A base project for programming the BARTH® STG-8nn mini-PLCs. It is a work-in-progress.
This project serves as a scaffold to make firmware in C for the BARTH® STG-8nn mini-PLCs, using macOS or Linux as the development platform. For an example on how to use this project, refer to the one provided in the stg-8nn-scaffold-example repository.
- Use a modern embedded real-time framework, i.e., Quantum Leaps's QP™/C.
- Use Linux or macOS as the development platform.
- Use the UAVCAN protocol over CAN bus for communication.
- [future work] Use a CAN bus bootloader for on-the-field firmware updates.
- QP™/C using the QK kernel.
- ST's STM32Cube™, specifically, STM32F0's LL drivers and HAL.
- Libcanard
You should be acquainted with the QP™/C framework, UAVCAN and their concepts in order to use this project effectively.
- BARTH® STG-8nn (mini-PLC)
- ST-Link v2 (In-Circuit Programmer)
- MikroElektronika IrDA-To-PC Board (MIKROE-441)
- Kvaser Leaf Light Rugged HS
git clone https://github.com/adolfogc/stg-8nn-scaffold.git
cd stg-8nn-scaffold
git submodule init
git submodule update --init --recursiveThis repository can be used with a dev container, see: https://code.visualstudio.com/docs/remote/containers Also see the adolfogc/cortex-m-devcontainer image in Docker Hub.
To install the ARM Embedded (GCC-based) toolchain:
brew tap osx-cross/arm
brew install arm-gcc-bin stlink open-ocd cmake ninja- Using GCC
mkdir build && cd build
cmake -DSTG_MODEL:STRING=850 -DCMAKE_TOOLCHAIN_FILE=arm-gcc-toolchain.cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -GNinja ..
cmake --build .- Using Clang
mkdir build && cd build
cmake -DSTG_MODEL:STRING=850 -DCMAKE_TOOLCHAIN_FILE=arm-clang-toolchain-macos.cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -GNinja ..
cmake --build .- Building the test version
mkdir build_tester && cd build_tester
cmake -DSTG_MODEL:STRING=TESTER -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -GNinja ..
cmake --build .- Compilation database
The above commands use the -DCMAKE_EXPORT_COMPILE_COMMANDS=ON flag so that CMake generates a compilation database. You can use it to check how the source files will get compiled by inspecting the generated file compile_commands.json. Also, other tools like Cppcheck and Clang-Tidy use this file.
# Flash it using openocd:
openocd \
-f ../openocd/stm32f0x-stlinkv2.cfg \
-f ../openocd/stm32f0x-utils.cfg \
-c "custom_flash firmware.bin" \
-c shutdown
# Flash it using st-flash (currently not working for me):
st-flash write firmware.bin 0x0800000Note: You can use the STM32 ST-LINK utility to update the ST-Link's firmware, but it only runs on Windows.
The file .clang-format contains the options used to format this project's codebase using Clang-Tidy.
-
Generate your "rule texts file" using this Python script and your PDF copy of "MISRA C:2012 - Guidelines for the use of the C language in critical systems" and place it in:
ci/scripts/misra-c-2012-rule-texts.txt. -
Use the provided script:
ci/scripts/test-cppcheck.sh.
Note 0: No compliance with any MISRA guidelines is claimed here, "MISRA C:2012 - Guidelines for the use of the C language in critical systems" is only used as a reference for best practices to follow when developing embedded code using ISO C99.
Note 1: SonarCloud is also used in the CI builds to check for conformance with MISRA C rules.
Note 2: The QP™/C framework is MISRA C:2004 compliant to the extend described in that project's compliance matrix.
Note 3: STM32CubeF0's HAL and LL are MISRA C:2004 compliant, with some exceptions, as stated in STM32CubeF0's webpage.
For more information see COPYING.
A compilation of some useful references that were consulted when creating this project is available in the doc/REFERENCES.md file.