ARM编译器深度解析:从Keil到VSCode的STM32开发之
前言
做了这么多年嵌入式开发,Keil MDK一直是我的主力工具。但随着项目规模越来越大,Keil的一些局限性也逐渐暴露出来:编辑器功能相对简陋、代码提示不够智能、多文件跳转效率低、界面不够现代化等等。最让人头疼的是,Keil的授权费用对个人开发者来说确实是笔不小的开支。
经过一段时间的摸索,我现在已经完全转向VSCode + ARM-GCC的开发方式,效率提升明显。这篇文章会详细记录整个迁移过程,希望能帮到有同样需求的朋友。
一、ARM编译器家族概述
1.1 ARMCC(ARM Compiler)
ARMCC是ARM官方推出的编译器,也就是Keil MDK默认使用的编译器。目前主要有两个版本:
ARMCC v5(基于ARM编译器5)
- 这是传统的ARMCC编译器
- 代码生成质量高,特别是对ARM架构的优化非常出色
- 但是,ARM公司已经宣布ARMCC v5进入维护模式,不再添加新特性
- 编译速度相对较慢
ARMCC v6(基于LLVM)
- ARM公司新一代编译器,基于LLVM/Clang架构
- 支持C++14/C++17等新标准
- 编译速度有明显提升
- 代码生成质量接近v5
ARMCC的优势在于:
- 对ARM指令集的优化非常深入
- 生成的代码通常比较紧凑,执行效率高
- 与ARM的调试工具集成度高
但问题也很明显:
- 商业软件,需要授权费用
- 只能在Keil或DS-5等ARM官方IDE中使用
- 开源生态相对封闭
1.2 ARM-GCC(GNU ARM Embedded Toolchain)
ARM-GCC是基于GCC的ARM交叉编译工具链,由ARM官方维护并免费提供。这是一个完全开源的解决方案。
主要特点:
- 完全免费,无需任何授权
- 跨平台支持Windows/Linux/macOS
- 社区活跃,文档丰富
- 支持所有主流ARM Cortex内核
- 可以配合任意IDE或文本编辑器使用
工具链组成:
arm-none-eabi-gcc # C编译器
arm-none-eabi-g++ # C++编译器
arm-none-eabi-as # 汇编器
arm-none-eabi-ld # 链接器
arm-none-eabi-objcopy # 目标文件转换工具
arm-none-eabi-objdump # 反汇编工具
arm-none-eabi-size # 代码大小分析工具
arm-none-eabi-gdb # 调试器
1.3 编译器对比实测
我曾经用同一个STM32F4项目分别用ARMCC和ARM-GCC编译,结果如下:
| 编译器 | 代码大小(KB) | 编译时间(s) | RAM使用(KB) |
|---|---|---|---|
| ARMCC v5 | 42.3 | 8.7 | 18.5 |
| ARM-GCC 10.3 | 44.1 | 6.2 | 18.7 |
可以看出,ARMCC在代码体积上略有优势,但ARM-GCC的编译速度更快。对于大多数应用场景,这点差异基本可以忽略。
二、为什么选择VSCode + ARM-GCC方案
经过实际使用,我总结了以下几个核心优势:
2.1 开发体验的飞跃
VSCode的代码编辑体验远超Keil:
- 智能代码补全,支持基于上下文的提示
- 强大的多光标编辑功能
- Git集成,可视化diff和merge
- 丰富的插件生态
- 可定制的主题和快捷键
2.2 成本优势
Keil MDK的专业版授权费用在几千到上万元不等,而ARM-GCC + VSCode完全免费。对于个人开发者、学生或小团队来说,这是个巨大优势。
2.3 跨平台开发
VSCode + ARM-GCC可以在Windows、Linux、macOS上无缝切换。我的台式机是Windows,笔记本是Ubuntu,配置文件同步后可以在两台机器上交替开发,非常方便。
2.4 自动化和CI/CD
基于Makefile的构建系统可以很容易地集成到CI/CD流程中。我现在用Jenkins自动构建固件,每次提交代码后自动编译并生成hex文件,大大提高了效率。
三、开发环境搭建详解
3.1 安装ARM-GCC工具链
Windows平台:
-
访问ARM官网下载页面:
https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads -
下载最新版本(我用的是10.3-2021.10版本),安装过程中注意勾选"Add path to environment variable"
-
验证安装:
arm-none-eabi-gcc --version
输出类似:
arm-none-eabi-gcc (GNU Arm Embedded Toolchain 10.3-2021.10) 10.3.1 20210824 (release)
Copyright (C) 2020 Free Software Foundation, Inc.
Linux平台:
Ubuntu可以直接用apt安装:
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi binutils-arm-none-eabi
或者下载官方编译好的版本:
cd ~/Downloads
wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2
tar -xjf gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2
sudo mv gcc-arm-none-eabi-10.3-2021.10 /opt/
echo 'export PATH=$PATH:/opt/gcc-arm-none-eabi-10.3-2021.10/bin' >> ~/.bashrc
source ~/.bashrc
3.2 安装Make工具
Windows:
推荐使用MinGW或直接下载GNU Make for Windows:
# 使用chocolatey安装
choco install make# 或下载安装包
# http://gnuwin32.sourceforge.net/packages/make.htm
Linux:
sudo apt-get install build-essential
3.3 安装OpenOCD调试工具
OpenOCD是一个开源的片上调试工具,支持几乎所有主流的调试器(ST-Link、J-Link等)。
Windows:
下载预编译版本:
https://gnutoolchains.com/arm-eabi/openocd/
解压后添加到系统路径。
Linux:
sudo apt-get install openocd
验证:
openocd --version
3.4 配置VSCode
安装以下插件:
- C/C++ (Microsoft) - 必装
- Cortex-Debug - ARM调试必备
- Makefile Tools - Makefile支持
- LinkerScript - 链接脚本语法高亮
- Arm Assembly - 汇编语言支持
我的个人推荐还包括:
- GitLens - 增强的Git功能
- Better Comments - 彩色注释
- Bracket Pair Colorizer 2 - 括号配对
四、从零搭建STM32工程
这里以STM32F103C8T6为例,详细演示整个工程的搭建过程。
4.1 工程目录结构
STM32F103_Project/
├── Core/
│ ├── Inc/ # 头文件
│ │ ├── main.h
│ │ ├── stm32f1xx_hal_conf.h
│ │ └── stm32f1xx_it.h
│ ├── Src/ # 源文件
│ │ ├── main.c
│ │ ├── stm32f1xx_hal_msp.c
│ │ ├── stm32f1xx_it.c
│ │ └── system_stm32f1xx.c
│ └── Startup/
│ └── startup_stm32f103xb.s
├── Drivers/
│ ├── STM32F1xx_HAL_Driver/ # HAL库
│ └── CMSIS/ # CMSIS库
├── Middlewares/ # 中间件(可选)
├── Build/ # 编译输出目录
├── .vscode/ # VSCode配置
│ ├── c_cpp_properties.json
│ ├── launch.json
│ ├── settings.json
│ └── tasks.json
├── STM32F103C8Tx_FLASH.ld # 链接脚本
└── Makefile
4.2 获取HAL库和CMSIS
可以从ST官网下载STM32CubeMX,然后生成一个基础工程,把HAL库和CMSIS文件夹复制出来。或者直接从GitHub克隆:
git clone https://github.com/STMicroelectronics/STM32CubeF1.git
4.3 编写Makefile
这是整个工程的核心,一个完整的Makefile示例:
######################################
# target
######################################
TARGET = STM32F103_Demo######################################
# building variables
######################################
# debug build?
DEBUG = 1
# optimization
OPT = -Og#######################################
# paths
#######################################
# Build path
BUILD_DIR = Build######################################
# source
######################################
# C sources
C_SOURCES = \
Core/Src/main.c \
Core/Src/stm32f1xx_it.c \
Core/Src/stm32f1xx_hal_msp.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c \
Core/Src/system_stm32f1xx.c# ASM sources
ASM_SOURCES = \
Core/Startup/startup_stm32f103xb.s#######################################
# binaries
#######################################
PREFIX = arm-none-eabi-
# 如果工具链不在系统路径中,可以指定完整路径
# BINPATH = /opt/gcc-arm-none-eabi-10.3-2021.10/bin
ifdef BINPATH
CC = $(BINPATH)/$(PREFIX)gcc
AS = $(BINPATH)/$(PREFIX)gcc -x assembler-with-cpp
CP = $(BINPATH)/$(PREFIX)objcopy
SZ = $(BINPATH)/$(PREFIX)size
else
CC = $(PREFIX)gcc
AS = $(PREFIX)gcc -x assembler-with-cpp
CP = $(PREFIX)objcopy
SZ = $(PREFIX)size
endif
HEX = $(CP) -O ihex
BIN = $(CP) -O binary -S#######################################
# CFLAGS
#######################################
# cpu
CPU = -mcpu=cortex-m3# fpu
# NONE for Cortex-M0/M0+/M3# float-abi# mcu
MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)# macros for gcc
# AS defines
AS_DEFS = # C defines
C_DEFS = \
-DUSE_HAL_DRIVER \
-DSTM32F103xB# AS includes
AS_INCLUDES = # C includes
C_INCLUDES = \
-ICore/Inc \
-IDrivers/STM32F1xx_HAL_Driver/Inc \
-IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
-IDrivers/CMSIS/Device/ST/STM32F1xx/Include \
-IDrivers/CMSIS/Include# compile gcc flags
ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sectionsCFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sectionsifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2
endif# Generate dependency information
CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"#######################################
# LDFLAGS
#######################################
# link script
LDSCRIPT = STM32F103C8Tx_FLASH.ld# libraries
LIBS = -lc -lm -lnosys
LIBDIR =
LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections# default action: build all
all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin#######################################
# build the application
#######################################
# list of objects
OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
vpath %.c $(sort $(dir $(C_SOURCES)))
# list of ASM program objects
OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
vpath %.s $(sort $(dir $(ASM_SOURCES)))$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) $(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)$(AS) -c $(CFLAGS) $< -o $@$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile$(CC) $(OBJECTS) $(LDFLAGS) -o $@$(SZ) $@$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)$(HEX) $< $@$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)$(BIN) $< $@ $(BUILD_DIR):mkdir $@ #######################################
# clean up
#######################################
clean:-rm -fR $(BUILD_DIR)#######################################
# dependencies
#######################################
-include $(wildcard $(BUILD_DIR)/*.d)# *** EOF ***
这个Makefile的几个关键点:
- 模块化设计: 源文件、编译选项、链接选项分离,便于维护
- 依赖关系生成: 使用
-MMD -MP自动生成依赖文件,修改头文件后会自动重新编译相关源文件 - 优化选项:
-Og在调试时既保证优化又不影响调试体验 - 代码裁剪:
-ffunction-sections -fdata-sections配合--gc-sections可以去除未使用的代码,减小固件大小
4.4 链接脚本详解
链接脚本(Linker Script)定义了程序在内存中的布局。STM32F103C8T6的Flash是64KB,RAM是20KB,对应的链接脚本:
/* Entry Point */
ENTRY(Reset_Handler)/* Highest address of the user mode stack */
_estack = 0x20005000; /* end of RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack *//* Specify the memory areas */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 20K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 64K
}/* Define output sections */
SECTIONS
{/* The startup code goes first into FLASH */.isr_vector :{. = ALIGN(4);KEEP(*(.isr_vector)) /* Startup code */. = ALIGN(4);} >FLASH/* The program code and other data goes into FLASH */.text :{. = ALIGN(4);*(.text) /* .text sections (code) */*(.text*) /* .text* sections (code) */*(.glue_7) /* glue arm to thumb code */*(.glue_7t) /* glue thumb to arm code */*(.eh_frame)KEEP (*(.init))KEEP (*(.fini)). = ALIGN(4);_etext = .; /* define a global symbols at end of code */} >FLASH/* Constant data goes into FLASH */.rodata :{. = ALIGN(4);*(.rodata) /* .rodata sections (constants, strings, etc.) */*(.rodata*) /* .rodata* sections (constants, strings, etc.) */. = ALIGN(4);} >FLASH.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH.ARM : {__exidx_start = .;*(.ARM.exidx*)__exidx_end = .;} >FLASH.preinit_array :{PROVIDE_HIDDEN (__preinit_array_start = .);KEEP (*(.preinit_array*))PROVIDE_HIDDEN (__preinit_array_end = .);} >FLASH.init_array :{PROVIDE_HIDDEN (__init_array_start = .);KEEP (*(SORT(.init_array.*)))KEEP (*(.init_array*))PROVIDE_HIDDEN (__init_array_end = .);} >FLASH.fini_array :{PROVIDE_HIDDEN (__fini_array_start = .);KEEP (*(SORT(.fini_array.*)))KEEP (*(.fini_array*))PROVIDE_HIDDEN (__fini_array_end = .);} >FLASH/* used by the startup to initialize data */_sidata = LOADADDR(.data);/* Initialized data sections goes into RAM, load LMA copy after code */.data : {. = ALIGN(4);_sdata = .; /* create a global symbol at data start */*(.data) /* .data sections */*(.data*) /* .data* sections */. = ALIGN(4);_edata = .; /* define a global symbol at data end */} >RAM AT> FLASH/* Uninitialized data section */. = ALIGN(4);.bss :{_sbss = .; /* define a global symbol at bss start */__bss_start__ = _sbss;*(.bss)*(.bss*)*(COMMON). = ALIGN(4);_ebss = .; /* define a global symbol at bss end */__bss_end__ = _ebss;} >RAM/* User_heap_stack section, used to check that there is enough RAM left */._user_heap_stack :{. = ALIGN(8);PROVIDE ( end = . );PROVIDE ( _end = . );. = . + _Min_Heap_Size;. = . + _Min_Stack_Size;. = ALIGN(8);} >RAM/* Remove information from the standard libraries *//DISCARD/ :{libc.a ( * )libm.a ( * )libgcc.a ( * )}.ARM.attributes 0 : { *(.ARM.attributes) }
}
关键点说明:
- 内存区域定义: STM32F103C8的Flash起始地址0x08000000,RAM起始地址0x20000000
- 段的布局:
.isr_vector: 中断向量表,必须放在Flash开始位置.text: 代码段.rodata: 只读数据(常量、字符串等).data: 初始化的全局变量(需要从Flash复制到RAM).bss: 未初始化的全局变量
- 栈和堆:
_estack定义栈顶,_Min_Heap_Size和_Min_Stack_Size定义最小堆栈大小
4.5 VSCode配置文件
c_cpp_properties.json
这个文件配置IntelliSense,让代码提示和跳转正常工作:
{"configurations": [{"name": "STM32","includePath": ["${workspaceFolder}/**","${workspaceFolder}/Core/Inc","${workspaceFolder}/Drivers/STM32F1xx_HAL_Driver/Inc","${workspaceFolder}/Drivers/STM32F1xx_HAL_Driver/Inc/Legacy","${workspaceFolder}/Drivers/CMSIS/Device/ST/STM32F1xx/Include","${workspaceFolder}/Drivers/CMSIS/Include"],"defines": ["USE_HAL_DRIVER","STM32F103xB"],"compilerPath": "C:/Program Files (x86)/GNU Arm Embedded Toolchain/10 2021.10/bin/arm-none-eabi-gcc.exe","cStandard": "c11","cppStandard": "c++17","intelliSenseMode": "gcc-arm","compilerArgs": ["-mcpu=cortex-m3","-mthumb","-specs=nano.specs"]}],"version": 4
}
tasks.json
定义编译任务:
{"version": "2.0.0","tasks": [{"label": "Build STM32","type": "shell","command": "make","args": ["-j8"],"group": {"kind": "build","isDefault": true},"problemMatcher": ["$gcc"],"presentation": {"reveal": "always","panel": "new"}},{"label": "Clean","type": "shell","command": "make","args": ["clean"],"problemMatcher": []},{"label": "Flash","type": "shell","command": "openocd","args": ["-f", "interface/stlink.cfg","-f", "target/stm32f1x.cfg","-c", "program Build/STM32F103_Demo.elf verify reset exit"],"dependsOn": "Build STM32","problemMatcher": []}]
}
launch.json
配置调试:
{"version": "0.2.0","configurations": [{"name": "Cortex Debug","cwd": "${workspaceFolder}","executable": "./Build/STM32F103_Demo.elf","request": "launch","type": "cortex-debug","runToEntryPoint": "main","servertype": "openocd","device": "STM32F103C8","configFiles": ["interface/stlink.cfg","target/stm32f1x.cfg"],"svdFile": "${workspaceFolder}/STM32F103.svd","preLaunchTask": "Build STM32"}]
}
4.6 实战示例:LED闪烁程序
main.c
#include "main.h"/* Private variables */
TIM_HandleTypeDef htim2;/* Private function prototypes */
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);int main(void)
{/* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* Configure the system clock */SystemClock_Config();/* Initialize all configured peripherals */MX_GPIO_Init();MX_TIM2_Init();/* Start timer */HAL_TIM_Base_Start_IT(&htim2);/* Infinite loop */while (1){// 主循环可以做其他事情HAL_Delay(1000);}
}/*** @brief System Clock Configuration* @retval None*/
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};/** Initializes the RCC Oscillators according to the specified parameters* in the RCC_OscInitTypeDef structure.*/RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){Error_Handler();}/** Initializes the CPU, AHB and APB buses clocks*/RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK){Error_Handler();}
}/*** @brief TIM2 Initialization Function* @param None* @retval None*/
static void MX_TIM2_Init(void)
{TIM_ClockConfigTypeDef sClockSourceConfig = {0};TIM_MasterConfigTypeDef sMasterConfig = {0};htim2.Instance = TIM2;htim2.Init.Prescaler = 7200 - 1; // 72MHz / 7200 = 10kHzhtim2.Init.CounterMode = TIM_COUNTERMODE_UP;htim2.Init.Period = 5000 - 1; // 10kHz / 5000 = 2Hz (500ms)htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;if (HAL_TIM_Base_Init(&htim2) != HAL_OK){Error_Handler();}sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK){Error_Handler();}sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK){Error_Handler();}
}/*** @brief GPIO Initialization Function* @param None* @retval None*/
static void MX_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct = {0};/* GPIO Ports Clock Enable */__HAL_RCC_GPIOC_CLK_ENABLE();__HAL_RCC_GPIOD_CLK_ENABLE();/* Configure GPIO pin Output Level */HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);/* Configure GPIO pin : PC13 (LED) */GPIO_InitStruct.Pin = GPIO_PIN_13;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}/*** @brief Period elapsed callback in non blocking mode* @note This function is called when TIM2 interrupt took place, inside* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment* a global variable "uwTick" used as application time base.* @param htim : TIM handle* @retval None*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{if (htim->Instance == TIM2){HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);}
}/*** @brief This function is executed in case of error occurrence.* @retval None*/
void Error_Handler(void)
{__disable_irq();while (1){}
}#ifdef USE_FULL_ASSERT
/*** @brief Reports the name of the source file and the source line number* where the assert_param error has occurred.* @param file: pointer to the source file name* @param line: assert_param error line source number* @retval None*/
void assert_failed(uint8_t *file, uint32_t line)
{/* User can add his own implementation to report the file name and line number,ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
}
#endif /* USE_FULL_ASSERT */
stm32f1xx_it.c
中断服务函数:
#include "main.h"
#include "stm32f1xx_it.h"extern TIM_HandleTypeDef htim2;/*** @brief This function handles Non maskable interrupt.*/
void NMI_Handler(void)
{
}/*** @brief This function handles Hard fault interrupt.*/
void HardFault_Handler(void)
{while (1){}
}/*** @brief This function handles Memory management fault.*/
void MemManage_Handler(void)
{while (1){}
}/*** @brief This function handles Prefetch fault, memory access fault.*/
void BusFault_Handler(void)
{while (1){}
}/*** @brief This function handles Undefined instruction or illegal state.*/
void UsageFault_Handler(void)
{while (1){}
}/*** @brief This function handles System service call via SWI instruction.*/
void SVC_Handler(void)
{
}/*** @brief This function handles Debug monitor.*/
void DebugMon_Handler(void)
{
}/*** @brief This function handles Pendable request for system service.*/
void PendSV_Handler(void)
{
}/*** @brief This function handles System tick timer.*/
void SysTick_Handler(void)
{HAL_IncTick();
}/*** @brief This function handles TIM2 global interrupt.*/
void TIM2_IRQHandler(void)
{HAL_TIM_IRQHandler(&htim2);
}
五、编译和下载
5.1 编译项目
在VSCode中按Ctrl+Shift+B或在终端执行:
make -j8
编译成功后会看到:
arm-none-eabi-gcc Build/main.o Build/stm32f1xx_it.o Build/stm32f1xx_hal_msp.o ... -o Build/STM32F103_Demo.elf
arm-none-eabi-size Build/STM32F103_Demo.elftext data bss dec hex filename12456 108 1640 14204 377c Build/STM32F103_Demo.elf
arm-none-eabi-objcopy -O ihex Build/STM32F103_Demo.elf Build/STM32F103_Demo.hex
arm-none-eabi-objcopy -O binary -S Build/STM32F103_Demo.elf Build/STM32F103_Demo.bin
5.2 下载程序
使用ST-Link下载:
openocd -f interface/stlink.cfg -f target/stm32f1x.cfg -c "program Build/STM32F103_Demo.elf verify reset exit"
或者配置好tasks.json后,直接运行Flash任务。
5.3 在线调试
按F5启动调试,Cortex-Debug插件会自动:
- 编译项目
- 启动OpenOCD
- 连接目标板
- 下载程序
- 运行到main函数
调试界面可以:
- 查看寄存器值(通过SVD文件解析)
- 查看外设状态
- 设置断点
- 单步执行
- 查看变量
- 查看内存
六、高级技巧
6.1 多配置编译
在实际项目中,经常需要编译不同的配置版本(Debug/Release)。可以这样改造Makefile:
# 在命令行指定配置
# make BUILD=Debug
# make BUILD=ReleaseBUILD ?= Debugifeq ($(BUILD), Debug)OPT = -OgC_DEFS += -DDEBUGCFLAGS += -g -gdwarf-2
elseOPT = -O2LDFLAGS += -s # strip symbols
endif
6.2 自动生成编译数据库
为了让clangd等工具更好地工作,可以生成compile_commands.json:
# 安装bear工具
sudo apt-get install bear# 生成编译数据库
bear -- make clean all
6.3 代码大小优化
几个实用的优化技巧:
- 启用LTO(Link Time Optimization):
CFLAGS += -flto
LDFLAGS += -flto
- 使用newlib-nano:
LDFLAGS += -specs=nano.specs
- 优化浮点运算:
# 如果确实不需要完整的printf浮点支持
LDFLAGS += -u _printf_float
- 分析代码大小:
arm-none-eabi-nm --size-sort -S Build/STM32F103_Demo.elf
6.4 集成FreeRTOS
添加FreeRTOS源文件到Makefile:
C_SOURCES += \
Middlewares/Third_Party/FreeRTOS/Source/croutine.c \
Middlewares/Third_Party/FreeRTOS/Source/event_groups.c \
Middlewares/Third_Party/FreeRTOS/Source/list.c \
Middlewares/Third_Party/FreeRTOS/Source/queue.c \
Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c \
Middlewares/Third_Party/FreeRTOS/Source/tasks.c \
Middlewares/Third_Party/FreeRTOS/Source/timers.c \
Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c \
Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.cC_INCLUDES += \
-IMiddlewares/Third_Party/FreeRTOS/Source/include \
-IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3
七、常见问题排查
7.1 编译错误
问题: undefined reference to '__libc_init_array'
解决: 检查启动文件是否正确添加,确保链接脚本中包含.preinit_array和.init_array段
问题: section .data will not fit in region RAM
解决: 全局变量太多导致RAM溢出,检查是否有大数组定义,考虑使用动态分配或将部分数据放到Flash
7.2 下载问题
问题: OpenOCD连接失败
解决:
# 检查ST-Link驱动
# Windows需要安装官方驱动或用Zadig安装WinUSB驱动
# Linux需要添加udev规则# /etc/udev/rules.d/49-stlinkv2.rules
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="0666"
7.3 调试问题
问题: 断点无法命中
解决: 检查优化等级,-O2以上优化可能导致代码被优化掉。调试时使用-Og
问题: 变量显示<optimized out>
解决: 降低优化等级或使用volatile关键字
八、性能对比
我用一个实际的STM32F407项目测试了Keil和VSCode两种开发方式:
| 对比项 | Keil MDK | VSCode + ARM-GCC |
|---|---|---|
| 全量编译时间 | 18.3秒 | 12.7秒 |
| 增量编译时间 | 2.1秒 | 1.6秒 |
| 代码跳转响应 | 0.5秒 | 0.1秒 |
| 代码提示延迟 | 明显 | 几乎无感知 |
| 内存占用 | 450MB | 280MB |
| 固件大小 | 156KB | 162KB |
九、总结
经过几个月的实践,我已经完全习惯了VSCode + ARM-GCC的开发方式。虽然初期搭建环境需要花点时间,但后续的开发效率提升是显而易见的。
这套方案特别适合:
- 个人开发者和学生(零成本)
- 需要跨平台开发的团队
- 习惯使用Git的开发者
- 需要集成CI/CD的项目
- 追求现代化开发体验的工程师
不适合的场景:
- 公司已经购买了Keil授权
- 团队成员不熟悉命令行工具
- 项目严重依赖Keil特有功能
最后分享一个小经验:刚开始迁移时不要一次性把所有项目都转过来,可以先用一个小项目练手,熟悉整个流程后再逐步迁移大项目。遇到问题多查文档,ARM-GCC和OpenOCD的社区都很活跃,基本上遇到的问题都能找到解决方案。
文中的完整工程文件我已经上传到GitHub,有需要的朋友可以直接clone下来参考。有问题欢迎在评论区交流!
参考资料:
- ARM GNU Toolchain官方文档: https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain
- OpenOCD用户手册: http://openocd.org/doc/html/index.html
- STM32 HAL库参考手册: https://www.st.com/resource/en/user_manual/dm00105879.pdf
- GCC内联汇编指南: https://gcc.gnu.org/onlinedocs/gcc/Extended-Asm.html