STM32F407实现1588v2(ptpd)

news2025/1/9 18:33:54

硬件：

STM32F407ZGT6开发板

软件：

VSCode

arm-none-eabi-gcc

openOCD

st-link

在github搜到一个在NUCLEO-F429ZI开发板上移植ptpd的example，因为和F407差别很小，所以就打算用这个demo移植到手头的开发板上。因为目前只需要slave，所以只调试了slave。据介绍，master好像原作者没有充分测试过。

源项目链接：

https://github.com/mpthompson/stm32_ptpd

1.修改ETH引脚

projects/nucleo_ptpd_slave/src/hal_system.c中 HAL_ETH_MspInit 函数里有ETH引脚初始化：

 根据自己手头板子调整引脚初始化，其实可以先用STM32CubeMX生成一个测试工程，测试一下板子硬件是好的再移植是最正确的流程。关于ETH硬件测试工程可以参考我之前的博文：

(GCC)从零开始的ETH开发--STM32F407ZGTX_我我我只会printf的博客-CSDN博客

这里记得在初始化完成后，使用复位引脚复位PHY。还有原工程是F429，现在改成F407需要修改头文件hal_system.h中：

还有时钟类型需要根据实际修改，一般都是外部晶振：

 

2.修改makefile

F429和F407启动文件不同，所以需要修改slave工程包含的makefile：

 其次删除newlib_stubs.c文件，否则编译后的固件没办法使用。

还有修改宏定义：

还有注意修改ld脚本文件，这里我使用的是自己新建的ld文件：

其他修改可有可无，根据自己情况修改。makefile文件如下：

# Makefile for PTPD slave for NUCLEO-F429ZI.

# Project name
NAME = nucleo_ptpd_slave
CPU = -mcpu=cortex-m4
# fpu
FPU = -mfpu=fpv5-d16

# float-abi
FLOAT-ABI = -mfloat-abi=hard

# mcu
MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
# Outputs
BINMAP = $(NAME).map
BINELF = $(NAME).elf
BINHEX = $(NAME).hex
BINBIN = $(NAME).bin
BINCRC = $(NAME).crc
BINMAP = $(NAME).map

# GNU ARM Embedded Toolchain
PREFIX = arm-none-eabi-
ifdef GCC_PATH
CC = $(GCC_PATH)/$(PREFIX)gcc
CXX = $(GCC_PATH)/$(PREFIX)g++
LD = $(GCC_PATH)/$(PREFIX)ld
AR = $(GCC_PATH)/$(PREFIX)ar
AS = $(GCC_PATH)/$(PREFIX)as
NM = $(GCC_PATH)/$(PREFIX)nm
SIZE = $(GCC_PATH)/$(PREFIX)size
A2L = $(GCC_PATH)/$(PREFIX)addr2line
OBJCOPY = $(GCC_PATH)/$(PREFIX)objcopy
OBJDUMP = $(GCC_PATH)/$(PREFIX)objdump
else
CC = $(PREFIX)gcc
CXX = $(PREFIX)g++
LD = $(PREFIX)ld
AR = $(PREFIX)ar
AS = $(PREFIX)as
NM = $(PREFIX)nm
SIZE = $(PREFIX)size
A2L = $(PREFIX)addr2line
OBJCOPY = $(PREFIX)objcopy
OBJDUMP = $(PREFIX)objdump
endif

# Startup
# SRCS = ../shared_stm32/startup/gcc/startup_stm32f429xx.s
SRCS = ../shared_stm32/startup/gcc/startup_stm32f407xx.s

# Application
SRCS += ./src/main.c
SRCS += ./src/hal_system.c

# Application Shared
SRCS += ../shared/event.c
SRCS += ../shared/outputf.c
SRCS += ../shared/peek.c
SRCS += ../shared/reboot.c
SRCS += ../shared/shell.c
SRCS += ../shared/syslog.c
SRCS += ../shared/telnet.c
SRCS += ../shared/uptime.c

# Application Shared Nucleo
SRCS += ../shared_nucleo/buttons.c
SRCS += ../shared_nucleo/leds.c

# Application Shared STM32
SRCS += ../shared_stm32/blink.c
SRCS += ../shared_stm32/clocks.c
SRCS += ../shared_stm32/console.c
SRCS += ../shared_stm32/delay.c
SRCS += ../shared_stm32/ethptp.c
SRCS += ../shared_stm32/extint.c
SRCS += ../shared_stm32/hardtime.c
SRCS += ../shared_stm32/network.c
SRCS += ../shared_stm32/ntime.c
SRCS += ../shared_stm32/random.c
SRCS += ../shared_stm32/systime.c
SRCS += ../shared_stm32/system_stm32f4xx.c
SRCS += ../shared_stm32/tick.c
SRCS += ../shared_stm32/watchdog.c

# Utilities
# SRCS += ../shared/newlib_stubs.c

# Drivers
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_crc.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dac.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dma.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dma2d.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_exti.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fsmc.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_gpio.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_i2c.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_lptim.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_pwr.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rcc.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rng.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rtc.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usart.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
SRCS += ../../libraries/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_utils.c

# NT Shell
SRCS += ../../libraries/ntshell-v0.3.1/lib/core/ntlibc.c
SRCS += ../../libraries/ntshell-v0.3.1/lib/util/ntopt.c
SRCS += ../../libraries/ntshell-v0.3.1/lib/core/ntshell.c
SRCS += ../../libraries/ntshell-v0.3.1/lib/util/ntstdio.c
SRCS += ../../libraries/ntshell-v0.3.1/lib/core/text_editor.c
SRCS += ../../libraries/ntshell-v0.3.1/lib/core/text_history.c
SRCS += ../../libraries/ntshell-v0.3.1/lib/core/vtrecv.c
SRCS += ../../libraries/ntshell-v0.3.1/lib/core/vtsend.c

# PTPD
SRCS += ../shared/ptpd/src/ptpd_arith.c
SRCS += ../shared/ptpd/src/ptpd_bmc.c
SRCS += ../shared/ptpd/src/ptpd_main.c
SRCS += ../shared/ptpd/src/ptpd_msg.c
SRCS += ../shared/ptpd/src/ptpd_net.c
SRCS += ../shared/ptpd/src/ptpd_protocol.c
SRCS += ../shared/ptpd/src/ptpd_servo.c
SRCS += ../shared/ptpd/src/ptpd_time.c
SRCS += ../shared/ptpd/src/ptpd_timer.c

# LWIP API
SRCS += ../../libraries/LWIP-2.1.2/src/api/api_lib.c
SRCS += ../../libraries/LWIP-2.1.2/src/api/api_msg.c
SRCS += ../../libraries/LWIP-2.1.2/src/api/err.c
SRCS += ../../libraries/LWIP-2.1.2/src/api/netbuf.c
SRCS += ../../libraries/LWIP-2.1.2/src/api/netdb.c
SRCS += ../../libraries/LWIP-2.1.2/src/api/netifapi.c
SRCS += ../../libraries/LWIP-2.1.2/src/api/sockets.c
SRCS += ../../libraries/LWIP-2.1.2/src/api/tcpip.c

# LWIP Core
SRCS += ../../libraries/LWIP-2.1.2/src/core/altcp.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/altcp_alloc.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/altcp_tcp.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/def.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/dns.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/inet_chksum.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/init.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ip.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/mem.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/memp.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/netif.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/pbuf.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/raw.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/stats.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/sys.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/tcp.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/tcp_in.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/tcp_out.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/timeouts.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/udp.c

# LWIP Core IPv4
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv4/autoip.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv4/dhcp.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv4/etharp.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv4/icmp.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv4/igmp.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv4/ip4.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv4/ip4_addr.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv4/ip4_frag.c

# LWIP Core IPv6
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/dhcp6.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/ethip6.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/icmp6.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/inet6.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/ip6.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/ip6_addr.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/ip6_frag.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/mld6.c
SRCS += ../../libraries/LWIP-2.1.2/src/core/ipv6/nd6.c

# LWIP Netif
SRCS += ../../libraries/LWIP-2.1.2/src/netif/ethernet.c
SRCS += ../../libraries/LWIP-2.1.2/src/netif/lowpan6.c

# LWIP Port
SRCS += ../shared_stm32/lwip_port/ethernetif.c
SRCS += ../shared_stm32/lwip_port/sys_arch.c

# LWIP Apps
SRCS += ../../libraries/LWIP-2.1.2/src/apps/mdns/mdns.c

# RTOS Config
SRCS += ./src/RTX_Config.c

# RTOS Kernel
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_delay.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_evflags.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_evr.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_kernel.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_lib.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_memory.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_mempool.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_msgqueue.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_mutex.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_semaphore.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_system.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_thread.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/rtx_timer.c
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/Source/os_systick.c

# RTOS IRQ
SRCS += ../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source/GCC/irq_cm4f.S

# List of directories that contain source code
SRC_PATHS = $(sort $(dir $(SRCS)))

# Specify the output path
OUTPATH = build

# Create the object list from the sources
OBJS = $(subst .s,.o,$(subst .S,.o,$(subst .c,.o,$(subst .cpp,.o,$(addprefix $(OUTPATH)/, $(notdir $(SRCS)))))))

#$(info SRCS=$(SRCS))
#$(info OBJS=$(OBJS))
#$(info SRC_PATHS=$(SRC_PATHS))

# Where to find source files.
vpath %.cpp $(SRC_PATHS)
vpath %.c $(SRC_PATHS)
vpath %.s $(SRC_PATHS)
vpath %.S $(SRC_PATHS)

# Includes
INCLUDES = -I.
INCLUDES += -I./src
INCLUDES += -I../shared
INCLUDES += -I../shared/ptpd/src
INCLUDES += -I../shared_stm32
INCLUDES += -I../shared_stm32/lwip_port
INCLUDES += -I../shared_nucleo
INCLUDES += -I../../libraries/CMSIS/5.4.0/CMSIS/Core/Include
INCLUDES += -I../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/Include
INCLUDES += -I../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Include
INCLUDES += -I../../libraries/CMSIS/5.4.0/CMSIS/RTOS2/RTX/Source
INCLUDES += -I../../libraries/CMSIS/5.4.0_ST/Device/ST/STM32F4xx/Include
INCLUDES += -I../../libraries/STM32F4xx_HAL_Driver/Inc
INCLUDES += -I../../libraries/LWIP-2.1.2/src
INCLUDES += -I../../libraries/LWIP-2.1.2/src/include
INCLUDES += -I../../libraries/ntshell-v0.3.1/lib/core
INCLUDES += -I../../libraries/ntshell-v0.3.1/lib/util

OPTFLAGS = -O0

MCFLAGS = -mcpu=cortex-m4
MCFLAGS += -mthumb
MCFLAGS += -mlittle-endian
MCFLAGS += -mfpu=fpv4-sp-d16
MCFLAGS += -mfloat-abi=hard
#MCFLAGS += -mapcs-frame
MCFLAGS += -MD
MCFLAGS += -Wall

#FFLAGS = -fno-common
FFLAGS += -ffunction-sections
FFLAGS += -fdata-sections
#FFLAGS += -ffreestanding
#FFLAGS += -fno-builtin

#WFLAGS = -Wno-strict-aliasing

DEFINES = -DSTM32F407xx
DEFINES += -DNDEBUG
# DEFINES += -DUSE_STM32F4XX_NUCLEO_144
DEFINES += -DUSE_STM32F4_DISCOVERY
DEFINES += -DUSE_HAL_DRIVER
DEFINES += -DUSE_FULL_LL_DRIVER
DEFINES += -D__CMSIS_RTOS
DEFINES += -DVECT_TAB_OFFSET=0x0
DEFINES += -DEVR_RTX_DISABLE

LIBS = -lc -lm -lnosys
LIBDIR = 
# CFLAGS
CFLAGS = -c -g -gdwarf-2 $(OPTFLAGS) $(MCFLAGS) $(FFLAGS) $(WFLAGS) $(DEFINES) $(INCLUDES)
CXXFLAGS = -c $(OPTFLAGS) $(MCFLAGS) $(FFLAGS) $(WFLAGS) $(DEFINES) $(INCLUDES) -std=c++11

# LINKER FLAGS
LDSCRIPT = nucleo_stm32f407.ld
LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(OUTPATH)/$(BINMAP),--cref -Wl,--gc-sections
###
# Build Rules
.PHONY: all release debug clean

all: $(OUTPATH) release

debug: CFLAGS += -DDEBUG -g -g3 -gdwarf-2 -gdwarf-3
debug: CXXFLAGS += -DDEBUG -g -g3 -gdwarf-2 -gdwarf-3
debug: LDFLAGS += -g -g3 -gdwarf-2 -gdwarf-3
debug: release

# release: $(OUTPATH)/$(BINHEX) $(OUTPATH)/$(BINBIN) $(OUTPATH)/$(BINCRC)

release: $(OUTPATH)/$(BINHEX) $(OUTPATH)/$(BINBIN)

# $(OUTPATH):
# 	mkdir -p $(OUTPATH)

$(OUTPATH):
	mkdir $(OUTPATH)

$(OUTPATH)/$(BINHEX): $(OUTPATH)/$(BINELF)
	$(OBJCOPY) -O ihex $< $@

$(OUTPATH)/$(BINBIN): $(OUTPATH)/$(BINELF)
	$(OBJCOPY) -O binary $< $@

#$(OUTPATH)/$(BINCRC): $(OUTPATH)/$(BINBIN)
#	cksum < $< > $@

##
# C linking is used. If C++ linker is required, change:
#   $(CC) $(OBJS) $(LDFLAGS) -o $@
# to:
#   $(CXX) $(OBJS) $(LDFLAGS) -o $@
#
$(OUTPATH)/$(BINELF): $(OBJS)
	$(CC) $(OBJS) $(LDFLAGS) -o $@
	$(SIZE) $(OUTPATH)/$(BINELF)

$(OUTPATH)/%.o : %.cpp
	$(CXX) $(CXXFLAGS) $< -o $@

$(OUTPATH)/%.o : %.c
	$(CC) $(CFLAGS) $< -o $@

$(OUTPATH)/%.o : %.s
	$(CC) $(CFLAGS) $< -o $@

$(OUTPATH)/%.o : %.S
	$(CC) $(CFLAGS) $< -o $@

clean:
	rm ./$(OUTPATH)
flash: $(OUTPATH)/$(BINHEX) 
	st-flash --reset --format ihex write $(OUTPATH)/$(BINHEX)

ld文件：

ENTRY(Reset_Handler)

/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM);    /* end of 192K RAM on AHB bus*/

/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x200;      /* required amount of heap  */
_Min_Stack_Size = 0x800; /* required amount of stack */

/* Specify the memory areas */
MEMORY
{
  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 1024K
  RAM (rwx)       : ORIGIN = 0x20000000, LENGTH = 128K
  CCM (rwx)       : ORIGIN = 0x10000000, LENGTH = 64K
}

SECTIONS
{
  .isr_vector :
  {
    . = ALIGN(4);
    _sflash = .;        /* create a global symbol at flash start */
    KEEP(*(.isr_vector))
    . = ALIGN(4);
  } >FLASH

  .text :
  {
    . = ALIGN(4);
    *(.text)           /* .text sections (code) */
    *(.text*)          /* .text* sections (code) */
    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
    *(.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 */
    _exit = .;
  } >FLASH

  .ARM.extab   : {
    . = ALIGN(4);
    *(.ARM.extab* .gnu.linkonce.armextab.*)
    . = ALIGN(4);
  } >FLASH

  .ARM : {
    . = ALIGN(4);
    __exidx_start = .;
    *(.ARM.exidx*)
    __exidx_end = .;
    . = ALIGN(4);
  } >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 (*(.fini_array*))
    KEEP (*(SORT(.fini_array.*)))
    PROVIDE_HIDDEN (__fini_array_end = .);
  } >FLASH

  /* used by the startup to initialize data */
  _sidata = .;

  /* Initialized data sections goes into RAM, load LMA copy after code */
  .data : AT ( _sidata )
  {
    . = 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

  /* Uninitialized data section */
  . = ALIGN(4);
  .bss :
  {
    /* This is used by the startup in order to initialize the .bss secion */
    _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 compiler libraries */
  /DISCARD/ :
  {
    libc.a ( * )
    libm.a ( * )
    libgcc.a ( * )
  }

  .ARM.attributes 0 : { *(.ARM.attributes) }
}

注意我使用的gcc版本是：

gcc version 10.3.1 20210621 (release) (GNU Arm Embedded Toolchain 10.3-2021.08)

如果你是用同样的版本，可以直接使用上述makefile，否则可能出现编译失败错误。

3.修改串口

串口配置在console.c文件中，因为我使用的串口和 USE_STM32F4_DISCOVERY 这个开发板串口相同，所以我在上文宏定义的地方直接使用了USE_STM32F4_DISCOVERY宏定义，如果你也按上文使用了USE_STM32F4_DISCOVERY宏定义，但是串口又不相同，请修改：

以及中断名称：

GCC下重定向printf请添加：

int _write (int fd, char *pBuffer, int size)
{
  for (int i = 0; i < size; i++)
  {
    if(pBuffer[i] == '\n')
      console_putc('\r');
    console_putc((int)pBuffer[i]);
  }
  return size;
}

4.修改报文

注意，此处修改只是我为了和电脑运行的ptp4l之间进行测试，如果不修改报文，ptp4l会认为报文异常。

还有slave和master之间稳定的限幅可以设置的大一点：

5.代码编译

至此所有修改完成，在slave工程目录下make即可：

6.代码运行

ubuntu下使用

sudo ptp4l -E -4 -S -i ens40 -m 

-i后跟网卡名称 

 

 

 

 

 

 

 

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