使用 QEMU 仿真 STM32 CubeMX 生成的Makefile项目

背景

虽然qemu的仿真功能很强大，但是原始的 qemu 并没有仿真板子的功能。而为了仿真裸板，可以使用它的分支 GNU MCU Eclipse QEMU （包含了这个工具qemu-system-gnuarmeclipse）来做这个事情。

xPack QEMU Arm 有关文档

CubeMX 可以生成 Makefile 项目，我们可以基于这样的结果来进行QMEU仿真。我们以 STM32F429I-DISC1 为例，刚好在 2边的工具都有这个板子的型号。

STM32 Cube ：v5.6
MCU : STM32F429I-DISC1
LIB : stm32cube_fw_f4_v1250
QEMU: qemu-system-gnuarmeclipse_v2.8.0 win_x64版本工具下载、linux_x64版本工具下载
Ubuntu:

gcc : arm-none-eabi-gcc_v4.9.3 20150529
Windows:
MDK : Keil 5

准备

下面以 Ubuntu 为例。

工具的下载以及配置

下载工具：下载地址

wget https://github.com/xpack-dev-tools/qemu-arm-xpack/releases/download/v2.8.0-8/xpack-qemu-arm-2.8.0-8-linux-x64.tgz

配置工具到$PATH中：export PATH=$PATH:实际路径

测试：qemu-system-gnuarmeclipse --version

安装工具链

这一步不是必须的，如果机器中有 arm-none-gcc 可以跳过此步骤。

sudo apt-get install gcc-arm-none-eabi -y

准备工程

1）STM32 CubeMX 选择以 F429-DISC1 作为项目模板。
2）在"Project Manager"中，"Project" - "Toolchain/IDE" 选择 Makefile。
3）根据自己的需求改改其他的东西（建议禁用FreeRTOS），"GENERATE CODE"。

编译项目

由于是CubeMx生成的，一般除了gcc如果不是arm-node-eabi-gcc之外，不需要其他的改动了。

进入项目以后，直接输入:

make

arm-none-eabi-gcc -c -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -DUSE_HAL_DRIVER -DSTM32F429xx -IInc -IDrivers/STM32F4xx_HAL_Driver/Inc -IDrivers/STM32F4xx_HAL_Driver/Inc/Legacy -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -IMiddlewares/ST/STM32_USB_Host_Library/Core/Inc -IMiddlewares/ST/STM32_USB_Host_Library/Class/CDC/Inc -IDrivers/CMSIS/Device/ST/STM32F4xx/Include -IDrivers/CMSIS/Include -IDrivers/CMSIS/Include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/main.d" -Wa,-a,-ad,-alms=build/main.lst Src/main.c -o build/main.o
  ...
/usr/lib/gcc/arm-none-eabi/4.9.3/../../../arm-none-eabi/bin/ld: warning: /usr/lib/gcc/arm-none-eabi/4.9.3/../../../arm-none-eabi/lib/armv7e-m/fpu/libc_nano.a(lib_a-reent.o) uses 2-byte wchar_t yet the output is to use 4-byte wchar_t; use of wchar_t values across objects may fail
arm-none-eabi-size build/for_stm32f429.elf
   text	   data	    bss	    dec	    hex	filename
  30548	    156	  37660	  68364	  10b0c	build/for_stm32f429.elf
arm-none-eabi-objcopy -O ihex build/for_stm32f429.elf build/for_stm32f429.hex
arm-none-eabi-objcopy -O binary -S build/for_stm32f429.elf build/for_stm32f429.bin

仿真

使用以下命令进行仿真：

注意，仿真需要 elf 文件( 由 arm-none-eabi-gcc 编译出来的) 或者 axf 文件( 由 keil 编译出来的 )

qemu-system-gnuarmeclipse --board STM32F429I-Discovery -d unimp,guest_errors --image build/for_stm32f429.elf

可以看到界面出现了开发板的样子。但由于 QEMU 不支持硬浮点，导致打印以下的报告：

$ qemu-system-gnuarmeclipse --board STM32F429I-Discovery -d unimp,guest_errors --image build/for_stm32f429.elf 
NVIC: Bad read offset 0xd88
qemu-system-gnuarmeclipse: Attempt to set CP10/11 in SCB->CPACR, but FP is not supported yet.

[2]    4796 killed     qemu-system-gnuarmeclipse --board STM32F429I-Discovery -d unimp,guest_errors

修改

由于仿真不顺利，我们需要进行修改。

修改Makefile，将 FLOAT-ABI = -mfloat-abi=hard 改为 FLOAT-ABI = -mfloat-abi=soft

sed -r -i "/FLOAT-ABI = -mfloat-abi=hard/ s/.*/FLOAT-ABI = -mfloat-abi=soft/"       Makefile

之后，重新make。如果没有在CubeMX中选择FreeRTOS，那么重新仿真是可以通过的。

qemu-system-gnuarmeclipse --board STM32F429I-Discovery -d unimp,guest_errors --image build/*.elf

修改 FreeRtos port.c 使其支持仿真(如果已经配置)

此节参考：解决在QEMU上仿真STM32F429时出现的若干问题

如果CubeMX中选择了FreeRTos，但由于 FreeRTos中的底层不支持软浮点（具体是在文件Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c中），所以出现下面的问题：

make 

...

/tmp/cc5R608O.s: Assembler messages:
/tmp/cc5R608O.s:426: Error: selected processor does not support 'vstmdbeq r0!,{s16-s31}' in Thumb mode
/tmp/cc5R608O.s:428: Error: instruction not allowed in IT block -- 'stmdb r0!,{r4-r11,r14}'
/tmp/cc5R608O.s:448: Error: selected processor does not support 'vldmiaeq r0!,{s16-s31}' in Thumb mode
/tmp/cc5R608O.s:450: Error: instruction not allowed in IT block -- 'msr psp, r0'
Makefile:201: recipe for target 'build/port.o' failed
make: *** [build/port.o] Error 1

打开Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c文件，

xPortStartScheduler 函数中注释掉以下2行代码：

373 //  vPortEnableVFP();                                                                                                  
  1    
  2     /* Lazy save always. */
  3 //  *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;

xPortPendSVHandler 函数中注释掉以下2处地方的3行：


443 //  "   tst r14, #0x10                      
" /* Is the task using the FPU context?  If so, push high vfp registers. */        
  1 //  "   it eq                               
"
  2 //  "   vstmdbeq r0!, {s16-s31}             
" 

...

465 //  "   tst r14, #0x10                      
" /* Is the task using the FPU context?  If so, pop the high vfp registers too. */ 
  1 //  "   it eq                               
"
  2 //  "   vldmiaeq r0!, {s16-s31}             
"

再次仿真，顺利通过。

GDB调试

添加使用--gdb tcp::1234 -S 参数来进行仿真，例如

qemu-system-gnuarmeclipse --board STM32F429I-Discovery -d unimp,guest_errors --mcu STM32F429ZI --gdb tcp::1234 -S -d --image build/*.elf

qemu启动后等待来自gdb的调试指令，打开另外一个终端窗口，运行

arm-none-eabi-gdb

# 在gdb界面内运行：

(gdb)target remote localhost:1234
(gdb)continue

可以看到qemu开始执行程序，GUI界面上可以看到程序执行效果。

附录：xPack QEMU Arm 所支持的芯片以及开发板

已经支持的板子：

Maple – LeafLab Arduino-style STM32 microcontroller board
NUCLEO-F103RB – ST Nucleo Development Board for STM32 F1 series
NetduinoGo – Netduino GoBus Development Board with STM32F4
NetduinoPlus2 – Netduino Development Board with STM32F4
STM32-E407 – Olimex Development Board for STM32F407ZGT6
STM32-H103 – Olimex Header Board for STM32F103RBT6
STM32-P103 – Olimex Prototype Board for STM32F103RBT6
STM32-P107 – Olimex Prototype Board for STM32F107VCT6
STM32F4-Discovery – ST Discovery kit for STM32F407/417 lines
STM32F429I-Discovery – ST Discovery kit for STM32F429/439 lines

已经支持的芯片：

STM32F103RB、STM32F107VC
STM32F405RG、STM32F407VG、STM32F407ZG
STM32F429ZI
STM32L152RE

计划支持但还没支持的开发板：

EK-TM4C123GXL – TI Tiva C Series TM4C123GXL LaunchPad Evaluation Kit
FRDM-K20D50M – Freescale Freedom Development Platform for Kinetis K20 USB MCUs
FRDM-K22F – Freescale Freedom Development Platform for Kinetis K22 MCUs
FRDM-K64F – Freescale Freedom Development Platform for Kinetis K6[34] and K24 MCUs
FRDM-KL25Z – Freescale Freedom Development Platform for Kinetis KL[12][45] MCUs
FRDM-KL26Z – Freescale Freedom Development Platform for Kinetis KL[12]6 MCUs
FRDM-KL43Z – Freescale Freedom Development Platform for Kinetis KL[34]3, KL[12]7 MCUs
FRDM-KL46Z – Freescale Freedom Development Platform for Kinetis KL[34]x MCUs
LPCXpresso-LPC1769 – Embedded Artists LPCXpresso LPC1769 Development Board
NUCLEO-F334R8 – ST Nucleo Development Board for STM32 F3 series
NUCLEO-F411RE – ST Nucleo Development Board for STM32 F4 series
NUCLEO-L152RE – ST Nucleo Development Board with STM32L152RET6
Netduino2 – Netduino Development Board with STM32F2
OLIMEXINO-STM32 – Olimex Maple (Arduino-like) Development Board
SAM3-H256 – Olimex Header Board for ATSAM3S4BA
STM32F0-Discovery – ST Discovery kit for STM32F051 line
STM32F3-Discovery – ST Discovery kit for STM32F303 line
STM32VL-Discovery – ST Discovery kit for STM32F100 Value Line
TWR-K60F120M – Freescale Kinetis K60 120 MHz Tower System Module
XMC 2Go – Infineon XMC 2Go Kit with XMC1100
XMC1100 Boot Kit – Infineon CPU Card XMC1100 Boot Kit Entry Series
XMC1200 Boot Kit – Infineon CPU Card XMC1200 Boot Kit Feature Series
XMC1300 Boot Kit – Infineon CPU Card XMC1300 Boot Kit Control Series
XMC4200 Enterprise Kit – Infineon CPU Board XMC4200 Actuator
XMC4400 Enterprise Kit – Infineon CPU Board XMC4400 General Purpose
XMC4500 Enterprise Kit – Infineon CPU Board XMC4500 General Purpose
XMC4500 Relax Kit – Infineon CPU Board XMC4500 Relax Kit
XMC4500 Relax Lite Kit – Infineon CPU Board XMC4500 Relax Lite Kit

附录：安装 GNU MCU Eclipse QEMU 完整 IDE(可选项)

qemu-system-gnuarmeclipse已经足够我们的使用，但如果需要图形界面式的开发，请参考以下的文档。
参考文档：How to download the GNU MCU Eclipse QEMU?

安装 Node.js 与 npm

参考：Ubuntu中安装最新 Node.js 和 npm

安装 xmp

npm install --global xpm@latest

安装 QEMU-arm

xpm install --global @xpack-dev-tools/qemu-arm@latest

安装 OPENOCD(Open On-Chip Debugger)

xpm install --global @xpack-dev-tools/openocd@latest