This BSP supports the STM32H7 Series.
The BSP is known to run on these boards on specified core with using specified BSP variant.
BSP variant name
18.104.22.168. Clock Driver¶
The clock driver uses the ARMv7-M Systick module. The HSE (external oscillator) value can also be different for different evaluation or custom boards, so it is recommended to check the default values of the BSP.
22.214.171.124. Console Driver¶
The console driver supports the on-chip UART and USART modules. Even the MCU supports about 10 U(S)ARTs, only those supported by the chosen board are enabled by default configuration. The board needs to support some kind of connector-based connection to the U(S)ART in order for the feature to be considered supported here. .. .. Leaving previous notes here as a comment. They may still be useful .. and incorporated into the later version of the document. .. .. Different board variations use different GPIO pins and blocks for the default .. communication UART and it is recommended to check whether the default .. configuration provided is valid in the BSP.
126.96.36.199. Network Interface Driver¶
The network interface driver
if_stmac is provided by the
188.8.131.52. USB Host Driver¶
The USB host driver
dwc_otg is provided by the
184.108.40.206. SD/MMC Driver¶
The SDMMC driver
st_sdmmc is provided by the
The default initialization is done for the STM32H743I-EVAL 2 board.
To use different pins, you can create a
HAL_SD_MspInit() function in your
application that overwrites the default one defined in
RTEMS. If you don’t
have direction lines like on the evaluation board, you can just skip
initializing these pins.
If you want to use a different number of data lines, another polarity for the
data direction pins, a different voltage or similar, you have to redefine
st_sdmmc_get_config() (normally provided by
libbsd) in your application.
Currently 1.8V signaling is not implemented. Therefore higher speeds like used for UHS cards are not available. All cards fall back to High Speed transfers.
The driver uses the IDMA only. MDMA is currently not implemented. For SDMMC1 that means that the memory buffers can only come from AXI SRAM, QSPI memory, Flash or the FMC (SDRAM, …). The internal SRAM1, SRAM2, SRAM3 and SRAM4 are not supported. SDMMC2 should not have that limitation. See ST AN5200 “Getting started with STM32H7 Series SDMMC host controller” for more details.
220.127.116.11. How to run RTEMS on the board¶
Following few paragraphs save a purpose of simple HOWTO or a quick starting guide for the users not versed in STM32 toolchain and their boards workflow.
18.104.22.168.1. Board hardware setup¶
Connect board with the host computer using micro-USB cable connected to micro-USB connector on the board marked with ‘ST-LINK V3E’ in case of evaluation and discovery boards or with ‘USB PWR’ in case of Nucleo board.
22.214.171.124.2. STM32CubeIDE installation¶
Download and install STM32CubeIDE from https://www.st.com/en/development-tools/stm32cubeide.html. Install the software into the user directory. On Linux install with ‘sudo’ command to install as a root since as part of the installation USB permissions rules for ST-Link GDB server are also installed. The reason for installing into the user directory is that the IDE is based on Eclipse, which provides its own update method and this will not work well in case of read-only access to the installation directory. In case of any troubles consult installation manual provided by ST here https://www.st.com/resource/en/user_manual/um2563-stm32cubeide-installation-guide-stmicroelectronics.pdf. Although we will not used full fledged IDE here, the package provides ST-Link GDB Server which will be used for uploading RTEMS binaries to the board memory.
126.96.36.199.3. STM32CubeProgrammer installation¶
Download and install STM32CubeProgrammer from https://www.st.com/en/development-tools/stm32cubeprog.html. We will use this software for board setup required for RTEMS and later when something goes wrong to delete content of the MCU flash memory. The software is also internally used by the ST-Link GDB Server from STM32CubeIDE so it is crucial to have it installed.
188.8.131.52.4. Board ST-Link firmware upgrade¶
Download ST-Link board firmware upgrade package from https://www.st.com/en/development-tools/stsw-link007.html. The software is distributed in a form of Java jar file for Linux and Mac OSX and in a form of Windows binary for MS Windows. Unpack it somewhere and run it with
$ unzip en.stsw-link007-v3-9-3_v3.9.3.zip $ cd stsw-link007/AllPlatforms $ java -jar STLinkUpgrade.jar
Click on Open in update mode button and then if Version and Update to Firmware version information are different in shown version number/code, click on Upgrade button and wait till upgrade finishes.
$ sudo apt install libusb-1.0-0
184.108.40.206.5. Dual core board setup for RTEMS¶
Current RTEMS BSP supports running MCU in a single-core mode only on either M7 core or M4 core. That means that to not leave other core interfering with the system we either need to upload short infinite loop code to it or we may switch off the core completely. The second option is what is described here. The board by default switches on and starts both cores. Based on chosen BSP variant you may like to switch off other core with using STMCubeProgrammer tool. Go to the directory where you have installed STMCubeProgrammer software and run it with
$ cd bin $ ./STM32CubeProgrammer
It is absolutely necessary you will do that from inside the bin directory where STM32CubeProgrammer binary resides. If you don’t, then programmer UI will crash on attempt to connect to the board. Probable reason is a bug in the programmer which is not able to correctly locate its C dynamic library responsible for connecting to the ST-Link board interface. Version 2.9.0 of the programmer is described here. Other versions may behave a bit differently.
When you start the programmer application, the UI window of the programmer will appear. Click on green Connect button in the right upper corner of the UI. This will connect programmer to the board. Then click on OB icon in the left upper corner. Actually this is hidden menu item which you can un-hide by clicking on menu icon (three horizontal stripes) in the upper left corner. When you click on OB or Option bytes in un-hidden state, then click on User Configuration in the options list and when the user configuration list opens unselect preselected BCM4 item inside it to switch off M4 core or unselect preselected BCM7 item to switch off M7 core from starting up. The action needs to be saved by clicking on Apply button below the option table.
Be careful! Wrong setup in STM32H7 configuration may result in bricked board.
Do not forget to disconnect the programmer application from the board by clicking on green Disconnect button in the upper right corner and then close the programmer UI.
If you keep programmer connected then you will not be able to connect ST-Link GDB server to the board and upload RTEMS binary to it.
220.127.116.11.6. STM32CubeIDE ST-Link GDB Server setup¶
In order to use STM provided ST-Link GDB server externally, that is not from inside the IDE, we need to configure it. Please go to the directory where you have installed STM32CubeIDE software. Look for file containing ST-LINK string inside its name. Following shell command sequence shows example about how to find it.
$ cd $HOME/sfw/stm32cubeide_1.8.0 $ find . -name 'ST-LINK*' ./plugins/com.st.stm32cube.ide.mcu.externaltools.stlink-gdb-server.linux64_18.104.22.168202231230/tools/bin/ST-LINK_gdbserver.sh ./plugins/com.st.stm32cube.ide.mcu.externaltools.stlink-gdb-server.linux64_22.214.171.124202231230/tools/bin/ST-LINK_gdbserver ./plugins/com.st.stm32cube.ide.mcu.externaltools.stlink-gdb-server.linux64_126.96.36.199109301221/tools/bin/ST-LINK_gdbserver.sh ./plugins/com.st.stm32cube.ide.mcu.externaltools.stlink-gdb-server.linux64_188.8.131.52109301221/tools/bin/ST-LINK_gdbserver
Notice that in this particular installation case we already have two versions of GDB server installed. This is due to fact that version 1.8.0 of the IDE was later upgraded to 1.9.0 version. Anyway, we will choose to use the latest one, or if there is only one, then the only one installed. Please go to its bin directory. E.g.
$ cd plugins/com.st.stm32cube.ide.mcu.externaltools.stlink-gdb-server.linux64_184.108.40.206202231230/tools/bin
Now, you will need to edit provided config.txt file inside the directory. Use your favorite editor. Open the file and scrolls down to its end. You will see following comment:
############################################################### # -cp <path> : Path to STM32CubeProgrammer # Modify to correct path # for STM32_Programmer_CLI executable ############################################################### -cp
and here you will need to place path where your STM32CubeProgrammer is installed directly behind the -cp parameter. E.g.
############################################################### # -cp <path> : Path to STM32CubeProgrammer # Modify to correct path # for STM32_Programmer_CLI executable ############################################################### -cp /home/karel/sfw/stm32cubeide_1.8.0/plugins/com.st.stm32cube.ide.mcu.externaltools.cubeprogrammer.linux64_220.127.116.11202231230/tools/bin
Once you are done with it, you can save the file and close the editor. Let’s verify that GDB server is configured and running well by starting it inside the shell. Please go inside the directory where ST-LINK_gdbserver.sh is located and run it by:
If everything is all right and if you have board still connected to the host computer then you should see output like following:
$ ./ST-LINK_gdbserver.sh STMicroelectronics ST-LINK GDB server. Version 6.1.0 Copyright (c) 2022, STMicroelectronics. All rights reserved. Starting server with the following options: Persistent Mode : Enabled LogFile Name : debug.log Logging Level : 31 Listen Port Number : 61234 Status Refresh Delay : 15s Verbose Mode : Disabled SWD Debug : Enabled COM frequency = 24000 kHz Target connection mode: Default Reading ROM table for AP 0 @0xe00fefd0 Hardware watchpoint supported by the target ST-LINK Firmware version : V3J9M3 Device ID: 0x450 PC: 0x8028fa4 ST-LINK device status: HALT_MODE ST-LINK detects target voltage = 3.28 V ST-LINK device status: HALT_MODE ST-LINK device initialization OK Stm32Device, pollAndNotify running... SwvSrv state change: 0 -> 1 Waiting for connection on port 61235... Waiting for debugger connection... Waiting for connection on port 61234...
In output above you can see ST-Link GDB server waiting for debugger connection. If this is the case in your case, then you can finish GDB server by hitting Ctrl-C key combination.
18.104.22.168.7. RTEMS BSP samples build and run¶
We will use STM32H747I-DISCO board as an example hereafter. If you use different board please adjust configuration steps in BSP configuration accordingly. You should use BSP variant name specified for your particular board in the table above.
Generate default configuration for the board:
$ ./waf bspdefaults --rtems-bsps=arm/stm32h747i-disco > stm32h747i-disco.ini Regenerate build specification cache (needs a couple of seconds)...
To run basic hello world or ticker samples you do not need to modify default BSP configuration here as the compilation of basic RTEMS demo samples is enabled by default. Let’s continue with configuration of the RTEMS source by running following command. Please change the RTEMS tools installation prefix to suite your installation.
$ ./waf configure --rtems-bsps=arm/stm32h747i-disco --rtems-config=./stm32h747i-disco.ini --rtems-tools=$HOME/workspace/rtems-tools Setting top to : /home/rtems/workspace/rtems Setting out to : /home/rtems/workspace/rtems/build Configure board support package (BSP) : arm/stm32h747i-disco Checking for program 'arm-rtems6-gcc' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-gcc Checking for program 'arm-rtems6-g++' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-g++ Checking for program 'arm-rtems6-ar' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-ar Checking for program 'arm-rtems6-ld' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-ld Checking for program 'ar' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-ar Checking for program 'g++, c++' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-g++ Checking for program 'ar' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-ar Checking for program 'gas, gcc' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-gcc Checking for program 'ar' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-ar Checking for program 'gcc, cc' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-gcc Checking for program 'ar' : /home/rtems/workspace/rtems-tools/bin/arm-rtems6-ar Checking for asm flags '-MMD' : yes Checking for c flags '-MMD' : yes Checking for cxx flags '-MMD' : yes 'configure' finished successfully (0.454s)
Build the BSP including samples using build command:
$ ./waf build
the command outputs a lot of information about files being compiled and ends with output like:
Waf: Leaving directory `/home/rtems/workspace/rtems/build/arm/stm32h747i-disco' 'build_arm/stm32h747i-disco' finished successfully (12.086s)
As your RTEMS BSP including samples is compiled, we will proceed with running the hello world sample on the board now. Open 3 shell windows for the test on the host computer. Also make sure board is connected to the computer and is running. It does not matter if manufacturer’s demo is running there or if you navigated to some demo part and left it there. ST-Link GDB server always takes over the board when connected to it.
Start GDB server in the first window by switching to GDB server directory and running the shell script. This is from testing machine installation, the path to GDB server will probably look different in your installation case.
$ cd sfw/stm32cubeide_1.8.0/plugins/com.st.stm32cube.ide.mcu.externaltools.stlink-gdb-server.linux64_22.214.171.124202231230/tools/bin $ ./ST-LINK_gdbserver.sh STMicroelectronics ST-LINK GDB server. Version 6.1.0 Copyright (c) 2022, STMicroelectronics. All rights reserved. Starting server with the following options: Persistent Mode : Enabled LogFile Name : debug.log Logging Level : 31 Listen Port Number : 61234 Status Refresh Delay : 15s Verbose Mode : Disabled SWD Debug : Enabled COM frequency = 24000 kHz Target connection mode: Default Reading ROM table for AP 0 @0xe00fefd0 Hardware watchpoint supported by the target ST-LINK Firmware version : V3J9M3 Device ID: 0x450 PC: 0x8028fa4 ST-LINK device status: HALT_MODE ST-LINK detects target voltage = 3.28 V ST-LINK device status: HALT_MODE ST-LINK device initialization OK Stm32Device, pollAndNotify running... SwvSrv state change: 0 -> 1 Waiting for connection on port 61235... Waiting for debugger connection... Waiting for connection on port 61234...
In second shell window you will need to run your terminal program and connect to the board virtual serial port. Following steps describes how to do that on the Ubuntu 20.04. The recommended way here is to use minicom. Let’s install it first by:
$ sudo apt install minicom
And run it with root privileges to be able to reach USB serial port provided by board:
$ sudo minicom -s
The minicom is invoked with configuration menu open. Go into the Serial port setup and hit a key to select Serial Device setup. Change /dev/modem from there into /dev/ttyACM0 and hit Enter key. Hit f key to change hardware flow control from Yes to No. When you are done with it, you can hit Enter key to finish this part of configuration and then scrolls in menu to Exit and hit Enter key on it. The minicom will switch to terminal mode with just provided configuration.
In the third shell window navigate into the BSP build directory and start RTEMS GDB with the hello.exe sample.
$ arm-rtems6-gdb build/arm/stm32h747i-disco/testsuites/samples/hello.exe GNU gdb (GDB) 10.1.90.20210409-git Copyright (C) 2021 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html> This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "--host=x86_64-linux-gnu --target=arm-rtems6". Type "show configuration" for configuration details. For bug reporting instructions, please see: <https://www.gnu.org/software/gdb/bugs/>. Find the GDB manual and other documentation resources online at: <http://www.gnu.org/software/gdb/documentation/>. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from build/arm/stm32h747i-disco/testsuites/samples/hello.exe... (gdb)
Now, you need to connect GDB with the ST’s GDB server by:
(gdb) target extended-remote :61234 Remote debugging using :61234 0x08028fa4 in ?? () (gdb)
and finally you will need to load hello.exe binary into the board memory by:
(gdb) load Loading section .start, size 0x458 lma 0x24000000 Loading section .text, size 0xfca8 lma 0x24000480 Loading section .init, size 0xc lma 0x24010128 Loading section .fini, size 0xfecc lma 0x24010134 Loading section .rodata, size 0x1aab lma 0x24020000 Loading section .ARM.exidx, size 0x8 lma 0x24021aac Loading section .eh_frame, size 0x4 lma 0x24021ab4 Loading section .init_array, size 0x4 lma 0x24021ab8 Loading section .fini_array, size 0x4 lma 0x24021abc Loading section .rtemsroset, size 0x540 lma 0x24021ac0 Loading section .data, size 0x6a4 lma 0x24022000 Start address 0x24000400, load size 140923 Transfer rate: 684 KB/sec, 2562 bytes/write. (gdb)
If everything went fine, then you can run the RTEMS binary by using cont GDB command.
Memory address values in the load output in the gdb shows that we have loaded our application into the AXI SRAM. Memory addresses will be different when loading into different part of MCU memory.
(gdb) cont Continuing.
Note that this command should never finish. To see the actual output from RTEMS switch to the second shell window with minicom (or other terminal emulation program) running and you should see hello output there:
*** BEGIN OF TEST HELLO WORLD *** *** TEST VERSION: 126.96.36.199ce036cfbd9807a54af47eb60eadb6a33a9e82d *** TEST STATE: EXPECTED_PASS *** TEST BUILD: *** TEST TOOLS: 10.3.1 20220224 (RTEMS 6, RSB 49e3dac17765fa82ce2f754da839638ee352f95c, Newlib 64b2081) Hello World *** END OF TEST HELLO WORLD *** [ RTEMS shutdown ] RTEMS version: 188.8.131.52ce036cfbd9807a54af47eb60eadb6a33a9e82d RTEMS tools: 10.3.1 20220224 (RTEMS 6, RSB 49e3dac17765fa82ce2f754da839638ee352f95c, Newlib 64b2081) executing thread ID: 0x08a010001
Since default RTEMS BSP configuration resets the board after run immediately you can also see output from the immediately started ST demo:
STM32H747I-DISCO_MB1248: Out Of the Box Demonstration V1.0.1 (Build Aug 22 2019 at 11:56:22) STM32H747I-DISCO_MB1248: ST Menu Launcher V1.1.0 CPU running at 400MHz, Peripherals at 100MHz/100Mz
which is not a problem here at all. Later we can reconfigure BSP to not reset board to prevent demo output here.
184.108.40.206.8. How to load binary file into the QSPI NOR¶
Connect the board to your host computer using micro-USB cable. Start STM32CubeProgrammer and connect it to the board by clicking on Connect button which is located in the right upper corner of the programmer application UI. For accessing QSPI connected memory you will need to configure programmer’s external loader which needs to match your target board. Click on EL icon (or External loaders) in the left sidebar menu. Either go thorough the list of external loaders or just search for your board by typing board name (or part of the name) into the search bar located on top of the table view. When you find your board, select it by selecting rectangle in the Select table column. That’s what is needed to make programmer ready to program your board memory. For uploading file to the board, you need to continue with clicking on Erase & programming menu item in the left sidebar menu. It’s second item from the top. Now, let’s select your file to upload by clicking on Browse button and selecting the file name from your host computer filesystem. The most important thing here is to specify start address of flashing process. You need to do that by typing start address into the Start address field.
Usually external memory connected to QSPI has 0x90000000 starting address.
When all is set you can click on Start Programming button.
Cube programmer is very picky about files it shows in the file list. The only recognized suffixes are: elf, bin, hex and similar. Also do not try to fool programmer by renaming let’s say text file to bin file. It’ll detect file type as ascii text and will not show it in the list of files to flash. So bin file type is really for media types like avi, jpeg, mpeg or for binary dumps from elf files. If you need to save text file, convert it to hex file first.