环境安装

注：文末提供一键脚本

下载安装stm32cubeclt

下载地址为：https://www.st.com/en/development-tools/stm32cubeclt.html

选择 linux版本下载安装

安装好后默认在家目录st下

> $ ls ~/st/stm32cubeclt_1.16.0                                                                           
CMake                jre    STLink-gdb-server           STLinkUpgrade.sh          STM32CubeProgrammer  STMicroelectronics_CMSIS_SVD       uninstall_clt.sh
GNU-tools-for-STM32  Ninja  stlink-server.uninstall.sh  STM32CubeCLT_metadata.sh  STM32target-mcu      st-stlink-udev-rules.uninstall.sh

下载安装stm32cubemx

下载地址为https://www.st.com/en/development-tools/stm32cubemx.html

同样下载安装linux版本，安装好后默认在~/STM32CubeMX

开发调试

1. 工程初始化

使用cubemx随意生成一个cmake的测试工程，进入到工程目录

cd balance-car  #balance-car为我测试工程文件夹
export PATH=$PATH:$HOME/st/stm32cubeclt_1.16.0/GNU-tools-for-STM32/bin
mkdir build && cd build
cmake ..

2. 工程编译

继续在build目录执行make命令

make

出现以下内容表示编译成功

Memory region         Used Size  Region Size  %age Used
             RAM:        2928 B        20 KB     14.30%
           FLASH:       53928 B        64 KB     82.29%
[100%] Built target balance-car

编译好后的二进制名为balance-car.elf

3.工程下载

执行以下命令下载程序

 ~/st/stm32cubeclt_1.16.0/STM32CubeProgrammer/bin/STM32_Programmer_CLI --connect port=swd --download ./balance-car.elf -hardRst -rst --start

下载成功提示输出：

Erasing memory corresponding to segment 0:
Erasing internal memory sectors [0 52]
Download in Progress:
[==================================================] 100%

File download complete
Time elapsed during download operation: 00:00:03.233

Hard reset is performed

MCU Reset

Software reset is performed

RUNNING Program ...
  Address:      : 0x8000000
Application is running, Please Hold on...
Start operation achieved successfully

4.工程调试

启动gdbserver

打开一个新的命令窗口进入以下目录

cd ~/st/stm32cubeclt_1.16.0/STLink-gdb-server/bin/

修改此目录下config.txt 中-cp字段，注意需要将home后yala字段修改为自己对应家目录名称

###############################################################
#  -cp <path>         : Path to STM32CubeProgrammer
#                       Modify to correct path
#                       for STM32_Programmer_CLI executable
###############################################################
-cp /home/yala/st/stm32cubeclt_1.16.0/STM32CubeProgrammer/bin

此修改只进行一次，修改完成后启动gdb

./ST-LINK_gdbserver -c config.txt

启动成功输出如下

STMicroelectronics ST-LINK GDB server. Version 7.8.0
Copyright (c) 2024, STMicroelectronics. All rights reserved.

Starting server with the following options:
        Persistent Mode            : Enabled
        LogFile Name               : debug.log
        Logging Level              : 31
        Listen Port Number         : 61234
        Status Refresh Delay       : 15s
        Verbose Mode               : Disabled
        SWD Debug                  : Enabled

COM frequency = 4000 kHz
Target connection mode: Default
Reading ROM table for AP 0 @0xe00fffd0
Hardware watchpoint supported by the target
ST-LINK Firmware version : V2J45S7
Device ID: 0x410
PC: 0x800b31c
ST-LINK device status: HALT_MODE
ST-LINK detects target voltage = 3.00 V
ST-LINK device status: HALT_MODE
ST-LINK device initialization OK
Stm32Device, pollAndNotify running...
SwvSrv state change: 0 -> 1
Waiting for connection on port 61235...
Waiting for debugger connection...
Waiting for connection on port 61234...

开始调试

回到build目录，启动gdb

~/st/stm32cubeclt_1.16.0/GNU-tools-for-STM32/bin/arm-none-eabi-gdb balance-car.elf

在gdb中连接到gdbserver

(gdb) target remote localhost:61234
Remote debugging using localhost:61234
Reset_Handler () at /home/junchao/work/balance-car/startup_stm32f103xb.s:64
64          bl  SystemInit

到这里就可以正常开始下断点调试了

EXT：方法2

从第三步开始，可以使用stlink开源工具实现程序下载、调试

从https://github.com/stlink-org/stlink/releases下载最新deb安装包，安装

sudo dpkg -i ./stlink_1.8.0-1_amd64.deb

1. 启动gdbserver

   st-util
   

   成功输出为

   st-util 1.8.0
   2024-11-15T15:40:21 INFO common.c: NRST is not connected --> using software reset via AIRCR
   2024-11-15T15:40:21 INFO common.c: STM32F1xx_MD: 20 KiB SRAM, 64 KiB flash in at least 1 KiB pages.
   2024-11-15T15:40:21 INFO gdb-server.c: Listening at *:4242...
   

2. 下载调试

   回到build目录，执行改变

   ~/st/stm32cubeclt_1.16.0/GNU-tools-for-STM32/bin/arm-none-eabi-gdb balance-car.elf
   

   在gdb中连接到gdbserver

   (gdb) target remote localhost:4242
   Remote debugging using localhost:4242
   main () at /home/junchao/work/balance-car/Core/Src/main.c:74
   74        uint32_t loop_cnt = 0;
   

   现在即可开始调试。若重新编译二进制后可以使用load命令下载更新程序

   (gdb) load balance-car.elf
   Loading section .isr_vector, size 0x10c lma 0x8000000
   Loading section .text, size 0xbe54 lma 0x8000110
   Loading section .rodata, size 0x1108 lma 0x800bf68
   Loading section .ARM, size 0x8 lma 0x800d070
   Loading section .init_array, size 0x4 lma 0x800d078
   Loading section .fini_array, size 0x4 lma 0x800d07c
   Loading section .data, size 0x228 lma 0x800d080
   Start address 0x0800b31c, load size 53920
   Transfer rate: 11 KB/sec, 5392 bytes/write.
   

一键脚本

编写了一个脚本用于一键操作

将脚本放到工程根目录（勿放到build目录），cubemx生成的工程文件夹名称不能修改，脚本依赖它运行

使用示例

./st-tool build  #编译项目
./st-tool dbg  # 启动调试
./st-tool dbg load # gdb启动后先进行程序下载操作再进行调试
./st-tool flash # 下载程序

请注意修改 脚本中$HOME/st/stm32cubeclt_1.16.0路径

#!/bin/bash

export PATH=$PATH:$HOME/st/stm32cubeclt_1.16.0/GNU-tools-for-STM32/bin/  

# 自动检测项目名称
PROJECT_NAME=$(basename $(pwd))

# 工具链配置
TOOLCHAIN_PREFIX="arm-none-eabi-"
GCC="${TOOLCHAIN_PREFIX}gcc"
OBJCOPY="${TOOLCHAIN_PREFIX}objcopy"
GDB="${TOOLCHAIN_PREFIX}gdb"

# ST-Link配置
STLINK_FLASH="st-flash"
STLINK_UTIL="st-util"

# 编译函数
compile() {
    if [ ! -d "build" ]; then
        echo "Creating build directory..."
        mkdir build
    fi

    cd build
    if [ ! -f "Makefile" ]; then
        echo "Running CMake..."
        cmake ..
    fi

    echo "Compiling project..."
    make
    if [ $? -eq 0 ]; then
        echo "Compilation successful."
    else
        echo "Compilation failed."
        exit 1
    fi
    cd ..
}

# 烧录函数
flash() {
    if [ ! -f "build/${PROJECT_NAME}.elf" ]; then
        echo "ELF file not found. Please compile the project first."
        exit 1
    fi

    echo "Creating binary file..."
    $OBJCOPY -O binary "build/${PROJECT_NAME}.elf" "build/${PROJECT_NAME}.bin"

    echo "Flashing binary to device..."
    $STLINK_FLASH write "build/${PROJECT_NAME}.bin" 0x8000000
}

# GDB调试函数
debug() {
    if [ ! -f "build/${PROJECT_NAME}.elf" ]; then
        echo "ELF file not found. Please compile the project first."
        exit 1
    fi

    echo "Starting ST-Link GDB server..."
    $STLINK_UTIL &
    STUTIL_PID=$!

    local load_command=""
    if [ "$1" = "load" ]; then
        echo "exec load"
        load_command="-ex load build/${PROJECT_NAME}.elf"
    fi
    echo "Starting GDB debug session..."
    # $GDB -ex "target remote localhost:4242" "build/${PROJECT_NAME}.elf"
    $GDB -ex "set confirm off" \
         -ex "target remote localhost:4242" \
         $load_command \
         -ex "monitor reset halt" \
         -ex "monitor reset init" \
         "build/${PROJECT_NAME}.elf"

    # 清理ST-Link GDB server
    # kill $STUTIL_PID
}

# 帮助信息
show_help() {
    echo "Usage: $0 [option]"
    echo "Options:"
    echo "  build    Compile the project"
    echo "  flash      Flash the binary to the device"
    echo "  dbg      Start a GDB debug session"
    echo "  help       Show this help message"
}

# 主函数
main() {
    case "$1" in
        build)
            compile
            ;;
        flash)
            flash
            ;;
        dbg)
            if [ "$2" = "load" ]; then
              debug load
            else
              debug
            fi
            ;;
        help)
            show_help
            ;;
        *)
            echo "Invalid option. Use '$0 help' for usage information."
            exit 1
            ;;
    esac
}

# 执行主函数
main "$@"