_OFF_SETBITS      | LED_STARTED_OFF_CLRBITS),

  (LED_HEAPALLOCATE_ON_SETBITS  | LED_HEAPALLOCATE_ON_CLRBITS |
  LED_HEAPALLOCATE_OFF_SETBITS | LED_HEAPALLOCATE_OFF_CLRBITS),

  (LED_IRQSENABLED_ON_SETBITS   | LED_IRQSENABLED_ON_CLRBITS |
  LED_IRQSENABLED_OFF_SETBITS  | LED_IRQSENABLED_OFF_CLRBITS),

  (LED_STACKCREATED_ON_SETBITS  | LED_STACKCREATED_ON_CLRBITS |
  LED_STACKCREATED_OFF_SETBITS | LED_STACKCREATED_OFF_CLRBITS),

  (LED_INIRQ_ON_SETBITS         | LED_INIRQ_ON_CLRBITS |
  LED_INIRQ_OFF_SETBITS        | LED_INIRQ_OFF_CLRBITS),

  (LED_SIGNAL_ON_SETBITS        | LED_SIGNAL_ON_CLRBITS |
  LED_SIGNAL_OFF_SETBITS       | LED_SIGNAL_OFF_CLRBITS),

  (LED_ASSERTION_ON_SETBITS     | LED_ASSERTION_ON_CLRBITS |
  LED_ASSERTION_OFF_SETBITS    | LED_ASSERTION_OFF_CLRBITS),

  (LED_PANIC_ON_SETBITS         | LED_PANIC_ON_CLRBITS |
  LED_PANIC_OFF_SETBITS        | LED_PANIC_OFF_CLRBITS)
};

/****************************************************************************
 * Private Functions
 ****************************************************************************/

static inline void led_clrbits(unsigned int clrbits)
{
  if ((clrbits & STM32F4_LED1) != 0)
    {
      /* 对于本开发板而言，对应IO输出高电平灭灯 */
      stm32_gpiowrite(GPIO_LED_GREEN, true);
    }

  if ((clrbits & STM32F4_LED2) != 0)
    {
      stm32_gpiowrite(GPIO_LED_RED, true);
    }
}

static inline void led_setbits(unsigned int setbits)
{
  if ((setbits & STM32F4_LED1) != 0)
    {
      /* 对于本开发板而言，对应IO输出低电平亮灯 */
      stm32_gpiowrite(GPIO_LED_GREEN, false);
    }

  if ((setbits & STM32F4_LED2) != 0)
    {
      stm32_gpiowrite(GPIO_LED_RED, false);
    }
}

static void led_setonoff(unsigned int bits)
{
  led_clrbits(CLRBITS(bits));
  led_setbits(SETBITS(bits));
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: board_autoled_initialize
 ****************************************************************************/

void board_autoled_initialize(void)
{
  /* Configure LED1-2 GPIOs for output */

  stm32_configgpio(GPIO_LED_GREEN);
  stm32_configgpio(GPIO_LED_RED);
}

/****************************************************************************
 * Name: board_autoled_on
 ****************************************************************************/

void board_autoled_on(int led)
{
  ledinfo("board_autoled_on(%d)\n", led);

  led_setonoff(ON_BITS(g_ledbits[led]));

}

/****************************************************************************
 * Name: board_autoled_off
 ****************************************************************************/

void board_autoled_off(int led)
{

  led_setonoff(OFF_BITS(g_ledbits[led]));
}

#endif /* CONFIG_ARCH_LEDS */

`stm32_userleds.c`：用户应用 LED

该文件为通用的 LED 驱动（位于 nuttx/drivers/leds/userled_lower.c）提供底层的硬件操作接口。应用程序通过标准的 open(), write(), ioctl() 等VFS接口访问 /dev/userleds 来控制这些 LED。

我们需要提供下面的函数接口给 userled_lower.c 调用：

/****************************************************************************
 * boards/arm/stm32/apollo-stm32f429i/src/stm32_userleds.c
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <stdint.h>
#include <stdbool.h>
#include <debug.h>

#include <arch/board/board.h>
#include <nuttx/power/pm.h>

#include "chip.h"
#include "arm_internal.h"
#include "stm32.h"
#include "apollo-stm32f429i.h"

#ifndef CONFIG_ARCH_LEDS

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0]))

/****************************************************************************
 * Private Data
 ****************************************************************************/

/* This array maps an LED number to GPIO pin configuration */

static uint32_t g_ledcfg[BOARD_NLEDS] =
{
  GPIO_LED_GREEN, 
  GPIO_LED_RED
};

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: board_userled_initialize
 *
 * Description:
 *   If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board
 *   LEDs.  If CONFIG_ARCH_LEDS is not defined, then the
 *   board_userled_initialize() is available to initialize the LED from user
 *   application logic.
 *
 ****************************************************************************/


uint32_t board_userled_initialize(void)
{
  int i;

  /* Configure LED1-2 GPIOs for output */

  for (i = 0; i < ARRAYSIZE(g_ledcfg); i++)
    {
      stm32_configgpio(g_ledcfg[i]);
    }
    
  return BOARD_NLEDS;
}

/****************************************************************************
 * Name: board_userled
 *
 * Description:
 *   If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board
 *  LEDs.  If CONFIG_ARCH_LEDS is not defined, then the board_userled() is
 *  available to control the LED from user application logic.
 *
 ****************************************************************************/

 void board_userled(int led, bool ledon)
{
  int i;

  for (i = 0; i < ARRAYSIZE(g_ledcfg); i++)
    {
      /* 对于本开发板而言，对应IO输出高电平灭灯，对应IO输出低电平亮灯*/
      if (i != led)
      {
        stm32_gpiowrite(g_ledcfg[i], ledon);
      }
      else
      {
        stm32_gpiowrite(g_ledcfg[i], !ledon);
      }
      
    }    

}

/****************************************************************************
 * Name: board_userled_all
 ****************************************************************************/

void board_userled_all(uint32_t ledset)
{
  int i;
  
  for (i = 0; i < ARRAYSIZE(g_ledcfg); i++)
    {
      stm32_gpiowrite(g_ledcfg[i], (ledset & (1 << i)) == 0);
    }
}


#endif /* !CONFIG_ARCH_LEDS */

最终，在 userled_upper.c 实现下面 LED 驱动接口：

static int     userled_open(FAR struct file *filep);
static int     userled_close(FAR struct file *filep);
static ssize_t userled_write(FAR struct file *filep, FAR const char *buffer,
                        size_t buflen);
static int     userled_ioctl(FAR struct file *filep, int cmd,
                         unsigned long arg);

5、定义硬件宏

在src/apollo-stm32f429i.h和 include/board.h 中定义与硬件相关的宏。

`apollo-stm32f429i.h`：板级私有定义

此文件定义了板载外设的 GPIO 引脚和其他私有配置。参考boards/arm/stm32/stm32f429i-disco/src/stm32f429i-disco.h

/****************************************************************************
 * boards/arm/stm32/apollo-stm32f429i/src/apollo-stm32f429i.h
 ****************************************************************************/

#ifndef __BOARDS_ARM_STM32_APOLLO_STM32F429I_SRC_APOLLO_STM32F429I_H
#define __BOARDS_ARM_STM32_APOLLO_STM32F429I_SRC_APOLLO_STM32F429I_H

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <stdint.h>

#include <arch/stm32/chip.h>

#include "stm32_gpio.h"

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

/* Configuration ************************************************************/

#define HAVE_PROC       1
#define HAVE_USBDEV     1
#define HAVE_USBHOST    1
#define HAVE_USBMONITOR 1

/* Can't support USB host or device features if USB OTG HS is not enabled */

#ifndef CONFIG_STM32_OTGHS
#  undef HAVE_USBDEV
#  undef HAVE_USBHOST
#endif

/* Can't support USB device monitor if USB device is not enabled */

#ifndef CONFIG_USBDEV
#  undef HAVE_USBDEV
#endif

/* Can't support USB host is USB host is not enabled */

#ifndef CONFIG_USBHOST
#  undef HAVE_USBHOST
#endif

/* Check if we should enable the USB monitor before starting NSH */

#ifndef CONFIG_USBMONITOR
#  undef HAVE_USBMONITOR
#endif

#ifndef HAVE_USBDEV
#  undef CONFIG_USBDEV_TRACE
#endif

#ifndef HAVE_USBHOST
#  undef CONFIG_USBHOST_TRACE
#endif

#if !defined(CONFIG_USBDEV_TRACE) && !defined(CONFIG_USBHOST_TRACE)
#  undef HAVE_USBMONITOR
#endif

/* Check if we have the procfs file system */

#if !defined(CONFIG_FS_PROCFS)
#  undef HAVE_PROC
#endif

#if defined(HAVE_PROC) && defined(CONFIG_DISABLE_MOUNTPOINT)
#  warning Mountpoints disabled.  No procfs support
#  undef HAVE_PROC
#endif

/* APOLLO STM32F429I GPIOs ************************************************/

/* LED. 
 *       User LED1: the green LED is a user LED connected to board LED DS1
 * corresponding to MCU I/O PB0.
 *       User LED2: the red LED is a user LED connected to board LED DS0
 * corresponding to MCU I/O PB1.
 *
 * - When the I/O is HIGH value, the LED is on.
 * - When the I/O is LOW, the LED is off.
 */

#define GPIO_LED_RED       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|\
                            GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_LED_GREEN       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|\
                            GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)

/****************************************************************************

 * Public Data
 ****************************************************************************/

#ifndef __ASSEMBLY__

/****************************************************************************
 * Public Function Prototypes
 ****************************************************************************/

/****************************************************************************
 * Name: stm32_bringup
 *
 * Description:
 *   Perform architecture-specific initialization
 *
 *   CONFIG_BOARD_LATE_INITIALIZE=y :
 *     Called from board_late_initialize().
 *
 *   CONFIG_BOARD_LATE_INITIALIZE=y && CONFIG_BOARDCTL=y :
 *     Called from the NSH library
 *
 ****************************************************************************/

int stm32_bringup(void);

#endif /* __ASSEMBLY__ */
#endif /* __BOARDS_ARM_STM32_APOLLO_STM32F429I_SRC_APOLLO_STM32F429I_H */

`include/board.h`：公共板级定义

此文件包含被 NuttX 内核和应用共享的板级定义，如时钟配置。参考boards/arm/stm32/stm32f429i-disco/include/board.h

/****************************************************************************
 * boards/arm/stm32/apollo-stm32f429i/include/board.h
 ****************************************************************************/

#ifndef __BOARDS_ARM_STM32_APOLLO_STM32F429I_INCLUDE_BOARD_H
#define __BOARDS_ARM_STM32_APOLLO_STM32F429I_INCLUDE_BOARD_H

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#ifndef __ASSEMBLY__
#  include <stdint.h>
#endif

/* DO NOT include STM32 internal header files here */

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

/* Clocking *****************************************************************/

/* The APOLLO Discovery board features a single 25MHz crystal.
 *  Space is provided for a 32kHz RTC backup crystal, but it is not stuffed.
 *
 * This is the canonical configuration:
 *   System Clock source           : PLL (HSE)
 *   SYSCLK(Hz)                    : 168000000    Determined by PLL
 *                                                configuration
 *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
 *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
 *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
 *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
 *   HSE Frequency(Hz)             : 25000000      (STM32_BOARD_XTAL)
 *   PLLM                          : 25            (STM32_PLLCFG_PLLM)
 *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
 *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
 *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
 *   Main regulator output voltage : Scale1 mode  Needed for high speed
 *                                                SYSCLK
 *   Flash Latency(WS)             : 5
 *   Prefetch Buffer               : OFF
 *   Instruction cache             : ON
 *   Data cache                    : ON
 *   Require 48MHz for USB OTG FS, : Enabled
 *   SDIO and RNG clock
 */

/* HSI - 16 MHz RC factory-trimmed
 * LSI - 32 KHz RC
 * HSE - On-board crystal frequency is 25MHz
 * LSE - 32.768 kHz
 */

#define STM32_BOARD_XTAL        25000000ul

#define STM32_HSI_FREQUENCY     16000000ul
#define STM32_LSI_FREQUENCY     32000
#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
#define STM32_LSE_FREQUENCY     32768

/* Main PLL Configuration.
 *
 *
 * Formulae:
 *
 *   VCO input freq        = PLL input clock freq/PLLM 2 <= PLLM <= 63
 *   VCO output freq       = VCO input freq × PLLN,    192 <= PLLN <= 432
 *   PLL output clock freq = VCO freq / PLLP,          PLLP = 2,4,6 or 8
 *   USB OTG FS clock freq = VCO freq / PLLQ,          2 <= PLLQ <= 15
 *
 * There is no config for 180 MHz and 48 MHz for usb,
 * so we would like to have SYSYCLK=168 MHz and we must have the USB
 * clock = 48MHz
 *
 * PLLQ = 7 PLLP = 2 PLLN=336 PLLM=25
 *
 * PLL source is HSE
 * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
 *         = (25,000,000 / 25) * 336
 *         = 336,000,000
 * SYSCLK  = PLL_VCO / PLLP
 *         = 336,000,000 / 2 = 168,000,000
 * USB OTG FS, SDIO and RNG Clock
 *         =  PLL_VCO / PLLQ
 *         = 48,000,000
 */

#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(25)
#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)

#define STM32_SYSCLK_FREQUENCY  168000000ul

/* AHB clock (HCLK) is SYSCLK (168MHz) */

#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY

/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */

#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)

/* Timers driven from APB1 will be twice PCLK1 */

#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)

/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */

#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)

/* Timers driven from APB2 will be twice PCLK2 */

#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)

/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
 * otherwise frequency is 2xAPBx.
 * Note: TIM1,8 are on APB2, others on APB1
 */

#define BOARD_TIM1_FREQUENCY    STM32_HCLK_FREQUENCY
#define BOARD_TIM2_FREQUENCY    (STM32_HCLK_FREQUENCY/2)
#define BOARD_TIM3_FREQUENCY    (STM32_HCLK_FREQUENCY/2)
#define BOARD_TIM4_FREQUENCY    (STM32_HCLK_FREQUENCY/2)
#define BOARD_TIM5_FREQUENCY    (STM32_HCLK_FREQUENCY/2)
#define BOARD_TIM6_FREQUENCY    (STM32_HCLK_FREQUENCY/2)
#define BOARD_TIM7_FREQUENCY    (STM32_HCLK_FREQUENCY/2)
#define BOARD_TIM8_FREQUENCY    STM32_HCLK_FREQUENCY

/* LED definitions **********************************************************/

 /*
 * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in
 * any way.  The following definitions are used to access individual LEDs.
 */

/* LED index values for use with board_userled() */

#define BOARD_LED1        0
#define BOARD_LED2        1
#define BOARD_NLEDS       2

/* LED bits for use with board_userled_all() */

#define BOARD_LED1_BIT    (1 << BOARD_LED1)
#define BOARD_LED2_BIT    (1 << BOARD_LED2)

/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
 * include/board.h and src/stm32_autoleds.c. The LEDs are used to encode
 * OS-related events as follows:
 *
 *
 *   SYMBOL                     Meaning                      LED state
 *                                                        GREEN   RED 
 *   ----------------------  --------------------------  ------ ------ 
 */

#define LED_STARTED        0 /* NuttX has been started   ON     OFF       */
#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    ON        */
#define LED_IRQSENABLED    2 /* Interrupts enabled       ON     ON        */
#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON        */
#define LED_INIRQ          4 /* In an interrupt          ON     ON        */
#define LED_SIGNAL         5 /* In a signal handler      N/C    ON        */
#define LED_ASSERTION      6 /* An assertion failed      ON     ON        */
#define LED_PANIC          7 /* The system has crashed   ON     Blink     */

/* Thus if the Green LED is statically on, NuttX has successfully booted and
 * is, apparently, running normally.  If the Red LED is flashing at
 * approximately 2Hz, then a fatal error has been detected and the system
 * has halted.
 */


/* Alternate function pin selections ****************************************/

/* USART1:
 *
 * The Apollo Discovery has no on-board serial devices, but the console is
 * brought out to PA9 (TX) and PA10 (RX) for connection to an external serial
 * device. (See the README.txt file for other options)
 */

#define GPIO_USART1_RX GPIO_USART1_RX_1
#define GPIO_USART1_TX GPIO_USART1_TX_1

#endif /* __BOARDS_ARM_STM32_APOLLO_STM32F429I_INCLUDE_BOARD_H */

6、编写项目配置文件

编写`src/Make.defs`

参考boards/arm/stm32/stm32f429i-disco/src/Make.defs

############################################################################
# boards/arm/stm32/apollo-stm32f429i/src/Make.defs
############################################################################

include $(TOPDIR)/Make.defs

CSRCS = stm32_boot.c stm32_bringup.c

ifeq ($(CONFIG_ARCH_LEDS),y)
CSRCS += stm32_autoleds.c
else
CSRCS += stm32_userleds.c
endif

ifeq ($(CONFIG_BOARDCTL),y)
CSRCS += stm32_appinit.c
endif

DEPPATH += --dep-path board
VPATH += :board
CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board

编写`src/CMakeLists.txt`

参考boards/arm/stm32/stm32f429i-disco/src/CMakeLists.txt)

# ##############################################################################
# boards/arm/stm32/apollo-stm32f429i/src/CMakeLists.txt
# ##############################################################################

set(SRCS stm32_boot.c stm32_bringup.c)

if(CONFIG_ARCH_LEDS)
  list(APPEND SRCS stm32_autoleds.c)
else()
  list(APPEND SRCS stm32_userleds.c)
endif()

if(CONFIG_BOARDCTL)
  list(APPEND SRCS stm32_appinit.c)
endif()

target_sources(board PRIVATE ${SRCS})

set_property(GLOBAL PROPERTY LD_SCRIPT "${NUTTX_BOARD_DIR}/scripts/ld.script")

编写`CMakeLists.txt`

参考boards/arm/stm32/stm32f429i-disco/CMakeLists.txt

# ##############################################################################
# boards/arm/stm32/apollo-stm32f429i/CMakeLists.txt
# ##############################################################################

add_subdirectory(src)

7、链接脚本

`scripts/Make.defs`

参考boards/arm/stm32/stm32f429i-disco/scripts/Make.defs

############################################################################
# boards/arm/stm32/apollo-stm32f429i/scripts/Make.defs
############################################################################

include $(TOPDIR)/.config
include $(TOPDIR)/tools/Config.mk
include $(TOPDIR)/arch/arm/src/armv7-m/Toolchain.defs

LDSCRIPT = ld.script

ARCHSCRIPT += $(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT)

ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10

CFLAGS := $(ARCHCFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
CXXFLAGS := $(ARCHCXXFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
CPPFLAGS := $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
AFLAGS := $(CFLAGS) -D__ASSEMBLY__

NXFLATLDFLAGS1 = -r -d -warn-common
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
LDNXFLATFLAGS = -e main -s 2048

`scripts/ld.script`

参考boards/arm/stm32/stm32f429i-disco/scripts/ld.script


/****************************************************************************
 * boards/arm/stm32/apollo-stm32f429i/scripts/ld.script
 ****************************************************************************/

/* The STM32F429IGT6 has 1024Kb of FLASH beginning at address 0x0800:0000 and
 * 256Kb of SRAM. SRAM is split up into four blocks:
 *
 * 1) 112Kb of SRAM beginning at address 0x2000:0000
 * 2)  16Kb of SRAM beginning at address 0x2001:c000
 * 3)  64Kb of SRAM beginning at address 0x2002:0000
 * 4)  64Kb of CCM SRAM beginning at address 0x1000:0000
 *
 * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
 * where the code expects to begin execution by jumping to the entry point in
 * the 0x0800:0000 address
 * range.
 */

MEMORY
{
  flash (rx)  : ORIGIN = 0x08000000, LENGTH = 1024K
  sram  (rwx) : ORIGIN = 0x20000000, LENGTH = 112K
}

OUTPUT_ARCH(arm)
EXTERN(_vectors)
ENTRY(_stext)
SECTIONS
{ 
    .text : {
        _stext = ABSOLUTE(.);
        *(.vectors)
        *(.text .text.*)
        *(.fixup)
        *(.gnu.warning)
        *(.rodata .rodata.*)
        *(.gnu.linkonce.t.*)
        *(.glue_7)
        *(.glue_7t)
        *(.got)
        *(.gcc_except_table)
        *(.gnu.linkonce.r.*)
        _etext = ABSOLUTE(.);
    } > flash

    .init_section : ALIGN(4) {
        _sinit = ABSOLUTE(.);
        KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
        KEEP(*(.init_array EXCLUDE_FILE(*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o) .ctors))
        _einit = ABSOLUTE(.);
    } > flash

    .ARM.extab : ALIGN(4) {
        *(.ARM.extab*)
    } > flash

    .ARM.exidx : ALIGN(4) {
        __exidx_start = ABSOLUTE(.);
        *(.ARM.exidx*)
        __exidx_end = ABSOLUTE(.);
    } > flash

    .tdata : {
        _stdata = ABSOLUTE(.);
        *(.tdata .tdata.* .gnu.linkonce.td.*);
        _etdata = ABSOLUTE(.);
    } > flash

    .tbss : {
        _stbss = ABSOLUTE(.);
        *(.tbss .tbss.* .gnu.linkonce.tb.* .tcommon);
        _etbss = ABSOLUTE(.);
    } > flash

    _eronly = ABSOLUTE(.);

    /* The RAM vector table (if present) should lie at the beginning of SRAM */

    .ram_vectors : {
        *(.ram_vectors)
    } > sram

    .data : ALIGN(4) {
        _sdata = ABSOLUTE(.);
        *(.data .data.*)
        *(.gnu.linkonce.d.*)
        CONSTRUCTORS
        . = ALIGN(4);
        _edata = ABSOLUTE(.);
    } > sram AT > flash

    .bss : ALIGN(4) {
        _sbss = ABSOLUTE(.);
        *(.bss .bss.*)
        *(.gnu.linkonce.b.*)
        *(COMMON)
        . = ALIGN(4);
        _ebss = ABSOLUTE(.);
    } > sram

    /* Stabs debugging sections. */

    .stab 0 : { *(.stab) }
    .stabstr 0 : { *(.stabstr) }
    .stab.excl 0 : { *(.stab.excl) }
    .stab.exclstr 0 : { *(.stab.exclstr) }
    .stab.index 0 : { *(.stab.index) }
    .stab.indexstr 0 : { *(.stab.indexstr) }
    .comment 0 : { *(.comment) }
    .debug_abbrev 0 : { *(.debug_abbrev) }
    .debug_info 0 : { *(.debug_info) }
    .debug_line 0 : { *(.debug_line) }
    .debug_pubnames 0 : { *(.debug_pubnames) }
    .debug_aranges 0 : { *(.debug_aranges) }
}

三、集成到构建系统

完成代码编写后，需要修改构建系统配置，使 openvela 能够识别和编译您的新 BSP。

1、Kconfig 集成

Kconfig 用于管理内核和应用的功能配置。您需要执行以下三步来集成新板。

1.在 `nuttx/boards/Kconfig` 中定义板级选项：

添加一个新的 config 条目，用于在配置菜单中显示您的开发板。

config ARCH_BOARD_APOLLO_STM32F429I
	bool "ATK APOLLO-F429I board"
	depends on ARCH_CHIP_STM32F429I
	select ARCH_HAVE_LEDS
	select ARCH_HAVE_BUTTONS
	select ARCH_HAVE_IRQBUTTONS
	---help---
		ATK Apollo-F429I board based on the STMicro STM32F429IGT6 MCU.

上述可参考条目config ARCH_BOARD_STM32F429I_DISCO

在这里插入图片描述

2.在 `nuttx/boards/Kconfig` 中设置默认板名:

当选中您的板型时，让 ARCH_BOARD 变量自动设置为您的 BSP 目录名。

config ARCH_BOARD
    string
    # ... 其他板的 default 设置 ...
    default "apollo-stm32f429i"      if ARCH_BOARD_APOLLO_STM32F429I

上述可参考条目default "stm32f429i-disco"

在这里插入图片描述

3.在 `nuttx/boards/Kconfig` 中加载板级 Kconfig 文件：

确保选中您的板型时，会加载 BSP 目录下的 Kconfig 文件。

if ARCH_BOARD_APOLLO_STM32F429I
source "boards/arm/stm32/apollo-stm32f429i/Kconfig"
endif

上述可参考条目if ARCH_BOARD_STM32F429I_DISCO

在这里插入图片描述

4.在 `nuttx/boards/arm/stm32/apollo-stm32f429i/Kconfig` 文件中可以添加此板特有的配置选项

本篇例程只需运行NSH，无需添加额外配置，留空即可。


if ARCH_BOARD_APOLLO_STM32F429I

endif # ARCH_BOARD_APOLLO_STM32F429I

2、创建默认配置 (defconfig)

defconfig 文件是一个最小化的系统配置集合，为用户提供了一个开箱即用的配置起点。您应该为每个核心功能（如 NSH、特定示例）提供一个 defconfig。

参照nuttx/boards/arm/stm32/stm32f429i-disco/configs/nsh/deconfig，创建 nuttx/boards/arm/stm32/apollo-stm32f429i/configs/nsh/deconfig 如下：

#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_ARCH_FPU is not set
# CONFIG_STM32_FLASH_PREFETCH is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD="apollo-stm32f429i"
CONFIG_ARCH_BOARD_APOLLO_STM32F429I=y
CONFIG_ARCH_BUTTONS=y
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F429I=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_BUILTIN=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_FS_PROCFS=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_MM_REGIONS=2
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=114688
CONFIG_RAM_START=0x20000000
CONFIG_RAW_BINARY=y
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=6
CONFIG_START_MONTH=12
CONFIG_START_YEAR=2011
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_PWR=y
CONFIG_STM32_USART1=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USART1_SERIAL_CONSOLE=y

四、运行Demo

1、编译代码

在完成上面的步骤后，按以下流程为阿波罗STM32F429 开发板生成所需二进制文件：

# 进入 openvela 根目录  

# 编译  
./build.sh apollo-stm32f429i:nsh -j8

在这里插入图片描述

编译完成后，生成的文件位于 nuttx 目录下，包括：

nuttx.bin
nuttx.hex

2、烧录固件

参考在 STM32F411 上使用 openvela 点亮 LED: ： 四、运行Demo:：5、烧录固件

3、连接串口

参考在 STM32F411 上使用 openvela 点亮 LED: ： 四、运行Demo:：6、连接串口

4、交互测试

重新打开 minicom，连接成功后，在 Minicom 终端中按回车，您会看到 nsh> 提示符。

输入一些常用命令（如ls，help）若反馈正常，则证明本文代码移植实验成功。

在这里插入图片描述

openvela

openvela 操作系统专为 AIoT 领域量身定制，以轻量化、标准兼容、安全性和高度可扩展性为核心特点。openvela 以其卓越的技术优势，已成为众多物联网设备和 AI 硬件的技术首选，涵盖了智能手表、运动手环、智能音箱、耳机、智能家居设备以及机器人等多个领域。

更多推荐

Leather Dress Collection快速上手：Python脚本一键启动app.py全流程

本文介绍了如何在星图GPU平台上自动化部署Leather Dress Collection镜像，快速实现皮革服装风格图像生成。该镜像基于Stable Diffusion 1.5的LoRA模型集合，提供12种不同风格的皮革服装设计，用户可通过Python脚本一键启动app.py，轻松应用于时尚设计、电商展示等场景。

openvela

在 ALIENTEK 阿波罗STM32F429开发板上使用 openvela 运行LVGL示例

在ALIENTEK阿波罗STM32F429开发板运行LVGL示例本指南介绍如何在ALIENTEK阿波罗STM32F429开发板上基于openvela实时操作系统运行LVGL图形库演示程序。

openvela

在 ALIENTEK 阿波罗STM32H743开发板上使用 openvela 运行LVGL示例

在 ALIENTEK 阿波罗STM32H743开发板上运行LVGL示例本文介绍了如何在ALIENTEK阿波罗STM32H743开发板上基于openvela实时操作系统运行LVGL图形库演示程序。

openvela

所有评论(0)

查看更多评论

enuaaHD

@enuaaHD

已为社区贡献10条内容

为ALIENTEK 阿波罗STM32F429开发板移植openvela(精简版)

enuaaHD

为ALIENTEK 阿波罗STM32F429开发板移植openvela(精简版)

文章目录

准备工作

一、移植原理与启动流程

关键启动函数

硬件配置：时钟与引脚

二、代码实现步骤

1.创建代码目录结构

2.实现核心初始化函数

stm32_boot.c：早期硬件初始化

stm32_bringup.c：设备驱动初始化

stm32_appinit.c：应用初始化桥梁

3.实现 LED 驱动

stm32_autoleds.c：系统状态 LED

stm32_userleds.c：用户应用 LED

5、定义硬件宏

apollo-stm32f429i.h：板级私有定义

include/board.h：公共板级定义

6、编写项目配置文件

编写src/Make.defs

编写src/CMakeLists.txt

编写CMakeLists.txt

7、链接脚本

scripts/Make.defs

scripts/ld.script

三、集成到构建系统

1、Kconfig 集成

1.在 nuttx/boards/Kconfig 中定义板级选项：

2.在 nuttx/boards/Kconfig 中设置默认板名:

3.在 nuttx/boards/Kconfig 中加载板级 Kconfig 文件：

4.在 nuttx/boards/arm/stm32/apollo-stm32f429i/Kconfig 文件中可以添加此板特有的配置选项

2、创建默认配置 (defconfig)

四、运行Demo

1、编译代码

2、烧录固件

3、连接串口

4、交互测试

所有评论(0)

enuaaHD

`stm32_boot.c`：早期硬件初始化

`stm32_bringup.c`：设备驱动初始化

`stm32_appinit.c`：应用初始化桥梁

`stm32_autoleds.c`：系统状态 LED

`stm32_userleds.c`：用户应用 LED

`apollo-stm32f429i.h`：板级私有定义

`include/board.h`：公共板级定义

编写`src/Make.defs`

编写`src/CMakeLists.txt`

编写`CMakeLists.txt`

`scripts/Make.defs`

`scripts/ld.script`

1.在 `nuttx/boards/Kconfig` 中定义板级选项：

2.在 `nuttx/boards/Kconfig` 中设置默认板名:

3.在 `nuttx/boards/Kconfig` 中加载板级 Kconfig 文件：

4.在 `nuttx/boards/arm/stm32/apollo-stm32f429i/Kconfig` 文件中可以添加此板特有的配置选项