If you have not already cloned this repository you do so by using the following command to include the tested acados version:
git clone --recursive https://github.com/mindThomas/acados-STM32.git
If you have already cloned it you need to run:
git submodule update --init --recursive
Enter the acados folder and run:
git submodule update --recursive --init
The HAL libraries are already included as shallow-cloned repositories which were added using (no need for running these commands - these are only for future reference):
git submodule add --depth 1 <repo-url> <path>
git config -f .gitmodules submodule.<path>.shallow true
Ideally the HAL libraries should be downloaded and located elsewhere and pointed to with environment variables in your .bashrc.
This project requires CMake and the arm-none-eabi-gcc toolchain 3.15 or later to be installed seperately. This project was recently tested and used with the GNU Arm Embedded Toolchain Version 9-2020-q2-update. OpenOCD is used for flashing and debugging. The project has been tested with xpack-openocd-0.11.0 on Ubuntu 18.04.
Add/set the path to your ARM toolchain folder (which contains the executable arm-none-eabi-gcc and more) in your .bashrc:
export ARM_TOOLCHAIN_DIR="/path/to/gcc-arm-none-eabi-xxx/bin
Good tutorials include:
- https://dev.to/younup/cmake-on-stm32-the-beginning-3766
- https://dev.to/younup/cmake-on-stm32-episode-2-build-with-clion-2lae
Please note that CLion can be used to load STM32CubeMX projects and convert them into CMake projects automatically: https://www.jetbrains.com/help/clion/embedded-development.html
Alternatively VS Code can be used: https://medium.com/@lixis630/getting-started-to-code-embedded-c-on-stm32-e90e7910b2c