我正在开发一个完美编译的 ChibiOS 版本 3.0.2 的大项目（我们称之为 chibios3）（它非常过时）所以现在我正在尝试迁移到 ChibiOS 版本 20.3.x（以免称之为 chibios20）。我从 STM32F407 Discovery 演示中获取了 chibios20 chconf.h、halconf.h、mcuconf.h 和 Makefile，并用它们替换了旧配置。旧的 Makefile 如下所示：
# Build global options
# NOTE: Can be overridden externally.
#
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -std=gnu99
USE_OPT += -DBOARD_OTG_NOVBUSSENS $(build_args)
USE_OPT += -fsingle-precision-constant -Wdouble-promotion
endif
# C specific options here (added to USE_OPT).
ifeq ($(USE_COPT),)
USE_COPT =
endif
# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
USE_CPPOPT = -fno-rtti
endif
# Enable this if you want the linker to remove unused code and data
ifeq ($(USE_LINK_GC),)
USE_LINK_GC = yes
endif
# Linker extra options here.
ifeq ($(USE_LDOPT),)
USE_LDOPT =
endif
# Enable this if you want link time optimizations (LTO)
ifeq ($(USE_LTO),)
USE_LTO = no
endif
# If enabled, this option allows to compile the application in THUMB mode.
ifeq ($(USE_THUMB),)
USE_THUMB = yes
endif
# Enable this if you want to see the full log while compiling.
ifeq ($(USE_VERBOSE_COMPILE),)
USE_VERBOSE_COMPILE = yes
endif
# If enabled, this option makes the build process faster by not compiling
# modules not used in the current configuration.
ifeq ($(USE_SMART_BUILD),)
USE_SMART_BUILD = yes
endif
#
# Build global options
##############################################################################
##############################################################################
# Architecture or project specific options
#
# Stack size to be allocated to the Cortex-M process stack. This stack is
# the stack used by the main() thread.
ifeq ($(USE_PROCESS_STACKSIZE),)
USE_PROCESS_STACKSIZE = 0x400
endif
# Stack size to the allocated to the Cortex-M main/exceptions stack. This
# stack is used for processing interrupts and exceptions.
ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
USE_EXCEPTIONS_STACKSIZE = 0x400
endif
# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
ifeq ($(USE_FPU),)
USE_FPU = hard
endif
# Enable this if you really want to use the STM FWLib.
ifeq ($(USE_FWLIB),)
USE_FWLIB = yes
endif
#
# Architecture or project specific options
##############################################################################
##############################################################################
# Project, sources and paths
#
# Define project name here
PROJECT = BLDC_4_ChibiOS
# Imported source files and paths
CHIBIOS = ChibiOS_3.0.2
# Startup files.
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
# HAL-OSAL files (optional).
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk
include $(CHIBIOS)/os/hal/boards/ST_STM32F4_DISCOVERY/board.mk
include $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
#include $(CHIBIOS)/test/rt/test.mk
include hwconf/hwconf.mk
include applications/applications.mk
include nrf/nrf.mk
# Define linker script file here
LDSCRIPT= ld_eeprom_emu.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(STARTUPSRC) \
$(KERNSRC) \
$(PORTSRC) \
$(OSALSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/hal/lib/streams/chprintf.c \
$(CHIBIOS)/os/various/syscalls.c \
main.c \
comm_usb_serial.c \
irq_handlers.c \
buffer.c \
comm_usb.c \
crc.c \
digital_filter.c \
ledpwm.c \
mcpwm.c \
servo_dec.c \
utils.c \
servo.c \
servo_simple.c \
packet.c \
terminal.c \
conf_general.c \
eeprom.c \
commands.c \
timeout.c \
comm_can.c \
ws2811.c \
led_external.c \
encoder.c \
flash_helper.c \
mc_interface.c \
mcpwm_foc.c \
$(HWSRC) \
$(APPSRC) \
$(NRFSRC)
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACSRC =
# C++ sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACPPSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCPPSRC =
# List ASM source files here
ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
$(CHIBIOS)/os/various \
$(CHIBIOS)/os/hal/lib/streams \
mcconf \
appconf \
$(HWINC) \
$(APPINC) \
$(NRFINC)
#
# Project, sources and paths
##############################################################################
##############################################################################
# Compiler settings
#
MCU = cortex-m4
#TRGT = arm-elf-
TRGT = arm-none-eabi-
CC = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
# runtime support makes code size explode.
LD = $(TRGT)gcc
#LD = $(TRGT)g++
CP = $(TRGT)objcopy
AS = $(TRGT)gcc -x assembler-with-cpp
AR = $(TRGT)ar
OD = $(TRGT)objdump
SZ = $(TRGT)size
HEX = $(CP) -O ihex
BIN = $(CP) -O binary
# ARM-specific options here
AOPT =
# THUMB-specific options here
TOPT = -mthumb -DTHUMB
# Define C warning options here
CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
# Define C++ warning options here
CPPWARN = -Wall -Wextra -Wundef
#
# Compiler settings
##############################################################################
##############################################################################
# Start of user section
#
# List all user C define here, like -D_DEBUG=1
UDEFS =
# Define ASM defines here
UADEFS =
# List all user directories here
UINCDIR =
# List the user directory to look for the libraries here
ULIBDIR =
# List all user libraries here
ULIBS = -lm
#
# End of user defines
##############################################################################
ifeq ($(USE_FWLIB),yes)
include $(CHIBIOS)/ext/stdperiph_stm32f4/stm32lib.mk
CSRC += $(STM32SRC)
INCDIR += $(STM32INC)
USE_OPT += -DUSE_STDPERIPH_DRIVER
endif
build/$(PROJECT).bin: build/$(PROJECT).elf
$(BIN) build/$(PROJECT).elf build/$(PROJECT).bin
# Program
upload: build/$(PROJECT).bin
#qstlink2 --cli --erase --write build/$(PROJECT).bin
#openocd -f interface/stlink-v2.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f4x_stlink.cfg -c "program build/$(PROJECT).elf verify reset" # Older openocd
openocd -f board/stm32f4discovery.cfg -c "reset_config trst_only combined" -c "program build/$(PROJECT).elf verify reset exit" # For openocd 0.9
#program with olimex arm-usb-tiny-h and jtag-swd adapter board. needs openocd>=0.9
upload-olimex: build/$(PROJECT).bin
openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f interface/ftdi/olimex-arm-jtag-swd.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f4x.cfg -c "program build/$(PROJECT).elf verify reset"
debug-start:
openocd -f stm32-bv_openocd.cfg
RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
include $(RULESPATH)/rules.mk
演示 Makefile 看起来像（我添加了源和包含目录）：
# Build global options
# NOTE: Can be overridden externally.
#
# Compiler options here.
ifeq ($(USE_OPT),)
#USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -std=gnu99
USE_OPT += -DBOARD_OTG_NOVBUSSENS $(build_args)
USE_OPT += -fsingle-precision-constant -Wdouble-promotion
endif
# C specific options here (added to USE_OPT).
ifeq ($(USE_COPT),)
USE_COPT =
endif
# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
USE_CPPOPT = -fno-rtti
endif
# Enable this if you want the linker to remove unused code and data.
ifeq ($(USE_LINK_GC),)
USE_LINK_GC = yes
endif
# Linker extra options here.
ifeq ($(USE_LDOPT),)
USE_LDOPT =
endif
# Enable this if you want link time optimizations (LTO).
ifeq ($(USE_LTO),)
USE_LTO = yes
endif
# Enable this if you want to see the full log while compiling.
ifeq ($(USE_VERBOSE_COMPILE),)
USE_VERBOSE_COMPILE = no
endif
# If enabled, this option makes the build process faster by not compiling
# modules not used in the current configuration.
ifeq ($(USE_SMART_BUILD),)
USE_SMART_BUILD = yes
endif
#
# Build global options
##############################################################################
##############################################################################
# Architecture or project specific options
#
# Stack size to be allocated to the Cortex-M process stack. This stack is
# the stack used by the main() thread.
ifeq ($(USE_PROCESS_STACKSIZE),)
USE_PROCESS_STACKSIZE = 0x400
endif
# Stack size to the allocated to the Cortex-M main/exceptions stack. This
# stack is used for processing interrupts and exceptions.
ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
USE_EXCEPTIONS_STACKSIZE = 0x400
endif
# Enables the use of FPU (no, softfp, hard).
ifeq ($(USE_FPU),)
USE_FPU = no
endif
# FPU-related options.
ifeq ($(USE_FPU_OPT),)
USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16
endif
#
# Architecture or project specific options
##############################################################################
##############################################################################
# Project, target, sources and paths
#
# Define project name here
PROJECT = ch
# Target settings.
MCU = cortex-m4
# Imported source files and paths.
CHIBIOS := ./ChibiOS_20.3.x
CONFDIR := ./cfg
BUILDDIR := ./build
DEPDIR := ./.dep
# Licensing files.
include $(CHIBIOS)/os/license/license.mk
# Startup files.
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
# HAL-OSAL files (optional).
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk
include $(CHIBIOS)/os/hal/boards/ST_STM32F4_DISCOVERY/board.mk
include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Auto-build files in ./source recursively.
include $(CHIBIOS)/tools/mk/autobuild.mk
# Other files (optional).
include $(CHIBIOS)/test/lib/test.mk
include $(CHIBIOS)/test/rt/rt_test.mk
include $(CHIBIOS)/test/oslib/oslib_test.mk
#My changes
include hwconf/hwconf.mk
include applications/applications.mk
include nrf/nrf.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(ALLCSRC) \
$(TESTSRC) \
main.c \
comm_usb_serial.c \
buffer.c \
comm_usb.c \
crc.c \
digital_filter.c \
ledpwm.c \
mcpwm.c \
servo_dec.c \
utils.c \
servo.c \
servo_simple.c \
packet.c \
terminal.c \
conf_general.c \
eeprom.c \
commands.c \
timeout.c \
comm_can.c \
ws2811.c \
led_external.c \
encoder.c \
flash_helper.c \
mc_interface.c \
mcpwm_foc.c \
$(HWSRC) \
$(APPSRC) \
$(NRFSRC)
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC = $(ALLCPPSRC)
# List ASM source files here.
ASMSRC = $(ALLASMSRC)
# List ASM with preprocessor source files here.
ASMXSRC = $(ALLXASMSRC)
# Inclusion directories.
INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC) \
mcconf \
appconf \
$(HWINC) \
$(APPINC) \
$(NRFINC)
# THUMB-specific options here
TOPT = -mthumb -DTHUMB
# Define C warning options here.
CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
# Define C++ warning options here.
CPPWARN = -Wall -Wextra -Wundef
#
# Project, target, sources and paths
##############################################################################
##############################################################################
# Start of user section
#
# List all user C define here, like -D_DEBUG=1
UDEFS =
# Define ASM defines here
UADEFS =
# List all user directories here
UINCDIR =
# List the user directory to look for the libraries here
ULIBDIR =
# List all user libraries here
ULIBS = -lm
#
# End of user section
##############################################################################
##############################################################################
# Common rules
#
RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk
include $(RULESPATH)/arm-none-eabi.mk
include $(RULESPATH)/rules.mk
#
# Common rules
##############################################################################
##############################################################################
# Custom rules
#
#
# Custom rules
##############################################################################
现在我运行命令时make出现错误，表明该项目无法理解基本语法，如 uint8_t uint16_t .... 甚至没有定义“true”这个词。
错误如下所示：
2910 | __I uint8_t RESERVED2[3];
| ^~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2911:8: error: unknown type name 'uint8_t'
2911 | __IO uint8_t I2CMTX; /*!< Master Transmit Data */
| ^~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2912:8: error: unknown type name 'uint8_t'
2912 | __I uint8_t RESERVED3[3];
| ^~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2913:8: error: unknown type name 'uint16_t'
2913 | __IO uint16_t I2CMRXCNT; /*!< Master Receive Data Count */
| ^~~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2914:8: error: unknown type name 'uint16_t'
2914 | __I uint16_t RESERVED4;
| ^~~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2915:8: error: unknown type name 'uint16_t'
2915 | __IO uint16_t I2CMCRXCNT; /*!< Master Current Receive Data Count */
| ^~~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2916:8: error: unknown type name 'uint16_t'
2916 | __I uint16_t RESERVED5;
| ^~~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2917:8: error: unknown type name 'uint8_t'
2917 | __IO uint8_t I2CADR0; /*!< 1st Master Address Byte */
| ^~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2918:8: error: unknown type name 'uint8_t'
2918 | __I uint8_t RESERVED6[3];
| ^~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2919:8: error: unknown type name 'uint8_t'
2919 | __IO uint8_t I2CADR1; /*!< 2nd Master Address Byte */
| ^~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2920:8: error: unknown type name 'uint8_t'
2920 | __I uint8_t RESERVED7[7];
| ^~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2921:8: error: unknown type name 'uint16_t'
2921 | __IO uint16_t I2CDIV; /*!< Serial clock period divisor register */
| ^~~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2922:8: error: unknown type name 'uint16_t'
2922 | __I uint16_t RESERVED8;
| ^~~~~~~~
./ChibiOS_20.3.x/os/common/startup/ARMCMx/compilers/GCC/../../../../../../../ChibiOS_20.3.x/os/common/startup/ARMCMx/devices/ADUCM36x/../../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/../../../../../../ChibiOS_20.3.x/os/common/ext/ADI/ADUCM36x/ADuCM360.h:2923:8: error: unknown type name 'uint16_t'
14:00:20 Build Failed. 811 errors, 3 warnings. (took 5s.161ms)