RTEMS BSP and Driver Guide (5.3).

Copyrights and License

© 2017 Christian Mauderer

© 2016, 2020 embedded brains GmbH

© 2016, 2020 Sebastian Huber

© 1988, 2017 On-Line Applications Research Corporation (OAR)

This document is available under the Creative Commons Attribution-ShareAlike 4.0 International Public License.

The authors have used their best efforts in preparing this material. These efforts include the development, research, and testing of the theories and programs to determine their effectiveness. No warranty of any kind, expressed or implied, with regard to the software or the material contained in this document is provided. No liability arising out of the application or use of any product described in this document is assumed. The authors reserve the right to revise this material and to make changes from time to time in the content hereof without obligation to notify anyone of such revision or changes.

The RTEMS Project is hosted at https://www.rtems.org. Any inquiries concerning RTEMS, its related support components, or its documentation should be directed to the RTEMS Project community.

RTEMS Online Resources

Home	https://www.rtems.org
Documentation	https://docs.rtems.org
Mailing Lists	https://lists.rtems.org
Bug Reporting	https://devel.rtems.org/wiki/Developer/Bug_Reporting
Git Repositories	https://git.rtems.org
Developers	https://devel.rtems.org

• 1. Introduction
• 2. Target Dependent Files
  • 2.1. CPU Dependent
  • 2.2. Board Dependent
  • 2.3. Peripheral Dependent
  • 2.4. Questions to Ask
  • 2.5. CPU Dependent Executive Files
  • 2.6. Board Support Package Structure
• 3. Linker Script
  • 3.1. What is a “linkcmds” file?
  • 3.2. Program Sections
  • 3.3. Image of an Executable
  • 3.4. Example Linker Command Script
  • 3.5. Initialized Data
• 4. Miscellaneous Support Files
  • 4.1. GCC Compiler Specifications File
  • 4.2. README Files
  • 4.3. Times
  • 4.4. Tools Subdirectory
  • 4.5. bsp.h Include File
  • 4.6. tm27.h Include File
  • 4.7. sbrk() Implementation
  • 4.8. bsp_fatal_extension() - Cleanup the Hardware
  • 4.9. Configuration Macros
  • 4.10. set_vector() - Install an Interrupt Vector
  • 4.11. Interrupt Delay Profiling
  • 4.12. Programmable Interrupt Controller API
• 5. System Initialization
  • 5.1. Introduction
  • 5.2. Low-Level Initialization via Start Code in the Start File (start.o)
  • 5.3. High-Level Initialization via boot_card()
    • 5.3.1. Early BSP Initialization
    • 5.3.2. Memory Information
    • 5.3.3. BSP Initialization
  • 5.4. Error Handling
• 6. Console Driver
  • 6.1. Introduction
  • 6.2. Build System and Files
  • 6.3. Driver Functioning Modes
  • 6.4. Polled Mode
  • 6.5. Interrupt Driven Mode
  • 6.6. First Open
  • 6.7. Last Close
  • 6.8. Set Attributes
  • 6.9. IO Control
  • 6.10. Flow Control
  • 6.11. General Initialization
• 7. Clock Driver
  • 7.1. Introduction
  • 7.2. Initialization
    • 7.2.1. Timecounter Variant
    • 7.2.2. Simple Timecounter Variant
    • 7.2.3. Clock Tick Only Variant
  • 7.3. Install Clock Tick Interrupt Service Routine
  • 7.4. Support At Tick
  • 7.5. System Shutdown Support
  • 7.6. SMP Support
  • 7.7. Multiple Clock Driver Ticks Per Clock Tick
  • 7.8. Clock Driver Ticks Counter
• 8. Entropy Source
• 9. I2C Driver
• 10. SPI Driver
• 11. Real-Time Clock Driver
  • 11.1. Introduction
  • 11.2. Initialization
  • 11.3. setRealTimeToRTEMS
  • 11.4. setRealTimeFromRTEMS
  • 11.5. getRealTime
  • 11.6. setRealTime
  • 11.7. checkRealTime
• 12. Networking Driver
  • 12.1. Introduction
  • 12.2. Learn about the network device
  • 12.3. Understand the network scheduling conventions
  • 12.4. Network Driver Makefile
  • 12.5. Write the Driver Attach Function
  • 12.6. Write the Driver Start Function.
  • 12.7. Write the Driver Initialization Function.
  • 12.8. Write the Driver Transmit Task
  • 12.9. Write the Driver Receive Task
  • 12.10. Write the Driver Interrupt Handler
  • 12.11. Write the Driver IOCTL Function
  • 12.12. Write the Driver Statistic-Printing Function
• 13. Frame Buffer Driver
  • 13.1. Introduction
  • 13.2. Driver Function Overview
    • 13.2.1. Initialization
    • 13.2.2. Opening the Frame Buffer Device
    • 13.2.3. Closing the Frame Buffer Device
    • 13.2.4. Reading from the Frame Buffer Device
    • 13.2.5. Writing to the Frame Buffer Device
    • 13.2.6. Frame Buffer IO Control
• 14. Ada95 Interrupt Support
  • 14.1. Introduction
  • 14.2. Mapping Interrupts to POSIX Signals
  • 14.3. Example Ada95 Interrupt Program
  • 14.4. Version Requirements
• 15. Shared Memory Support Driver
  • 15.1. Shared Memory Configuration Table
  • 15.2. Primitives
    • 15.2.1. Convert Address
    • 15.2.2. Get Configuration
    • 15.2.3. Locking Primitives
      • 15.2.3.1. Initializing a Shared Lock
      • 15.2.3.2. Acquiring a Shared Lock
      • 15.2.3.3. Releasing a Shared Lock
  • 15.3. Installing the MPCI ISR
• 16. Timer Driver
  • 16.1. Benchmark Timer
    • 16.1.1. benchmark_timer_initialize
    • 16.1.2. Read_timer
    • 16.1.3. benchmark_timer_disable_subtracting_average_overhead
  • 16.2. gen68340 UART FIFO Full Mode
• 17. ATA Driver
  • 17.1. Terms
  • 17.2. Introduction
  • 17.3. Initialization
  • 17.4. ATA Driver Architecture
    • 17.4.1. ATA Driver Main Internal Data Structures
    • 17.4.2. Brief ATA Driver Core Overview
• 18. IDE Controller Driver
  • 18.1. Introduction
  • 18.2. Initialization
  • 18.3. Read IDE Controller Register
  • 18.4. Write IDE Controller Register
  • 18.5. Read Data Block Through IDE Controller Data Register
  • 18.6. Write Data Block Through IDE Controller Data Register
• 19. Command and Variable Index
• 20. Doxygen Recommendations for BSPs
  • 20.1. BSP Basics
  • 20.2. Common Features Found In BSPs
  • 20.3. Shared Features
  • 20.4. Rationale
  • 20.5. The Structure of the bsps/ directory
  • 20.6. Doxygen
  • 20.7. Doxygen Basics
  • 20.8. Doxygen Headers
  • 20.9. The @defgroup Command
  • 20.10. The @ingroup Command
  • 20.11. The @brief Command
  • 20.12. The Two Types of Doxygen Headers
  • 20.13. Generating Documentation
  • 20.14. Doxygen in bsps/
  • 20.15. Group Naming Conventions
  • 20.16. Where to place @defgroup
  • 20.17. @defgroups for CPU Architectures and Shared Directories
  • 20.18. @defgroups for BSPs
  • 20.19. @defgroups for Everything Else
  • 20.20. Look Common Features Implemented
  • 20.21. Check out the Makefile
  • 20.22. Start with a .h, and look for files that include it
  • 20.23. Files with similar names
  • 20.24. Where to place @ingroup
  • 20.25. @ingroup in the first type of Doxygen Header
  • 20.26. @ingroup in the second type of Doxygen Header
  • 20.27. @ingroup for shared code