参考链接：
https://www.linuxidc.com/Linux/2015-08/121322.htm
验证工程：
https://github.com/zenglongGH/stm32f4-CANopen-project
编译工具链下载安装：
The toolchain is here:
https://launchpad.net/gcc-arm-embedded
Find the link for the PPA and add to your system:
https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi
在Ubuntu上安装ST-LINK烧写软件
Install stlink
sudo apt-get install libusb-1.0
git clone https://github.com/texane/stlink
cd stlink
./autogen.sh
./configure
make
sudo mkdir /opt/stlink
sudo cp st-util st-flash /opt/stlink
sudo cp 49-stlinkv2.rules /etc/udev/rules.d
sudo /etc/init.d/udev restart
Add /opt/stlink to your PATH and test out the st-util utility
st-util -h
编译工程：
Run
make
to build the application code.
Use "make clean" to remove program build files. Use "make realclean" to remove library build files as well.
源码在编译时会出现如下错误：
解决方案是在工程目录下建立bin文件夹：
再执行make即可生成bin文件。
烧写bin到单片机
While your laptop is connected to the board via the debugger run
st-flash write out.bin 0x08000000
工程是F4的，我的板子是F1的，所以擦除成功，烧写失败。想用Ubuntu开发STM32的童鞋，可以参考这个来进行配置调试，这个也可以进行gdb调试哦。