【ARM 裸机】模仿 STM32 驱动开发

1、修改驱动

对于 STM32 来说，使用了一个结构体将一个外设的所有寄存器都放在一起，在上一节的基础上进行修改；

1.1、添加清除 bss 段代码，

在这里插入图片描述

1.2、添加寄存器结构体

新建一个文件，命名imx6u.h，注意地址的连续性，不连续记得占位；
在这里插入图片描述
让定义的结构体和基地址联系起来
在这里插入图片描述
其他外设也一样，包含 CCM_Type、IOMUX_SW_MUX_Type、IOMUX_SW_PAD_Type、GPIO_Type；
imx6u.h

// 外设寄存器组的基地址
#define CCM_BASE					(0X020C4000)
#define IOMUX_SW_MUX_BASE			(0X020E0044)
#define IOMUX_SW_PAD_BASE			(0X020E0204)
#define GPIO1_BASE                  (0X0209C000)

// CCM 外设
typedef struct 
{
    volatile unsigned int CCR;
    volatile unsigned int CCDR;
    volatile unsigned int CSR;
	volatile unsigned int CCSR;
	volatile unsigned int CACRR;
	volatile unsigned int CBCDR;
	volatile unsigned int CBCMR;
	volatile unsigned int CSCMR1;
	volatile unsigned int CSCMR2;
	volatile unsigned int CSCDR1;
	volatile unsigned int CS1CDR;
	volatile unsigned int CS2CDR;
	volatile unsigned int CDCDR;
	volatile unsigned int CHSCCDR;
	volatile unsigned int CSCDR2;
	volatile unsigned int CSCDR3;	
	volatile unsigned int RESERVED_1[2];
	volatile unsigned int CDHIPR;  
	volatile unsigned int RESERVED_2[2];
	volatile unsigned int CLPCR;
	volatile unsigned int CISR;
	volatile unsigned int CIMR;
	volatile unsigned int CCOSR;
	volatile unsigned int CGPR;
	volatile unsigned int CCGR0;
	volatile unsigned int CCGR1;
	volatile unsigned int CCGR2;
	volatile unsigned int CCGR3;
	volatile unsigned int CCGR4;
	volatile unsigned int CCGR5;
	volatile unsigned int CCGR6;
	volatile unsigned int RESERVED_3[1];
	volatile unsigned int CMEOR;
}CCM_Type;

// IOMUX 寄存器组
typedef struct 
{
	volatile unsigned int JTAG_MOD;
	volatile unsigned int JTAG_TMS;
	volatile unsigned int JTAG_TDO;
	volatile unsigned int JTAG_TDI;
	volatile unsigned int JTAG_TCK;
	volatile unsigned int JTAG_TRST_B;
	volatile unsigned int GPIO1_IO00;
	volatile unsigned int GPIO1_IO01;
	volatile unsigned int GPIO1_IO02;
	volatile unsigned int GPIO1_IO03;
	volatile unsigned int GPIO1_IO04;
	volatile unsigned int GPIO1_IO05;
	volatile unsigned int GPIO1_IO06;
	volatile unsigned int GPIO1_IO07;
	volatile unsigned int GPIO1_IO08;
	volatile unsigned int GPIO1_IO09;
	volatile unsigned int UART1_TX_DATA;
	volatile unsigned int UART1_RX_DATA;
	volatile unsigned int UART1_CTS_B;
	volatile unsigned int UART1_RTS_B;
	volatile unsigned int UART2_TX_DATA;
	volatile unsigned int UART2_RX_DATA;
	volatile unsigned int UART2_CTS_B;
	volatile unsigned int UART2_RTS_B;
	volatile unsigned int UART3_TX_DATA;
	volatile unsigned int UART3_RX_DATA;
	volatile unsigned int UART3_CTS_B;
	volatile unsigned int UART3_RTS_B;
	volatile unsigned int UART4_TX_DATA;
	volatile unsigned int UART4_RX_DATA;
	volatile unsigned int UART5_TX_DATA;
	volatile unsigned int UART5_RX_DATA;
	volatile unsigned int ENET1_RX_DATA0;
	volatile unsigned int ENET1_RX_DATA1;
	volatile unsigned int ENET1_RX_EN;
	volatile unsigned int ENET1_TX_DATA0;
	volatile unsigned int ENET1_TX_DATA1;
	volatile unsigned int ENET1_TX_EN;
	volatile unsigned int ENET1_TX_CLK;
	volatile unsigned int ENET1_RX_ER;
	volatile unsigned int ENET2_RX_DATA0;
	volatile unsigned int ENET2_RX_DATA1;
	volatile unsigned int ENET2_RX_EN;
	volatile unsigned int ENET2_TX_DATA0;
	volatile unsigned int ENET2_TX_DATA1;
	volatile unsigned int ENET2_TX_EN;
	volatile unsigned int ENET2_TX_CLK;
	volatile unsigned int ENET2_RX_ER;
	volatile unsigned int LCD_CLK;
	volatile unsigned int LCD_ENABLE;
	volatile unsigned int LCD_HSYNC;
	volatile unsigned int LCD_VSYNC;
	volatile unsigned int LCD_RESET;
	volatile unsigned int LCD_DATA00;
	volatile unsigned int LCD_DATA01;
	volatile unsigned int LCD_DATA02;
	volatile unsigned int LCD_DATA03;
	volatile unsigned int LCD_DATA04;
	volatile unsigned int LCD_DATA05;
	volatile unsigned int LCD_DATA06;
	volatile unsigned int LCD_DATA07;
	volatile unsigned int LCD_DATA08;
	volatile unsigned int LCD_DATA09;
	volatile unsigned int LCD_DATA10;
	volatile unsigned int LCD_DATA11;
	volatile unsigned int LCD_DATA12;
	volatile unsigned int LCD_DATA13;
	volatile unsigned int LCD_DATA14;
	volatile unsigned int LCD_DATA15;
	volatile unsigned int LCD_DATA16;
	volatile unsigned int LCD_DATA17;
	volatile unsigned int LCD_DATA18;
	volatile unsigned int LCD_DATA19;
	volatile unsigned int LCD_DATA20;
	volatile unsigned int LCD_DATA21;
	volatile unsigned int LCD_DATA22;
	volatile unsigned int LCD_DATA23;
	volatile unsigned int NAND_RE_B;
	volatile unsigned int NAND_WE_B;
	volatile unsigned int NAND_DATA00;
	volatile unsigned int NAND_DATA01;
	volatile unsigned int NAND_DATA02;
	volatile unsigned int NAND_DATA03;
	volatile unsigned int NAND_DATA04;
	volatile unsigned int NAND_DATA05;
	volatile unsigned int NAND_DATA06;
	volatile unsigned int NAND_DATA07;
	volatile unsigned int NAND_ALE;
	volatile unsigned int NAND_WP_B;
	volatile unsigned int NAND_READY_B;
	volatile unsigned int NAND_CE0_B;
	volatile unsigned int NAND_CE1_B;
	volatile unsigned int NAND_CLE;
	volatile unsigned int NAND_DQS;
	volatile unsigned int SD1_CMD;
	volatile unsigned int SD1_CLK;
	volatile unsigned int SD1_DATA0;
	volatile unsigned int SD1_DATA1;
	volatile unsigned int SD1_DATA2;
	volatile unsigned int SD1_DATA3;
	volatile unsigned int CSI_MCLK;
	volatile unsigned int CSI_PIXCLK;
	volatile unsigned int CSI_VSYNC;
	volatile unsigned int CSI_HSYNC;
	volatile unsigned int CSI_DATA00;
	volatile unsigned int CSI_DATA01;
	volatile unsigned int CSI_DATA02;
	volatile unsigned int CSI_DATA03;
	volatile unsigned int CSI_DATA04;
	volatile unsigned int CSI_DATA05;
	volatile unsigned int CSI_DATA06;
	volatile unsigned int CSI_DATA07;
}IOMUX_SW_MUX_Type;

typedef struct 
{
	volatile unsigned int DRAM_ADDR00;
	volatile unsigned int DRAM_ADDR01;
	volatile unsigned int DRAM_ADDR02;
	volatile unsigned int DRAM_ADDR03;
	volatile unsigned int DRAM_ADDR04;
	volatile unsigned int DRAM_ADDR05;
	volatile unsigned int DRAM_ADDR06;
	volatile unsigned int DRAM_ADDR07;
	volatile unsigned int DRAM_ADDR08;
	volatile unsigned int DRAM_ADDR09;
	volatile unsigned int DRAM_ADDR10;
	volatile unsigned int DRAM_ADDR11;
	volatile unsigned int DRAM_ADDR12;
	volatile unsigned int DRAM_ADDR13;
	volatile unsigned int DRAM_ADDR14;
	volatile unsigned int DRAM_ADDR15;
	volatile unsigned int DRAM_DQM0;
	volatile unsigned int DRAM_DQM1;
	volatile unsigned int DRAM_RAS_B;
	volatile unsigned int DRAM_CAS_B;
	volatile unsigned int DRAM_CS0_B;
	volatile unsigned int DRAM_CS1_B;
	volatile unsigned int DRAM_SDWE_B;
	volatile unsigned int DRAM_ODT0;
	volatile unsigned int DRAM_ODT1;
	volatile unsigned int DRAM_SDBA0;
	volatile unsigned int DRAM_SDBA1;
	volatile unsigned int DRAM_SDBA2;
	volatile unsigned int DRAM_SDCKE0;
	volatile unsigned int DRAM_SDCKE1;
	volatile unsigned int DRAM_SDCLK0_P;
	volatile unsigned int DRAM_SDQS0_P;
	volatile unsigned int DRAM_SDQS1_P;
	volatile unsigned int DRAM_RESET;
	volatile unsigned int TEST_MODE;
	volatile unsigned int POR_B;
	volatile unsigned int ONOFF;
	volatile unsigned int SNVS_PMIC_ON_REQ;
	volatile unsigned int CCM_PMIC_STBY_REQ;
	volatile unsigned int BOOT_MODE0;
	volatile unsigned int BOOT_MODE1;
	volatile unsigned int SNVS_TAMPER0;
	volatile unsigned int SNVS_TAMPER1;
	volatile unsigned int SNVS_TAMPER2;
	volatile unsigned int SNVS_TAMPER3;
	volatile unsigned int SNVS_TAMPER4;
	volatile unsigned int SNVS_TAMPER5;
	volatile unsigned int SNVS_TAMPER6;
	volatile unsigned int SNVS_TAMPER7;
	volatile unsigned int SNVS_TAMPER8;
	volatile unsigned int SNVS_TAMPER9;
	volatile unsigned int JTAG_MOD;
	volatile unsigned int JTAG_TMS;
	volatile unsigned int JTAG_TDO;
	volatile unsigned int JTAG_TDI;
	volatile unsigned int JTAG_TCK;
	volatile unsigned int JTAG_TRST_B;
	volatile unsigned int GPIO1_IO00;
	volatile unsigned int GPIO1_IO01;
	volatile unsigned int GPIO1_IO02;
	volatile unsigned int GPIO1_IO03;
	volatile unsigned int GPIO1_IO04;
	volatile unsigned int GPIO1_IO05;
	volatile unsigned int GPIO1_IO06;
	volatile unsigned int GPIO1_IO07;
	volatile unsigned int GPIO1_IO08;
	volatile unsigned int GPIO1_IO09;
	volatile unsigned int UART1_TX_DATA;
	volatile unsigned int UART1_RX_DATA;
	volatile unsigned int UART1_CTS_B;
	volatile unsigned int UART1_RTS_B;
	volatile unsigned int UART2_TX_DATA;
	volatile unsigned int UART2_RX_DATA;
	volatile unsigned int UART2_CTS_B;
	volatile unsigned int UART2_RTS_B;
	volatile unsigned int UART3_TX_DATA;
	volatile unsigned int UART3_RX_DATA;
	volatile unsigned int UART3_CTS_B;
	volatile unsigned int UART3_RTS_B;
	volatile unsigned int UART4_TX_DATA;
	volatile unsigned int UART4_RX_DATA;
	volatile unsigned int UART5_TX_DATA;
	volatile unsigned int UART5_RX_DATA;
	volatile unsigned int ENET1_RX_DATA0;
	volatile unsigned int ENET1_RX_DATA1;
	volatile unsigned int ENET1_RX_EN;
	volatile unsigned int ENET1_TX_DATA0;
	volatile unsigned int ENET1_TX_DATA1;
	volatile unsigned int ENET1_TX_EN;
	volatile unsigned int ENET1_TX_CLK;
	volatile unsigned int ENET1_RX_ER;
	volatile unsigned int ENET2_RX_DATA0;
	volatile unsigned int ENET2_RX_DATA1;
	volatile unsigned int ENET2_RX_EN;
	volatile unsigned int ENET2_TX_DATA0;
	volatile unsigned int ENET2_TX_DATA1;
	volatile unsigned int ENET2_TX_EN;
	volatile unsigned int ENET2_TX_CLK;
	volatile unsigned int ENET2_RX_ER;
	volatile unsigned int LCD_CLK;
	volatile unsigned int LCD_ENABLE;
	volatile unsigned int LCD_HSYNC;
	volatile unsigned int LCD_VSYNC;
	volatile unsigned int LCD_RESET;
	volatile unsigned int LCD_DATA00;
	volatile unsigned int LCD_DATA01;
	volatile unsigned int LCD_DATA02;
	volatile unsigned int LCD_DATA03;
	volatile unsigned int LCD_DATA04;
	volatile unsigned int LCD_DATA05;
	volatile unsigned int LCD_DATA06;
	volatile unsigned int LCD_DATA07;
	volatile unsigned int LCD_DATA08;
	volatile unsigned int LCD_DATA09;
	volatile unsigned int LCD_DATA10;
	volatile unsigned int LCD_DATA11;
	volatile unsigned int LCD_DATA12;
	volatile unsigned int LCD_DATA13;
	volatile unsigned int LCD_DATA14;
	volatile unsigned int LCD_DATA15;
	volatile unsigned int LCD_DATA16;
	volatile unsigned int LCD_DATA17;
	volatile unsigned int LCD_DATA18;
	volatile unsigned int LCD_DATA19;
	volatile unsigned int LCD_DATA20;
	volatile unsigned int LCD_DATA21;
	volatile unsigned int LCD_DATA22;
	volatile unsigned int LCD_DATA23;
	volatile unsigned int NAND_RE_B;
	volatile unsigned int NAND_WE_B;
	volatile unsigned int NAND_DATA00;
	volatile unsigned int NAND_DATA01;
	volatile unsigned int NAND_DATA02;
	volatile unsigned int NAND_DATA03;
	volatile unsigned int NAND_DATA04;
	volatile unsigned int NAND_DATA05;
	volatile unsigned int NAND_DATA06;
	volatile unsigned int NAND_DATA07;
	volatile unsigned int NAND_ALE;
	volatile unsigned int NAND_WP_B;
	volatile unsigned int NAND_READY_B;
	volatile unsigned int NAND_CE0_B;
	volatile unsigned int NAND_CE1_B;
	volatile unsigned int NAND_CLE;
	volatile unsigned int NAND_DQS;
	volatile unsigned int SD1_CMD;
	volatile unsigned int SD1_CLK;
	volatile unsigned int SD1_DATA0;
	volatile unsigned int SD1_DATA1;
	volatile unsigned int SD1_DATA2;
	volatile unsigned int SD1_DATA3;
	volatile unsigned int CSI_MCLK;
	volatile unsigned int CSI_PIXCLK;
	volatile unsigned int CSI_VSYNC;
	volatile unsigned int CSI_HSYNC;
	volatile unsigned int CSI_DATA00;
	volatile unsigned int CSI_DATA01;
	volatile unsigned int CSI_DATA02;
	volatile unsigned int CSI_DATA03;
	volatile unsigned int CSI_DATA04;
	volatile unsigned int CSI_DATA05;
	volatile unsigned int CSI_DATA06;
	volatile unsigned int CSI_DATA07;
	volatile unsigned int GRP_ADDDS;
	volatile unsigned int GRP_DDRMODE_CTL;
	volatile unsigned int GRP_B0DS;
	volatile unsigned int GRP_DDRPK;
	volatile unsigned int GRP_CTLDS;
	volatile unsigned int GRP_B1DS;
	volatile unsigned int GRP_DDRHYS;
	volatile unsigned int GRP_DDRPKE;
	volatile unsigned int GRP_DDRMODE;
	volatile unsigned int GRP_DDR_TYPE;
}IOMUX_SW_PAD_Type;

// GPIO寄存器结构体
typedef struct 
{
	volatile unsigned int DR;							
	volatile unsigned int GDIR; 							
	volatile unsigned int PSR;								
	volatile unsigned int ICR1; 							
	volatile unsigned int ICR2; 							 
	volatile unsigned int IMR;								 
	volatile unsigned int ISR;			
	volatile unsigned int EDGE_SEL;  
}GPIO_Type;

// 外设指针 
#define CCM					((CCM_Type *)CCM_BASE)
#define IOMUX_SW_MUX		((IOMUX_SW_MUX_Type *)IOMUX_SW_MUX_BASE)
#define IOMUX_SW_PAD		((IOMUX_SW_PAD_Type *)IOMUX_SW_PAD_BASE)
#define GPIO1				((GPIO_Type *)GPIO1_BASE)

2、修改 main.c；

在这里插入图片描述

#include "imx6u.h"

// 使能外设时钟
void clk_enable(void)
{
    CCM->CCGR0 = 0xffffffff;
	CCM->CCGR1 = 0xffffffff;
	CCM->CCGR2 = 0xffffffff;
	CCM->CCGR3 = 0xffffffff;
	CCM->CCGR4 = 0xffffffff;
	CCM->CCGR5 = 0xffffffff;
	CCM->CCGR6 = 0xffffffff;
}

// 初始化 led
void led_init(void)
{
    IOMUX_SW_MUX->GPIO1_IO03 = 0x5;   // 复用为 GPIO1_IO03
    IOMUX_SW_PAD->GPIO1_IO03 =0x10b0;   // 配置电气属性

    // GPIO 初始化
    GPIO1->GDIR = 0x8;   // 设置为输出
    GPIO1->DR = 0x0;   // 打开 led
}

// 短延时
void delay_short(volatile unsigned int n)
{
    while(n--){}
}

// 长延时,在 396MHz 下一次循环大概 1 ms
void delay_ms(volatile unsigned int n)
{
    while(n--)
    {
        delay_short(0x7ff);
    }
} 

// 打开 led
void led_on(void)
{
    GPIO1->DR &= ~(1<<3);   // bit3 清零
}

// 关闭 led
void led_off(void)
{
    GPIO1->DR |= (1<<3);   // bit3 置1
}

int main(void)
{
    clk_enable();
    led_init();

    // led 闪烁
    while(1)
    {
        led_off();
        delay_ms(100);
        led_on();
        delay_ms(100);
    }
    return 0; 
}

3、修改 Makefile；

在这里插入图片描述

objs    := start.o main.o
gcc     := arm-linux-gnueabihf-gcc
ld      := arm-linux-gnueabihf-ld
objcopy := arm-linux-gnueabihf-objcopy
objdump := arm-linux-gnueabihf-objdump

ledc.bin : $(objs)
	$(ld) -Timx6u.lds -o ledc.elf $^
	$(objcopy) -O binary -S ledc.elf $@
	$(objdump) -D -m arm ledc.elf > ledc.dis

%.o : %.c
	$(gcc) -Wall -nostdlib -c -O2 -o $@ $<

%.o : %.s
	$(gcc) -Wall -nostdlib -c -O2 -o $@ $<

clean:
	rm -rf *.o ledc.bin ledc.elf ledc.dis

给出连接脚本

SECTIONS{
	. = 0X87800000;
	.text :
	{
		start.o 
		*(.text)
	}
	.rodata ALIGN(4) : {*(.rodata*)}     
	.data ALIGN(4)   : { *(.data) }    
	__bss_start = .;    
	.bss ALIGN(4)  : { *(.bss)  *(COMMON) }    
	__bss_end = .;
}

4、编译烧写验证；

在这里插入图片描述

I.MX6ULL_ledc_stm32

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