RTEMS User Manual (5.3).¶
Copyrights and License
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.
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1. Introduction¶
1.1. Overview¶
You are someone looking for a real-time operating system. This document
presents the basic features of RTEMS, so that you can decide if it is worth to look at,
gives you a quick start to install all the tools necessary to work with RTEMS, and
helps you to build an example application on top of RTEMS.
1.2. Features¶
The Real-Time Executive for Multiprocessor Systems (RTEMS) is a multi-threaded, single address-space, real-time operating system with no kernel-space/user-space separation. It is capable to operate in an SMP configuration providing a state of the art feature set.
RTEMS is licensed under a modified GPL 2.0 or later license with an exception for static linking 1. It exposes no license requirements on application code. The third-party software used and distributed by RTEMS which may be linked to the application is licensed under permissive open source licenses. Everything necessary to build RTEMS applications is available as open source software. This makes you completely vendor independent.
RTEMS provides the following basic feature set:
-
Programming languages
C/C++/OpenMP (RTEMS Source Builder, RSB)
Ada (RSB,
--with-ada)Erlang
Fortran (RSB,
--with-fortran)Python and MicroPython
Parallel languages
Thread synchronization and communication
Locking protocols
Scalable timer and timeout support
Lock-free timestamps (FreeBSD timecounters)
Responsive interrupt management
Link-time configurable schedulers
Fixed-priority
Job-level fixed-priority (EDF)
Constant Bandwidth Server (experimental)
Clustered scheduling (SMP feature)
Focus on link-time application-specific configuration
Linker-set based initialization (similar to global C++ constructors)
Operating system uses fine-grained locking (SMP feature)
Dynamic memory allocators
First-fit (default)
Universal Memory Allocator (UMA , libbsd)
File systems
Device drivers
Termios (serial interfaces)
I2C (Linux user-space API compatible)
SPI (Linux user-space API compatible)
Network stacks (legacy, libbsd, lwIP)
USB stack (libbsd)
SD/MMC card stack (libbsd)
Framebuffer (Linux user-space API compatible, Qt)
Application runs in kernel-space and can access hardware directly
libbsd
Port of FreeBSD user-space and kernel-space components to RTEMS
Easy access to FreeBSD software for RTEMS
Support to stay in synchronization with FreeBSD
1.3. Ecosystem¶
The RTEMS Ecosystem is the collection of tools, packages, code, documentation and online content provided by the RTEMS Project. The ecosystem provides a way to develop, maintain, and use RTEMS. It’s parts interact with the user, the host environment, and each other to make RTEMS accessible, useable and predicable.
The ecosystem is for users, developers and maintainers and it is an ongoing effort that needs your help and support. The RTEMS project is always improving the way it delivers the kernel to you and your feedback is important so please join the mailing lists and contribute back comments, success stories, bugs and patches.
What the RTEMS project describes here to develop, maintain and use RTEMS does not dictate what you need to use in your project. You can and should select the work-flow that best suites the demands of your project and what you are delivering.
1.3.1. Rational¶
RTEMS is complex and the focus of the RTEMS Ecosystem is to simplify the complexity for users by providing a stable documented way to build, configure and run RTEMS. RTEMS is more than a kernel running real-time applications on target hardware, it is part of a project’s and therefore team’s workflow and every project and team is different.
RTEMS’s ecosystem does not mandate a way to work. It is a series of parts, components, and items that are used to create a suitable development environment to work with. The processes explained in this manual are the same things an RTEMS maintainer does to maintain the kernel or an experienced user does to build their production system. It is important to keep this in mind when working through this manual. We encourage users to explore what can be done and to discover ways to make it fit their needs. The ecosystem provided by the RTEMS Project will not install in a single click of a mouse because we want users to learn the parts they will come to depend on as their project’s development matures.
The RTEMS Ecosystem provides a standard interface that is the same on all supported host systems. Standardizing how a user interacts with RTEMS is important and making that experience portable is also important. As a result the ecosystem is documented at the command line level and we leave GUI and IDE integration for users and integrators.
Standardizing the parts and how to use them lets users create processes and procedures that are stable over releases. The RTEMS Ecosystem generates data that can be used to audit the build process so their configuration can be documented.
The ecosystem is based around the source code used in the various parts, components and items of the RTEMS development environment. A user can create an archive of the complete build process including all the source code for long term storage. This is important for projects with a long life cycle.
1.3.2. Open Source¶
RTEMS is an open source operating system and an open source project and this extends to the ecosystem. We encourage users to integrate the processes to build tools, the kernel and any third-party libraries into their project’s configuration management processes.
All the parts that make up the ecosystem are open source. The ecosystem uses a package’s source code to create an executable on a host so when an example RTEMS executable is created and run for the first time the user will have built every tool as well as the executable from source. The RTEMS Project believes the freedom this gives a user is as important as the freedom of having access to the source code for a package.
1.3.3. Deployment¶
The RTEMS Project provides the ecosystem as source code that users can download to create personalised development environments. The RTEMS Project does not provide packaging and deployment for a specific host environment, target architecture or BSP. The RTEMS Project encourages users and organizations to fill this role for the community. The RTEMS Source Builder provides some aid to build and deploy tool binaries.
1.4. Real-time Application Systems¶
Real-time application systems are a special class of computer applications. They have a complex set of characteristics that distinguish them from other software problems. Generally, they must adhere to more rigorous requirements. The correctness of the system depends not only on the results of computations, but also on the time at which the results are produced. The most important and complex characteristic of real-time application systems is that they must receive and respond to a set of external stimuli within rigid and critical time constraints referred to as deadlines. Systems can be buried by an avalanche of interdependent, asynchronous or cyclical event streams.
Deadlines can be further characterized as either hard or soft based upon the value of the results when produced after the deadline has passed. A deadline is hard if the results have no value after the deadline has passed, or a catastrophic event results from their intended use if not completed on time. In contrast, results produced after a soft deadline may still have some value.
Another distinguishing requirement of real-time application systems is the ability to coordinate or manage a large number of concurrent activities. Since software is a synchronous entity, this presents special problems. One instruction follows another in a repeating synchronous cycle. Even though mechanisms have been developed to allow for the processing of external asynchronous events, the software design efforts required to process and manage these events and tasks are growing more complicated.
The design process is complicated further by spreading this activity over a set of processors instead of a single processor. The challenges associated with designing and building real-time application systems become very complex when multiple processors are involved. New requirements such as interprocessor communication channels and global resources that must be shared between competing processors are introduced. The ramifications of multiple processors complicate each and every characteristic of a real-time system.
1.5. Real-time Executive¶
Fortunately, real-time operating systems, or real-time executives, serve as a cornerstone on which to build the application system. A real-time multitasking executive allows an application to be cast into a set of logical, autonomous processes or tasks which become quite manageable. Each task is internally synchronous, but different tasks execute independently, resulting in an asynchronous processing stream. Tasks can be dynamically paused for many reasons resulting in a different task being allowed to execute for a period of time. The executive also provides an interface to other system components such as interrupt handlers and device drivers. System components may request the executive to allocate and coordinate resources, and to wait for and trigger synchronizing conditions. The executive system calls effectively extend the CPU instruction set to support efficient multitasking. By causing tasks to travel through well-defined state transitions, system calls permit an application to demand-switch between tasks in response to real-time events.
By properly grouping stimuli responses into separate tasks a system can now asynchronously switch between independent streams of execution. This allows the system to directly respond to external stimuli as they occur, as well as meet critical performance specifications that are typically measured by guaranteed response time and transaction throughput. The multiprocessor extensions of RTEMS provide the features necessary to manage the extra requirements introduced by a system distributed across several processors. It removes the physical barriers of processor boundaries from the world of the system designer, enabling more critical aspects of the system to receive the required attention. Such a system, based on an efficient real-time, multiprocessor executive, is a more realistic model of the outside world or environment for which it is designed. As a result, the system will always be more logical, efficient, and reliable.
By using the directives provided by RTEMS, the real-time applications developer is freed from the problem of controlling and synchronizing multiple tasks and processors. In addition, one need not develop, test, debug, and document routines to manage memory, pass messages, or provide mutual exclusion. The developer is then able to concentrate solely on the application. By using standard software components, the time and cost required to develop sophisticated real-time applications are significantly reduced.
- 1
The goal is to use the BSD 2-Clause license for new code or code those copyright holder agreed to a license change, see #3053 for the details.
- 2
See #2832.
- 3
Thread-local storage requires some support by the tool chain and the RTEMS architecture support, e.g. context-switch code. It is supported at least on ARM, PowerPC, RISC-V, SPARC and m68k. Check the RTEMS CPU Architecture Supplement if it is supported.
2. Quick Start¶
Follow the sections of this chapter step by step to get started developing applications on top of RTEMS.
2.1. Preparation¶
You need to perform some basic preparation to get started with RTEMS development. You need tools from your host’s operating system to build the RTEMS tool suite from source. The RTEMS tools you build are used to build the Board Support Package (BSP) libraries for your target hardware from source. The BSP libraries contain the RTEMS operating system. This is not a one-click installation process, but there are good reasons to build everything from source.
During this Quick Start guide you will:
Select a suitable place to install RTEMS.
Select if you download all the source code before you start building RTEMS or the source is downloaded on demand as it is needed. If you do not have a reliable internet connection we recommend you download all the source before starting a build.
Build a tool suite.
Build and test a BSP.
Optionally build additional packages.
Alternatively you can build a BSP as a package using the RSB. This is covered in Build an RSB Package
2.1.1. Host Computer¶
The host computer is a computer you use to develop applications. It runs all your tools, editors, documentation viewers, etc. You need a native C, C++, and Python development environment. Please make sure you can build native C/C++ applications on your host computer. You must be able to build native Python C modules as some RTEMS tools contain these modules. Usually, you have to install a Python development package for this. Please have a look at the Host Computer chapter for the gory details. In particular Microsoft Windows users should do this.
2.1.2. Selecting a BSP¶
If you are new to RTEMS and you are looking to try RTEMS then the best suited Board Support Package (BSP) is the SPARC ERC32 (erc32). The SPARC ERC32 BSP has a robust simulator that runs the example and test executables on your host computer. This Quick Start guide will build the erc32 BSP and run RTEMS tests executables in the simulator. The ERC32 BSP is a SPARC architecture BSP so the tool suite name is sparc-rtems5.
If you are looking for a hardware target to run RTEMS on we recommend the BeagleBone Black (beagleboneblack) BSP. The BeagleBone Black support includes the RTEMS BSD Library (libbsd) and networking. The BeagleBone Black BSP is an ARM architecture BSP so the tool suite name is arm-rtems5.
2.1.3. Selecting a Version of RTEMS¶
In the examples of this manual we will often refer to a specific version of RTEMS, which will usually be the version that accompanied the publication of this documentation manual. That may not be the appropriate version for you to use, for example, it may be too old (or too new) depending on what you are trying to do. If you’re not sure what version to use, we generally recommend using the most recent release or the development head (master), and you may want to consult with the same version of the documentation. We hope that newer is better.
An RTEMS release involves the creation of a single downloadable file, normally a compressed tarball, that packages the source of all the repositories in a state consistent with the time the release is created. A release branch is a git branch pushed to the repositories named with the numeric identifier of the branch. A release branch release is a git tag on a release branch with the tags pushed to the repositories.
Numbering for RTEMS versions beginning with RTEMS 5 uses a format as follows. The master branch has the version N.0.0 with N being the next major release number. The first release of this series has the version number N.1.0. and there is exactly one commit with this version number in the corresponding repository. The first bugfix release (minor release) of this series will have the version number N.2.0. The release branch will have the version number N.M.1 with M being the last minor release of this series.
For example: + 5.0.0 is the version number of the development master for the 5 series. + 5.1.0 is the first release of the 5 series. + 5.1.1 is the version number of the 5 series release branch right after
the 5.1.0 release until 5.2.0 is released.
5.2.0 is the first bugfix release of the 5 series
5.2.1 is the version number of the 5 series release branch right after the 5.2.0 release until 5.3.0 is released.
6.0.0 is the version number of the development master for the 6 series.
RTEMS development tools use N as the version number and are expected to work with all releases and the release branch of the N series. So to build tools for compiling RTEMS version number 5.1.0 for SPARC use sparc-rtems5. Despite the number not increasing, the tools may change within a release branch, for example the tools packaged with 5.1.1 still use the sparc-rtems5 moniker, but are likely not the same as the tools used in version 5.1.0. This tool mismatch can be a source of confusion. Be sure to use the toolchain that matches your release.
2.2. Choose an Installation Prefix¶
You will see the term prefix referred to throughout this documentation and in a wide number of software packages you can download from the internet. It is also used in the GNU Coding Standard. A prefix is the path on your host computer a software package is installed under. Packages that have a prefix will place all parts under the prefix path. Packages for your host computer typically use a default prefix of /usr/local on FreeBSD and Linux.
You have to select a prefix for your installation. You will build and install the RTEMS tool suite, an RTEMS kernel for a BSP, and you may build and install third party libraries. You can build all the parts as a stack with a single prefix or you can separate various parts by providing different prefixes to each part as it is built. Using separate prefixes is for experienced RTEMS users.
Do not select a prefix that is under the top of any of the source trees. The prefix collects the install output of the various build steps you take in this guide and need to be kept separate from the sources used.
The RTEMS tool suite consists of a cross tool chain (Binutils, GCC, GDB, Newlib, etc.) for your target architecture and RTEMS tools provided by the RTEMS Project. The RTEMS Tools are a toolkit that help create the RTEMS ecosystem and help support the building of embedded real-time applications and systems.
You build and install the tool suite with the RTEMS Source Builder (RSB). By default, the RSB will start the prefix path with a host operating system specific path plus rtems, and the RTEMS version, e.g. /opt/rtems/5 on Linux, and /usr/local/rtems/5 on FreeBSD and macOS. Placing the RTEMS version number in the path lets you manage and migrate RTEMS versions as they are released.
It is strongly recommended to run the RSB as a normal user and not with root privileges (also known as super user or Administrator). You have to make sure that your normal user has sufficient privileges to create files and directories under the prefix. For example, you can create a directory /opt/rtems and give it to a developer group with read, write, and execute permissions. Alternatively, you can choose a prefix in your home directory, e.g. $HOME/rtems/5 or with a project-specific component $HOME/project-x/rtems/5. For more ideas, see the project sandboxing section. In this quick start chapter, we will choose $HOME/quick-start/rtems/5 for the RTEMS tool suite prefix.
Warning
The prefix must not contain space characters.
2.3. Obtain the Sources¶
You have considered and chosen a suitable installation prefix in the previous section. We have chosen $HOME/quick-start/rtems/5 as the installation prefix. We will show how to use a released version of RTEMS and then as an alternative we will show you using the RSB Git repository. Consider using a Git clone if you wish to make contributions to the RTEMS Project.
You need the RTEMS Source Builder (RSB) to work with RTEMS and we prefer you use a released version. A released version of the RSB downloads all source code from the RTEMS servers. Each release archives all the referenced source providing long term stability as changes in upstream projects do not effect a release’s build.
You will need approximately 1.5G bytes of disk space to build the tools, RTEMS kernel, network stack and 3rd party packages for the ERC32 BSP.
2.3.1. Releases¶
You can download the source archives for a released RTEMS version from RTEMS’ servers. Releases can be view at https://ftp.rtems.org/pub/rtems/releases with the releases listed as a series under a release’s major number. For RTEMS 5.1.0 the release series is 5 and the release path is https://ftp.rtems.org/pub/rtems/releases/5/5.1.0.
To work with the archives of a released RTEMS version, simply replace the version number 5 used throughout this chapter with the version number you selected, e.g. sparc-rtems4.11, sparc-rtems6, and so on.
Download and unpack using the curl and tar command with these commands:
mkdir -p $HOME/quick-start/src
cd $HOME/quick-start/src
curl https://ftp.rtems.org/pub/rtems/releases/5/5.1.0/rtems-source-builder-5.1.0.tar.xz | tar xJf -
If curl does not work consider using wget or a browser.
The RSB is unpacked under the path rtems-source-builder-5.1.0. Rename this to rsb to get shorter paths during the tool suite build. To do this run these commands:
cd $HOME/quick-start/src
mv rtems-source-builder-5.1.0 rsb
If you wish to build the RTEMS kernel from source obtain the RTEMS kernel sources:
cd $HOME/quick-start/src
curl https://ftp.rtems.org/pub/rtems/releases/5/5.1.0/rtems-5.1.0.tar.xz | tar xJf -
2.3.2. Git¶
Alternatively, clone the Git repositories into $HOME/quick-start/src.
A Git repository clone gives you some flexibility with the added complexity of needing to use a Git branch to build a released version. With Git you can switch between branches to try out different RTEMS versions and you have access to the RTEMS source history. The RTEMS Project welcomes contributions. The Git repositories enable you to easily create patches and track local changes.
You can clone the Git repository to get all versions of RTEMS including the development head. Release branches in Git are kept stable however they may differ from a release’s source archive.
mkdir -p $HOME/quick-start/src
cd $HOME/quick-start/src
git clone git://git.rtems.org/rtems-source-builder.git rsb
git clone git://git.rtems.org/rtems.git
The rsb repository clone contains the RTEMS Source Builder (RSB). We clone it into rsb to get shorter paths during the tool suite build. The rtems repository clone contains the RTEMS sources. These two repositories are enough to get started. There are more repositories available.
2.3.3. Offline Download¶
If you have limited Internet access you can download the source before you start building. If you are permanently connected to the Internet you do not need to do this and the sources will be automatically download on demand when needed.
Once the sources have been downloaded you could disconnect your host computer from the Internet. It is no longer required to work with RTEMS. To download the sources to build the ERC 32 BSP before building run the following commands:
cd $HOME/quick-start/src/rsb/rtems
../source-builder/sb-set-builder --source-only-download 5/rtems-sparc
This command should output something like this (omitted lines are denoted by ...):
RTEMS Source Builder - Set Builder, 5.1.0
Build Set: 5/rtems-sparc
...
download: https://ftp.rtems.org/pub/rtems/releases/5/5.1.0/5.1.0/sources/gcc-7.5.0.tar.xz -> sources/gcc-7.5.0.tar.xz
...
Build Sizes: usage: 0.000B total: 143.814MB (sources: 143.793MB, patches: 21.348KB, installed 0.000B)
Build Set: Time 0:05:52.617958
If you encounter errors, check your internet connection, firewall settings, virus scanners and the availability of the download servers.
2.4. Install the Tool Suite¶
You have chosen an installation prefix, the BSP to build, the tool’s architecure and prepared the source for the RSB in the previous sections. We have chosen $HOME/quick-start/rtems/5 as the installation prefix, the erc32 BSP and the SPARC architecture name of sparc-rtems5, and unpacked the RSB source in $HOME/quick-start/src.
The tool suite for RTEMS and the RTEMS sources are tightly coupled. For example, do not use a RTEMS version 5 tool suite with RTEMS version 4.11 sources and vice versa.
Build and install the tool suite:
cd $HOME/quick-start/src/rsb/rtems
../source-builder/sb-set-builder --prefix=$HOME/quick-start/rtems/5 5/rtems-sparc
This command should output something like this (omitted lines are denoted by …). The build host appears as part of the name of the package being built. The name you see may vary depending on the host you are using:
RTEMS Source Builder - Set Builder, 5.1.0
Build Set: 5/rtems-sparc
...
config: tools/rtems-binutils-2.34.cfg
package: sparc-rtems5-binutils-2.34-x86_64-freebsd12.1-1
building: sparc-rtems5-binutils-2.34-x86_64-freebsd12.1-1
sizes: sparc-rtems5-binutils-2.34-x86_64-freebsd12.1-1: 305.866MB (installed: 29.966MB)
cleaning: sparc-rtems5-binutils-2.34-x86_64-freebsd12.1-1
reporting: tools/rtems-binutils-2.34.cfg -> sparc-rtems5-binutils-2.34-x86_64-freebsd12.1-1.txt
reporting: tools/rtems-binutils-2.34.cfg -> sparc-rtems5-binutils-2.34-x86_64-freebsd12.1-1.xml
config: tools/rtems-gcc-7.5.0-newlib-fbaa096.cfg
package: sparc-rtems5-gcc-7.5.0-newlib-fbaa096-x86_64-freebsd12.1-1
building: sparc-rtems5-gcc-7.5.0-newlib-fbaa096-x86_64-freebsd12.1-1
....
Build Sizes: usage: 5.684GB total: 1.112GB (sources: 143.803MB, patches: 21.348KB, installed 995.188MB)
Build Set: Time 0:21:35.626294
Once the build has successfully completed you can check if the cross C compiler works with the following command:
$HOME/quick-start/rtems/5/bin/sparc-rtems5-gcc --version
This command should output something like below. The version informtion helps you to identify the exact sources used to build the cross compiler of your RTEMS tool suite. In the output you see the version of RTEMS or the hash from the RSB repository if you are building using a Git repository clone. The Newlib hash is the version of Newlib in the RTEMS’s github sourceware-mirror-newlib-cygwin repository. The sources and patches directories created by the RSB contain all the source code used.
sparc-rtems5-gcc (GCC) 7.5.0 20191114 (RTEMS 5, RSB 5.1.0, Newlib fbaa096)
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
Add --verbose to the GCC command for the the verbose version details.
2.4.1. Need for RTEMS-Specific Cross-Compiler¶
New users are often confused as to why they cannot use their distribution’s cross-compiler for their target on RTEMS, e.g., the riscv64-linux-gnu or the arm-none-eabi-gcc. Below mentioned are some of the reasons for using the RTEMS cross-compiler.
- Correct configuration of Newlib
Newlib is a C standard library implementation intended for use on embedded systems. Most of the POSIX and libc support for RTEMS is derived from Newlib. The RTEMS cross-compiler configures Newlib correctly for RTEMS.
- Threading in GCC support libraries
Several threading packages in GCC such as Go threads (libgo), OpenMP (libgomp), and OpenACC need to be customized according to RTEMS. This is done by the RTEMS specific cross-compiler.
- Provide preprocessor define __rtems__
The
__rtems__preprocessor define is used to provide conditional code compilation in source files that are shared with other projects e.g. in Newlib or imported code from FreeBSD.- Multilib variants to match the BSP
RTEMS configures GCC to create separate runtime libraries for each supported instruction set, floating point unit, vector unit, word size (e.g. 32-bit and 64-bit), endianness, ABI, processor errata workarounds, and so on in the architecture. These libraries are termed as Multilib variants. Multilib variants to match the BSP are set by selecting a specific set of machine options using the RTEMS cross-compiler.
2.5. Bootstrap the RTEMS Sources¶
You installed the tool suite in your installation prefix and made ready the source for two RTEMS source packages in the previous sections. We installed the tool suite in $HOME/quick-start/rtems/5 and unpacked the RSB source in $HOME/quick-start/src.
You only need to bootstrap the RTEMS sources if you have used Git to get the sources. If you use source archives of a released RTEMS version you can skip this section and move to Build a Board Support Package (BSP).
Before you can build a Board Support Package (BSP) for your target hardware from Git cloned RTEMS sources, you have to bootstrap the build system in the RTEMS sources. This is only necessary if you use a Git repository clone of the RTEMS sources. You have to do this after a fresh repository clone and sometimes after build system file updates (e.g. after a git pull). If you are not a build system expert, then do the bootstrap after each update of build system files. This is a bit annoying, but improving the build system is a complex and time consuming undertaking. Feel free to help the RTEMS Project to improve it. For the bootstrap it is important that the right version of Autotools (autoconf and automake) are in your $PATH. The right version of Autotools is shipped with the RTEMS tool suite you already installed. Set the path to the tool suite installed under your selected prefix:
export PATH=$HOME/quick-start/rtems/5/bin:"$PATH"
Change into the RTEMS source tree to bootstrap the build system:
cd $HOME/quick-start/src/rtems
./rtems-bootstrap
This command should output something like this (omitted lines are denoted by ...):
RTEMS Bootstrap, 1.0
1/122: autoreconf: configure.ac
2/122: autoreconf: testsuites/configure.ac
3/122: autoreconf: testsuites/fstests/configure.ac
4/122: autoreconf: testsuites/smptests/configure.ac
5/122: autoreconf: testsuites/psxtests/configure.ac
6/122: autoreconf: testsuites/mptests/configure.ac
...
121/122: autoreconf: c/src/lib/libbsp/lm32/milkymist/configure.ac
122/122: autoreconf: c/src/make/configure.ac
Bootstrap time: 0:00:46.404643
2.6. Build a Board Support Package (BSP)¶
You installed the tool suite in your installation prefix, made ready the source for two RTEMS source packages and if you are using a Git clone bootstrapped the RTEMS sources in the previous sections. We installed the tool suite in $HOME/quick-start/rtems/5 and unpacked the source in $HOME/quick-start/src.
You are now able to build Board Support Packages (BSPs) for all architectures you have an installed RTEMS tool suite. To build applications on top of RTEMS, you have to build and install a BSP for your target hardware. To select a proper BSP for your target hardware consult the BSPs chapter. We select the erc32 BSP. The erc32 BSP uses approximately 2.3G bytes of disk space when the testsuite is built and 44M bytes of space when installed.
We will first show how to build the BSP using the RSB and then we will show how to build the same BSP manually. You only need to use one of the listed methods to build the BSP.
In the output in this section the base directory $HOME/quick-start was replaced by $BASE.
2.6.1. RSB BSP Build¶
The RSB build of RTEMS does not use the RTEMS source we made ready. It uses the RSB source you downloaded in a previous section. If you are using a release RSB source archive the BSP built is the released kernel image. If you are using a Git clone of the RSB the BSP will be version referenced in the RSB clone.
To build the BSP with all the tests run this command:
cd $HOME/quick-start/src/rsb/rtems
../source-builder/sb-set-builder --prefix=$HOME/quick-start/rtems/5 \
--target=sparc-rtems5 --with-rtems-bsp=erc32 --with-rtems-tests=yes 5/rtems-kernel
This command should output something like this:
RTEMS Source Builder - Set Builder, 5.1.0
Build Set: 5/rtems-kernel
config: tools/rtems-kernel-5.cfg
package: sparc-rtems5-kernel-erc32-1
building: sparc-rtems5-kernel-erc32-1
sizes: sparc-rtems5-kernel-erc32-1: 2.279GB (installed: 44.612MB)
cleaning: sparc-rtems5-kernel-erc32-1
reporting: tools/rtems-kernel-5.cfg -> sparc-rtems5-kernel-erc32-1.txt
reporting: tools/rtems-kernel-5.cfg -> sparc-rtems5-kernel-erc32-1.xml
installing: sparc-rtems5-kernel-erc32-1 -> $BASE/
cleaning: sparc-rtems5-kernel-erc32-1
Build Set: Time 0:03:09.896961
The RSB BSP build can be customised with following RSB command line options:
--with-rtems-tests:Build the test suite. If
yesis provided all tests in the testsuite are build. Ifnois provided no tests are built and ifsamplesis provided only the sample executables are built, e.g.--with-rtems-tests=yes. The test executables are install under the BSP in thetestsdirectory and you can execute them with the tester and run command.--with-rtems-smp:Build with SMP support. The BSP has to have SMP support or this option will fail with an error.
--with-rtems-legacy-network:Build the legacy network software. We recommend you use the current network support in the RTEMS BSP Library (libbsd) unless you need to maintain a legacy product. Do not use the legacy networking software for new developments.
--with-rtems-bspopts:Build the BSP with BSP specific options. This is an advanced option. Please refer to the BSP specific details in the Board Support Packages (BSPs) of this manual or the BSP source code in the RTEMS source directory. To supply a list of options quote then list with
", e.g.--with-rtems-bspopts="BSP_POWER_DOWN_AT_FATAL_HALT=1"
If you have built a BSP with the RSB, you can move on to Test a Board Support Package (BSP).
2.6.2. Manual BSP Build¶
We manually build the BSP in four steps. The first step is to create a build directory. It must be separate from the RTEMS source directory. We use $HOME/quick-start/build/b-erc32.
mkdir -p $HOME/quick-start/build/b-erc32
The second step is to set your path. Prepend the RTEMS tool suite binary directory to your $PATH throughout the remaining steps. Run the command:
export PATH=$HOME/quick-start/rtems/5/bin:"$PATH"
Check your installed tools can be found by running:
command -v sparc-rtems5-gcc && echo "found" || echo "not found"
The output should be:
found
If not found is printed the tools are not correctly installed or the path has not been correctly set. Check the contents of the path $HOME/quick-start/rtems/5/bin manually and if sparc-rtems5-gcc is present the path is wrong. If the file cannot be found return to Install the Tool Suite and install the tools again.
The third step is to configure the BSP. There are various configuration options available. Some configuration options are BSP-specific.
cd $HOME/quick-start/build/b-erc32
$HOME/quick-start/src/rtems/configure \
--prefix=$HOME/quick-start/rtems/5 \
--enable-maintainer-mode \
--target=sparc-rtems5 \
--enable-rtemsbsp=erc32 \
--enable-tests
This command should output something like this (omitted lines are denoted by ...):
checking for gmake... gmake
checking for RTEMS Version... 5.0.0
checking build system type... x86_64-unknown-freebsd12.0
checking host system type... x86_64-unknown-freebsd12.0
checking target system type... sparc-unknown-rtems5
...
config.status: creating Makefile
target architecture: sparc.
available BSPs: erc32.
'gmake all' will build the following BSPs: erc32.
other BSPs can be built with 'gmake RTEMS_BSP="bsp1 bsp2 ..."'
config.status: creating Makefile
Building the BSP is the forth step.
cd $HOME/quick-start/build/b-erc32
make
This command should output something like this (omitted lines are denoted by …).
Configuring RTEMS_BSP=erc32
checking for gmake... gmake
checking build system type... x86_64-unknown-freebsd12.0
checking host system type... sparc-unknown-rtems5
checking rtems target cpu... sparc
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
checking for sparc-rtems5-strip... sparc-rtems5-strip
checking for a thread-safe mkdir -p... $BASE/src/rtems/c/src/../../install-sh -c -d
checking for gawk... no
checking for mawk... no
checking for nawk... nawk
checking whether gmake sets $(MAKE)... yes
checking whether to enable maintainer-specific portions of Makefiles... yes
checking for RTEMS_BSP... erc32
checking whether CPU supports libposix... yes
configure: setting up make/custom
configure: creating make/erc32.cache
gmake[3]: Entering directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32'
...
sparc-rtems5-gcc -mcpu=cypress -O2 -g -ffunction-sections -fdata-sections -Wall -Wmissing-prototypes -Wimplicit-function-declaration -Wstrict-prototypes -Wnested-externs -B./../../lib/libbsp/sparc/erc32 -B$BASE/src/rtems/bsps/sparc/erc32/start -specs bsp_specs -qrtems -L./../../cpukit -L$BASE/src/rtems/bsps/sparc/shared/start -Wl,--wrap=printf -Wl,--wrap=puts -Wl,--wrap=putchar -Wl,--gc-sections -o spwkspace.exe spwkspace/spwkspace-init.o ./../../lib/libbsp/sparc/erc32/librtemsbsp.a ./../../cpukit/librtemscpu.a
gmake[5]: Leaving directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32/testsuites/sptests'
gmake[4]: Leaving directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32/testsuites'
gmake[3]: Leaving directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32'
gmake[2]: Leaving directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32'
gmake[1]: Leaving directory '$BASE/build/b-erc32/sparc-rtems5/c'
gmake[1]: Entering directory '$BASE/build/b-erc32'
gmake[1]: Nothing to be done for 'all-am'.
gmake[1]: Leaving directory '$BASE/build/b-erc32'
The last step is to install the BSP.
cd $HOME/quick-start/build/b-erc32
make install
This command should output something like this (omitted lines are denoted by …). In this output the base directory $HOME/quick-start was replaced by $BASE.
Making install in sparc-rtems5/c
gmake[1]: Entering directory '$BASE/build/b-erc32/sparc-rtems5/c'
Making install in .
gmake[2]: Entering directory '$BASE/build/b-erc32/sparc-rtems5/c'
gmake[3]: Entering directory '$BASE/build/b-erc32/sparc-rtems5/c'
gmake[3]: Nothing to be done for 'install-exec-am'.
gmake[3]: Nothing to be done for 'install-data-am'.
gmake[3]: Leaving directory '$BASE/build/b-erc32/sparc-rtems5/c'
gmake[2]: Leaving directory '$BASE/build/b-erc32/sparc-rtems5/c'
Making install in erc32
gmake[2]: Entering directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32'
gmake[3]: Entering directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32'
Making install-am in .
Making install-am in cpukit
gmake[4]: Entering directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32/cpukit'
gmake[5]: Entering directory '$BASE/build/b-erc32/sparc-rtems5/c/erc32/cpukit'
gmake[5]: Nothing to be done for 'install-exec-am'.
$BASE/src/rtems/c/src/../../cpukit/../install-sh -c -d '$BASE/rtems/5/sparc-rtems5/erc32/lib/include'
...
$BASE/src/rtems/make/Templates/Makefile.lib '$BASE/rtems/5/share/rtems5/make/Templates'
$BASE/src/rtems/./install-sh -c -d '$BASE/rtems/5/make/custom'
/usr/bin/install -c -m 644 $BASE/src/rtems/make/custom/default.cfg '$BASE/rtems/5/make/custom'
gmake[2]: Leaving directory '$BASE/build/b-erc32'
gmake[1]: Leaving directory '$BASE/build/b-erc32'
2.7. Test a Board Support Package (BSP)¶
You built a BSP with tests in the previous section. We built the erc32 BSP in $HOME/quick-start/build/b-erc32.
You should run the RTEMS test suite on your target hardware. The RTEMS Project provides some support to do this, see the Testing chapter for the details.
On the erc32 BSP we selected for this quick start chapter this is easy. Just run this command:
cd $HOME/quick-start/build/b-erc32
rtems-test --rtems-bsp=erc32-sis --rtems-tools=$HOME/quick-start/rtems/5 .
This command should output something like this (omitted lines are denoted by …). In this output the base directory $HOME/quick-start was replaced by $BASE.
RTEMS Testing - Tester, 5.1.0
Command Line: $BASE/rtems/5/bin/rtems-test --rtems-bsp=erc32-sis --rtems-tools=$BASE/rtems/5 .
Python: 2.7.15 (default, Jan 10 2019, 01:14:47) [GCC 4.2.1 Compatible FreeBSD Clang 6.0.1 (tags/RELEASE_601/final 335540)]
Host: FreeBSD-12.0-RELEASE-p2-amd64-64bit-ELF (FreeBSD Build_FreeBSD12 12.0-RELEASE-p2 FreeBSD 12.0-RELEASE-p2 GENERIC amd64 amd64)
[ 1/589] p:0 f:0 u:0 e:0 I:0 B:0 t:0 i:0 W:0 | sparc/erc32: dhrystone.exe
...
[589/589] p:574 f:0 u:5 e:0 I:0 B:3 t:0 i:0 W:0 | sparc/erc32: tmtimer01.exe
Passed: 580
Failed: 0
User Input: 5
Expected Fail: 0
Indeterminate: 0
Benchmark: 3
Timeout: 1
Invalid: 0
Wrong Version: 0
Wrong Build: 0
Wrong Tools: 0
------------------
Total: 589
User Input:
monitor.exe
termios.exe
top.exe
fileio.exe
capture.exe
Benchmark:
whetstone.exe
linpack.exe
dhrystone.exe
Timeouts:
pppd.exe
Average test time: 0:00:00.437773
Testing time : 0:04:17.848557
2.8. Build Your Application¶
You tested a BSP in the previous section. We built the erc32 BSP and it is installed under $HOME/quick-start/rtems/5.
We will now create a simple Hello World application with a Git repository and using the Waf build system.
The application is be created in $HOME/quick-start/app/hello.
In the output in this section the base directory $HOME/quick-start was replaced by $BASE.
The steps in this section assume you are in the directory $HOME/quick-start/app/hello after the first step changes to it.
Setup the application work space. Create a new Git repository, download the Waf build system, and the RTEMS Waf.
Create the application directory and change into it:
mkdir -p $HOME/quick-start/app/hello
cd $HOME/quick-start/app/hello
Download the Waf build system and set it to executable:
curl https://waf.io/waf-2.0.19 > waf
chmod +x waf
Initialise a new Git repository:
git init
Add RTEMS Waf support as a Git sub-module and initialise it:
git submodule add git://git.rtems.org/rtems_waf.git rtems_waf
Create the application source files. Three files are created with an editor of your choice.
First create a C file that configures RTEMS. Using an editor create a file called init.c and copy the following configuration settings:
/*
* Simple RTEMS configuration
*/
#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
#define CONFIGURE_UNLIMITED_OBJECTS
#define CONFIGURE_UNIFIED_WORK_AREAS
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
#define CONFIGURE_INIT
#include <rtems/confdefs.h>
Create the Hello World application source file. Using an editor create hello.c and copy the follow code:
/*
* Hello world example
*/
#include <rtems.h>
#include <stdlib.h>
#include <stdio.h>
rtems_task Init(
rtems_task_argument ignored
)
{
printf( "\nHello World\n" );
exit( 0 );
}
Finally create the Waf script. Using an editor create wscript and copy the Waf script:
#
# Hello world Waf script
#
from __future__ import print_function
rtems_version = "5"
try:
import rtems_waf.rtems as rtems
except:
print('error: no rtems_waf git submodule')
import sys
sys.exit(1)
def init(ctx):
rtems.init(ctx, version = rtems_version, long_commands = True)
def bsp_configure(conf, arch_bsp):
# Add BSP specific configuration checks
pass
def options(opt):
rtems.options(opt)
def configure(conf):
rtems.configure(conf, bsp_configure = bsp_configure)
def build(bld):
rtems.build(bld)
bld(features = 'c cprogram',
target = 'hello.exe',
cflags = '-g -O2',
source = ['hello.c',
'init.c'])
Configure the application using Waf’s configure command:
./waf configure --rtems=$HOME/quick-start/rtems/5 --rtems-bsp=sparc/erc32
The output will be something close to:
Setting top to : $BASE/app/hello
Setting out to : $BASE/app/hello/build
RTEMS Version : 5
Architectures : sparc-rtems5
Board Support Package (BSP) : sparc-rtems5-erc32
Show commands : no
Long commands : no
Checking for program 'sparc-rtems5-gcc' : $BASE/rtems/5/bin/sparc-rtems5-gcc
Checking for program 'sparc-rtems5-g++' : $BASE/rtems/5/bin/sparc-rtems5-g++
Checking for program 'sparc-rtems5-gcc' : $BASE/rtems/5/bin/sparc-rtems5-gcc
Checking for program 'sparc-rtems5-ld' : $BASE/rtems/5/bin/sparc-rtems5-ld
Checking for program 'sparc-rtems5-ar' : $BASE/rtems/5/bin/sparc-rtems5-ar
Checking for program 'sparc-rtems5-nm' : $BASE/rtems/5/bin/sparc-rtems5-nm
Checking for program 'sparc-rtems5-objdump' : $BASE/rtems/5/bin/sparc-rtems5-objdump
Checking for program 'sparc-rtems5-objcopy' : $BASE/rtems/5/bin/sparc-rtems5-objcopy
Checking for program 'sparc-rtems5-readelf' : $BASE/rtems/5/bin/sparc-rtems5-readelf
Checking for program 'sparc-rtems5-strip' : $BASE/rtems/5/bin/sparc-rtems5-strip
Checking for program 'sparc-rtems5-ranlib' : $BASE/rtems/5/bin/sparc-rtems5-ranlib
Checking for program 'rtems-ld' : $BASE/rtems/5/bin/rtems-ld
Checking for program 'rtems-tld' : $BASE/rtems/5/bin/rtems-tld
Checking for program 'rtems-syms' : $BASE/rtems/5/bin/rtems-syms
Checking for program 'rtems-bin2c' : $BASE/rtems/5/bin/rtems-bin2c
Checking for program 'tar' : /usr/bin/tar
Checking for program 'gcc, cc' : $BASE/rtems/5/bin/sparc-rtems5-gcc
Checking for program 'ar' : $BASE/rtems/5/bin/sparc-rtems5-ar
Checking for program 'g++, c++' : $BASE/rtems/5/bin/sparc-rtems5-g++
Checking for program 'ar' : $BASE/rtems/5/bin/sparc-rtems5-ar
Checking for program 'gas, gcc' : $BASE/rtems/5/bin/sparc-rtems5-gcc
Checking for program 'ar' : $BASE/rtems/5/bin/sparc-rtems5-ar
Checking for c flags '-MMD' : yes
Checking for cxx flags '-MMD' : yes
Compiler version (sparc-rtems5-gcc) : 7.5.0 20191114 (RTEMS 5, RSB 5.1.0, Newlib fbaa096)
Checking for a valid RTEMS BSP installation : yes
Checking for RTEMS_DEBUG : no
Checking for RTEMS_MULTIPROCESSING : no
Checking for RTEMS_NEWLIB : yes
Checking for RTEMS_POSIX_API : yes
Checking for RTEMS_SMP : no
Checking for RTEMS_NETWORKING : no
'configure' finished successfully (0.686s)
Build the application:
./waf
The output will be something close to:
Waf: Entering directory `$BASE/app/hello/build/sparc-rtems5-erc32'
[1/3] Compiling init.c
[2/3] Compiling hello.c
[3/3] Linking build/sparc-rtems5-erc32/hello.exe
Waf: Leaving directory `$BASE/app/hello/build/sparc-rtems5-erc32'
'build-sparc-rtems5-erc32' finished successfully (0.183s)
Run the executable:
$HOME/quick-start/rtems/5/bin/rtems-run --rtems-bsps=erc32-sis build/sparc-rtems5-erc32/hello.exe
The output will be something close to:
RTEMS Testing - Run, 5.1.0
Command Line: $BASE/rtems/5/bin/rtems-run --rtems-bsps=erc32-sis build/sparc-rtems5-erc32/hello.exe
Host: FreeBSD hihi 12.1-RELEASE-p2 FreeBSD 12.1-RELEASE-p2 GENERIC amd64
Python: 3.7.6 (default, Jan 30 2020, 01:18:54) [Clang 6.0.1 (tags/RELEASE_601/final 335540)]
Host: FreeBSD-12.1-RELEASE-p2-amd64-64bit-ELF (FreeBSD hihi 12.1-RELEASE-p2 FreeBSD 12.1-RELEASE-p2 GENERIC amd64 amd64)
SIS - SPARC/RISCV instruction simulator 2.21, copyright Jiri Gaisler 2019
Bug-reports to jiri@gaisler.se
ERC32 emulation enabled
Loaded build/sparc-rtems5-erc32/hello.exe, entry 0x02000000
Hello World
*** FATAL ***
fatal source: 5 (RTEMS_FATAL_SOURCE_EXIT)
fatal code: 0 (0x00000000)
RTEMS version: 5.1.0
RTEMS tools: 7.5.0 20191114 (RTEMS 5, RSB 5.1.0, Newlib fbaa096)
executing thread ID: 0x08a010001
executing thread name: UI1
cpu 0 in error mode (tt = 0x101)
107883 0200b6c0: 91d02000 ta 0x0
Run time : 0:00:01.011474
Commit the application to the repository:
git add init.c hello.c wscript
git commit -m "My first RTEMS application."
2.9. Build an RSB Package¶
This section describes how to build an RTEMS package using the RSB. Before we start to build a package with the RSB you need to complete these steps:
Return to here once you have completed these steps.
You have chosen an installation prefix, the BSP to build, the tool’s architecure and prepared the source for the RSB in the previous sections. We have chosen $HOME/quick-start/rtems/5 as the installation prefix, the erc32 BSP and the SPARC architecture name of sparc-rtems5, and unpacked the RSB source in $HOME/quick-start/src.
You are now able to build BSP Packages or 3rd party libraries of code if you have built a BSP.
2.9.1. RTEMS Packages¶
RTEMS Packages are source packages the RSB build to run on RTEMS. An installed package is a set of header files and libraries. Your application include the packages header files to make calls to the package’s code and include the libraries in it’s linker options.
RTEMS packages can be part of the RTEMS Project or they can be external packages from 3rd parties. RTEMS Project packages include the BSPs and BSD Library package called libbsd. External 3rd party packages include networking such has curl or libcurl to graphics libraries.
Packages can depend on other packages and need to be build in the corret order. For example the FreeBSD Library package depends on the BSP package and a 3rd party library such as curl depends on the FreeBSD Library package. We call this layering a vertical software stack.
RTEMS applications are cross-compiled and this adds complexity when building libraries of code. RTEMS Packages build with the RSB manage this complexity for you.
Package are libraries so they will not be linked into your application until you make calls to the the code and add the library to your application’s linker command line.
2.9.2. BSP Stack Build¶
A BSP stack build is a single command that uses the RSB to build a BSP software stack of:
Tool suite
BSP
Packages
The packages built depend on the BSP and the default will build all packages for a BSP.
cd $HOME/quick-start/src/rsb/rtems
../source-builder/sb-set-builder --prefix=$HOME/quick-start/rtems/5 \
--with-rtems-tests=yes 5/bsps/erc32
This command should output something like this:
RTEMS Source Builder - Set Builder, 5.1.0
Build Set: 5/bsps/erc32
Build Set: 5/rtems-sparc.bset
Build Set: 5/rtems-autotools.bset
Build Set: 5/rtems-autotools-internal.bset
config: tools/rtems-autoconf-2.69-1.cfg
package: autoconf-2.69-x86_64-freebsd12.1-1
building: autoconf-2.69-x86_64-freebsd12.1-1
sizes: autoconf-2.69-x86_64-freebsd12.1-1: 7.505MB (installed: 0.000B)
...
building: protobuf-2.6.1-sparc-rtems5-1
sizes: protobuf-2.6.1-sparc-rtems5-1: 228.079MB (installed: 84.408MB)
cleaning: protobuf-2.6.1-sparc-rtems5-1
reporting: net/protobuf-2.6.1-1.cfg -> protobuf-2.6.1-sparc-rtems5-1.txt
reporting: net/protobuf-2.6.1-1.cfg -> protobuf-2.6.1-sparc-rtems5-1.xml
staging: protobuf-2.6.1-sparc-rtems5-1 -> $HOME/quick-start/src/rsb/rtems/build/tmp/sb-500-staging
cleaning: protobuf-2.6.1-sparc-rtems5-1
Build Set: Time 0:00:23.564992
Build Set: Time 0:02:27.380299
installing: 5/bsps/erc32 -> $HOME/quick-start/rtems/
clean staging: 5/bsps/erc32
Staging Size: 1.372GB
Build Set: Time 0:24:17.83979
The RSB BSP build can be customised with following RSB command line options:
--with-rtems-tests:Build the test suite. If
yesis provided all tests in the testsuite are build. Ifnois provided no tests are built and ifsamplesis provided only the sample executables are built, e.g.--with-rtems-tests=yes.--with-rtems-smp:Build with SMP support. The BSP has to have SMP support or this option will fail with an error.
--with-rtems-bspopts:Build the BSP with BSP specific options. This is an advanced option. Please refer to the BSP specific details in the Board Support Packages (BSPs) of this manual or the BSP source code in the RTEMS source directory. To supply a list of options quote then list with
", e.g.--with-rtems-bspopts="BSP_POWER_DOWN_AT_FATAL_HALT=1"
Only a limited number of BSPs have RSB support to build as a software stack. To see which BSPs are supported run this command:
cd $HOME/quick-start/src/rsb/rtems
../source-builder/sb-set-builder --list-bsets | grep bsps
2.9.3. Package Build¶
Packages are built using RSB build sets. A build set is a set of builds need to build a packages. The build steps can be dependencies a package has or it could be a stack of software to provide specific functionality, i.e. a build set can be a list of build sets. To view the avaliable build sets run this command:
cd $HOME/quick-start/src/rsb/rtems
../source-builder/sb-set-builder --list-bsets
RTEMS package naming is based on the naming FreeBSD uses in its ports collection.
This Quick Start Guide will build the BSD Library or 5/rtems-libbsd.
An RTEMS package is hosted on RTEMS so the tool suite name needs to be supplied using the --host option, e.g. --host=sparc-rtem5. The BSP needs to be provided using the --with-rtems-bsp option, e.g. --with-rtems-bsp=erc32. The commands to build libbsd for the erc32 BSP are:
cd $HOME/quick-start/src/rsb/rtems
../source-builder/sb-set-builder --prefix=$HOME/quick-start/rtems/5 \
--host=sparc-rtems5 --with-rtems-bsp=erc32 5/rtems-libbsd
This command should output something like this:
RTEMS Source Builder - Set Builder, 5.1.0
Build Set: 5/rtems-libbsd
config: tools/rtems-libbsd-5.cfg
package: rtems-libbsd-v3cc039cdac77272a8e16b33ae5a53ccd89edf989-sparc-rtems5-1
building: rtems-libbsd-v3cc039cdac77272a8e16b33ae5a53ccd89edf989-sparc-rtems5-1
sizes: rtems-libbsd-v3cc039cdac77272a8e16b33ae5a53ccd89edf989-sparc-rtems5-1: 1.199GB (installed: 116.541MB)
cleaning: rtems-libbsd-v3cc039cdac77272a8e16b33ae5a53ccd89edf989-sparc-rtems5-1
reporting: tools/rtems-libbsd-5.cfg -> rtems-libbsd-v3cc039cdac77272a8e16b33ae5a53ccd89edf989-sparc-rtems5-1.txt
reporting: tools/rtems-libbsd-5.cfg -> rtems-libbsd-v3cc039cdac77272a8e16b33ae5a53ccd89edf989-sparc-rtems5-1.xml
installing: rtems-libbsd-v3cc039cdac77272a8e16b33ae5a53ccd89edf989-sparc-rtems5-1 -> $HOME/quick-start/rtems/5
cleaning: rtems-libbsd-v3cc039cdac77272a8e16b33ae5a53ccd89edf989-sparc-rtems5-1
Build Set: Time 0:00:51.898231
Note
Not all packages will build or run with all BSPs. Please ask on the Users Mailing List if you have any issues.
2.10. GSoC Getting Started¶
The goal of this page is to help new users, especially students get RTEMS compiled and running so they can start with the real work.
Please join the Users Mailing List and Developers Mailing List and ask questions. Help correct any deficiencies in the code or documentation you spot, including those on the wiki. The ultimate goal of GSoC is to help you become part of the open source community.
This section will help you to quickly setup a development environment without delving into the details. For more information you can go through the other subsections under Quick Start chapter or ask on the Developers Mailing List.
You will be best served by using a GNU/Linux environment, which could be in a virtual machine, for example that uses Virtualbox and should run on most modern desktop systems. You should also be able to work with a MacOS or Windows system, but might encounter more difficulty than a *nix environment.
Setting up a development environment consists of the following steps.
Installing dependencies for your host operating system.
Choosing an installation prefix.
Downloading the source code.
Installing the tool suite.
Building the Board Support Package (BSP).
Testing the Board Support Package (BSP).
2.10.1. Installing Dependencies¶
You need tools for your host’s operating system to build the RTEMS tool suite from source. Please have a look at the Host Computer chapter for the instructions to install the tools for your OS.
2.10.2. Choosing an installation prefix¶
The term prefix refers to the path on your computer where the software is to be installed. You can refer to the Prefix section for details on choosing an installation prefix.
2.10.3. Downloading the Sources¶
We will be using Git to clone the sources for RTEMS and RSB. This is the preferred way if you are planning to make contributions to the RTEMS project.
Please refer to the Git section for instructions on obtaining sources using Git.
2.10.4. Installing the Tool Suite¶
The Tools suite is the collection of tools required to build the BSP. This includes the compiler, debugger, assembler and other tools. These tools are architecture-specific. We will be installing the SPARC tool suite since we are building a SPARC based BSP.
Please refer to the Install the Tool Suite section for instructions on building and installing the tool suite.
2.10.5. Building the Board Support Package¶
There are two ways of building a BSP. We could either ask RSB to build the BSP or manually build it. In this section will we be building it manually. Please refer the Manual BSP Build section for the instructions.
2.10.6. Testing the Board Support Package¶
Testing is an essential part of RTEMS development process. The main reason for choosing the SPARC erc32 BSP is that, it has very good simulator support. This will allow you to test your changes without the need for SPARC hardware.
Please refer to Test a Board Support Package (BSP) for instructions on testing the BSP.
2.10.7. Prove You Can Work On RTEMS¶
This section is only for students interested in Google Summer of Code.
You have to finish the following task to prove that you can work on RTEMS.
Modify the hello world example to include a new different print statement. Something like “Hello from The Dark Side!”. Then send us enough to prove to us that you did this. We want to know you can work with RTEMS.
Create a patch of your changes and send it to Developers Mailing List along with the screenshot of the output.
If you followed this guide, this hello world modification will likely need to be made in $HOME/quick-start/src/rtems/testsuites/samples/hello/init.c. To test your changes, you have to build the BSP again. This could be done by running make in the BSP build directory.
cd $HOME/quick-start/build/b-erc32
make
If you are happy with your changes you can commit the changes and send the patch to Developers Mailing List.
2.10.8. Creating and Sending Patches¶
Before sending patches, make sure that the changes you have made conforms to RTEMS coding standards. You can refer to Contributing section for instruction on creating and sending patches.
Here are a few pointers to keep in mind while creating the patches.
Make sure not to commit changes in the master branch. This is to avoid merge conflicts when you are pulling the latest changes from the remote branch.
Avoid trailing whitespace errors.
The author name of the patch is your full name.
The author email of the patch is your valid email address.
Ensure that your patches build before sending them for review.
3. Support and Contributing¶
3.1. RTEMS Project Support¶
3.1.1. Users Mailing List¶
RTEMS offers a variety of support options and ways to contribute to the project. Users can ask their questions on the Users Mailing List. This is a low frequency mailing list intended for topics related to the use of RTEMS. If you are new to RTEMS, please join the list and ask whatever you want.
3.1.2. Documentation¶
You find the latest set of manuals at the Documentation Site.
3.1.3. All Mailing Lists¶
We have several mailing lists for RTEMS users and developers:
Announce Mailing List: Announcements for major and other project-related issues.
Bugs Mailing List: Emails generated by the Bugs Database.
Developers Mailing List: For developers of RTEMS itself.
Build Logs: Results from building and testing of RTEMS.
Users Mailing List: For users of RTEMS.
Version Control Mailing List: Commits to the RTEMS Project repositories.
3.1.4. IRC¶
RTEMS IRC is available on the Freenode network. See the Freenode web site for details on connecting, selecting a nickname, and general usage tips. If you are new to IRC it is recommended reading.
These is currently only one IRC channel available for RTEMS:
#rtems
This is a general channel for all things RTEMS. You can just hang out with other RTEMS users and developers to talk about RTEMS, using RTEMS or to make contact with other RTEMS users.
The #rtems channel is logged. You can find the logs at:
You can search the logs using Google by adding
site:rtems.org inurl:irclogs
to your search terms.
3.2. Report Bugs¶
The RTEMS Project uses a ticket system to deal with bugs, organize enhancement requests, and manage small tasks and projects. You can submit a bug report to the RTEMS Project ticket system. Before you do this, please read the following information. Good bug reports are more likely to get addressed quickly. If you have patches not specifically related to bugs or existing tickets, please have a look at the Contributing guidelines.
3.2.1. Search for Existing Bugs¶
You can search for existing bugs in the RTEMS Project ticket system. Please try to avoid duplicate bug reports and search for an existing bug before you report a new bug. If you are unsure, please ask on the Users Mailing List and we will help you sort it out.
3.2.2. Not RTEMS Bugs¶
Some issues appear to be an RTEMS bug to you, but are actually the intended behaviour or in the scope of other projects.
Bugs in the assembler, the linker, or the C library (Newlib) are not RTEMS bugs. These are separate projects, with separate mailing lists and different bug reporting procedures. The RTEMS Project is happy to work with you and those projects to resolve the problem but we must work with those projects. Bugs in those products must be addressed in the corresponding project. Report assembler, linker, and GDB bugs to sourceware.org, compiler bugs to GCC, and Newlib bugs to the Newlib mailing list. If the bug was fixed, then you can update the Source Builder to pick up the fix.
Questions about the correctness or the expected behaviour of programming language constructs or calls to library routines that are not part of RTEMS belong somewhere else.
The POSIX standard does not specify the default set of thread attributes. Thus, when passing a NULL for attributes to pthread_create(), the application is not guaranteed any particular thread behaviour.
The defaults for all RTEMS Application Configuration parameters are intentionally small. Thus, it is common for RTEMS tasking and file related calls to return errors indicating out of resources until the configuration parameters are properly tuned for the application. For example, there are only three file descriptors available by default: stdin, stdout, and stderr. Any attempt to open a socket or file will fail unless more file descriptors are configured.
When first developing a BSP, many users encounter an unexpected interrupt or exception immediately upon completion of RTEMS initialization. This occurs because interrupts are disabled during RTEMS initialization and are automatically initialized as part of switching to the first task. The interrupted user code will be in either _CPU_Context_switch() or _Thread_Handler(). This indicates that an interrupt source has not been properly initialized or masked.
Some users encounter a random reset during BSP initialization. This usually indicates that the board has a watchdog timer that is not being properly serviced during the BSP initialization.
Bugs in releases or snapshots of RTEMS not issued by the RTEMS Project. Report them to whoever provided you with the release.
3.2.3. Good Bug Reports¶
Please open the page to submit a bug to the RTEMS Project ticket system and follow the guidelines below to write a good bug report.
Provide a useful single line Summary.
Use WikiFormatting to structure the information you provide. It does help the readability of the information you provide.
Add a description of the expected behaviour. The expected behaviour may be obvious to you, but maybe not to someone else reading the bug report.
Add a description of the actual undesired behaviour.
Name the target hardware (processor architecture, chip family or model, and BSP) in the description.
Add the toolchain version used (GCC, Binutils, Newlib) to the description. Custom toolchain builds are discouraged. To avoid problems caused by custom builds of the toolchain, please build your toolchain with the Source Builder. If you use a custom build of the toolchain, then try to reproduce the bug first using a toolchain built by the RSB.
Provide the configuration options used to build the RTEMS BSP in the description. This helps to reproduce the issue.
Make the bug reproducible by others. Write a self-contained piece of source code which can be compiled and reproduces the bug. Avoid adding assembly files (*.s) produced by the compiler, or any binary files, such as object files, executables, core files, or precompiled header files. If it is difficult or time consuming to reproduce the bug, then it may not get the attention it deserves from others. Developing and debugging real-time embedded systems can be difficult. Exercise caution in reporting an error that occurs only some of the times a certain program is executed, such that retrying a sufficient number of times results in a successful compilation; this is often a symptom of a hardware problem or application issue, not of a RTEMS bug (sorry). We do recognise that sometimes a timing bug will exist in RTEMS, but we want you to exercise due diligence before pointing fingers.
Only when your bug report requires multiple source files to be reproduced should you attach an archive. Otherwise, the uploaded individual source file or diff should contain the minimal source code needed to reproduce the bug. In any case, make sure the above are included in the body of your bug report as plain text, even if needlessly duplicated as part of an archive.
Please try to reproduce the bug on the current Git master. If it is not reproducible on the Git master, you should figure out if the bug was already fixed. You can search the existing bugs once again, ask on the Users Mailing List, or do a Git bisect to find a commit which fixed the bug.
Include only information relevant to the bug.
Write separate bug reports for different bugs.
Select a Type for the ticket.
Use
defectfor a bug.Use
enhancementfor a feature request in the software or an addition to the documentation.Note
infrais used to report issues with the RTEMS servers at OSUOSL.
Select a Version for the ticket. This should be the first RTEMS version which is affected by this bug. If this is the current Git master branch use the version of the next release. Please provide the exact version of RTEMS in the description. If you use an RTEMS release, then the release number. If you use a Git clone, then the commit hash. The commit hash should be present in an RTEMS Project repository. Commit hashes of private branches are not interesting.
Select a Component for the ticket. Use
unspecifiedif you are unsure.Select a Severity for the ticket.
The fields Milestone and Priority will be most likely set by an RTEMS maintainer.
You can relate your new bug to existing bugs through the Blocked by and Blocking fields.
If you have any external files, such as screenshots or examples, please attach these as files to the ticket. Do not use external hosting because if you do use external hosting, then our historical record is broken when those files are no longer available.
Some fields should only be set by the maintainers, as it is not always clear what they should be set to. Feel free to make your own choices.
When you have checked that your report meets the criteria for a good bug report, please click on the Create ticket button to submit it to the RTEMS Project ticket system.
If you fail to supply enough information for a bug report to be reproduced, someone will probably ask you to post additional information. In this case, please post the additional information and not just to the person who requested it, unless explicitly told so.
3.2.4. Nobody Fixes my Bug¶
Sometimes, you may notice that after some time your bug report gets no attention and the bug is not magically fixed. This may have several reasons
the bug report is incomplete or confusing,
the target hardware is not available to others,
the bug is not reproducible on the Git master,
the bug is not reproducible at all,
the RTEMS version is quite old and no longer used by RTEMS maintainers, or
fixing the bug has a low priority for others.
Please note that you do not have a service contract with the RTEMS Project. The RTEMS Project is run by volunteers and persons who take care about how RTEMS performs in their application domain. If your bug does not affect the interest of someone else, then you should try to fix the bug on your own, see the Contributing guidelines. To change the priorities of others with respect to your bug, you may refer to the Commercial Support Services.
3.3. Contributing¶
3.3.1. How to Contribute?¶
You can contribute to the RTEMS Project in various ways, for example:
participation in mailing list discussions, helping other users
documentation updates, clarifications, consolidation, fixes
bug fixes, bug report consolidation
new BSPs
new device drivers
new CPU (processor architecture) ports
improvements in the existing code base (code size, code clarity, test coverage, performance optimizations)
new features
RTEMS Tools improvements
Most contributions will end up in patches of the RTEMS source code or documentation sources. The patch integration into the RTEMS repositories is done through a patch review process on the Developers Mailing List.
3.3.2. Preparing and Sending Patches¶
The RTEMS Project uses Git for version control. Git has a special command to prepare patches intended for mailing lists: git format-patch. Create logically connected patches as a patch series ideally accompanied by a cover letter (--cover-letter option). You can send patches via email through a Git command: git send-email.
3.3.3. Checklist for Patches¶
Check the following items before you send a patch to the Developers Mailing List:
The author name of the patch is your full name.
The author email of the patch is your valid email address.
The licence conditions of the contributed content allow an integration into the RTEMS code base.
If you are the copyright holder of the entire patch content, then please contribute it under the BSD-2-Clause license. For documentation use CC BY-SA 4.0.
Make sure you have a pregnant subject which does not exceed 50 characters in one line. Use a “topic: The pregnant subject” style. A topic could be the main component of patch. Just have a look at existing commit messages.
The patch has a good commit message. It should describe the reason for the change. It should list alternative approaches and why they were not chosen.
The code changes honour the coding style. At least do your changes in the style of the surrounding code.
The patch contains no spelling mistakes and grammar errors.
The patch is easy to review. It changes one thing only and contains no unrelated changes. Format changes should be separated from functional changes.
If the patch corresponds to a ticket, it should have “Close #X.” or “Update #X.” as the last line in the commit message to update status once it is committed to the repository.
The patch builds. All RTEMS tests link with this patch.
The patch does not introduce new compiler warnings.
The patch does not introduce new test failures in existing tests.
3.3.4. Patch Review Process¶
Patches sent to the Developers Mailing List undergo a patch review process. Once a patch series is accepted for integration into the RTEMS code base it is committed by an RTEMS maintainer. The maintainers are usually quite busy with all sorts of stuff. If you do not get a response to a patch series submission to the mailing list after five work days, please send a reminder. It helps if you follow the Checklist for Patches. An easy to review patch series which meets the quality standards of the RTEMS Project will be more likely get integrated quickly.
Fig. 3.1 RTEMS Patch Review Process.¶
3.3.5. Why Contribute?¶
If you are writing a major extension to RTEMS, such as a port to a new CPU family (processor architecture) or model, a new target board, a major rewrite of some existing component, or adding some missing functionality, please keep in mind the importance of keeping other developers informed. Part of being a good cooperating member of the RTEMS development team is the responsibility to consider what the other developers need in order to work effectively.
Nobody likes to do a lot of work and find it was duplicated effort. So when you work on a major new feature, you should tell Users Mailing List what you are working on, and give occasional reports of how far you have come and how confident you are that you will finish the job. This way, other developers (if they are paying attention) will be aware which projects would duplicate your effort, and can either join up with you, or at least avoid spending time on something that will be unnecessary because of your work. If, for whatever reason, you are not in a position to publicly discuss your work, please at least privately let an RTEMS maintainer know about it so they can look out for duplicated effort or possible collaborators.
You should also monitor the Users Mailing List and Developers Mailing List to see if someone else mentions working on a similar project to yours. If that happens, speak up!
If you are thinking of taking a contract to develop changes under a temporary delayed-release agreement, please negotiate the agreement so that you can give progress reports before the release date, even though you cannot release the code itself. Also please arrange so that, when the agreed-on date comes, you can release whatever part of the job you succeeded in doing, even if you have not succeeded in finishing it. Someone else may be able to finish the job.
Many people have done RTEMS ports or BSPs on their own, to a wide variety of processors, without much communication with the RTEMS development team. However, much of this work has been lost over time, or have proven very hard to integrate. So, what we are asking is that, to the maximum extent possible, you communicate with us as early on and as much as possible.
3.3.6. Common Questions and Answers¶
Here are some questions RTEMS porters may have with our answers to them. While the focus here is on new ports and BSPs, we believe that the issues are similar for other RTEMS development efforts including student efforts to implement new algorithmic optimizations.
Our engineers understand our target environment better than anyone else, and we have a tight schedule. Why should we work with the RTEMS developers, when we can get the code out faster by whacking it out on our own?
You understand your target environment better than anyone else. However, the RTEMS developers understand RTEMS better than anyone else; furthermore, the RTEMS developers tend to have a wide breadth of experience across a large number of processors, boards, peripherals, and application domains. It has been our experience that few problems encountered in embedded systems development are unique to a particular processor or application. The vast majority of the time an issue that arises in one project has also shown up in other projects.
The intimate knowledge of RTEMS internals as well as a wide breadth of embedded systems knowledge means that there is a good chance that at least one RTEMS developer has already addressed issues you are likely to face when doing your port, BSP, or application. The developers can help guide you towards a workable long term solution, possibly saving you significant time in your development cycle.
If getting the sources into the official RTEMS distributions is one of your goals, then engaging other RTEMS developers early will also likely shorten your development time. By interacting as early as possible you are more likely to write code which can be easily accepted into the official sources when you are finished. If you wait until you think you are done to begin interacting with the RTEMS team, you might find that you did some things wrong and you may have to rewrite parts of your RTEMS port, which is a waste of your valuable time.
Why should we care if our port is integrated into the official RTEMS sources? We can distribute it ourselves to whoever is interested.
Yes, the RTEMS licenses allows you to do that. But by doing so, you end up having to maintain that code yourself; this can be a significant effort over time as the RTEMS sources change rapidly.
You also lose the advantage of wider exposure by including your port in the official RTEMS sources maintained by the RTEMS Project. The wider exposure in the RTEMS developer and tester community will help keep your work up to date with the current sources. You may even find that volunteers will run the ever-growing test suite on your port and fix problems during the development cycle – sometimes without your intervention.
It has been our experience that integrated ports tend to ultimately be of better quality and stay up to date from release to release.
Why should we communicate up front? We are happy to let the RTEMS developers integrate our stuff later.
See above. It will save work for you over both the short and the long term, and it is the right thing to do.
Aspects of my target environment that my application exploits are still under NDA.
Nevertheless, if the target hardware is built of any commercial parts that are generally available including, but not limited to, the CPU or peripherals, then that portion of your work is still of general use. Similarly, if you have written software that adheres to existing API or interface standards, then that portion is also of general use. Our experience is that most embedded applications do utilize a custom mix of hardware and application, but they are built upon layers of hardware and software components that are in no way unique to the project.
If you are porting to an unreleased CPU family or model, then just announcing it is important because other RTEMS users may be planning to use it and some of them may already be trying to port RTEMS on their own. Your customers might be happier to know that your port will eventually be available. Also, there is no requirement that RTEMS include all features or ports at any particular time, so you are encouraged to submit discrete pieces of functionality in stages.
Assume that your processor has some new functionality or peripherals. However that functionality is still covered by NDA, but the basic core architecture is not. It is still to your advantage to go ahead and work with the developers early to provide a “base port” for the CPU family. That base port would only use the publicly available specifications until such time as the NDA is lifted. Once the NDA is lifted you can work with the developers to provide the code necessary to take advantage of the new functionality.
Ultimately, cooperating with the free software community as early as possible helps you by decreasing your development cycle, decreasing your long term maintenance costs and may help raise interest in your processor by having a free compiler implementation available to anyone who wants to take a look.
3.4. Commercial Support Services¶
The wider RTEMS community has developers and organizations who can provide commercial support services. These services range from training, implementing new features in RTEMS, deployment of RTEMS, helping establish a new project environment for a team, to application and system design.
The RTEMS Project does not endorse or promote any provider of these services and we recommend you use a search engine to locate a suitable provider. If you are unsure please contact a provider and see what is available.
If you develop a new feature or you have someone do this for you we recommend you have the work submitted to the project and merged. Once accepted into the project the work will be maintained as part of the development process within the project and this is a benefit for.
4. Host Computer¶
RTEMS applications are developed using cross-development tools running on a development computer, more often called the host computer. These are typically your desktop machine or a special build server. All RTEMS tools and runtime libraries are built from source on your host machine. The RTEMS Project does not maintain binary builds of the tools. This differs to what you normally experience with host operating systems, and it is, however this approach works well. RTEMS is not a host operating system and it is not a distrbution. Deploying binary packages for every possible host operating system is too big a task for the RTEMS Project and it is not a good use of core developer time. Their time is better spent making RTEMS better and faster.
The RTEMS Project’s aim is to give you complete freedom to decide on the languages used in your project, which version control system, and the build system for your application.
The rule for selecting a computer for a developer is more is better but we do understand there are limits. Projects set up different configurations, some have a development machine per developer while others set up a tightly controlled central build server. RTEMS Ecosystem is flexible and lets you engineer a development environment that suites you. The basic specs are:
Multicore processor
8G bytes RAM
256G harddisk
RTEMS makes no demands on graphics.
If you are using a VM or your host computer is not a fast modern machine do not be concerned. The tools may take longer to build than faster hardware however building tools is something you do once. Once the tools and RTEMS is built all your time can be spent writing and developing your application. Over an hour can happen and for the ARM architecture and with all BSPs it can be many hours.
4.1. Host Operating Systems¶
A wide range of host operating systems and hardware can be used. The host operating systems supported are:
Linux
FreeBSD
NetBSD
Apple OS X
Windows
Solaris
The functionality on a POSIX operating such as Linux and FreeBSD is similar and most features on Windows are supported but you are best to ask on the Users Mailing List if you have a specific question.
We recommend you maintain your operating system by installing any updates.
We also recommend you keep your environment to the bare minimum, particularly the PATH variable. Using environment variables has been proven over the years to be difficult to manage in production systems.
Warning
The RSB assumes your host is set up and the needed packages are installed and configured to work. If your host has not been set up please refer to section that covers your host’s packages you need to install.
Path to use when building applications:
Do not forget to set the path before you use the tools, for example to build the RTEMS kernel.
The RSB by default will install (copy) the executables to a directory tree under the prefix you supply. To use the tools once finished just set your path to the bin directory under the prefix you use. In the examples that follow the prefix is $HOME/development/rtems/4.11 and is set using the --prefix option so the path you need to configure to build applications can be set with the following in a BASH shell:
$ export PATH=$HOME/development/rtems/4.11/bin:$PATH
Make sure you place the RTEMS tool path at the front of your path so they are searched first. RTEMS can provide newer versions of some tools your operating system provides and placing the RTEMS tools path at the front means it is searched first and the RTEMS needed versions of the tools are used.
Warning
Do not put spaces or special characters in the directories you use to build RTEMS. Many of the packages built by the RSB use GNU make, which cannot handle spaces in pathnames. If there is a space in the pathname the build will fail. Special characters are also likely to confuse build systems.
Note
RSB and RTEMS have a matching git branch for each version of RTEMS. For example, if you want to build a toolchain for 4.11, then you should checkout the 4.11 branch of the RSB:
$ git checkout -t origin/4.11
Branches are available for the 4.9, 4.10, and 4.11 versions of RTEMS.
4.2. POSIX Hosts¶
POSIX hosts are most Unix operating systems such as Linux, FreeBSD and NetBSD. RTEMS development works well on Unix and can scale from a single user and a desktop machine to a team with decentralised or centralised development infrastructure.
4.2.1. Root Access¶
You either have root access to your host development machine or you do not. Some users are given hardware that is centrally managed. If you do not have root access you can create your work environment in your home directory. You could use a prefix of $HOME/development/rtems or $HOME/rtems. Note, the $HOME environment variable can be substituted with ~.
Choose an Installation Prefix details using Prefixes to manage the installation.
RTEMS Tools and packages do not require root access to be built and we encourage you to not build the tools as root. If you need to control write access then it is best to manage this with groups assigned to users.
If you have root access you can decide to install the tools under any suitable prefix. This may depend on the hardware in your host development machine. If the machine is a centralised build server the prefix may be used to separate production versions from the test versions and the prefix paths may have restricted access rights to only those who manage and have configuration control of the machine. We call this project sandboxing and Project Sandboxing explains this in more detail.
4.2.2. Linux¶
BSP Build will require pax package if RTEMS is configured with the --enable-tests option, see Building RTEMS Tests. This package is not installed , by default, on many Linux distributions, you can check for it using your package manager. Install it, if it is not present on your system.
A number of different Linux distrubutions are known to work. The following have been tested and report as working.
4.2.2.1. ArchLinux¶
The following packages are required on a fresh Archlinux 64bit installation:
# pacman -S base-devel gdb xz unzip ncurses git zlib
Archlinux, by default installs texinfo-5 which is incompatible for building GCC 4.7 tree. You will have to obtain texinfo-legacy from AUR and provide a manual override:
# pacman -R texinfo
$ yaourt -S texinfo-legacy
# ln -s /usr/bin/makeinfo-4.13a /usr/bin/makeinfo
4.2.2.2. CentOS¶
The following packages are required on a minimal CentOS 6.3 or Cent)S 7 64-bit installation:
# yum install autoconf automake binutils gcc gcc-c++ gdb make patch pax \
bison flex xz unzip ncurses-devel texinfo zlib-devel python-devel git
On CentOS 8, the pax command is now provided by the spax package, you need to enable the PowerTools repository. and use Python3. On a fresh install, the following commands should install everything you need for RTEMS development:
# dnf install yum-utils
# dnf config-manager --set-enabled PowerTools
# dnf update
# dnf groupinstall "Development Tools"
# dnf install python3 python3-pip python3-setuptools python3-devel
# dnf install texinfo spax
# alternatives --set python /usr/bin/python3
The minimal CentOS distribution is a specific DVD that installs a minimal system. If you use a full system some of these packages may have been installed.
4.2.2.3. Fedora¶
The RTEMS Source Builder has been tested on Fedora 19 64bit with the following packages:
# yum install ncurses-devel python-devel git bison gcc cvs gcc-c++ \
flex texinfo patch perl-Text-ParseWords zlib-devel
4.2.2.4. Raspbian¶
The is the Debian distribution for the Raspberry Pi. The following packages are required:
$ sudo apt-get install autoconf automake bison flex binutils gcc g++ gdb \
texinfo unzip ncurses-dev python-dev git
It is recommended you get Model B of the Pi with 512M of memory and to mount a remote disk over the network. The tools can be built on the network disk with a prefix under your home directory as recommended and end up on the SD card.
4.2.2.5. Ubuntu¶
The latest version is Ubuntu 18.04.1 LTS 64-bit. This section also includes Xubuntu. A minimal installation was used and the following packages installed:
$ sudo apt-get build-dep build-essential gcc-defaults g++ gdb git \
unzip pax bison flex texinfo unzip python3-dev libpython-dev \
libncurses5-dev zlib1g-dev
Note that in previous versions of Ubuntu, the package libpython-dev was python2.7-dev. The name of packages changes over time. You need the package with Python development libraries for C/C++ programs. The following is needed for recent versions:
$ sudo apt-get install python-dev
It is likely necessary that you will have to enable the Ubuntu Source Repositories. Users have suggested the following web pages which have instructions:
4.2.2.6. Linux Mint¶
zlib package is required on Linux Mint. It has a different name (other than the usual zlib-dev):
# sudo apt-get install zlib1g-dev
4.2.2.7. openSUSE¶
This has been reported to work but no instructions were provided. This is an opportunity to contribute. Please submit any guidance you can provide.
4.2.3. FreeBSD¶
The RTEMS Source Builder has been tested on FreeBSD 9.1, 10.3, 11 and 12 64bit versions. You need to install some ports. They are:
# pkg install -y python
# pkg install -y gsed
FreeBSD’s default C compiler is LLVM and installing the host’s GCC compiler package may break building GCC. We recommend you do not install the GCC package and you use the default C compiler.
If you wish to build Windows (mingw32) tools please install the following ports:
# pkg install -y mingw32-binutils mingw32-gcc
# pkg install -y mingw32-zlib mingw32-pthreads
The zlip and pthreads ports for MinGW32 are used when builiding a Windows QEMU.
Check if your kernel has a /dev/fd directory. If it does not we recommend you run as root the following command to speed up Python 3’s subprocess support:
# mount -t fdescfs none /dev/fd
The support speeds up closing file descriptors when creating subprocesses.
4.2.4. NetBSD¶
The RTEMS Source Builder has been tested on NetBSD 6.1 i386. Packages to add are:
# pkg_add ftp://ftp.netbsd.org/pub/pkgsrc/packages/NetBSD/i386/6.1/devel/gmake-3.82nb7.tgz
# pkg_add ftp://ftp.netbsd.org/pub/pkgsrc/packages/NetBSD/i386/6.1/devel/bison-2.7.1.tgz
# pkg_add ftp://ftp.netbsd.org/pub/pkgsrc/packages/NetBSD/i386/6.1/archivers/xz-5.0.4.tgz
4.3. Apple macOS¶
Apple’s macOS is fully supported. You need to download and install a recent version of the Apple developer application Xcode. Xocde is available in the App Store. Make sure you install the Command Line Tools add on available for download within Xcode and once installed open a Terminal shell and enter the command cc and accept the license agreement.
The normal prefix when working on macOS as a user is under your home directory. Prefixes of $HOME/development/rtems or $HOME/rtems are suitable.
Choose an Installation Prefix details using Prefixes to manage the installation.
4.3.1. Catalina¶
In the macOS Catalina 10.15 Release Notes Apple deprecated several scripting language runtimes such as Python 2.7. See also Xcode 11 Release Notes. Due to the deprecated Python 2.7 support, we recommend to install and use the latest Python 3 release from python.org.
4.3.2. Sierra¶
The RSB works on Sierra with the latest Xcode.
4.3.3. Mavericks¶
The RSB works on Mavericks and the GNU tools can be built for RTEMS using the Mavericks clang LLVM tool chain. You will need to build and install a couple of packages to make the RSB pass the sb-check. These are CVS and XZ. You can get these tools from a packaging tool for macOS such as MacPorts or HomeBrew.
I do not use third-party packaging on macOS and prefer to build the packages from source using a prefix of /usr/local. There are good third-party packages around however they sometimes bring in extra dependence and that complicates my build environment and I want to know the minimal requirements when building tools. The following are required:
- . The XZ package’s home page is http://tukaani.org/xz/ and I use version
5.0.5. XZ builds and installs cleanly.
4.4. Microsoft Windows¶
RTEMS supports Windows as a development host and the tools for most architectures are available. The RTEMS Project relies on the GNU tools for compilers and debuggers and we use the simulators that come with GDB and QEMU. The Windows support for these tools varies and the RTEMS Project is committed to helping the open source community improve the Windows experience. If something is not working or supported please email the Users Mailing List.
The RTEMS Project’s Windows tools can be native Windows executables which give the user the best possible experience on Windows. Native Windows programs use the standard Windows DLLs and paths. Integration with standard Windows integrated development tools such as editors is straight forward. POSIX emulation environments such as Cygwin and the MSYS2 shell have special executables that require a POSIX emulation DLL and these emulation DLLs add an extra layer of complexity as well as a performance over-head. The RTEMS Project uses these POSIX emulation shells to run configure scripts that come with various open source packages such as gcc so they form an important and valued part of the environment we describe here. The output of this procedure forms the tools you use during your application development and they do not depend on the emulation DLLs.
The performance of a native Windows compiler is as good as you can have on Windows and the performance compiling a single file will be similar to that on a host like Linux or FreeBSD given the same hardware. Building the tools from source is much slower on Windows because POSIX shells and related tools are used and the POSIX emulation overhead it much much slower than a native POSIX operating system like Linux and FreeBSD. This overhead is only during the building of the tools and the RTEMS kernel and if you use a suitable build system that is native to Windows your application development should be similar to other operating systems.
Building is known to work on Windows 7 64bit Professional and Windows 10 64bit.
4.4.1. Windows Path Length¶
Windows path length is limited and can cause problems when building the tools. The standard Windows API has a MAX_PATH length of 260 characters. This can effect some of the tools used by RTEMS. It is recommended you keep the top level directories as short as possible when building the RTEMS tools and you should also keep an eye on the path length when developing your application. The RTEMS built tools can handle much longer path lengths however some of the GNU tools such as those in the binutils package cannot.
The release packages of the RSB when unpacked have top level file names that are too big to build RTEMS. You need to change or rename that path to something smaller to build. This is indicated in Releases.
4.4.2. Windows Spaces In Paths¶
Occasionally, a program will fail on Windows with errors that appear as if a directory or file name was partially parsed by some utility or program. This can be caused by having directories of file names with spaces. Programs written in scripting languages sometimes fail to properly quote file names and the space is incorrectly interpreted.
Parts of the PATH inherited from the native Windows environment often include directory names with spaces. Sometimes it is necessary to set the PATH explicitly to avoid these.
4.4.3. Parallel Builds with Make¶
The MSYS2 GNU make has problems when using the jobs option. The RSB defaults to automatically using as many cores as the host machine has. To get a successful build on Windows it is recommended you add the --jobs=none option to all RSB build set commands.
4.4.4. POSIX Support¶
Building the RTEMS compilers, debugger, the RTEMS kernel and a number of other third-party packages requires a POSIX environment. On Windows you can use Cygwin or MSYS2. This document focuses on MSYS2. It is smaller than Cygwin and comes with the Arch Linux package manager pacman.
MSYS2 provides MinGW64 support as well as a POSIX shell called MSYS2. The MinGW64 compiler and related tools produce 64bit native Windows executables. The shell is a standard Bourne shell and the MSYS2 environment is a stripped Cygwin shell with enough support to run the various configure scripts needed to build the RTEMS tools and the RTEMS kernel.
MSYS2 is built around the pacman packaging tool. This makes MSYS2 a distribution and that is a welcome feature on Windows. You get a powerful tool to manage your development environment on Windows.
4.4.5. Python¶
We need Python to build the tools as the RSB is written in Python and we need suitable Python libraries to link to GDB as RTEMS makes use of GDB’s Python support. This places specific demands on the Python we need installed and available and MSYS2 provides suitable Python versions we can use. You need to make sure you have the correct type and version of Python installed.
We cannot use the Python executables created by the Python project (python.org) as they are built by Microsoft’s C (MSC) compiler. Linking the MSC Python libraries with the MinGW64 executables is not easy and MSYS provides us with a simple solution so we do not support linking MSC libraries.
MSYS2 provides two types and two versions of Python executables, MinGW and MSYS and Python version 2 and 3. For Windows we need the MinGW executable so we have suitables libraries and we have to have Python version 2 because on Windows GDB only builds with Python2.
You also need to install the MSYS version of Python along with the MinGW64 Python2 package. The MSYS Python is version 3 and the RSB can support version 2 and 3 of Python and it helps handle some of the long paths building GCC can generate.
4.4.6. MSYS2¶
MSYS2 is installed on a new machine using the MSYS2 installer found on https://msys2.github.io/. Please select the x86_64 variant for 64bit support. Run the installer following the 7 steps listed on the page.
MSYS2 uses the pacman package manager. The Arch Linux project has detailed documentation on how to use pacman. What is shown here is a just few examples of what you can do.
Open a 64bit MSYS shell from the Start Menu:
The packages we require are:
python
mingw-w64-x86_64-python2
mingw-w64-x86_64-gcc
git
bison
cvs
diffutils
make
patch
tar
texinfo
unzip
Note
The actual output provided may vary due to changes in the dependent packages or newer package versions.
Install the packages using pacman:
$ pacman -S python mingw-w64-x86_64-python2 mingw-w64-x86_64-gcc \
bison cvs diffutils git make patch tar texinfo unzip
resolving dependencies...
looking for conflicting packages...
.... output shortened for brevity ....
4.4.7. Cygwin¶
Building on Windows is a little more complicated because the Cygwin shell is used rather than the MSYS2 shell. The MSYS2 shell is simpler because the detected host triple is MinGW so the build is a standard cross-compiler build. A Canadian cross-build using Cygwin is supported if you would like native tools or you can use a Cygwin built set of tools.
Install a recent Cygwin version using the Cygwin setup tool. Select and install the groups and packages listed:
Group | Package |
Archive | bsdtar |
Archive | unzip |
Archive | xz |
Devel | autoconf |
Devel | autoconf2.1 |
Devel | autoconf2.5 |
Devel | automake |
Devel | binutils |
Devel | bison |
Devel | flex |
Devel | gcc4-core |
Devel | gcc4-g++ |
Devel | git |
Devel | make |
Devel | mingw64-x86_64-binutils |
Devel | mingw64-x86_64-gcc-core |
Devel | mingw64-x86_64-g++ |
Devel | mingw64-x86_64-runtime |
Devel | mingw64-x86_64-zlib |
Devel | patch |
Devel | zlib-devel |
MinGW | mingw-zlib-devel |
Python | python |
The setup tool will add a number of dependent package and it is ok to accept them.
Disabling Windows Defender improves performance if you have another up to date virus detection tool installed and enabled. The excellent Process Hacker 2 tool can monitor the performance and the Windows Defender service contributed a high load. In this case a third-party virus tool was installed so the Windows Defender service was not needed.
To build a MinGW tool chain a Canadian cross-compile (Cxc) is required on Cygwin because the host is Cygwin therefore a traditional cross-compile will result in Cygiwn binaries. With a Canadian cross-compile a Cygwin cross-compiler is built as well as the MinGW RTEMS cross-compiler. The Cygwin cross-compiler is required to build the C runtime for the RTEMS target because we are building under Cygiwn. The build output for an RTEMS 4.10 ARM tool set is:
chris@cygwin ~/development/rtems/src/rtems-source-builder/rtems
$ ../source-builder/sb-set-builder --log=l-arm.txt \
--prefix=$HOME/development/rtems/4.10 4.10/rtems-arm
RTEMS Source Builder - Set Builder, v0.2
Build Set: 4.10/rtems-arm
config: expat-2.1.0-1.cfg
package: expat-2.1.0-x86_64-w64-mingw32-1
building: expat-2.1.0-x86_64-w64-mingw32-1
reporting: expat-2.1.0-1.cfg -> expat-2.1.0-x86_64-w64-mingw32-1.html
config: tools/rtems-binutils-2.20.1-1.cfg
package: arm-rtems4.10-binutils-2.20.1-1 <1>
building: arm-rtems4.10-binutils-2.20.1-1
package: (Cxc) arm-rtems4.10-binutils-2.20.1-1 <2>
building: (Cxc) arm-rtems4.10-binutils-2.20.1-1
reporting: tools/rtems-binutils-2.20.1-1.cfg ->
arm-rtems4.10-binutils-2.20.1-1.html
config: tools/rtems-gcc-4.4.7-newlib-1.18.0-1.cfg
package: arm-rtems4.10-gcc-4.4.7-newlib-1.18.0-1
building: arm-rtems4.10-gcc-4.4.7-newlib-1.18.0-1
package: (Cxc) arm-rtems4.10-gcc-4.4.7-newlib-1.18.0-1
building: (Cxc) arm-rtems4.10-gcc-4.4.7-newlib-1.18.0-1
reporting: tools/rtems-gcc-4.4.7-newlib-1.18.0-1.cfg ->
arm-rtems4.10-gcc-4.4.7-newlib-1.18.0-1.html
config: tools/rtems-gdb-7.3.1-1.cfg
package: arm-rtems4.10-gdb-7.3.1-1
building: arm-rtems4.10-gdb-7.3.1-1
reporting: tools/rtems-gdb-7.3.1-1.cfg -> arm-rtems4.10-gdb-7.3.1-1.html
config: tools/rtems-kernel-4.10.2.cfg
package: arm-rtems4.10-kernel-4.10.2-1
building: arm-rtems4.10-kernel-4.10.2-1
reporting: tools/rtems-kernel-4.10.2.cfg -> arm-rtems4.10-kernel-4.10.2-1.html
installing: expat-2.1.0-x86_64-w64-mingw32-1 -> /cygdrive/c/Users/chris/development/rtems/4.10
installing: arm-rtems4.10-binutils-2.20.1-1 -> /cygdrive/c/Users/chris/development/rtems/4.10 <3>
installing: arm-rtems4.10-gcc-4.4.7-newlib-1.18.0-1 -> /cygdrive/c/Users/chris/development/rtems/4.10
installing: arm-rtems4.10-gdb-7.3.1-1 -> /cygdrive/c/Users/chris/development/rtems/4.10
installing: arm-rtems4.10-kernel-4.10.2-1 -> /cygdrive/c/Users/chris/development/rtems/4.10
cleaning: expat-2.1.0-x86_64-w64-mingw32-1
cleaning: arm-rtems4.10-binutils-2.20.1-1
cleaning: arm-rtems4.10-gcc-4.4.7-newlib-1.18.0-1
cleaning: arm-rtems4.10-gdb-7.3.1-1
cleaning: arm-rtems4.10-kernel-4.10.2-1
Build Set: Time 10:09:42.810547 <4>
Items:
The Cygwin version of the ARM cross-binutils.
The +(Cxc)+ indicates this is the MinGW build of the package.
Only the MinGW version is installed.
Cygwin is slow so please be patient. This time was on an AMD Athlon 64bit Dual Core 6000+ running at 3GHz with 4G RAM running Windows 7 64bit.
Warning
Cygwin documents the ‘Big List Of Dodgy Apps’ or ‘BLODA’. The link is http://cygwin.com/faq/faq.html#faq.using.bloda and it is worth a look. You will see a large number of common pieces of software found on Windows systems that can cause problems. My testing has been performed with NOD32 running and I have seen some failures. The list is for all of Cygwin so I am not sure which of the listed programs effect the RTEMS Source Biulder. The following FAQ item talks about fork failures and presents some technical reasons they cannot be avoided in all cases. Cygwin and it’s fork MSYS are fantastic pieces of software in a difficult environment. I have found building a single tool tends to work, building all at once is harder.
5. Installation¶
This section details how to set up and install the RTEMS Ecosystem. You will create a set of tools and an RTEMS kernel for your selected Board Support Package (BSP).
You will be asked to follow a few simple steps and when you have finished you will have a development environment set up you can use to build applications for RTEMS. You will have also created a development environment you and a team can adapt for a project of any size and complexity.
RTEMS applications are developed using cross-development tools running on a development computer, more commonlly referred to as the host computer. These are typically your desktop machine or a special build server. All RTEMS tools and runtime libraries are built from source on your host machine. The RTEMS Project does not maintain binary builds of the tools. This may appear to be the opposite to what you normally experience with host operating systems, and it is, however this approach works well. RTEMS is not a host operating system and it is not a distrbution. Providing binary packages for every possible host operating system is too big a task for the RTEMS Project and it is not a good use of core developer time. Their time is better spent making RTEMS better and faster.
The RTEMS Project base installation set ups the tools and the RTEMS kernel for the selected BSPs. The tools run on your host computer are used to compile, link, and format executables so they can run on your target hardware.
The RTEMS Project supports two set ups, release and developer environments. Release installations create the tools and kernel in a single pass ready for you to use. The tools and kernel are stable and only bug fixes are added creating new dot point releases. The developer set up tracks the Git repositories for the tools and kernel.
5.1. Releases¶
RTEMS releases provide a stable version of the kernel for the supported architectures. RTEMS maintaines the current and previous releases. Support for older releases is provided using the RTEMS support channels.
Please read Host Computer before continuing. The following procedure assumes you have installed and configured your host operating. It also assumes you have installed any dependent packages needed when building the tools and the kernel.
You need to select a location to build and install the RTEMS Tool chain and RTEMS. Make sure there is plenty of disk space and a fast disk is recommended. Our procedure will document building and installing the tools in a base directory called /opt/rtems. This path will require root access. If you are working on a machine you do not have root access to you can use a home directory, If building on Windows use /c/opt/rtems to keep the top level paths as short as possible. Windows Path Length provides more detail about path lengths on Windows.
The location used to install the tools and kernel is called the prefix. Choose an Installation Prefix explains prefixes and how to use them. It is best to have a prefix for each different version of RTEMS you are using. If you are using RTEMS 4.11 in production it is not a good idea to install a development version of 5 over the top by using the same prefix as the 4.11 build. A separate prefix for each version avoids this.
Released versions of the RTEMS Source Builder (RSB) downloads all source code for all packages from the FTP File Server rather than from the package’s home site. Hosting all the source on the FTP File Server ensures the source is present for the life of the release on the FTP File Server. If there is a problem accessing the RTEMS FTP the RSB will fall back to the packages home site.
The FTP File Server is hosted at the Oregon State University’s The Open Source Lab (http://osuosl.org/). This is a nonprofit organization working for the advancement of open source technologies and RTEMS is very fortunate to be shosted here. It has excellent internet access and performance.
Note
Controlling the RTEMS Kernel Build
Building releases by default does not build the RTEMS kernel. To build the RTEMS kernel add the --with-rtems option to the RSB command line.
By default all the BSPs for an architecture are built. If you only wish to have a specific BSP built you can specify the BSP list by providing to the RSB the option --with-rtemsbsp. For example to build two BSPs for the SPARC architecture you can supply --with-rtemsbsp="erc32 leon3". This can speed the build time up for some architectures that have a lot of BSPs.
Once you have built the tools and kernel you can move to the Packages section of the manual.
5.1.1. RTEMS Tools and Kernel¶
This procedure will build a SPARC tool chain. Set up a suitable workspace to build the release in. On Unix:
$ cd
$ mkdir -p development/rtems/releases
$ cd development/rtems/releases
If building on Windows:
$ cd /c
$ mkdir -p opt/rtems
$ cd opt/rtems
Note the paths on Windows will be different to those shown.
Download the RTEMS Source Builder (RSB) from the RTEMS FTP server:
$ wget https://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/rtems-source-builder-4.11.0.tar.xz
--2016-03-21 10:50:04-- https://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/rtems-source-builder-4.11.0.tar.xz
Resolving ftp.rtems.org (ftp.rtems.org)... 140.211.10.151
Connecting to ftp.rtems.org (ftp.rtems.org)|140.211.10.151|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 967056 (944K) [application/x-xz]
Saving to: 'rtems-source-builder-4.11.0.tar.xz'
rtems-source-builder-4.1 100%[====================================>] 944.39K 206KB/s in 5.5s
2016-03-21 10:50:11 (173 KB/s) - 'rtems-source-builder-4.11.0.tar.xz' saved [967056/967056]
On Unix unpack the RSB release tar file using:
$ tar Jxf rtems-source-builder-4.11.0.tar.xz
$ cd rtems-source-builder-4.11.0/rtems/
On Windows you need to shorten the path (See Windows Path Length) after you have unpacked the tar file:
$ tar Jxf rtems-source-builder-4.11.0.tar.xz
$ mv rtems-source-builder-4.11.0 4.110
$ cd 4.11.0
Build a tool chain for the SPARC architecure. We are using the SPARC architecture in our example because GDB has a good simulator that lets us run and test the samples RTEMS builds by default
If building on Windows add --jobs=none to avoid GNU make issues on Windows discussed in Parallel Builds with Make.
$ ../source-builder/sb-set-builder \
--prefix=/opt/rtems/4.11 4.11/rtems-sparc
Build Set: 4.11/rtems-sparc
Build Set: 4.11/rtems-autotools.bset
Build Set: 4.11/rtems-autotools-internal.bset
config: tools/rtems-autoconf-2.69-1.cfg
package: autoconf-2.69-x86_64-freebsd10.1-1
Creating source directory: sources
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/autoconf-2.69.tar.gz -> sources/autoconf-2.69.tar.gz
downloading: sources/autoconf-2.69.tar.gz - 1.8MB of 1.8MB (100%)
building: autoconf-2.69-x86_64-freebsd10.1-1
config: tools/rtems-automake-1.12.6-1.cfg
package: automake-1.12.6-x86_64-freebsd10.1-1
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/automake-1.12.6.tar.gz -> sources/automake-1.12.6.tar.gz
downloading: sources/automake-1.12.6.tar.gz - 2.0MB of 2.0MB (100%)
Creating source directory: patches
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/automake-1.12.6-bugzilla.redhat.com-1239379.diff -> patches/automake-1.12.6-bugzilla.redhat.com-1239379.diff
downloading: patches/automake-1.12.6-bugzilla.redhat.com-1239379.diff - 408.0 bytes of 408.0 bytes (100%)
building: automake-1.12.6-x86_64-freebsd10.1-1
cleaning: autoconf-2.69-x86_64-freebsd10.1-1
cleaning: automake-1.12.6-x86_64-freebsd10.1-1
Build Set: Time 0:00:32.749337
Build Set: 4.11/rtems-autotools-base.bset
config: tools/rtems-autoconf-2.69-1.cfg
package: autoconf-2.69-x86_64-freebsd10.1-1
building: autoconf-2.69-x86_64-freebsd10.1-1
reporting: tools/rtems-autoconf-2.69-1.cfg -> autoconf-2.69-x86_64-freebsd10.1-1.txt
reporting: tools/rtems-autoconf-2.69-1.cfg -> autoconf-2.69-x86_64-freebsd10.1-1.xml
config: tools/rtems-automake-1.12.6-1.cfg
package: automake-1.12.6-x86_64-freebsd10.1-1
building: automake-1.12.6-x86_64-freebsd10.1-1
reporting: tools/rtems-automake-1.12.6-1.cfg -> automake-1.12.6-x86_64-freebsd10.1-1.txt
reporting: tools/rtems-automake-1.12.6-1.cfg -> automake-1.12.6-x86_64-freebsd10.1-1.xml
installing: autoconf-2.69-x86_64-freebsd10.1-1 -> /opt/work/rtems/4.11.0
installing: automake-1.12.6-x86_64-freebsd10.1-1 -> /opt/work/rtems/4.11.0
cleaning: autoconf-2.69-x86_64-freebsd10.1-1
cleaning: automake-1.12.6-x86_64-freebsd10.1-1
Build Set: Time 0:00:15.619219
Build Set: Time 0:00:48.371085
config: devel/expat-2.1.0-1.cfg
package: expat-2.1.0-x86_64-freebsd10.1-1
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/expat-2.1.0.tar.gz -> sources/expat-2.1.0.tar.gz
downloading: sources/expat-2.1.0.tar.gz - 549.4kB of 549.4kB (100%)
building: expat-2.1.0-x86_64-freebsd10.1-1
reporting: devel/expat-2.1.0-1.cfg -> expat-2.1.0-x86_64-freebsd10.1-1.txt
reporting: devel/expat-2.1.0-1.cfg -> expat-2.1.0-x86_64-freebsd10.1-1.xml
config: tools/rtems-binutils-2.26-1.cfg
package: sparc-rtems4.11-binutils-2.26-x86_64-freebsd10.1-1
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/binutils-2.26.tar.bz2 -> sources/binutils-2.26.tar.bz2
downloading: sources/binutils-2.26.tar.bz2 - 24.4MB of 24.4MB (100%)
building: sparc-rtems4.11-binutils-2.26-x86_64-freebsd10.1-1
reporting: tools/rtems-binutils-2.26-1.cfg ->
sparc-rtems4.11-binutils-2.26-x86_64-freebsd10.1-1.txt
reporting: tools/rtems-binutils-2.26-1.cfg ->
sparc-rtems4.11-binutils-2.26-x86_64-freebsd10.1-1.xml
config: tools/rtems-gcc-4.9.3-newlib-2.2.0-20150423-1.cfg
package: sparc-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-freebsd10.1-1
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/gcc-4.9.3.tar.bz2 -> sources/gcc-4.9.3.tar.bz2
downloading: sources/gcc-4.9.3.tar.bz2 - 85.8MB of 85.8MB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/newlib-2.2.0.20150423.tar.gz -> sources/newlib-2.2.0.20150423.tar.gz
downloading: sources/newlib-2.2.0.20150423.tar.gz - 16.7MB of 16.7MB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/mpfr-3.0.1.tar.bz2 -> sources/mpfr-3.0.1.tar.bz2
downloading: sources/mpfr-3.0.1.tar.bz2 - 1.1MB of 1.1MB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/mpc-0.8.2.tar.gz -> sources/mpc-0.8.2.tar.gz
downloading: sources/mpc-0.8.2.tar.gz - 535.5kB of 535.5kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/gmp-5.0.5.tar.bz2 -> sources/gmp-5.0.5.tar.bz2
downloading: sources/gmp-5.0.5.tar.bz2 - 2.0MB of 2.0MB (100%)
building: sparc-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-freebsd10.1-1
reporting: tools/rtems-gcc-4.9.3-newlib-2.2.0-20150423-1.cfg ->
sparc-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-freebsd10.1-1.txt
reporting: tools/rtems-gcc-4.9.3-newlib-2.2.0-20150423-1.cfg ->
sparc-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-freebsd10.1-1.xml
config: tools/rtems-gdb-7.9-1.cfg
package: sparc-rtems4.11-gdb-7.9-x86_64-freebsd10.1-1
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/gdb-7.9.tar.xz -> sources/gdb-7.9.tar.xz
downloading: sources/gdb-7.9.tar.xz - 17.0MB of 17.0MB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0001-sim-erc32-Disassembly-in-stand-alone-mode-did-not-wo.patch -> patches/0001-sim-erc32-Disassembly-in-stand-alone-mode-did-not-wo.patch
downloading: patches/0001-sim-erc32-Disassembly-in-stand-alone-mode-did-not-wo.patch - 1.9kB of 1.9kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0002-sim-erc32-Corrected-wrong-CPU-implementation-and-ver.patch -> patches/0002-sim-erc32-Corrected-wrong-CPU-implementation-and-ver.patch
downloading: patches/0002-sim-erc32-Corrected-wrong-CPU-implementation-and-ver.patch - 827.0 bytes of 827.0 bytes (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0003-sim-erc32-Perform-pseudo-init-if-binary-linked-to-no.patch -> patches/0003-sim-erc32-Perform-pseudo-init-if-binary-linked-to-no.patch
downloading: patches/0003-sim-erc32-Perform-pseudo-init-if-binary-linked-to-no.patch - 2.6kB of 2.6kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0004-sim-erc32-Use-fenv.h-for-host-FPU-access.patch -> patches/0004-sim-erc32-Use-fenv.h-for-host-FPU-access.patch
downloading: patches/0004-sim-erc32-Use-fenv.h-for-host-FPU-access.patch - 4.9kB of 4.9kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0005-sim-erc32-Remove-unused-defines-in-Makefile-and-swit.patch -> patches/0005-sim-erc32-Remove-unused-defines-in-Makefile-and-swit.patch
downloading: patches/0005-sim-erc32-Remove-unused-defines-in-Makefile-and-swit.patch - 871.0 bytes of 871.0 bytes (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0006-sim-erc32-Fix-incorrect-simulator-performance-report.patch -> patches/0006-sim-erc32-Fix-incorrect-simulator-performance-report.patch
downloading: patches/0006-sim-erc32-Fix-incorrect-simulator-performance-report.patch - 5.6kB of 5.6kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0007-sim-erc32-File-loading-via-command-line-did-not-work.patch -> patches/0007-sim-erc32-File-loading-via-command-line-did-not-work.patch
downloading: patches/0007-sim-erc32-File-loading-via-command-line-did-not-work.patch - 1.0kB of 1.0kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0008-sim-erc32-Added-v-command-line-switch-for-verbose-ou.patch -> patches/0008-sim-erc32-Added-v-command-line-switch-for-verbose-ou.patch
downloading: patches/0008-sim-erc32-Added-v-command-line-switch-for-verbose-ou.patch - 3.6kB of 3.6kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0009-sim-erc32-Removed-type-mismatch-compiler-warnings.patch -> patches/0009-sim-erc32-Removed-type-mismatch-compiler-warnings.patch
downloading: patches/0009-sim-erc32-Removed-type-mismatch-compiler-warnings.patch - 1.9kB of 1.9kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0010-sim-erc32-Switched-emulated-memory-to-host-endian-or.patch -> patches/0010-sim-erc32-Switched-emulated-memory-to-host-endian-or.patch
downloading: patches/0010-sim-erc32-Switched-emulated-memory-to-host-endian-or.patch - 16.0kB of 16.0kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0011-sim-erc32-use-SIM_AC_OPTION_HOSTENDIAN-to-probe-for-.patch -> patches/0011-sim-erc32-use-SIM_AC_OPTION_HOSTENDIAN-to-probe-for-.patch
downloading: patches/0011-sim-erc32-use-SIM_AC_OPTION_HOSTENDIAN-to-probe-for-.patch - 14.8kB of 14.8kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0012-sim-erc32-Use-memory_iread-function-for-instruction-.patch -> patches/0012-sim-erc32-Use-memory_iread-function-for-instruction-.patch
downloading: patches/0012-sim-erc32-Use-memory_iread-function-for-instruction-.patch - 3.8kB of 3.8kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0013-sim-erc32-Fix-a-few-compiler-warnings.patch-> patches/0013-sim-erc32-Fix-a-few-compiler-warnings.patch
downloading: patches/0013-sim-erc32-Fix-a-few-compiler-warnings.patch - 2.2kB of 2.2kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0014-sim-erc32-Use-gdb-callback-for-UART-I-O-when-linked-.patch -> patches/0014-sim-erc32-Use-gdb-callback-for-UART-I-O-when-linked-.patch
downloading: patches/0014-sim-erc32-Use-gdb-callback-for-UART-I-O-when-linked-.patch - 9.2kB of 9.2kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0015-sim-erc32-Access-memory-subsystem-through-struct-mem.patch -> patches/0015-sim-erc32-Access-memory-subsystem-through-struct-mem.patch
downloading: patches/0015-sim-erc32-Access-memory-subsystem-through-struct-mem.patch - 22.9kB of 22.9kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0016-sim-erc32-Use-readline.h-for-readline-types-and-func.patch -> patches/0016-sim-erc32-Use-readline.h-for-readline-types-and-func.patch
downloading: patches/0016-sim-erc32-Use-readline.h-for-readline-types-and-func.patch - 1.5kB of 1.5kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0017-sim-erc32-Move-local-extern-declarations-into-sis.h.patch -> patches/0017-sim-erc32-Move-local-extern-declarations-into-sis.h.patch
downloading: patches/0017-sim-erc32-Move-local-extern-declarations-into-sis.h.patch - 5.8kB of 5.8kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0018-sim-erc32-Add-support-for-LEON3-processor-emulation.patch -> patches/0018-sim-erc32-Add-support-for-LEON3-processor-emulation.patch
downloading: patches/0018-sim-erc32-Add-support-for-LEON3-processor-emulation.patch - 66.7kB of 66.7kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0019-sim-erc32-Add-support-for-LEON2-processor-emulation.patch -> patches/0019-sim-erc32-Add-support-for-LEON2-processor-emulation.patch
downloading: patches/0019-sim-erc32-Add-support-for-LEON2-processor-emulation.patch - 26.1kB of 26.1kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0020-sim-erc32-Updated-documentation.patch -> patches/0020-sim-erc32-Updated-documentation.patch
downloading: patches/0020-sim-erc32-Updated-documentation.patch - 16.1kB of 16.1kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0021-sim-erc32-Add-data-watchpoint-support.patch -> patches/0021-sim-erc32-Add-data-watchpoint-support.patch
downloading: patches/0021-sim-erc32-Add-data-watchpoint-support.patch - 10.1kB of 10.1kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0022-Add-watchpoint-support-to-gdb-simulator-interface.patch -> patches/0022-Add-watchpoint-support-to-gdb-simulator-interface.patch
downloading: patches/0022-Add-watchpoint-support-to-gdb-simulator-interface.patch - 25.5kB of 25.5kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/0023-sim-erc32-ELF-loading-could-fail-on-unaligned-sectio.patch -> patches/0023-sim-erc32-ELF-loading-could-fail-on-unaligned-sectio.patch
downloading: patches/0023-sim-erc32-ELF-loading-could-fail-on-unaligned-sectio.patch - 1.3kB of 1.3kB (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/gdb-sim-arange-inline.diff -> patches/gdb-sim-arange-inline.diff
downloading: patches/gdb-sim-arange-inline.diff - 761.0 bytes of 761.0 bytes (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/gdb-sim-cgen-inline.diff -> patches/gdb-sim-cgen-inline.diff
downloading: patches/gdb-sim-cgen-inline.diff - 706.0 bytes of 706.0 bytes (100%)
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/sources/patch-gdb-python-python-config.py -> patches/patch-gdb-python-python-config.py
downloading: patches/patch-gdb-python-python-config.py - 449.0 bytes of 449.0 bytes (100%)
building: sparc-rtems4.11-gdb-7.9-x86_64-freebsd10.1-1
reporting: tools/rtems-gdb-7.9-1.cfg ->
sparc-rtems4.11-gdb-7.9-x86_64-freebsd10.1-1.txt
reporting: tools/rtems-gdb-7.9-1.cfg ->
sparc-rtems4.11-gdb-7.9-x86_64-freebsd10.1-1.xml
config: tools/rtems-tools-4.11-1.cfg
package: rtems-tools-4.11.0-1
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/rtems-tools-4.11.0.tar.xz -> sources/rtems-tools-4.11.0.tar.xz
downloading: sources/rtems-tools-4.11.0.tar.xz - 1.6MB of 1.6MB (100%)
building: rtems-tools-4.11.0-1
reporting: tools/rtems-tools-4.11-1.cfg -> rtems-tools-4.11.0-1.txt
reporting: tools/rtems-tools-4.11-1.cfg -> rtems-tools-4.11.0-1.xml
config: tools/rtems-kernel-4.11.cfg
package: sparc-rtems4.11-kernel-4.11.0-1
download: ftp://ftp.rtems.org/pub/rtems/releases/4.11/4.11.0/rtems-4.11.0.tar.xz -> sources/rtems-4.11.0.tar.xz
downloading: sources/rtems-4.11.0.tar.xz - 9.3MB of 9.3MB (100%)
building: sparc-rtems4.11-kernel-4.11.0-1
reporting: tools/rtems-kernel-4.11.cfg -> sparc-rtems4.11-kernel-4.11.0-1.txt
reporting: tools/rtems-kernel-4.11.cfg -> sparc-rtems4.11-kernel-4.11.0-1.xml
installing: expat-2.1.0-x86_64-freebsd10.1-1 -> /opt/work/rtems/4.11.0
installing: sparc-rtems4.11-binutils-2.26-x86_64-freebsd10.1-1 -> /opt/work/rtems/4.11.0
installing: sparc-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-freebsd10.1-1 -> /opt/work/rtems/4.11.0
installing: sparc-rtems4.11-gdb-7.9-x86_64-freebsd10.1-1 -> /opt/work/rtems/4.11.0
installing: rtems-tools-4.11.0-1 -> /opt/work/rtems/4.11.0
installing: sparc-rtems4.11-kernel-4.11.0-1 -> /opt/work/rtems/4.11.0
cleaning: expat-2.1.0-x86_64-freebsd10.1-1
cleaning: sparc-rtems4.11-binutils-2.26-x86_64-freebsd10.1-1
cleaning: sparc-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-freebsd10.1-1
cleaning: sparc-rtems4.11-gdb-7.9-x86_64-freebsd10.1-1
cleaning: rtems-tools-4.11.0-1
cleaning: sparc-rtems4.11-kernel-4.11.0-1
Build Set: Time 0:19:15.713662
You can now build a third-party library or an application as defaulted in TBD.
5.2. Developer (Unstable)¶
RTEMS provides open access to it’s development processes. We call this the developer set up. The project encourages all users to inspect, review, comment and contribute to the code base. The processes described here are the same processes the core development team use when developing and maintaining RTEMS.
Warning
The development version is not for use in production and it can break from time to time.
Please read Host Computer before continuing. The following procedure assumes you have installed and configured your host operating system. It also assumes you have installed any dependent packages needed when building the tools and the kernel.
You need to select a location to build and install the RTEMS Tool chain and RTEMS. Make sure there is plenty of disk space and a fast disk is recommended. Our procedure will document building and installing the tools in a home directory called development/rtems. Using a home directory means you can do this without needing to be root. You can also use /opt/rtems/build if you have access to that path.
The location used to install the tools and kernel is called the prefix. It is best to have a prefix for each different version of RTEMS you are using. If you are using RTEMS 4.11 in production it is not a good idea to install a development version of 5 over the top. A separate prefix for each version avoids this.
The RTEMS tool chain changes less often than the RTEMS kernel. One method of working with development releases is to have a separate prefix for the RTEMS tools and a different one for the RTEMS kernel. You can then update each without interacting with the other. You can also have a number of RTEMS versions available to test with.
5.2.1. POSIX and OS X Host Tools Chain¶
This procedure will build a SPARC tool chain.
Clone the RTEMS Source Builder (RSB) repository:
$ cd
$ mkdir -p development/rtems
$ cd development/rtems
$ git clone git://git.rtems.org/rtems-source-builder.git rsb
Cloning into 'rsb'...
remote: Counting objects: 5837, done.
remote: Compressing objects: 100% (2304/2304), done.
remote: Total 5837 (delta 4014), reused 5056 (delta 3494)
Receiving objects: 100% (5837/5837), 2.48 MiB | 292.00 KiB/s, done.
Resolving deltas: 100% (4014/4014), done.
Checking connectivity... done.
Check all the host packages you need are present. Current libraries are not checked and this includes checking for the python development libraries GDB requires:
$ cd rsb
$ ./source-builder/sb-check
RTEMS Source Builder - Check, 5 (089327b5dcf9)
Environment is ok
If you are unsure how to specify the build set for the architecture you wish to build, just ask the tool:
$ ../source-builder/sb-set-builder --list-bsets <1>
RTEMS Source Builder - Set Builder, v4.11.0
Examining: config
Examining: ../source-builder/config <2>
4.10/rtems-all.bset <3>
4.10/rtems-arm.bset <4>
4.10/rtems-autotools.bset
4.10/rtems-avr.bset
4.10/rtems-bfin.bset
4.10/rtems-h8300.bset
4.10/rtems-i386.bset
4.10/rtems-lm32.bset
4.10/rtems-m32c.bset
4.10/rtems-m32r.bset
4.10/rtems-m68k.bset
4.10/rtems-mips.bset
4.10/rtems-nios2.bset
4.10/rtems-powerpc.bset
4.10/rtems-sh.bset
4.10/rtems-sparc.bset
4.11/rtems-all.bset
4.11/rtems-arm.bset
4.11/rtems-autotools.bset
4.11/rtems-avr.bset
4.11/rtems-bfin.bset
4.11/rtems-h8300.bset
4.11/rtems-i386.bset
4.11/rtems-lm32.bset
4.11/rtems-m32c.bset
4.11/rtems-m32r.bset
4.11/rtems-m68k.bset
4.11/rtems-microblaze.bset
4.11/rtems-mips.bset
4.11/rtems-moxie.bset
4.11/rtems-nios2.bset
4.11/rtems-powerpc.bset
4.11/rtems-sh.bset
4.11/rtems-sparc.bset
4.11/rtems-sparc64.bset
4.11/rtems-v850.bset
4.9/rtems-all.bset
4.9/rtems-arm.bset
4.9/rtems-autotools.bset
4.9/rtems-i386.bset
4.9/rtems-m68k.bset
4.9/rtems-mips.bset
4.9/rtems-powerpc.bset
4.9/rtems-sparc.bset
gnu-tools-4.6.bset
rtems-4.10-base.bset <5>
rtems-4.11-base.bset
rtems-4.9-base.bset
rtems-base.bset <5>
Items:
Only option required is
--list-bsetsThe paths inspected. See Configuration.
A build set to build all RTEMS 4.10 supported architectures.
The build set for the ARM architecture on RTEMS 4.10.
Support build set file with common functionality included by other build set files.
Build a tool chain for the SPARC architecture. We are using the SPARC architecture because GDB has a good simulator that lets us run and test the samples RTEMS builds by default. The current development version is 5 and is on master:
$ cd rtems
$ ../source-builder/sb-set-builder --prefix=/usr/home/chris/development/rtems/5 5/rtems-sparc
RTEMS Source Builder - Set Builder, 5 (089327b5dcf9)
Build Set: 5/rtems-sparc
Build Set: 5/rtems-autotools.bset
Build Set: 5/rtems-autotools-internal.bset
config: tools/rtems-autoconf-2.69-1.cfg
package: autoconf-2.69-x86_64-linux-gnu-1
Creating source directory: sources
download: ftp://ftp.gnu.org/gnu/autoconf/autoconf-2.69.tar.gz -> sources/autoconf-2.69.tar.gz
downloading: sources/autoconf-2.69.tar.gz - 1.8MB of 1.8MB (100%)
building: autoconf-2.69-x86_64-linux-gnu-1
config: tools/rtems-automake-1.12.6-1.cfg
package: automake-1.12.6-x86_64-linux-gnu-1
download: ftp://ftp.gnu.org/gnu/automake/automake-1.12.6.tar.gz -> sources/automake-1.12.6.tar.gz
downloading: sources/automake-1.12.6.tar.gz - 2.0MB of 2.0MB (100%)
Creating source directory: patches
download: https://git.rtems.org/rtems-tools/plain/tools/5/automake/automake-1.12.6-bugzilla.redhat.com-1239379.diff -> patches/automake-1.12.6-bugzilla.redhat.com-1239379.diff
downloading: patches/automake-1.12.6-bugzilla.redhat.com-1239379.diff - 408.0 bytes of 408.0 bytes (100%)
building: automake-1.12.6-x86_64-linux-gnu-1
cleaning: autoconf-2.69-x86_64-linux-gnu-1
cleaning: automake-1.12.6-x86_64-linux-gnu-1
Build Set: Time 0:00:12.713221
Build Set: 5/rtems-autotools-base.bset
config: tools/rtems-autoconf-2.69-1.cfg
package: autoconf-2.69-x86_64-linux-gnu-1
building: autoconf-2.69-x86_64-linux-gnu-1
reporting: tools/rtems-autoconf-2.69-1.cfg -> autoconf-2.69-x86_64-linux-gnu-1.txt
reporting: tools/rtems-autoconf-2.69-1.cfg -> autoconf-2.69-x86_64-linux-gnu-1.xml
config: tools/rtems-automake-1.12.6-1.cfg
package: automake-1.12.6-x86_64-linux-gnu-1
building: automake-1.12.6-x86_64-linux-gnu-1
reporting: tools/rtems-automake-1.12.6-1.cfg -> automake-1.12.6-x86_64-linux-gnu-1.txt
reporting: tools/rtems-automake-1.12.6-1.cfg -> automake-1.12.6-x86_64-linux-gnu-1.xml
installing: autoconf-2.69-x86_64-linux-gnu-1 -> /usr/home/chris/development/rtems/5
installing: automake-1.12.6-x86_64-linux-gnu-1 -> /usr/home/chris/development/rtems/5
cleaning: autoconf-2.69-x86_64-linux-gnu-1
cleaning: automake-1.12.6-x86_64-linux-gnu-1
Build Set: Time 0:00:09.105363
Build Set: Time 0:00:21.822083
config: devel/expat-2.1.0-1.cfg
package: expat-2.1.0-x86_64-linux-gnu-1
download: http://downloads.sourceforge.net/project/expat/expat/2.1.0/expat-2.1.0.tar.gz -> sources/expat-2.1.0.tar.gz
redirect: https://vorboss.dl.sourceforge.net/project/expat/expat/2.1.0/expat-2.1.0.tar.gz
downloading: sources/expat-2.1.0.tar.gz - 549.4kB of 549.4kB (100%)
building: expat-2.1.0-x86_64-linux-gnu-1
reporting: devel/expat-2.1.0-1.cfg -> expat-2.1.0-x86_64-linux-gnu-1.txt
reporting: devel/expat-2.1.0-1.cfg -> expat-2.1.0-x86_64-linux-gnu-1.xml
config: tools/rtems-binutils-2.29-1.cfg
package: sparc-rtems5-binutils-2.29-x86_64-linux-gnu-1
download: ftp://ftp.gnu.org/gnu/binutils/binutils-2.29.tar.bz2 -> sources/binutils-2.29.tar.bz2
downloading: sources/binutils-2.29.tar.bz2 - 27.7MB of 27.7MB (100%)
download: https://devel.rtems.org/raw-attachment/ticket/3091/0001-Fix-Binutils-2.29-PR21884.patch -> patches/0001-Fix-Binutils-2.29-PR21884.patch
downloading: patches/0001-Fix-Binutils-2.29-PR21884.patch - 8.8kB of 8.8kB (100%)
building: sparc-rtems5-binutils-2.29-x86_64-linux-gnu-1
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reporting: tools/rtems-binutils-2.29-1.cfg -> sparc-rtems5-binutils-2.29-x86_64-linux-gnu-1.xml
config: tools/rtems-gcc-7.2.0-newlib-2.5.0.20170922-1.cfg
package: sparc-rtems5-gcc-7.2.0-newlib-2.5.0.20170922-x86_64-linux-gnu-1
download: https://ftp.gnu.org/gnu/gcc/gcc-7.2.0/gcc-7.2.0.tar.xz -> sources/gcc-7.2.0.tar.xz
downloading: sources/gcc-7.2.0.tar.xz - 59.4MB of 59.4MB (100%)
download: https://gcc.gnu.org/git/?p=gcc.git;a=commitdiff_plain;h=62ffbcb7502f0ff88ff7566cd6d7c59c0483ecc0 -> patches/gcc-62ffbcb7502f0ff88ff7566cd6d7c59c0483ecc0.patch
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download: https://gcc.gnu.org/git/?p=gcc.git;a=blobdiff_plain;f=gcc/config.gcc;h=593631849bb5e0df5cc4ff42c1a1cc34b7eec2f8;hp=a9196cd26d9ec24c2e3f6026f63348cae3734861;hb=e840389000b8339a63bee56d8b3...<see log> -> patches/gcc-593631849bb5e0df5cc4ff42c1a1cc34b7eec2f8.patch
downloading: patches/gcc-593631849bb5e0df5cc4ff42c1a1cc34b7eec2f8.patch - 806.0 bytes
download: https://gcc.gnu.org/git/?p=gcc.git;a=blobdiff_plain;f=gcc/config/rs6000/rtems.h;h=7ea9ebdb77b6a9b7060ad2362318e0e12b9058ae;hp=8a62fdcbaf321d616021c4c396619b7f56cf5ed2;hb=e840389000b8339a...<see log> -> patches/gcc-7ea9ebdb77b6a9b7060ad2362318e0e12b9058ae.patch
downloading: patches/gcc-7ea9ebdb77b6a9b7060ad2362318e0e12b9058ae.patch - 3.2kB
download: ftp://sourceware.org/pub/newlib/newlib-2.5.0.20170922.tar.gz -> sources/newlib-2.5.0.20170922.tar.gz
downloading: sources/newlib-2.5.0.20170922.tar.gz - 17.3MB of 17.3MB (100%)
download: https://devel.rtems.org/raw-attachment/ticket/2514/0001-RTEMS-Self-contained-POSIX-objects.patch -> patches/0001-RTEMS-Self-contained-POSIX-objects.patch
downloading: patches/0001-RTEMS-Self-contained-POSIX-objects.patch - 5.7kB of 5.7kB (100%)
download: https://sourceware.org/git/gitweb.cgi?p=newlib-cygwin.git;a=patch;h=c165a27c0147471977377acd8918ab3b446f947a -> patches/newlib-cygwin-git-c165a27c0147471977377acd8918ab3b446f947a.patch
downloading: patches/newlib-cygwin-git-c165a27c0147471977377acd8918ab3b446f947a.patch - 986.0 bytes
download: https://sourceware.org/git/gitweb.cgi?p=newlib-cygwin.git;a=patch;h=ce189d8afef720b0977b5cae7f9eabf5d49b530c -> patches/newlib-cygwin-git-ce189d8afef720b0977b5cae7f9eabf5d49b530c.patch
downloading: patches/newlib-cygwin-git-ce189d8afef720b0977b5cae7f9eabf5d49b530c.patch - 3.4kB
download: https://ftp.gnu.org/gnu/mpfr/mpfr-3.1.4.tar.bz2 -> sources/mpfr-3.1.4.tar.bz2
downloading: sources/mpfr-3.1.4.tar.bz2 - 1.2MB of 1.2MB (100%)
download: https://ftp.gnu.org/gnu/mpc/mpc-1.0.3.tar.gz -> sources/mpc-1.0.3.tar.gz
downloading: sources/mpc-1.0.3.tar.gz - 654.2kB of 654.2kB (100%)
download: https://ftp.gnu.org/gnu/gmp/gmp-6.1.0.tar.bz2 -> sources/gmp-6.1.0.tar.bz2
downloading: sources/gmp-6.1.0.tar.bz2 - 2.3MB of 2.3MB (100%)
building: sparc-rtems5-gcc-7.2.0-newlib-2.5.0.20170922-x86_64-linux-gnu-1
reporting: tools/rtems-gcc-7.2.0-newlib-2.5.0.20170922-1.cfg -> sparc-rtems5-gcc-7.2.0-newlib-2.5.0.20170922-x86_64-linux-gnu-1.txt
reporting: tools/rtems-gcc-7.2.0-newlib-2.5.0.20170922-1.cfg -> sparc-rtems5-gcc-7.2.0-newlib-2.5.0.20170922-x86_64-linux-gnu-1.xml
config: tools/rtems-gdb-8.0.1-1.cfg
package: sparc-rtems5-gdb-8.0.1-x86_64-linux-gnu-1
download: http://ftp.gnu.org/gnu/gdb/gdb-8.0.1.tar.xz -> sources/gdb-8.0.1.tar.xz
downloading: sources/gdb-8.0.1.tar.xz - 18.7MB of 18.7MB (100%)
download: https://gaisler.org/gdb/gdb-8.0.1-sis-leon2-leon3.diff -> patches/gdb-8.0.1-sis-leon2-leon3.diff
downloading: patches/gdb-8.0.1-sis-leon2-leon3.diff - 224.5kB of 224.5kB (100%)
building: sparc-rtems5-gdb-8.0.1-x86_64-linux-gnu-1
reporting: tools/rtems-gdb-8.0.1-1.cfg -> sparc-rtems5-gdb-8.0.1-x86_64-linux-gnu-1.txt
reporting: tools/rtems-gdb-8.0.1-1.cfg -> sparc-rtems5-gdb-8.0.1-x86_64-linux-gnu-1.xml
config: tools/rtems-tools-5-1.cfg
package: rtems-tools-HEAD-1
Creating source directory: sources/git
git: clone: git://git.rtems.org/rtems-tools.git -> sources/git/rtems-tools.git
git: reset: git://git.rtems.org/rtems-tools.git
git: fetch: git://git.rtems.org/rtems-tools.git -> sources/git/rtems-tools.git
git: checkout: git://git.rtems.org/rtems-tools.git => HEAD
git: pull: git://git.rtems.org/rtems-tools.git
building: rtems-tools-HEAD-1
reporting: tools/rtems-tools-5-1.cfg -> rtems-tools-HEAD-1.txt
reporting: tools/rtems-tools-5-1.cfg -> rtems-tools-HEAD-1.xml
config: tools/rtems-kernel-5.cfg
package: sparc-rtems5-kernel-5-1
building: sparc-rtems5-kernel-5-1
reporting: tools/rtems-kernel-5.cfg -> sparc-rtems5-kernel-5-1.txt
reporting: tools/rtems-kernel-5.cfg -> sparc-rtems5-kernel-5-1.xml
installing: expat-2.1.0-x86_64-linux-gnu-1 -> /usr/home/chris/development/rtems/5
installing: sparc-rtems5-binutils-2.29-x86_64-linux-gnu-1 -> /usr/home/chris/development/rtems/5
installing: sparc-rtems5-gcc-7.2.0-newlib-2.5.0.20170922-x86_64-linux-gnu-1 -> /usr/home/chris/development/rtems/5
installing: sparc-rtems5-gdb-8.0.1-x86_64-linux-gnu-1 -> /usr/home/chris/development/rtems/5
installing: rtems-tools-HEAD-1 -> /usr/home/chris/development/rtems/5
installing: sparc-rtems5-kernel-5-1 -> /usr/home/chris/development/rtems/5
cleaning: expat-2.1.0-x86_64-linux-gnu-1
cleaning: sparc-rtems5-binutils-2.29-x86_64-linux-gnu-1
cleaning: sparc-rtems5-gcc-7.2.0-newlib-2.5.0.20170922-x86_64-linux-gnu-1
cleaning: sparc-rtems5-gdb-8.0.1-x86_64-linux-gnu-1
cleaning: rtems-tools-HEAD-1
cleaning: sparc-rtems5-kernel-5-1
Build Set: Time 0:39:33.988995
5.2.2. Windows Host Tool Chain¶
This section details how you create an RTEMS development environment on Windows. The installation documented here is on Windows 7 64bit Professional. Building on Windows 10 has been reported as working.
Please see Microsoft Windows before continuing.
Note
If the RSB reports error: no hosts defaults found; please add you have probably opened an MSYS2 32bit Shell. Close all 32bit Shell windows and open the MSYS2 64bit Shell.
5.2.2.1. RTEMS Windows Tools¶
Create a workspace for RTEMS using the following shell command:
~
$ mkdir -p /c/opt/rtems
The /c path is an internal MSYS2 mount point of the C: drive. The command creates the RTEMS work space on the C: drive. If you wish to use another drive please subsitute /c with your drive letter.
We build and install all RTEMS packages under the prefix we just created. Change to that directory and get a copy of the RSB:
~
$ cd /c/opt/rtems
/c/opt/rtems
$ git clone git://git.rtems.org/rtems-source-builder.git rsb
Cloning into 'rsb'...
remote: Counting objects: 5716, done.
remote: Compressing objects: 100% (2183/2183), done.
remote: Total 5716 (delta 3919), reused 5071 (delta 3494)
Receiving objects: 100% (5716/5716), 2.46 MiB | 656.00 KiB/s, done.
Resolving deltas: 100% (3919/3919), done.
Checking connectivity... done.
Checking out files: 100% (630/630), done.
/c/opt/rtems
$ cd rsb
We are building RTEMS 4.11 tools so select the 4.11 branch:
/c/opt/rtems/rsb
$ git checkout 4.11
Branch 4.11 set up to track remote branch 4.11 from origin.
Switched to a new branch '4.11'
/c/opt/rtems/rsb
$
Check the RSB has a valid environment:
/c/opt/rtems/rsb
$ cd rtems
/c/opt/rtems/rsb/rtems
$ ../source-builder/sb-check
RTEMS Source Builder - Check, 4.11 (01ac76f2f90f)
Environment is ok
/c/opt/rtems/rsb/rtems
$
To build a set of RTEMS tools for the Intel i386 architecture. The build runs a single job rather than a job per CPU in your machine and will take a long time so please be patient. The RSB creates a log file containing all the build output and it will be changing size. The RSB command to build i386 tools is:
/c/opt/rtems/rsb/rtems
$ ../source-builder/sb-set-builder --prefix=/c/opt/rtems/4.11 \
--jobs=none 4.11/rtems-i386
RTEMS Source Builder - Set Builder, 4.11 (01ac76f2f90f)
Build Set: 4.11/rtems-i386
Build Set: 4.11/rtems-autotools.bset
Build Set: 4.11/rtems-autotools-internal.bset
config: tools/rtems-autoconf-2.69-1.cfg
package: autoconf-2.69-x86_64-w64-mingw32-1
Creating source directory: sources
download: ftp://ftp.gnu.org/gnu/autoconf/autoconf-2.69.tar.gz -> sources/autoconf-2.69.tar.gz
downloading: sources/autoconf-2.69.tar.gz - 1.8MB of 1.8MB (100%)
building: autoconf-2.69-x86_64-w64-mingw32-1
config: tools/rtems-automake-1.12.6-1.cfg
package: automake-1.12.6-x86_64-w64-mingw32-1
download: ftp://ftp.gnu.org/gnu/automake/automake-1.12.6.tar.gz -> sources/automake-1.12.6.tar.gz
downloading: sources/automake-1.12.6.tar.gz - 2.0MB of 2.0MB (100%)
building: automake-1.12.6-x86_64-w64-mingw32-1
cleaning: autoconf-2.69-x86_64-w64-mingw32-1
cleaning: automake-1.12.6-x86_64-w64-mingw32-1
Build Set: Time 0:00:42.515625
Build Set: 4.11/rtems-autotools-base.bset
config: tools/rtems-autoconf-2.69-1.cfg
package: autoconf-2.69-x86_64-w64-mingw32-1
building: autoconf-2.69-x86_64-w64-mingw32-1
reporting: tools/rtems-autoconf-2.69-1.cfg -> autoconf-2.69-x86_64-w64-mingw32-1.txt
reporting: tools/rtems-autoconf-2.69-1.cfg -> autoconf-2.69-x86_64-w64-mingw32-1.xml
config: tools/rtems-automake-1.12.6-1.cfg
package: automake-1.12.6-x86_64-w64-mingw32-1
building: automake-1.12.6-x86_64-w64-mingw32-1
reporting: tools/rtems-automake-1.12.6-1.cfg -> automake-1.12.6-x86_64-w64-mingw32-1.txt
reporting: tools/rtems-automake-1.12.6-1.cfg -> automake-1.12.6-x86_64-w64-mingw32-1.xml
tarball: tar/rtems-4.11-autotools-x86_64-w64-mingw32-1.tar.bz2
installing: autoconf-2.69-x86_64-w64-mingw32-1 -> C:\opt\rtems\4.11
installing: automake-1.12.6-x86_64-w64-mingw32-1 -> C:\opt\rtems\4.11
cleaning: autoconf-2.69-x86_64-w64-mingw32-1
cleaning: automake-1.12.6-x86_64-w64-mingw32-1
Build Set: Time 0:00:37.718750
Build Set: Time 0:01:20.234375
config: devel/expat-2.1.0-1.cfg
package: expat-2.1.0-x86_64-w64-mingw32-1
download: http://downloads.sourceforge.net/project/expat/expat/2.1.0/expat-2.1.0.tar.gz -> sources/expat-2.1.0.tar.gz
redirect: http://iweb.dl.sourceforge.net/project/expat/expat/2.1.0/expat-2.1.0.tar.gz
downloading: sources/expat-2.1.0.tar.gz - 549.4kB of 549.4kB (100%)
building: expat-2.1.0-x86_64-w64-mingw32-1
reporting: devel/expat-2.1.0-1.cfg -> expat-2.1.0-x86_64-w64-mingw32-1.txt
reporting: devel/expat-2.1.0-1.cfg -> expat-2.1.0-x86_64-w64-mingw32-1.xml
config: tools/rtems-binutils-2.24-1.cfg
package: i386-rtems4.11-binutils-2.24-x86_64-w64-mingw32-1
download: ftp://ftp.gnu.org/gnu/binutils/binutils-2.24.tar.bz2 -> sources/binutils-2.24.tar.bz2
downloading: sources/binutils-2.24.tar.bz2 - 21.7MB of 21.7MB (100%)
building: i386-rtems4.11-binutils-2.24-x86_64-w64-mingw32-1
reporting: tools/rtems-binutils-2.24-1.cfg -> i386-rtems4.11-binutils-2.24-x86_64-w64-mingw32-1.txt
reporting: tools/rtems-binutils-2.24-1.cfg -> i386-rtems4.11-binutils-2.24-x86_64-w64-mingw32-1.xml
config: tools/rtems-gcc-4.9.3-newlib-2.2.0-20150423-1.cfg
package: i386-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-w64-mingw32-1
download: ftp://ftp.gnu.org/gnu/gcc/gcc-4.9.3/gcc-4.9.3.tar.bz2 -> sources/gcc-4.9.3.tar.bz2
downloading: sources/gcc-4.9.3.tar.bz2 - 85.8MB of 85.8MB (100%)
download: ftp://sourceware.org/pub/newlib/newlib-2.2.0.20150423.tar.gz -> sources/newlib-2.2.0.20150423.tar.gz
downloading: sources/newlib-2.2.0.20150423.tar.gz - 16.7MB of 16.7MB (100%)
download: http://www.mpfr.org/mpfr-3.0.1/mpfr-3.0.1.tar.bz2 -> sources/mpfr-3.0.1.tar.bz2
downloading: sources/mpfr-3.0.1.tar.bz2 - 1.1MB of 1.1MB (100%)
download: http://www.multiprecision.org/mpc/download/mpc-0.8.2.tar.gz -> sources/mpc-0.8.2.tar.gz
downloading: sources/mpc-0.8.2.tar.gz - 535.5kB of 535.5kB (100%)
download: ftp://ftp.gnu.org/gnu/gmp/gmp-5.0.5.tar.bz2 -> sources/gmp-5.0.5.tar.bz2
downloading: sources/gmp-5.0.5.tar.bz2 - 2.0MB of 2.0MB (100%)
building: i386-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-w64-mingw32-1
reporting: tools/rtems-gcc-4.9.3-newlib-2.2.0-20150423-1.cfg ->
i386-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-w64-mingw32-1.txt
reporting: tools/rtems-gcc-4.9.3-newlib-2.2.0-20150423-1.cfg ->
i386-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-w64-mingw32-1.xml
config: tools/rtems-gdb-7.9-1.cfg
package: i386-rtems4.11-gdb-7.9-x86_64-w64-mingw32-1
download: http://ftp.gnu.org/gnu/gdb/gdb-7.9.tar.xz -> sources/gdb-7.9.tar.xz
downloading: sources/gdb-7.9.tar.xz - 17.0MB of 17.0MB (100%)
download: https://git.rtems.org/rtems-tools/plain/tools/4.11/gdb/gdb-sim-arange-inline.diff -> patches/gdb-sim-arange-inline.diff
downloading: patches/gdb-sim-arange-inline.diff - 761.0 bytes of 761.0 bytes (100%)
download: https://git.rtems.org/rtems-tools/plain/tools/4.11/gdb/gdb-sim-cgen-inline.diff -> patches/gdb-sim-cgen-inline.diff
downloading: patches/gdb-sim-cgen-inline.diff - 706.0 bytes of 706.0 bytes (100%)
building: i386-rtems4.11-gdb-7.9-x86_64-w64-mingw32-1
reporting: tools/rtems-gdb-7.9-1.cfg ->
i386-rtems4.11-gdb-7.9-x86_64-w64-mingw32-1.txt
reporting: tools/rtems-gdb-7.9-1.cfg ->
i386-rtems4.11-gdb-7.9-x86_64-w64-mingw32-1.xml
config: tools/rtems-tools-4.11-1.cfg
package: rtems-tools-4.11-1
Creating source directory: sources/git
git: clone: git://git.rtems.org/rtems-tools.git -> sources/git/rtems-tools.git
git: reset: git://git.rtems.org/rtems-tools.git
git: fetch: git://git.rtems.org/rtems-tools.git -> sources/git/rtems-tools.git
git: checkout: git://git.rtems.org/rtems-tools.git => 4.11
git: pull: git://git.rtems.org/rtems-tools.git
building: rtems-tools-4.11-1
reporting: tools/rtems-tools-4.11-1.cfg -> rtems-tools-4.11-1.txt
reporting: tools/rtems-tools-4.11-1.cfg -> rtems-tools-4.11-1.xml
config: tools/rtems-kernel-4.11.cfg
installing: expat-2.1.0-x86_64-w64-mingw32-1 -> C:\opt\rtems\4.11
installing: i386-rtems4.11-binutils-2.24-x86_64-w64-mingw32-1 -> C:\opt\rtems\4.11
installing: i386-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-w64-mingw32-1 -> C:\opt\rtems\4.11
installing: i386-rtems4.11-gdb-7.9-x86_64-w64-mingw32-1 -> C:\opt\rtems\4.11
installing: rtems-tools-4.11-1 -> C:\opt\rtems\4.11
cleaning: expat-2.1.0-x86_64-w64-mingw32-1
cleaning: i386-rtems4.11-binutils-2.24-x86_64-w64-mingw32-1
cleaning: i386-rtems4.11-gcc-4.9.3-newlib-2.2.0.20150423-x86_64-w64-mingw32-1
cleaning: i386-rtems4.11-gdb-7.9-x86_64-w64-mingw32-1
cleaning: rtems-tools-4.11-1
Build Set: Time 1:32:58.972919
/c/opt/rtems/rsb/rtems
$
5.2.2.2. Building the Kernel¶
We can now build the RTEMS kernel using the RTEMS tools we have just built. First we need to set the path to the tools:
/c
$ cd /c/opt/rtems
/c/opt/rtems
$ export PATH=/c/opt/rtems/4.11/bin:$PATH
/c/opt/rtems
$
We currently build RTEMS from the git release branch for 4.11:
/c/opt/rtems
$ mkdir kernel
/c/opt/rtems
$ cd kernel
/c/opt/rtems/kernel
$ git clone git://git.rtems.org/rtems.git rtems
Cloning into 'rtems'...
remote: Counting objects: 482766, done.
remote: Compressing objects: 100% (88781/88781), done.
remote: Total 482766 (delta 389610), reused 475155 (delta 383437)
Receiving objects: 100% (482766/482766), 69.77 MiB | 697.00 KiB/s, done.
Resolving deltas: 100% (389610/389610), done.
Checking connectivity... done.
Checking out files: 100% (10626/10626), done.
/c/opt/rtems/kernel
$ cd rtems
/c/opt/rtems/kernel/rtems
$ git checkout 4.11
Checking out files: 100% (2553/2553), done.
Branch 4.11 set up to track remote branch 4.11 from origin.
Switched to a new branch '4.11'
/c/opt/rtems/kernel
$
The kernel code cloned from git needs to be bootstrapped. Bootstrapping creates autoconf and automake generated files. To bootstrap we first clean away any files, then generate the pre-install header file lists and finally we generate the autoconf and automake files using the RSB’s bootstrap tool. First we clean any generated files that exist:
/c/opt/rtems/kernel/rtems
$ ./bootstrap -c
removing automake generated Makefile.in files
removing configure files
removing aclocal.m4 files
Then we generate the pre-install header file automake make files:
/c/opt/rtems/kernel/rtems
$ ./bootstrap -p
Generating ./c/src/ada/preinstall.am
Generating ./c/src/lib/libbsp/arm/altera-cyclone-v/preinstall.am
Generating ./c/src/lib/libbsp/arm/atsam/preinstall.am
Generating ./c/src/lib/libbsp/arm/beagle/preinstall.am
Generating ./c/src/lib/libbsp/arm/csb336/preinstall.am
Generating ./c/src/lib/libbsp/arm/csb337/preinstall.am
Generating ./c/src/lib/libbsp/arm/edb7312/preinstall.am
.......
Generating ./cpukit/score/cpu/mips/preinstall.am
Generating ./cpukit/score/cpu/moxie/preinstall.am
Generating ./cpukit/score/cpu/nios2/preinstall.am
Generating ./cpukit/score/cpu/no_cpu/preinstall.am
Generating ./cpukit/score/cpu/or1k/preinstall.am
Generating ./cpukit/score/cpu/powerpc/preinstall.am
Generating ./cpukit/score/cpu/sh/preinstall.am
Generating ./cpukit/score/cpu/sparc/preinstall.am
Generating ./cpukit/score/cpu/sparc64/preinstall.am
Generating ./cpukit/score/cpu/v850/preinstall.am
Generating ./cpukit/score/preinstall.am
Generating ./cpukit/telnetd/preinstall.am
Generating ./cpukit/wrapup/preinstall.am
Generating ./cpukit/zlib/preinstall.am
/c/opt/rtems/kernel/rtems
Finally we run the RSB’s parallel bootstrap command:
$ /c/opt/rtems/rsb/source-builder/sb-bootstrap
RTEMS Source Builder - RTEMS Bootstrap, 4.11 (76188ee494dd)
1/139: autoreconf: configure.ac
2/139: autoreconf: c/configure.ac
3/139: autoreconf: c/src/configure.ac
4/139: autoreconf: c/src/ada-tests/configure.ac
5/139: autoreconf: c/src/lib/libbsp/arm/configure.ac
6/139: autoreconf: c/src/lib/libbsp/arm/altera-cyclone-v/configure.ac
7/139: autoreconf: c/src/lib/libbsp/arm/atsam/configure.ac
8/139: autoreconf: c/src/lib/libbsp/arm/beagle/configure.ac
9/139: autoreconf: c/src/lib/libbsp/arm/csb336/configure.ac
10/139: autoreconf: c/src/lib/libbsp/arm/csb337/configure.ac
11/139: autoreconf: c/src/lib/libbsp/arm/edb7312/configure.ac
.......
129/139: autoreconf: testsuites/samples/configure.ac
130/139: autoreconf: testsuites/smptests/configure.ac
131/139: autoreconf: testsuites/sptests/configure.ac
132/139: autoreconf: testsuites/tmtests/configure.ac
133/139: autoreconf: testsuites/tools/configure.ac
134/139: autoreconf: testsuites/tools/generic/configure.ac
135/139: autoreconf: tools/build/configure.ac
136/139: autoreconf: tools/cpu/configure.ac
137/139: autoreconf: tools/cpu/generic/configure.ac
138/139: autoreconf: tools/cpu/nios2/configure.ac
139/139: autoreconf: tools/cpu/sh/configure.ac
Bootstrap time: 0:20:38.759766
/c/opt/rtems/kernel/rtems
$
We will build the RTEMS kernel for the i386 target and the pc686 BSP. You can check the available BSPs by running the rtems-bsps command found in the top directory of the RTEMS kernel source. We build the Board Support Package (BSP) outside the kernel source tree:
/c/opt/rtems/kernel/rtems
$ cd ..
/c/opt/rtems/kernel
$ mkdir pc686
/c/opt/rtems/kernel
$ cd pc686
/c/opt/rtems/kernel/pc686
$
Configure the RTEMS kernel to build pc686 BSP for the i386 target with networking disabled, We will build the external libBSD stack later:
/c/opt/rtems/kernel/pc686
$ /c/opt/rtems/kernel/rtems/configure --prefix=/c/opt/rtems/4.11 \
--target=i386-rtems4.11 --disable-networking --enable-rtemsbsp=pc686
checking for gmake... no
checking for make... make
checking for RTEMS Version... 4.11.99.0
checking build system type... x86_64-pc-mingw64
checking host system type... x86_64-pc-mingw64
checking target system type... i386-pc-rtems4.11
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
checking for a thread-safe mkdir -p... /usr/bin/mkdir -p
checking for gawk... gawk
checking whether make sets $(MAKE)... yes
checking whether to enable maintainer-specific portions of Makefiles... no
checking that generated files are newer than configure... done
configure: creating ./config.status
configure: configuring in ./tools/build
.......
checking whether make sets $(MAKE)... yes
checking whether to enable maintainer-specific portions of Makefiles... no
checking that generated files are newer than configure... done
configure: creating ./config.status
config.status: creating Makefile
target architecture: i386.
available BSPs: pc686.
'make all' will build the following BSPs: pc686.
other BSPs can be built with 'make RTEMS_BSP="bsp1 bsp2 ..."'
config.status: creating Makefile
/c/opt/rtems/kernel/pc686
$
Build the kernel:
/c/opt/rtems/kernel/pc686
$ make
Making all in tools/build
make[1]: Entering directory '/c/opt/rtems/kernel/pc686/tools/build'
make all-am
make[2]: Entering directory '/c/opt/rtems/kernel/pc686/tools/build'
gcc -DHAVE_CONFIG_H -I. -I/c/opt/rtems/kernel/rtems/tools/build -g -O2 -MT
cklength.o -MD -MP -MF .deps/cklength.Tpo -c -o cklength.o
/c/opt/rtems/kernel/rtems/tools/build/cklength.c
gcc -DHAVE_CONFIG_H -I. -I/c/opt/rtems/kernel/rtems/tools/build -g -O2 -MT
eolstrip.o -MD -MP -MF .deps/eolstrip.Tpo -c -o eolstrip.o
/c/opt/rtems/kernel/rtems/tools/build/eolstrip.c
..........
i386-rtems4.11-objcopy -O binary nsecs.nxe nsecs.bin
../../../../../pc686/build-tools/bin2boot -v nsecs.ralf 0x00097E00
../../../../../pc686/lib/start16.bin 0x00097C00 0 nsecs.bin 0x00100000 0
header address 0x00097e00, its memory size 0xzx
first image address 0x00097c00, its memory size 0x00000200
second image address 0x00100000, its memory size 0x0003d800
rm -f nsecs.nxe
make[6]: Leaving directory '/c/opt/rtems/kernel/pc686/i386-rtems4.11/c/pc686/testsuites/samples/nsecs'
make[5]: Leaving directory '/c/opt/rtems/kernel/pc686/i386-rtems4.11/c/pc686/testsuites/samples'
make[4]: Leaving directory '/c/opt/rtems/kernel/pc686/i386-rtems4.11/c/pc686/testsuites/samples'
make[4]: Entering directory '/c/opt/rtems/kernel/pc686/i386-rtems4.11/c/pc686/testsuites'
make[4]: Nothing to be done for 'all-am'.
make[4]: Leaving directory '/c/opt/rtems/kernel/pc686/i386-rtems4.11/c/pc686/testsuites'
make[3]: Leaving directory '/c/opt/rtems/kernel/pc686/i386-rtems4.11/c/pc686/testsuites'
make[2]: Leaving directory '/c/opt/rtems/kernel/pc686/i386-rtems4.11/c/pc686'
make[1]: Leaving directory '/c/opt/rtems/kernel/pc686/i386-rtems4.11/c'
make[1]: Entering directory '/c/opt/rtems/kernel/pc686'
make[1]: Nothing to be done for 'all-am'.
make[1]: Leaving directory '/c/opt/rtems/kernel/pc686'
/c/opt/rtems/kernel/pc696
$
Install the kernel to our prefix:
$ make install
Making install in tools/build
make[1]: Entering directory '/c/opt/rtems/kernel/pc686/tools/build'
make[2]: Entering directory '/c/opt/rtems/kernel/pc686/tools/build'
/usr/bin/mkdir -p '/c/opt/rtems/4.11/bin'
/usr/bin/install -c cklength.exe eolstrip.exe packhex.exe unhex.exe
rtems-bin2c.exe '/c/opt/rtems/4.11/bin'
/usr/bin/mkdir -p '/c/opt/rtems/4.11/bin'
/usr/bin/install -c install-if-change '/c/opt/rtems/4.11/bin'
make[2]: Nothing to be done for 'install-data-am'.
make[2]: Leaving directory '/c/opt/rtems/kernel/pc686/tools/build'
make[1]: Leaving directory '/c/opt/rtems/kernel/pc686/tools/build'
Making install in tools/cpu
make[1]: Entering directory '/c/opt/rtems/kernel/pc686/tools/cpu'
Making install in generic
make[2]: Entering directory '/c/opt/rtems/kernel/pc686/tools/cpu/generic'
make[3]: Entering directory '/c/opt/rtems/kernel/pc686/tools/cpu/generic'
make[3]: Nothing to be done for 'install-exec-am'.
make[3]: Nothing to be done for 'install-data-am'.
make[3]: Leaving directory '/c/opt/rtems/kernel/pc686/tools/cpu/generic'
make[2]: Leaving directory '/c/opt/rtems/kernel/pc686/tools/cpu/generic'
make[2]: Entering directory '/c/opt/rtems/kernel/pc686/tools/cpu'
make[3]: Entering directory '/c/opt/rtems/kernel/pc686/tools/cpu'
make[3]: Nothing to be done for 'install-exec-am'.
make[3]: Nothing to be done for 'install-data-am'.
..........
make[2]: Entering directory '/c/opt/rtems/kernel/pc686'
make[2]: Nothing to be done for 'install-exec-am'.
/usr/bin/mkdir -p '/c/opt/rtems/4.11/make'
/usr/bin/install -c -m 644 /c/opt/rtems/kernel/rtems/make/main.cfg
/c/opt/rtems/kernel/rtems/make/leaf.cfg '/c/opt/rtems/4.11/make'
/usr/bin/mkdir -p '/c/opt/rtems/4.11/share/rtems4.11/make/Templates'
/usr/bin/install -c -m 644
/c/opt/rtems/kernel/rtems/make/Templates/Makefile.dir
/c/opt/rtems/kernel/rtems/make/Templates/Makefile.leaf
/c/opt/rtems/kernel/rtems/make/Templates/Makefile.lib
'/c/opt/rtems/4.11/share/rtems4.11/make/Templates'
/usr/bin/mkdir -p '/c/opt/rtems/4.11/make/custom'
/usr/bin/install -c -m 644 /c/opt/rtems/kernel/rtems/make/custom/default.cfg
'/c/opt/rtems/4.11/make/custom'
make[2]: Leaving directory '/c/opt/rtems/kernel/pc686'
make[1]: Leaving directory '/c/opt/rtems/kernel/pc686'
/c/opt/rtems/kernel/pc686
$
5.3. RTEMS Kernel¶
RTEMS is an open source real-time operating system. As a user you have access to all the source code. The RTEMS Kernel section will show you how you build the RTEMS kernel on your host.
5.3.1. Development Sources¶
Create a new location to build the RTEMS kernel:
$ cd
$ cd development/rtems
$ mkdir kernel
$ cd kernel
Clone the RTEMS respository:
$ git clone git://git.rtems.org/rtems.git rtems
Cloning into 'rtems'...
remote: Counting objects: 483342, done.
remote: Compressing objects: 100% (88974/88974), done.
remote: Total 483342 (delta 390053), reused 475669 (delta 383809)
Receiving objects: 100% (483342/483342), 69.88 MiB | 1.37 MiB/s, done.
Resolving deltas: 100% (390053/390053), done.
Checking connectivity... done.
5.3.2. Tools Path Set Up¶
We need to set our path to include the RTEMS tools we built in the previous section. The RTEMS tools needs to be first in your path because RTEMS provides specific versions of the autoconf and automake tools. We want to use the RTEMS version and not your host’s versions:
$ export PATH=$HOME/development/rtems/5/bin:$PATH
5.3.3. Bootstrapping¶
The developers version of the code from git requires we bootstrap the source code. This is an autoconf and automake bootstrap to create the various files generated by autoconf and automake. RTEMS does not keep these generated files under version control. The bootstrap process is slow so to speed it up the RSB provides a command that can perform the bootstrap in parallel using your available cores. We need to enter the cloned source directory then run the bootstrap commands:
$ cd rtems
$ ./bootstrap -c && $HOME/development/rtems/rsb/source-builder/sb-bootstrap
removing automake generated Makefile.in files
removing configure files
removing aclocal.m4 files
RTEMS Source Builder - RTEMS Bootstrap, 5 (089327b5dcf9)
1/139: autoreconf: configure.ac
2/139: autoreconf: cpukit/configure.ac
3/139: autoreconf: tools/cpu/configure.ac
4/139: autoreconf: tools/cpu/generic/configure.ac
5/139: autoreconf: tools/cpu/sh/configure.ac
6/139: autoreconf: tools/cpu/nios2/configure.ac
7/139: autoreconf: tools/build/configure.ac
8/139: autoreconf: doc/configure.ac
......
124/139: autoreconf: c/src/make/configure.ac
125/139: autoreconf: c/src/librtems++/configure.ac
126/139: autoreconf: c/src/ada-tests/configure.ac
127/139: autoreconf: testsuites/configure.ac
128/139: autoreconf: testsuites/libtests/configure.ac
129/139: autoreconf: testsuites/mptests/configure.ac
130/139: autoreconf: testsuites/fstests/configure.ac
131/139: autoreconf: testsuites/sptests/configure.ac
132/139: autoreconf: testsuites/tmtests/configure.ac
133/139: autoreconf: testsuites/smptests/configure.ac
134/139: autoreconf: testsuites/tools/configure.ac
135/139: autoreconf: testsuites/tools/generic/configure.ac
136/139: autoreconf: testsuites/psxtests/configure.ac
137/139: autoreconf: testsuites/psxtmtests/configure.ac
138/139: autoreconf: testsuites/rhealstone/configure.ac
139/139: autoreconf: testsuites/samples/configure.ac
Bootstrap time: 0:02:47.398824
5.3.4. Building a BSP¶
We build RTEMS in a directory outside of the source tree we have just cloned and bootstrapped. You cannot build RTEMS while in the source tree. Lets create a suitable directory using the name of the BSP we are going to build:
$ cd ..
$ mkdir erc32
$ cd erc32
Configure RTEMS using the configure command. We use a full path to configure so the object files built contain the absolute path of the source files. If you are source level debugging you will be able to access the source code to RTEMS from the debugger. We will build for the erc32 BSP with POSIX enabled and the networking stack disabled:
$ $HOME/development/rtems/kernel/rtems/configure --prefix=$HOME/development/rtems/5 \
--target=sparc-rtems5 --enable-rtemsbsp=erc32 --enable-posix \
--disable-networking
checking for gmake... no
checking for make... make
checking for RTEMS Version... 4.11.99.0
checking build system type... x86_64-pc-linux-gnu
checking host system type... x86_64-pc-linux-gnu
checking target system type... sparc-unknown-rtems5
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
checking for a thread-safe mkdir -p... /bin/mkdir -p
checking for gawk... no
checking for mawk... mawk
checking whether make sets $(MAKE)... yes
checking whether to enable maintainer-specific portions of Makefiles... no
checking that generated files are newer than configure... done
......
checking target system type... sparc-unknown-rtems5
checking rtems target cpu... sparc
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
checking for sparc-rtems5-strip... sparc-rtems5-strip
checking for a thread-safe mkdir -p... /bin/mkdir -p
checking for gawk... no
checking for mawk... mawk
checking whether make sets $(MAKE)... yes
checking whether to enable maintainer-specific portions of Makefiles... no
checking that generated files are newer than configure... done
configure: creating ./config.status
config.status: creating Makefile
target architecture: sparc.
available BSPs: erc32.
'make all' will build the following BSPs: erc32.
other BSPs can be built with 'make RTEMS_BSP="bsp1 bsp2 ..."'
config.status: creating Makefile
Build RTEMS using two cores:
$ make -j 2
Making all in tools/build
make[1]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/build'
make all-am
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/build'
gcc -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/tools/build -g -O2 -MT cklength.o -MD -MP -MF .deps/cklength.Tpo -c -o cklength.o /home/chris/development/rtems/kernel/rtems/tools/build/cklength.c
gcc -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/tools/build -g -O2 -MT eolstrip.o -MD -MP -MF .deps/eolstrip.Tpo -c -o eolstrip.o /home/chris/development/rtems/kernel/rtems/tools/build/eolstrip.c
mv -f .deps/cklength.Tpo .deps/cklength.Po
mv -f .deps/eolstrip.Tpo .deps/eolstrip.Po
gcc -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/tools/build -g -O2 -MT compat.o -MD -MP -MF .deps/compat.Tpo -c -o compat.o /home/chris/development/rtems/kernel/rtems/tools/build/compat.c
gcc -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/tools/build -g -O2 -MT packhex.o -MD -MP -MF .deps/packhex.Tpo -c -o packhex.o /home/chris/development/rtems/kernel/rtems/tools/build/packhex.c
mv -f .deps/compat.Tpo .deps/compat.Po
gcc -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/tools/build -g -O2 -MT unhex.o -MD -MP -MF .deps/unhex.Tpo -c -o unhex.o /home/chris/development/rtems/kernel/rtems/tools/build/unhex.c
mv -f .deps/packhex.Tpo .deps/packhex.Po
gcc -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/tools/build -g -O2 -MT rtems-bin2c.o -MD -MP -MF .deps/rtems-bin2c.Tpo -c -o rtems-bin2c.o /home/chris/development/rtems/kernel/rtems/tools/build/rtems-bin2c.c
mv -f .deps/unhex.Tpo .deps/unhex.Po
gcc -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/tools/build -g -O2 -MT binpatch.o -MD -MP -MF .deps/binpatch.Tpo -c -o binpatch.o /home/chris/development/rtems/kernel/rtems/tools/build/binpatch.c
mv -f .deps/rtems-bin2c.Tpo .deps/rtems-bin2c.Po
gcc -g -O2 -o cklength cklength.o
mv -f .deps/binpatch.Tpo .deps/binpatch.Po
gcc -g -O2 -o eolstrip eolstrip.o compat.o
gcc -g -O2 -o packhex packhex.o
gcc -g -O2 -o rtems-bin2c rtems-bin2c.o compat.o
gcc -g -O2 -o unhex unhex.o compat.o
gcc -g -O2 -o binpatch binpatch.o
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/build'
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/build'
Making all in tools/cpu
make[1]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
Making all in generic
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/cpu/generic'
make[2]: Nothing to be done for 'all'.
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/cpu/generic'
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
make[2]: Nothing to be done for 'all-am'.
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
Making all in testsuites/tools
make[1]: Entering directory '/home/chris/development/rtems/kernel/erc32/testsuites/tools'
Making all in generic
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/testsuites/tools/generic'
make[2]: Nothing to be done for 'all'.
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/testsuites/tools/generic'
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/testsuites/tools'
make[2]: Nothing to be done for 'all-am'.
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/testsuites/tools'
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32/testsuites/tools'
Making all in sparc-rtems5/c
make[1]: Entering directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/c'
Making all in .
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/c'
Configuring RTEMS_BSP=erc32
checking for gmake... no
checking for make... make
checking build system type... x86_64-pc-linux-gnu
checking host system type... sparc-unknown-rtems5
......
sparc-rtems5-gcc -B../../../../../erc32/lib/ -specs bsp_specs -qrtems -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/c/src/../../testsuites/samples/nsecs -I.. -I/home/chris/development/rtems/kernel/rtems/c/src/../../testsuites/samples/../support/include -mcpu=cypress -O2 -g -ffunction-sections -fdata-sections -Wall -Wmissing-prototypes -Wimplicit-function-declaration -Wstrict-prototypes -Wnested-externs -MT init.o -MD -MP -MF .deps/init.Tpo -c -o init.o /home/chris/development/rtems/kernel/rtems/c/src/../../testsuites/samples/nsecs/init.c
sparc-rtems5-gcc -B../../../../../erc32/lib/ -specs bsp_specs -qrtems -DHAVE_CONFIG_H -I. -I/home/chris/development/rtems/kernel/rtems/c/src/../../testsuites/samples/nsecs -I.. -I/home/chris/development/rtems/kernel/rtems/c/src/../../testsuites/samples/../support/include -mcpu=cypress -O2 -g -ffunction-sections -fdata-sections -Wall -Wmissing-prototypes -Wimplicit-function-declaration -Wstrict-prototypes -Wnested-externs -MT empty.o -MD -MP -MF .deps/empty.Tpo -c -o empty.o /home/chris/development/rtems/kernel/rtems/c/src/../../testsuites/samples/nsecs/empty.c
mv -f .deps/empty.Tpo .deps/empty.Po
mv -f .deps/init.Tpo .deps/init.Po
sparc-rtems5-gcc -B../../../../../erc32/lib/ -specs bsp_specs -qrtems -mcpu=cypress -O2 -g -ffunction-sections -fdata-sections -Wall -Wmissing-prototypes -Wimplicit-function-declaration -Wstrict-prototypes -Wnested-externs -Wl,--gc-sections -mcpu=cypress -o nsecs.exe init.o empty.o
sparc-rtems5-nm -g -n nsecs.exe > nsecs.num
sparc-rtems5-size nsecs.exe
text data bss dec hex filename
121392 1888 6624 129904 1fb70 nsecs.exe
cp nsecs.exe nsecs.ralf
make[6]: Leaving directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/ c/erc32/testsuites/samples/nsecs'
make[5]: Leaving directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/ c/erc32/testsuites/samples'
make[4]: Leaving directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/ c/erc32/testsuites/samples'
make[4]: Entering directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/ c/erc32/testsuites'
make[4]: Nothing to be done for 'all-am'.
make[4]: Leaving directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/ c/erc32/testsuites'
make[3]: Leaving directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/ c/erc32/testsuites'
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/ c/erc32'
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/c'
make[1]: Entering directory '/home/chris/development/rtems/kernel/erc32'
make[1]: Nothing to be done for 'all-am'.
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32'
5.3.5. Installing A BSP¶
All that remains to be done is to install the kernel. Installing RTEMS copies the API headers and architecture specific libraries to a locaiton under the prefix you provide. You can install any number of BSPs under the same prefix. We recommend you have a separate prefix for different versions of RTEMS. Do not mix versions of RTEMS under the same prefix. Make installs RTEMS with the following command:
$ make install
Making install in tools/build
make[1]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/build'
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/build'
/bin/mkdir -p '/home/chris/development/rtems/5/bin'
/usr/bin/install -c cklength eolstrip packhex unhex rtems-bin2c '/home/chris/development/rtems/5/bin'
/bin/mkdir -p '/home/chris/development/rtems/5/bin'
/usr/bin/install -c install-if-change '/home/chris/development/rtems/5/bin'
make[2]: Nothing to be done for 'install-data-am'.
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/build'
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/build'
Making install in tools/cpu
make[1]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
Making install in generic
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/cpu/generic'
make[3]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/cpu/generic'
make[3]: Nothing to be done for 'install-exec-am'.
make[3]: Nothing to be done for 'install-data-am'.
make[3]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/cpu/generic'
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/cpu/generic'
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
make[3]: Entering directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
make[3]: Nothing to be done for 'install-exec-am'.
make[3]: Nothing to be done for 'install-data-am'.
make[3]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32/tools/cpu'
....
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32/sparc-rtems5/c'
make[1]: Entering directory '/home/chris/development/rtems/kernel/erc32'
make[2]: Entering directory '/home/chris/development/rtems/kernel/erc32'
make[2]: Nothing to be done for 'install-exec-am'.
/bin/mkdir -p '/home/chris/development/rtems/5/make'
/usr/bin/install -c -m 644 /home/chris/development/rtems/kernel/rtems/make/main.cfg /home/chris/development/rtems/kernel/rtems/make/leaf.cfg '/home/chris/development/rtems/5/make'
/bin/mkdir -p '/home/chris/development/rtems/5/share/rtems5/make/Templates'
/usr/bin/install -c -m 644 /home/chris/development/rtems/kernel/rtems/make/Templates/Makefile.dir /home/chris/development/rtems/kernel/rtems/make/Templates/Makefile.leaf /home/chris/development/rtems/kernel/rtems/make/Templates/Makefile.lib '/home/chris/development/rtems/5/share/rtems5/make/Templates'
/bin/mkdir -p '/home/chris/development/rtems/5/make/custom'
/usr/bin/install -c -m 644 /home/chris/development/rtems/kernel/rtems/make/custom/default.cfg '/home/chris/development/rtems/5/make/custom'
make[2]: Leaving directory '/home/chris/development/rtems/kernel/erc32'
make[1]: Leaving directory '/home/chris/development/rtems/kernel/erc32'
5.3.6. Contributing Patches¶
RTEMS welcomes fixes to bugs and new features. The RTEMS Project likes to have bugs fixed against a ticket created on our Developer Site. Please raise a ticket if you have a bug. Any changes that are made can be tracked against the ticket. If you want to add a new a feature please post a message to Developers Mailing List describing what you would like to implement. The RTEMS maintainer will help decide if the feature is in the best interest of the project. Not everything is and the maintainers need to evalulate how much effort it is to maintain the feature. Once accepted into the source tree it becomes the responsibility of the maintainers to keep the feature updated and working.
Changes to the source tree are tracked using git. If you have not made changes and enter the source tree and enter a git status command you will see nothing has changed:
$ cd ../rtems
$ git status
On branch master
Your branch is up-to-date with 'origin/master'.
nothing to commit, working directory clean
We will make a change to the source code. In this example I change the help message to the RTEMS shell’s halt command. Running the same git status command reports:
$ git status
On branch master
Your branch is up-to-date with 'origin/master'.
Changes not staged for commit:
(use "git add <file>..." to update what will be committed)
(use "git checkout -- <file>..." to discard changes in working directory)
modified: cpukit/libmisc/shell/main_halt.c
no changes added to commit (use "git add" and/or "git commit -a")
As an example I have a ticket open and the ticket number is 9876. I commit the change with the follow git command:
$ git commit cpukit/libmisc/shell/main_halt.c
An editor is opened and I enter my commit message. The first line is a title and the following lines form a body. My message is:
shell: Add more help detail to the halt command.
Closes #9876.
# Please enter the commit message for your changes. Lines starting
# with '#' will be ignored, and an empty message aborts the commit.
# Explicit paths specified without -i or -o; assuming --only paths...
#
# Committer: Chris Johns <chrisj@rtems.org>
#
# On branch master
# Your branch is up-to-date with 'origin/master'.
#
# Changes to be committed:
# modified: cpukit/libmisc/shell/main_halt.c
When you save and exit the editor git will report the commit’s status:
$ git commit cpukit/libmisc/shell/main_halt.c
[master 9f44dc9] shell: Add more help detail to the halt command.
1 file changed, 1 insertion(+), 1 deletion(-)
You can either email the patch to Developers Mailing List with the following git command, and it is minus one on the command line:
$ git send-email --to=devel@rtems.org -1
<add output here>
Or you can ask git to create a patch file using:
$ git format-patch -1
0001-shell-Add-more-help-detail-to-the-halt-command.patch
This patch can be attached to a ticket.
5.4. Project Sandboxing¶
Project specific sandboxes let you have a number of projects running in parallel with each project in its own sandbox. You simply have a prefix per project and under that prefix you create a simple yet repeatable structure.
As an example lets say I have a large disk mounted under /bd for Big Disk. As root create a directory called projects and give the directory suitable permissions to be writable by you as a user.
Lets create a project sandbox for my Box Sorter project. First create a project directory called /bd/projects/box-sorter. Under this create rtems and under that create rtems-4.11.0. Under this path you can follow the Releases procedure to build a tool set using the prefix of /bd/projects/box-sorter/rtems/4.11.0. You are free to create your project specific directories under /bd/projects/box-sorter. The top level directories would be:
/bd/projectsProject specific development trees.
/bd/projects/box-sorterBox Sorter project sandbox.
/bd/projects/box-sorter/rtems/4.11.0Project prefix for RTEMS 4.11.0 compiler, debuggers, tools and installed Board Support Package (BSP).
A variation is to use the --without-rtems option with the RSB to not build the BSPs when building the tools and to build RTEMS specifically for each project. This lets you have a production tools installed at a top level on your disk and each project can have a specific and possibly customised version of RTEMS. The top level directories would be:
/bd/rtemsThe top path to production tools.
/bd/rtems/4.11.0Production prefix for RTEMS 4.11.0 compiler, debuggers and tools.
/bd/projectsProject specific development trees.
/bd/projects/box-sorterBox Sorter project sandbox.
/bd/projects/box-sorter/rtemsBox Sorter project’s custom RTEMS kernel source and installed BSP.
A further varation if there is an RTEMS kernel you want to share between projects is it to move this to a top level and share. In this case you will end up with:
/bd/rtemsThe top path to production tools and kernels.
/bd/rtems/4.11.0Production prefix for RTEMS 4.11.0.
/bd/rtems/4.11.0/toolsProduction prefix for RTEMS 4.11.0 compiler, debuggers and tools.
/bd/rtems/4.11.0/bspsProduction prefix for RTEMS 4.11.0 Board Support Packages (BSPs).
/bd/projectsProject specific development trees.
/bd/projects/box-sorterBox Sorter project sandbox.
Finally you can have a single set of production tools and RTEMS BSPs on the disk under /bd/rtems you can share between your projects. The top level directories would be:
/bd/rtemsThe top path to production tools and kernels.
/bd/rtems/4.11.0Production prefix for RTEMS 4.11.0 compiler, debuggers, tools and Board Support Packages (BSPs).
/bd/projectsProject specific development trees.
/bd/projects/box-sorterBox Sorter project sandbox.
The project sandoxing approach allows you move a specific production part into the project’s sandbox to allow you to customise it. This is useful if you are testing new releases. The typical dependency is the order listed above. You can test new RTEMS kernels with production tools but new tools will require you build the kernel with them. Release notes with each release will let know what you need to update.
If the machine is a central project development machine simply replace projects with users and give each user a personal directory.
6. Target Hardware¶
6.1. Targets¶
Target hardware that can run RTEMS is often referred to simply as the target because RTEMS is specifically aimed at that target hardware. An RTEMS executable is statically linked and executes in a single address space on the target hardware. A statically linked executable means the RTEMS Kernel, drivers, third-party packages and application code is linked into a single executable image. A single address space means no virtual memory and no memory protected process address space is running within the RTEMS arena and the RTEMS executive, drivers and application have unprotected access to the whole address space and all hardware.
Target hardware supported by RTEMS has a Board Support Package or BSP. A BSP is a specific instance of an RTEMS architecture that allows the creation of an RTEMS executable. You can view the layering as:
RTEMS targets are grouped by architectures and within an architecture there are a number of Board Support Packages or BPSs. An architecture is a specific class or family of processors and can be large such as ARM or specific such as the NIOS-II or Microblaze.
RTEMS is designed to be ported to new target hardware easily and efficiently.
6.2. Architectures¶
An RTEMS architecture is a class or family of a processor architecture that RTEMS supports. The RTEMS architecture model follows the architecture model of GCC. An architecture in GCC results in a specific RTEMS GCC compiler. This compiler may support a range of processors in the family that may have differences in instructions sets, floating point support or other aspects. RTEMS configures GCC to create separate runtime libraries for each supported instruction set, floating point unit, vector unit, word size (e.g. 32-bit and 64-bit), endianess, code model, ABI, processor errata workarounds, and so on in the architecture. This is termed multilib. Multilibs are chosen automatically by GCC via selecting a specific set of machine options.
You can query the multilibs of a specific RTEMS GCC compiler via the -print-multi-lib option:
$ sparc-rtems5-gcc -print-multi-lib
.;
soft;@msoft-float
v8;@mcpu=v8
leon3;@mcpu=leon3
leon3v7;@mcpu=leon3v7
leon;@mcpu=leon
leon3/gr712rc;@mcpu=leon3@mfix-gr712rc
leon3v7/gr712rc;@mcpu=leon3v7@mfix-gr712rc
leon/ut699;@mcpu=leon@mfix-ut699
leon/at697f;@mcpu=leon@mfix-at697f
soft/v8;@msoft-float@mcpu=v8
soft/leon3;@msoft-float@mcpu=leon3
soft/leon3v7;@msoft-float@mcpu=leon3v7
soft/leon;@msoft-float@mcpu=leon
soft/leon3/gr712rc;@msoft-float@mcpu=leon3@mfix-gr712rc
soft/leon3v7/gr712rc;@msoft-float@mcpu=leon3v7@mfix-gr712rc
soft/leon/ut699;@msoft-float@mcpu=leon@mfix-ut699
soft/leon/at697f;@msoft-float@mcpu=leon@mfix-at697f
Each printed line represents a multilib. The . corresponds to the default multilib. It is used if a set of machine options does not match to a specialized multilib. The string before the ; describes the directory in the GCC installation used for the particular multilib. After the ; the set of machine options for this multilib follows separated by @ characters.
You can figure out the multilib selected by GCC for a set of machine options with the -print-multi-directory option:
$ sparc-rtems5-gcc -print-multi-directory -mcpu=leon3
leon3
It is crucial that the RTEMS BSP, support libraries and the application code are compiled consistently with a compatible set of machine options. Otherwise, in the best case errors during linking will occur or you may end up silently with undefined behaviour which results in sporadic run-time crashes. A wrong set of machine options may result in a running application, however, with degraded performance, e.g. hardware floating point unit is not used by the mathematical library.
For a list of architectures supported by RTEMS please have a look at the sections of the Board Support Packages chapter.
RTEMS executables are statically linked for a specific target therefore a precise and exact match can be made for the hardware that extracts the best possible performance. The compiler supports the variants to the instruction set and RTEMS extends the specialization to specific processors in an architecture. This specialization gives RTEMS a finer resolution of features and capabilities a specific device may offer allowing the kernel, drivers and application to make the most of those resources. The trade off is portability however this is not important because the executable are statically linked for a single target.
Note
RTEMS support dynamically load code through the dlopen interface. Loading code via this interface results in an executable image that is equivalent to statically linked executable of the same code. Dynamic loading is a system level tool for system architects.
6.3. Tiers¶
RTEMS has a tiered structure for architecture and BSPs. It provides:
A way to determine the state of a BSP in RTEMS.
A quaility measure for changes entering the RTEMS source code.
The RTEMS project supports RTEMS Architecture Tiers. Each architecture resided in one of the numbered tiers. The tiers are number 1 to 4 where Tier 1 is the highest tier and Tier 4 is the lowest. Architectures move between tiers based on the level of support and the level of testing that is performed. An architecture requires continual testing and reporting of test results to maintain a tier level. The RTEMS Project’s continuous integration testing program` continually monitors and reports the test results.
The RTEMS Architecture Tier system provides a defined way to determine the state of an architecture in RTEMS. Architectures age and support for them drops off and the RTEMS Project needs a way to determine if an architecture should stay and be supported or depreciated and removed. The tier system also provides users with a clear understanding of the state of an architecture in RTEMS, often useful when deciding on a processor for a new project. It can also let a user know the RTEMS Project needs support to maintain a specific architecture. Access to hardware to perform testing is a large and complex undertaking and the RTEMS Project is always looking for user support and help. If you can help please contact someone and let us know.
The tier structure in RTEMS is support by the Buildbot continuous integration server. Changes to RTEMS are automatically built and tested and the results indicate if a BSP currently meets its tier status. As the RTEMS Project does not own hardware for every BSP, it is critical that users provide test results on hardware of interest.
The rules for Tiers are:
A BSP can only be in one of the following tiers:
Tier
Description
1
The RTEMS Kernel must build without error.
Tests are run on target hardware.
2
The RTEMS Kernel must build without error.
Tests can be run on simulation.
3
The RTEMS Kernel must build without error.
There are no test results.
4
The RTEMS Kernel does not build.
5
The BSP is to be removed after the next release.
An architecuture’s tier is set by the highest BSP tier reached.
The tier level for a BSP is set by the RTEMS Project team. Movement of BSP between tier level requires agreement. The Buildbot results indicate the minimum current tier level.
Changes to RTEMS may result in a BSP not meeting its tier are acceptable if the change is accompanied by an announcement and a plan on how this is to be resolved. Temporary drops in tier are expected and should be brief.
Test results are set on a per BSP basis by the RTEMS Project team. Changes to the test result values requires agreement. The test results are defined as:
Passes
Expected Failures
Expected failures must be explicitly listed. A BSP is required to have a valid test result entry on target hardware to reach tier 1.
7. Board Support Packages¶
A Board Support Package or BSP is the software that glues a specific target or board or piece of hardware to RTEMS so it’s services are available to applications.
RTEMS contains a large number of BSPs for commonly available simulators and target hardware.
You can see the current BSP list in the RTEMS sources by asking RTEMS with:
$ ./rtems-bsps
7.1. aarch64 (AArch64)¶
There are no AArch64 BSPs yet.
7.2. arm (ARM)¶
7.2.1. altera-cyclone-v (Intel Cyclone V)¶
This BSP offers only one variant, the altcycv_devkit. This variant supports the Intel Cyclone V system on chip. The basic hardware initialization is not performed by the BSP. A boot loader with device tree support must be used to start the BSP, e.g. U-Boot.
The BSP is known to run on these boards:
7.2.1.1. Boot via U-Boot¶
The application executable file (ELF file) must be converted to an U-Boot image. Use the following commands:
arm-rtems5-objcopy -O binary app.exe app.bin
gzip -9 -f -c app.bin > app.bin.gz
mkimage -A arm -O linux -T kernel -a 0x00300000 -e 0x00300000 -n RTEMS -d app.bin.gz app.img
Use the following U-Boot commands to boot an application via TFTP download:
tftpboot ${loadaddr} app.img && run loadfdt && bootm ${loadaddr} - ${fdt_addr} ; reset
The loadfdt command may be not defined in your U-Boot environment. Just replace it with the appropriate commands to load the device tree at ${fdt_addr}.
7.2.1.2. Clock Driver¶
The clock driver uses the Cortex-A9 MPCore Global Timer.
7.2.1.3. Console Driver¶
The console driver supports up to two on-chip NS16550 UARTs. The console driver does not configure the pins.
7.2.1.4. I2C Driver¶
There is a legacy I2C driver. It should be converted to the I2C driver framework.
7.2.1.5. Network Interface Driver¶
The network interface driver is provided by the libbsd. It is initialized according to the device tree. It supports checksum offload.
7.2.1.6. MMC/SDCard Driver¶
The MMC/SDCard driver is provided by the libbsd. It is initialized according to the device tree. Pin re-configuration according to the serial clock frequency is not supported. DMA transfers are supported.
7.2.1.7. USB Host Driver¶
The USB host driver is provided by the libbsd. It is initialized according to the device tree. The driver works in polled mode.
7.2.1.8. Caveats¶
The clock and pin configuration support is quite rudimentary and mostly relies on the boot loader.
7.2.2. atsam¶
TODO.
7.2.3. beagle¶
This BSP supports four variants, beagleboardorig, beagleboardxm, beaglebonewhite and beagleboneblack. The basic hardware initialization is not performed by the BSP. A boot loader with device tree support must be used to start the BSP, e.g., U-Boot.
TODO(These drivers are present but not documented yet):
Clock driver.
Network Interface Driver.
SDcard driver.
GPIO Driver.
Console driver.
PWM Driver.
RTC driver.
7.2.3.1. Boot via U-Boot¶
To boot via uboot, the ELF must be converted to a U-Boot image like below:
arm-rtems5-objcopy hello.exe -O binary app.bin
gzip -9 app.bin
mkimage -A arm -O linux -T kernel -a 0x80000000 -e 0x80000000 -n RTEMS -d app.bin.gz rtems-app.img
7.2.3.2. Getting the Device Tree Blob¶
The Device Tree Blob (DTB) is needed to load the device tree while starting up the kernel. We build the dtb from the FreeBSD source matching the commit hash from the libbsd HEAD of freebsd-org. For example if the HEAD is at “19a6ceb89dbacf74697d493e48c388767126d418” Then the right Device Tree Source (DTS) file is: https://github.com/freebsd/freebsd/blob/19a6ceb89dbacf74697d493e48c388767126d418/sys/gnu/dts/arm/am335x-boneblack.dts
Please refer to the Device Tree to know more about building and applying the Device Trees.
7.2.3.3. Writing the uEnv.txt file¶
The uEnv.txt file is needed to set any environment variable before the kernel is loaded. Each line is a u-boot command that the uboot will execute during start up.
Add the following to a file named uEnv.txt:
setenv bootdelay 5
uenvcmd=run boot
boot=fatload mmc 0 0x80800000 rtems-app.img ; fatload mmc 0 0x88000000 am335x-boneblack.dtb ; bootm 0x80800000 - 0x88000000
7.2.3.4. I2C Driver¶
The Beagle has the i2c-0 device registered at initialization. For registering i2c-1 and i2c-2 bbb_register_i2c_1() and bbb_register_i2c_2() wrapper functions are respectively used.
For registering an I2C device with a custom path (say /dev/i2c-3) the function am335x_i2c_bus_register() has to be used.
The function prototype is given below:
int am335x_i2c_bus_register(
const char *bus_path,
uintptr_t register_base,
uint32_t input_clock,
rtems_vector_number irq
);
7.2.3.5. SPI Driver¶
The SPI device /dev/spi-0 can be registered with bbb_register_spi_0()
For registering with a custom path, the bsp_register_spi() can be used.
The function prototype is given below:
rtems_status_code bsp_register_spi(
const char *bus_path,
uintptr_t register_base,
rtems_vector_number irq
);
7.2.4. csb336¶
TODO.
7.2.5. edb7312¶
TODO.
7.2.6. gumstix¶
TODO.
7.2.7. imx (NXP i.MX)¶
This BSP offers only one variant, the imx7. This variant supports the i.MX 7Dual processor and the i.MX 6UL/ULL processor family (with slightly different clock settings). The basic hardware initialization is not performed by the BSP. A boot loader with device tree support must be used to start the BSP, e.g. U-Boot or barebox.
7.2.7.1. Build Configuration Options¶
The following options are available at the configure command line.
BSP_PRESS_KEY_FOR_RESETIf defined to a non-zero value, then print a message and wait until pressed before resetting board when application terminates.
BSP_RESET_BOARD_AT_EXITIf defined to a non-zero value, then reset the board when the application terminates.
BSP_PRINT_EXCEPTION_CONTEXTIf defined to a non-zero value, then print the exception context when an unexpected exception occurs.
BSP_FDT_BLOB_SIZE_MAXThe maximum size of the device tree blob in bytes (default is 262144).
CONSOLE_USE_INTERRUPTSUse interrupt driven mode for console devices (enabled by default).
IMX_CCM_IPG_HZThe IPG clock frequency in Hz (default is 67500000).
IMX_CCM_UART_HZThe UART clock frequency in Hz (default is 24000000).
IMX_CCM_ECSPI_HZThe ECSPI clock frequency in Hz (default is 67500000).
IMX_CCM_AHB_HZThe AHB clock frequency in Hz (default is 135000000).
IMX_CCM_SDHCI_HZThe SDHCI clock frequency in Hz (default is 196363000).
7.2.7.2. Clock settings for different boards¶
The default clock settings are targeted for an i.MX 7Dual evaluation board using U-Boot. Some other boards with different boot loaders need different settings:
Phytec phyCORE-i.MX 6ULL (system on module) with MCIMX6Y2CVM08AB and a barebox bootloader (version
2019.01.0-bsp-yocto-i.mx6ul-pd19.1.0):
IMX_CCM_IPG_HZ=66000000
IMX_CCM_UART_HZ=80000000
IMX_CCM_AHB_HZ=66000000
IMX_CCM_SDHCI_HZ=198000000
IMX_CCM_ECSPI_HZ=60000000
7.2.7.3. Boot via U-Boot¶
The application executable file (ELF file) must be converted to an U-Boot image. Use the following commands:
arm-rtems5-objcopy -O binary app.exe app.bin
gzip -9 -f -c app.bin > app.bin.gz
mkimage -A arm -O linux -T kernel -a 0x80200000 -e 0x80200000 -n RTEMS -d app.bin.gz app.img
Use the following U-Boot commands to boot an application via TFTP download:
tftpboot ${loadaddr} app.img && run loadfdt && bootm ${loadaddr} - ${fdt_addr} ; reset
The loadfdt command may be not defined in your U-Boot environment. Just replace it with the appropriate commands to load the device tree at ${fdt_addr}.
7.2.7.4. Boot via barebox¶
The same command like for U-Boot can be used to generate an application image. In a default configuration barebox expects an fdt image called oftree and a kernel image called zImage in the root folder of the bootable medium (e.g. an SD card).
7.2.7.5. Clock Driver¶
The clock driver uses the ARMv7-AR Generic Timer.
7.2.7.6. Console Driver¶
The console driver supports up to seven on-chip UARTs. They are initialized according to the device tree. The console driver does not configure the pins.
7.2.7.7. I2C Driver¶
I2C drivers are registered by the i2c_bus_register_imx() function. The I2C driver does not configure the pins.
#include <assert.h>
#include <bsp.h>
void i2c_init(void)
{
int rv;
rv = i2c_bus_register_imx("/dev/i2c-0", "i2c0");
assert(rv == 0);
}
7.2.7.8. SPI Driver¶
SPI drivers are registered by the spi_bus_register_imx() function. The SPI driver configures the pins according to the pinctrl-0 device tree property. SPI transfers with a continuous chip select are limited by the FIFO size of 64 bytes. The driver has no DMA support.
#include <assert.h>
#include <bsp.h>
void spi_init(void)
{
int rv;
rv = spi_bus_register_imx("/dev/spi-0", "spi0");
assert(rv == 0);
}
7.2.7.9. Network Interface Driver¶
The network interface driver is provided by the libbsd. It is initialized according to the device tree. It supports checksum offload and interrupt coalescing. IPv6 transmit checksum offload is not implemented. The interrupt coalescing uses the MII/GMII clocks and can be controlled by the following system controls:
dev.ffec.<unit>.int_coal.rx_time
dev.ffec.<unit>.int_coal.rx_count
dev.ffec.<unit>.int_coal.tx_time
dev.ffec.<unit>.int_coal.tx_count
A value of zero for the time or count disables the interrupt coalescing in the corresponding direction.
On the Phytec phyCORE-i.MX 6ULL modules the PHY needs an initialization for the clock. A special PHY driver handles that (ksz8091rnb). Add it to your libbsd config like that:
#define RTEMS_BSD_CONFIG_BSP_CONFIG
#define RTEMS_BSD_CONFIG_INIT
SYSINIT_DRIVER_REFERENCE(ksz8091rnb, miibus);
#include <machine/rtems-bsd-config.h>
7.2.7.10. MMC/SDCard Driver¶
The MMC/SDCard driver (uSDHC module) is provided by the libbsd. It is initialized according to the device tree. Pin re-configuration according to the serial clock frequency is not supported. Data transfers are extremely slow. This is probably due to the missing DMA support.
7.2.7.11. Caveats¶
The clock and pin configuration support is quite rudimentary and mostly relies on the boot loader. For a pin group configuration see imx_iomux_configure_pins(). There is no power management support.
7.2.8. lm3s69xx¶
TODO.
7.2.9. lpc176x¶
TODO.
7.2.10. imx (NXP i.MX)¶
This BSP offers only one variant, the imx7. This variant supports the i.MX 7Dual processor and the i.MX 6UL/ULL processor family (with slightly different clock settings). The basic hardware initialization is not performed by the BSP. A boot loader with device tree support must be used to start the BSP, e.g. U-Boot or barebox.
7.2.10.1. Build Configuration Options¶
The following options are available at the configure command line.
BSP_PRESS_KEY_FOR_RESETIf defined to a non-zero value, then print a message and wait until pressed before resetting board when application terminates.
BSP_RESET_BOARD_AT_EXITIf defined to a non-zero value, then reset the board when the application terminates.
BSP_PRINT_EXCEPTION_CONTEXTIf defined to a non-zero value, then print the exception context when an unexpected exception occurs.
BSP_FDT_BLOB_SIZE_MAXThe maximum size of the device tree blob in bytes (default is 262144).
CONSOLE_USE_INTERRUPTSUse interrupt driven mode for console devices (enabled by default).
IMX_CCM_IPG_HZThe IPG clock frequency in Hz (default is 67500000).
IMX_CCM_UART_HZThe UART clock frequency in Hz (default is 24000000).
IMX_CCM_ECSPI_HZThe ECSPI clock frequency in Hz (default is 67500000).
IMX_CCM_AHB_HZThe AHB clock frequency in Hz (default is 135000000).
IMX_CCM_SDHCI_HZThe SDHCI clock frequency in Hz (default is 196363000).
7.2.10.2. Clock settings for different boards¶
The default clock settings are targeted for an i.MX 7Dual evaluation board using U-Boot. Some other boards with different boot loaders need different settings:
Phytec phyCORE-i.MX 6ULL (system on module) with MCIMX6Y2CVM08AB and a barebox bootloader (version
2019.01.0-bsp-yocto-i.mx6ul-pd19.1.0):
IMX_CCM_IPG_HZ=66000000
IMX_CCM_UART_HZ=80000000
IMX_CCM_AHB_HZ=66000000
IMX_CCM_SDHCI_HZ=198000000
IMX_CCM_ECSPI_HZ=60000000
7.2.10.3. Boot via U-Boot¶
The application executable file (ELF file) must be converted to an U-Boot image. Use the following commands:
arm-rtems5-objcopy -O binary app.exe app.bin
gzip -9 -f -c app.bin > app.bin.gz
mkimage -A arm -O linux -T kernel -a 0x80200000 -e 0x80200000 -n RTEMS -d app.bin.gz app.img
Use the following U-Boot commands to boot an application via TFTP download:
tftpboot ${loadaddr} app.img && run loadfdt && bootm ${loadaddr} - ${fdt_addr} ; reset
The loadfdt command may be not defined in your U-Boot environment. Just replace it with the appropriate commands to load the device tree at ${fdt_addr}.
7.2.10.4. Boot via barebox¶
The same command like for U-Boot can be used to generate an application image. In a default configuration barebox expects an fdt image called oftree and a kernel image called zImage in the root folder of the bootable medium (e.g. an SD card).
7.2.10.5. Clock Driver¶
The clock driver uses the ARMv7-AR Generic Timer.
7.2.10.6. Console Driver¶
The console driver supports up to seven on-chip UARTs. They are initialized according to the device tree. The console driver does not configure the pins.
7.2.10.7. I2C Driver¶
I2C drivers are registered by the i2c_bus_register_imx() function. The I2C driver does not configure the pins.
#include <assert.h>
#include <bsp.h>
void i2c_init(void)
{
int rv;
rv = i2c_bus_register_imx("/dev/i2c-0", "i2c0");
assert(rv == 0);
}
7.2.10.8. SPI Driver¶
SPI drivers are registered by the spi_bus_register_imx() function. The SPI driver configures the pins according to the pinctrl-0 device tree property. SPI transfers with a continuous chip select are limited by the FIFO size of 64 bytes. The driver has no DMA support.
#include <assert.h>
#include <bsp.h>
void spi_init(void)
{
int rv;
rv = spi_bus_register_imx("/dev/spi-0", "spi0");
assert(rv == 0);
}
7.2.10.9. Network Interface Driver¶
The network interface driver is provided by the libbsd. It is initialized according to the device tree. It supports checksum offload and interrupt coalescing. IPv6 transmit checksum offload is not implemented. The interrupt coalescing uses the MII/GMII clocks and can be controlled by the following system controls:
dev.ffec.<unit>.int_coal.rx_time
dev.ffec.<unit>.int_coal.rx_count
dev.ffec.<unit>.int_coal.tx_time
dev.ffec.<unit>.int_coal.tx_count
A value of zero for the time or count disables the interrupt coalescing in the corresponding direction.
On the Phytec phyCORE-i.MX 6ULL modules the PHY needs an initialization for the clock. A special PHY driver handles that (ksz8091rnb). Add it to your libbsd config like that:
#define RTEMS_BSD_CONFIG_BSP_CONFIG
#define RTEMS_BSD_CONFIG_INIT
SYSINIT_DRIVER_REFERENCE(ksz8091rnb, miibus);
#include <machine/rtems-bsd-config.h>
7.2.10.10. MMC/SDCard Driver¶
The MMC/SDCard driver (uSDHC module) is provided by the libbsd. It is initialized according to the device tree. Pin re-configuration according to the serial clock frequency is not supported. Data transfers are extremely slow. This is probably due to the missing DMA support.
7.2.10.11. Caveats¶
The clock and pin configuration support is quite rudimentary and mostly relies on the boot loader. For a pin group configuration see imx_iomux_configure_pins(). There is no power management support.
7.2.11. raspberrypi¶
This BSP supports Raspberry Pi 1 and Raspberry Pi 2 currently. The support for Raspberry Pi 3 is work under progress. The default bootloader on the Raspberry Pi which is used to boot Raspbian or other OS can be also used to boot RTEMS. U-boot can also be used.
7.2.11.1. Setup SD card¶
The Raspberry Pis have an unconventional booting mechanism. The GPU boots first, initializes itself, runs the bootloader and starts the CPU. The bootloader looks for a kernel image, by default the kernel images must have a name of the form kernel*.img but this can be changed by adding kernel=<img_name> to config.txt.
You must provide the required files for the GPU to proceed. These files can be downloaded from the Raspberry Pi Firmware Repository. You can remove the kernel*.img files if you want too, but don’t touch the other files.
Copy these files in to a SD card with FAT filesystem.
7.2.11.2. Kernel image¶
The following steps show how to run hello.exe on a Raspberry Pi 2. The same instructions can be applied to Raspberry Pi 1 also. Other executables can be processed in a similar way.
To create the kernel image:
$ arm-rtems5-objcopy -Obinary hello.exe kernel.img
Copy the kernel image to the SD card.
Make sure you have these lines below, in your config.txt.
enable_uart=1
kernel_address=0x200000
kernel=kernel.img
7.2.11.3. Testing using QEMU¶
QEMU can be built using RSB. Navigate to <SOURCE_BUILDER_DIR>/rtems and run this command.
$ ../source-builder/sb-set-builder --prefix=<TOOLCHAIN_DIR> devel/qemu4.bset
Note: Replace <SOURCE_BUILDER_DIR> and <TOOLCHAIN_DIR> with the correct path of the directories. For example, if you used quick-start section as your reference, these two will be $HOME/quick-start/src/rsb and $HOME/quick-start/rtems/5 respectively,
QEMU along with GDB can be used for debugging, but it only supports Raspberry Pi 2 and the emulation is also incomplete. So some of the features might not work as expected.
Make sure your version of QEMU is newer than v2.6, because older ones don’t support Raspberry Pis.
$ qemu-system-arm -M raspi2 -m 1G -kernel hello.exe -serial mon:stdio -nographic -S -s
This starts QEMU and creates a socket at port localhost:1234 for GDB to connect.
The Device Tree Blob (DTB) is needed to load the device tree while starting up the kernel. The BSP uses information from this file to initialize the drivers.
Make sure you pass in the correct DTB file. There are currently two version of DTB for the Raspberry Pi 2 bcm2709-rpi-2-b.dtb and bcm2710-rpi-2-b.dtb. The bcm2709-rpi-2-b.dtb is for Raspberry Pi 2 Model B and bcm2710-rpi-2-b.dtb is for Raspberry Pi 2 Model B v1.2
We need to pass in the DTB file to GDB before running the example.
In a new terminal, run GDB using
$ arm-rtems5-gdb hello.exe
This will open GDB and will load the symbol table from hello.exe. Issue the following commands in the GDB prompt.
(gdb) tar remote:1234
(gdb) load
(gdb) restore bcm2709-rpi-2-b.dtb binary 0x2ef00000
(gdb) set $r2 = 0x2ef00000
This will connect GDB to QEMU and will load the DTB file and the application.
(gdb) continue
The continue command will run the executable.
Note: Add set scheduler-locking on in GDB if you have any issues running the examples.
7.2.12. realview-pbx-a9¶
TODO.
7.2.13. rtl22xx¶
TODO.
7.2.14. smdk2410¶
TODO.
7.2.15. tms570¶
TODO.
7.2.16. xen (Xen on ARM)¶
This BSP enables RTEMS to run as a guest virtual machine in AArch32 mode on the Xen hypervisor for ARMv8 platforms.
Drivers:
Clock: ARMv7-AR Generic Timer
Console: Virtual PL011 device
Interrupt: GICv2
BSP variants:
xen_virtual: completely virtualized guest with no dependence on underlying hardware
The xen_virtual BSP variant relies on standard Xen features, so it should be able to run on any ARMv8 platform.
Xen allows for the passthrough of hardware peripherals to guest virtual machines. BSPs could be added in the future targeting specific hardware platforms and include the appropriate drivers.
This BSP was tested with Xen running on the Xilinx Zynq UltraScale+ MPSoC using the Virtuosity distribution maintained by DornerWorks.
7.2.16.1. Execution¶
This procedure describes how to run the ticker sample application that should already be built with the BSP.
The ticker.exe file can be found in the BSP build tree at:
arm-rtems5/c/xen_virtual/testsuites/samples/ticker.exe
The ticker.exe elf file must be translated to a binary format.
arm-rtems5-objcopy -O binary ticker.exe ticker.bin
Then place the ticker.bin file on the dom0 filesystem.
From the dom0 console, create a configuration file ticker.cfg with the following contents.
name = "ticker"1G
kernel = "ticker.bin"
memory = 8
vcpus = 1
gic_version = "v2"
vuart = "sbsa_uart"
Create the virtual machine and attach to the virtual vpl011 console.
xl create ticker.cfg && xl console -t vuart ticker
To return back to the dom0 console, press both Ctrl and ] on your keyboard.
7.2.16.2. Additional Information¶
7.2.17. xilinx-zynq¶
TODO.
7.2.18. xilinx-zynqmp¶
This BSP supports the Xilinx Zynq UltraScale+ MPSoC platform.
7.7. m68k (Motorola 68000 / ColdFire)¶
7.7.1. av5282¶
TODO.
7.7.2. csb360¶
TODO.
7.7.3. gen68340¶
TODO.
7.7.4. gen68360¶
TODO.
7.7.5. genmcf548x¶
TODO.
7.7.6. mcf5206elite¶
TODO.
7.7.7. mcf52235¶
TODO.
7.7.8. mcf5225x¶
TODO.
7.7.9. mcf5235¶
TODO.
7.7.10. mcf5329¶
7.7.10.1. Overview¶
This BSP is heavily based on the MCF5235 BSP. The MCF5329EVB is a Motorola evaluation board (Zoom) with a LogicPD MCF5329-10 SODIMM-144 card. The development kit features the MCF5329 based Fire Engine, as well as a plug-in system-on-module containing 32 MB of DDR-SDRAM. The board also includes 2 MB of boot flash, 16 MB of NAND flash, a core frequency of 240MHz, an onboard 800x600 LCD controller, FEC, USB, uarts, CAN bus, QSPI, I2C, and 10/100 Ethernet.
You can find the link to MCF5329 Reference Manual below:
7.7.11. mrm332¶
TODO.
7.7.12. mvme147¶
TODO.
7.7.13. mvme147s¶
TODO.
7.7.14. mvme162¶
7.7.14.1. Overview¶
The MVME162 family provides OEMs and solution developers an ideal platform for embedded monitoring and control apllications it allows an OEM to minimize engineering expenses while integrating value-added hardware and software applications onto an off-the-shelf product. In order to provide the wide range of solutions, the MVME162 allows a variety of MPU, memory, and interface options such as floating-point, Ethernet, SCSI, and VME. The result is a variation of the MVME162 which most closely fits the application requirement.
There are a large number of model variations on this board. This was the first user submitted BSP and continues to be a fairly popular simply because at one point it was the highest selling VMEBus board of all time.
7.7.14.2. Board Setup¶
We will setup the RTEMS Lab Board initally to proceed further for the setup of TFTP transfer.
The env settings are:
MPU Clock Speed =25Mhz
162-Bug>env
Bug or System environment [B/S] = B?
Field Service Menu Enable [Y/N] = N?
Remote Start Method Switch [G/M/B/N] = B?
Probe System for Supported I/O Controllers [Y/N] = Y?
Negate VMEbus SYSFAIL* Always [Y/N] = N?
Local SCSI Bus Reset on Debugger Startup [Y/N] = N?
Local SCSI Bus Negotiations Type [A/S/N] = A?
Industry Pack Reset on Debugger Startup [Y/N] = Y?
Ignore CFGA Block on a Hard Disk Boot [Y/N] = Y?
Auto Boot Enable [Y/N] = N?
Auto Boot at power-up only [Y/N] = Y?
Auto Boot Controller LUN = 00?
Auto Boot Device LUN = 00?
Auto Boot Abort Delay = 15?
Auto Boot Default String [NULL for a empty string] = ?
ROM Boot Enable [Y/N] = N?
ROM Boot at power-up only [Y/N] = Y?
ROM Boot Enable search of VMEbus [Y/N] = N?
ROM Boot Abort Delay = 0?
ROM Boot Direct Starting Address = FF800000?
ROM Boot Direct Ending Address = FFDFFFFC?
Network Auto Boot Enable [Y/N] = N?
Network Auto Boot at power-up only [Y/N] = Y?
Network Auto Boot Controller LUN = 00?
Network Auto Boot Device LUN = 00?
Network Auto Boot Abort Delay = 5?
Network Auto Boot Configuration Parameters Pointer (NVRAM) = FFE0FF00?
Memory Search Starting Address = 00000000?
Memory Search Ending Address = 01000000?
Memory Search Increment Size = 00010000?
Memory Search Delay Enable [Y/N] = N?
Memory Search Delay Address = FFFFD20F?
Memory Size Enable [Y/N] = Y?
Memory Size Starting Address = 00000000?
Memory Size Ending Address = 01000000?
Base Address of Dynamic Memory = 00000000?
Size of Parity Memory = 00000000?
Size of ECC Memory Board #0 = 01000000?
Size of ECC Memory Board #1 = 00000000?
Base Address of Static Memory = FFE00000?
Size of Static Memory = 00020000?
Slave Enable #1 [Y/N] = Y?
Slave Starting Address #1 = 00000000?
Slave Ending Address #1 = 00FFFFFF?
Slave Address Translation Address #1 = 00000000?
Slave Address Translation Select #1 = 00000000?
Slave Control #1 = 03FF?
Slave Enable #2 [Y/N] = N?
Slave Starting Address #2 = 00000000?
Slave Ending Address #2 = 00000000?
Slave Address Translation Address #2 = 00000000?
Slave Address Translation Select #2 = 00000000?
Slave Control #2 = 0000?
Master Enable #1 [Y/N] = Y?
Master Starting Address #1 = 01000000?
Master Ending Address #1 = EFFFFFFF?
Master Control #1 = 0D?
Master Enable #2 [Y/N] = N?
Master Starting Address #2 = 00000000?
Master Ending Address #2 = 00000000?
Master Control #2 = 00?
Master Enable #3 [Y/N] = N?
Master Starting Address #3 = 00000000?
Master Ending Address #3 = 00000000?
Master Control #3 = 00?
Master Enable #4 [Y/N] = N?
Master Starting Address #4 = 00000000?
Master Ending Address #4 = 00000000?
Master Address Translation Address #4 = 00000000?
Master Address Translation Select #4 = 00000000?
Master Control #4 = 00?
Short I/O (VMEbus A16) Enable [Y/N] = Y?
Short I/O (VMEbus A16) Control = 01?
F-Page (VMEbus A24) Enable [Y/N] = Y?
F-Page (VMEbus A24) Control = 02?
ROM Access Time Code = 03?
FLASH Access Time Code = 02?
MCC Vector Base = 05?
VMEC2 Vector Base #1 = 06?
VMEC2 Vector Base #2 = 07?
VMEC2 GCSR Group Base Address = D2?
VMEC2 GCSR Board Base Address = 00?
VMEbus Global Time Out Code = 01?
Local Bus Time Out Code = 02?
VMEbus Access Time Out Code = 02?
IP A Base Address = 00000000?
IP B Base Address = 00000000?
IP C Base Address = 00000000?
IP D Base Address = 00000000?
IP D/C/B/A Memory Size = 00000000?
IP D/C/B/A General Control = 00000000?
IP D/C/B/A Interrupt 0 Control = 00000000?
IP D/C/B/A Interrupt 1 Control = 00000000?
To setup the Server/Client IP Addresses for the TFTP Transfer, we will use the NIOT command. NIOT (Network I/O Teach) is a 162-Bug’s debugger command commonly used to setup the Server/Client IP Addresses for the TFTP Transfer.
The NIOT command goes something like this:
162-Bug>niot
Controller LUN =00?
Device LUN =00?
Node Control Memory Address =FFE10000?
Client IP Address =192.168.1.245?
Server IP Address =192.168.1.92?
Subnet IP Address Mask =255.255.255.0?
Broadcast IP Address =192.168.1.255?
Gateway IP Address =0.0.0.0?
Boot File Name ("NULL" for None) =/mvme162.img?
Argument File Name ("NULL" for None) =?
Boot File Load Address =00020000?
Boot File Execution Address =00020000?
Boot File Execution Delay =00000000?
Boot File Length =00000000?
Boot File Byte Offset =00000000?
BOOTP/RARP Request Retry =00?
TFTP/ARP Request Retry =00?
Trace Character Buffer Address =00000000?
BOOTP/RARP Request Control: Always/When-Needed (A/W)=A?
BOOTP/RARP Reply Update Control: Yes/No (Y/N) =Y?
7.7.14.3. Downloading and Executing¶
Download from the TFTP server using the 162-Bug’s “NBO” (Network Boot Operating System) command:
162-Bug>nbo
Network Booting from: VME162, Controller 0, Device 0
Loading: /mvme162.img
Client IP Address = 192.168.1.245
Server IP Address = 192.168.1.92
Gateway IP Address = 0.0.0.0
Subnet IP Address Mask = 255.255.255.0
Boot File Name = /mvme162.img
Argument File Name =
Network Boot File load in progress... To abort hit <BREAK>
Bytes Received =&356528, Bytes Loaded =&356528
Bytes/Second =&89132, Elapsed Time =4 Second(s)
The program will automatically run when download is complete.
7.7.15. mvme167¶
TODO.
7.7.16. uC5282¶
TODO.
7.8. microblaze (Microblaze)¶
There are no Microblaze BSPs yet.
7.9. mips (MIPS)¶
7.9.1. csb350¶
TODO.
7.9.2. hurricane¶
TODO.
7.9.3. jmr3904¶
TODO.
7.9.4. malta¶
TODO.
7.9.5. rbtx4925¶
TODO.
7.9.6. rbtx4938¶
TODO.
7.13. powerpc (PowerPC)¶
7.13.1. beatnik¶
TODO.
7.13.2. gen5200¶
TODO.
7.13.3. gen83xx¶
TODO.
7.13.4. haleakala¶
TODO.
7.13.5. motorola_powerpc¶
7.13.5.1. Boot Image Generation¶
The application executable file (ELF file) must be converted to a boot image. Use the following commands:
powerpc-rtems5-objcopy -O binary -R .comment -S ticker.exe rtems
gzip -9 -f rtems
powerpc-rtems5-ld -o ticker.boot bootloader.o --just-symbols=ticker.exe -b binary rtems.gz -T ppcboot.lds -no-warn-mismatch
powerpc-rtems5-objcopy -O binary ticker.boot ticker.bin
7.13.6. mpc55xxevb¶
TODO.
7.13.7. mpc8260ads¶
TODO.
7.13.8. mvme3100¶
TODO.
7.13.9. mvme5500¶
TODO.
7.13.10. psim¶
TODO.
7.13.11. qemuppc¶
TODO.
7.13.12. qoriq (QorIQ)¶
The BSP for the QorIQ chip family offers three variants. The qoriq_e500 variant supports the P-series chips such as P1020, P2010 and P2020. The qoriq_e6500_32 (32-bit ISA) and qoriq_e6500_64 (64-bit ISA) variants support the T-series chips such as T2080 and T4240. The basic hardware initialization is not performed by the BSP. A boot loader with device tree support must be used to start the BSP, e.g. U-Boot.
The BSP is known to run on these boards:
NXP P1020RDB
MicroSys miriac MPX2020 (System on Module)
Artesyn MVME2500 (VME64x SBC)
NXP T2080RDB
NXP T4240RDB
MEN G52A (CompactPCI Serial)
The qoriq_core_0 and qoriq_core_1 variants should be used with care. They are inteded for a RTEMS_MULTIPROCESSING configuration on the P1020.
7.13.12.1. Boot via U-Boot¶
The application executable file (ELF file) must be converted to an U-Boot image. Use the following commands:
powerpc-rtems5-objcopy -O binary app.exe app.bin
gzip -9 -f -c app.bin > app.bin.gz
mkimage -A ppc -O linux -T kernel -a 0x4000 -e 0x4000 -n RTEMS -d app.bin.gz app.img
Use the following U-Boot commands to boot an application via TFTP download:
tftpboot ${loadaddr} app.img && run loadfdt && bootm ${loadaddr} - ${fdt_addr} ; reset
7.13.12.2. Clock Driver¶
The clock driver uses two MPIC global timer (QORIQ_CLOCK_TIMER and QORIQ_CLOCK_TIMECOUNTER). In case QORIQ_IS_HYPERVISOR_GUEST is defined, then the PowerPC decrementer is used.
7.13.12.3. Console Driver¶
The console driver supports the on-chip NS16550 compatible UARTs. In case QORIQ_IS_HYPERVISOR_GUEST is defined, then the EPAPR byte channel is used for the console device.
7.13.12.4. Network Interface Driver¶
The network interface driver is provided by the libbsd. The DPAA is supported including 10Gbit/s Ethernet.
7.13.12.5. Topaz Hypervisor Guest¶
For a Topaz hypervisor guest configuration use:
../configure --enable-rtemsbsp=qoriq_e6500_32 \
QORIQ_IS_HYPERVISOR_GUEST=1 \
QORIQ_UART_0_ENABLE=0 \
QORIQ_UART_1_ENABLE=0 \
QORIQ_TLB1_ENTRY_COUNT=16
You may have to adjust the linker command file according to your partition configuration.
7.13.13. ss555¶
TODO.
7.13.14. t32mppc¶
TODO.
7.13.15. tqm8xx¶
TODO.
7.13.16. virtex¶
TODO.
7.13.17. virtex4¶
TODO.
7.13.18. virtex5¶
TODO.
7.14. riscv (RISC-V)¶
7.14.1. riscv¶
This BSP offers 13 variants:
rv32i
rv32iac
rv32im
rv32imac
rv32imafc
rv32imafd
rv32imafdc
rv64imac
rv64imac_medany
rv64imafd
rv64imafd_medany
rv64imafdc
rv64imafdc_medany
frdme310arty
Each variant corresponds to a GCC multilib. A particular variant reflects an ISA with ABI and code model choice.
The basic hardware initialization is not performed by the BSP. A boot loader with device tree support must be used to start the BSP, e.g. BBL. The BSP must be started im machine mode.
The reference platform for this BSP is the Qemu virt machine.
7.14.1.1. Build Configuration Options¶
The following options are available at the configure command line.
BSP_PRESS_KEY_FOR_RESETIf defined to a non-zero value, then print a message and wait until pressed before resetting board when application terminates.
BSP_RESET_BOARD_AT_EXITIf defined to a non-zero value, then reset the board when the application terminates.
BSP_PRINT_EXCEPTION_CONTEXTIf defined to a non-zero value, then print the exception context when an unexpected exception occurs.
BSP_FDT_BLOB_SIZE_MAXThe maximum size of the device tree blob in bytes (default is 65536).
BSP_CONSOLE_BAUDThe default baud for console driver devices (default 115200).
RISCV_MAXIMUM_EXTERNAL_INTERRUPTSThe maximum number of external interrupts supported by the BSP (default 64).
RISCV_ENABLE_HTIF_SUPPORTEnables the HTIF support if defined to a non-zero value, otherwise it is disabled (disabled by default).
RISCV_CONSOLE_MAX_NS16550_DEVICESThe maximum number of NS16550 devices supported by the console driver (2 by default).
RISCV_RAM_REGION_BEGINThe begin of the RAM region for linker command file (default is 0x70000000 for 64-bit with -mcmodel=medlow and 0x80000000 for all other).
RISCV_RAM_REGION_SIZEThe size of the RAM region for linker command file (default 64MiB).
RISCV_ENABLE_FRDME310ARTY_SUPPORTEnables support sifive Freedom E310 Arty board if defined to a non-zero value,otherwise it is disabled (disabled by default)
7.14.1.2. Interrupt Controller¶
Exactly one Core Local Interruptor (CLINT) and exactly one Platform-Level Interrupt Controller (PLIC) are supported. The maximum number of external interrupts supported by the BSP is defined by the RISCV_MAXIMUM_EXTERNAL_INTERRUPTS BSP option.
7.14.1.3. Clock Driver¶
The clock driver uses the CLINT timer.
7.14.1.4. Console Driver¶
The console driver supports devices compatible to
“ucb,htif0” (depending on the
RISCV_ENABLE_HTIF_SUPPORTBSP option),“ns16550a” (see
RISCV_CONSOLE_MAX_NS16550_DEVICESBSP option), and“ns16750” (see
RISCV_CONSOLE_MAX_NS16550_DEVICESBSP option).“sifive,uart0” (see
RISCV_ENABLE_FRDME310ARTY_SUPPORTBSP option).
They are initialized according to the device tree. The console driver does not configure the pins or peripheral clocks. The console device is selected according to the device tree “/chosen/stdout-path” property value.
7.15. sh (SuperH)¶
7.15.1. gensh1¶
TODO.
7.15.2. gensh2¶
TODO.
7.15.3. gensh4¶
TODO.
7.15.4. shsim¶
TODO.
7.19. x86_64¶
7.19.1. amd64¶
This BSP offers only one variant, amd64. The BSP can run on UEFI-capable systems by using FreeBSD’s bootloader, which then loads the RTEMS executable (an ELF image).
Currently only the console driver and context initialization and switching are functional (to a bare minimum), but this is enough to run the hello.exe sample in the RTEMS testsuite.
7.19.1.1. Build Configuration Options¶
There are no options available to configure at build time, at the moment.
7.19.1.2. Testing with QEMU¶
To test with QEMU, we need to:
Build / install QEMU (most distributions should have it available on the package manager).
Build UEFI firmware that QEMU can use to simulate an x86-64 system capable of booting a UEFI-aware kernel, through the
--biosflag.
7.19.1.2.1. Building TianoCore’s UEFI firmware, OVMF¶
Complete detailed instructions are available at TianoCore’s Github’s wiki.
Quick instructions (which may fall out of date) are:
$ git clone git://github.com/tianocore/edk2.git
$ cd edk2
$ make -C BaseTools
$ . edksetup.sh
Then edit Conf/target.txt to set:
ACTIVE_PLATFORM = OvmfPkg/OvmfPkgX64.dsc
TARGET = DEBUG
TARGET_ARCH = X64
# You can use GCC46 as well, if you'd prefer
TOOL_CHAIN_TAG = GCC5
Then run build in the edk2 directory - the output should list the location of the OVMF.fd file, which can be used with QEMU to boot into a UEFI shell.
You can find the OVMF.fd file like this as well in the edk2 directory:
$ find . -name "*.fd"
./Build/OvmfX64/DEBUG_GCC5/FV/MEMFD.fd
./Build/OvmfX64/DEBUG_GCC5/FV/OVMF.fd # the file we're looking for
./Build/OvmfX64/DEBUG_GCC5/FV/OVMF_CODE.fd
./Build/OvmfX64/DEBUG_GCC5/FV/OVMF_VARS.fd
7.19.1.3. Boot RTEMS via FreeBSD’s bootloader¶
The RTEMS executable produced (an ELF file) needs to be placed in the FreeBSD’s /boot/kernel/kernel’s place.
To do that, we first need a hard-disk image with FreeBSD installed on it. Download FreeBSD’s installer “memstick” image for amd64 and then run the following commands, replacing paths as appropriate.
$ qemu-img create freebsd.img 8G
$ OVMF_LOCATION=/path/to/ovmf/OVMF.fd
$ FREEBSD_MEMSTICK=/path/to/FreeBSD-11.2-amd64-memstick.img
$ qemu-system-x86_64 -m 1024 -serial stdio --bios $OVMF_LOCATION \
-drive format=raw,file=freebsd.img \
-drive format=raw,file=$FREEBSD_MEMSTICK
The first time you do this, continue through and install FreeBSD. FreeBSD’s installation guide may prove useful if required.
Once installed, build your RTEMS executable (an ELF file), for eg. hello.exe. We need to transfer this executable into freebsd.img’s filesystem, at either /boot/kernel/kernel or /boot/kernel.old/kernel (or elsewhere, if you don’t mind user FreeBSD’s loader’s prompt to boot your custom kernel).
If your host system supports mounting UFS filesystems as read-write (eg. FreeBSD), go ahead and:
Mount
freebsd.imgas read-writeWithin the filesystem, back the existing FreeBSD kernel up (i.e. effectively
cp -r /boot/kernel /boot/kernel.old).Place your RTEMS executable at
/boot/kernel/kernel
If your host doesn’t support mounting UFS filesystems (eg. most Linux kernels), do something to the effect of the following.
On the host
# Upload hello.exe anywhere accessible within the host
$ curl --upload-file hello.exe https://transfer.sh/rtems
Then on the guest (FreeBSD), login with root and
# Back the FreeBSD kernel up
$ cp -r /boot/kernel/ /boot/kernel.old
# Bring networking online if it isn't already
$ dhclient em0
# You may need to add the --no-verify-peer depending on your server
$ fetch https://host.com/path/to/rtems/hello.exe
# Replace default kernel
$ cp hello.exe /boot/kernel/kernel
$ reboot
After rebooting, the RTEMS kernel should run after the UEFI firmware and FreeBSD’s bootloader. The -serial stdio QEMU flag will let the RTEMS console send its output to the host’s stdio stream.
7.19.1.4. Paging¶
During the BSP’s initialization, the paging tables are setup to identity-map the first 512GiB, i.e. virtual addresses are the same as physical addresses for the first 512GiB.
The page structures are set up statically with 1GiB super-pages.
Note
Page-faults are not handled.
Warning
RAM size is not detected dynamically and defaults to 1GiB, if the configuration-time RamSize parameter is not used.
7.19.1.5. Interrupt Setup¶
Interrupt vectors 0 through 32 (i.e. 33 interrupt vectors in total) are setup as “RTEMS interrupts”, which can be hooked through rtems_interrupt_handler_install.
The Interrupt Descriptor Table supports a total of 256 possible vectors (0 through 255), which leaves a lot of room for “raw interrupts”, which can be hooked through _CPU_ISR_install_raw_handler.
Since the APIC needs to be used for the clock driver, the PIC is remapped (IRQ0 of the PIC is redirected to vector 32, and so on), and then all interrupts are masked to disable the PIC. In this state, the PIC may _still_ produce spurious interrupts (IRQ7 and IRQ15, redirected to vector 39 and vector 47 respectively).
The clock driver triggers the initialization of the APIC and then the APIC timer.
The I/O APIC is not supported at the moment.
Note
IRQ32 is reserved by default for the APIC timer (see following section).
IRQ255 is reserved by default for the APIC’s spurious vector.
Warning
Besides the first 33 vectors (0 through 32), and vector 255 (the APIC spurious vector), no other handlers are attached by default.
7.19.1.6. Clock Driver¶
The clock driver currently uses the APIC timer. Since the APIC timer runs at the CPU bus frequency, which can’t be detected easily, the PIT is used to calibrate the APIC timer, and then the APIC timer is enabled in periodic mode, with the initial counter setup such that interrupts fire at the same frequency as the clock tick frequency, as requested by CONFIGURE_MICROSECONDS_PER_TICK.
7.19.1.7. Console Driver¶
The console driver defaults to using the COM1 UART port (at I/O port 0x3F8), using the NS16550 polled driver.
8. Executables¶
This section discusses what an RTEMS executable is and what happens when you execute it in a target. The section discusses how an application executable is created, what happens when an executable is loaded and run, debugging an execiutable, and creating and dynamically loading code.
8.1. RTEMS Executable¶
Running executables is the most important part of working with RTEMS, it is after all how you run your application and use the RTEMS kernel services.
An RTEMS executable is embedded in a target and executing an embedded executable has challenges not faced when executing software on a desktop or server computer. A desktop or server operating system kernel provides all the support needed to bring an executable’s code and data into a process’s address space passing control to it and cleaning up when it exits. An embedded target has to provide similar functionality to execute an embedded executable.
An RTEMS Source Builder (RSB) built RTEMS tool chain is used to create RTEMS executables. The tool chain executable creates a fixed position statically linked Extendable Loader Format (ELF) file that contains the RTEMS kernel, standard libraries, third-party libraries and application code. RTEMS executes in a single address space which means it does not support the fork or exec system calls so statically linking all the code is the easiest and best way to create an executable.
An RTEMS application is constructed vertically with the RTEMS kernel, BSP support code and drivers close to the hardware, above which sit the RTEMS Application Programming Interfaces (API) for control of threads, mutex and other resources an application may use. Middle-ware services like networking, interpreted languages, and protocol stacks sit between the RTEMS APIs and the application components. The software built into an executable can be see as a vertical software stack.
Fig. 8.1 Vertical Software Stack¶
8.2. Building an Application¶
RTEMS views any code it is running and using it’s interfaces as an application. RTEMS conforms to a number of international standards such as POSIX and can build and run portable code written in languages such as C, C++ and Ada.
Applications are built from source into ELF object files, third-party packages can be built as libraries or they can be imported as source into an application code base. The application, third-party packages, RTEMS and standard libraries are linked to create the RTEMS executable. The executable is transferred to the target and a bootloader loads it from the non-volatile storage into RAM or the code is executed in place in the non-volatile storage. The target hardware defines what happens.
Fig. 8.2 Building an Application¶
The standard and third-party libraries are a collection of object files built using the same set of tools the application source is compiled with. The package collects it’s object files into an archive or library.
RTEMS does not provide a standard application build system. The RTEMS ecosystem provides support so a range of build systems can be used. Applications can be built with make, autotools, cmake, waf and more. User should select a build system that meets their project, system, corporate or personal needs.
8.2.1. Machine Flags and ABI¶
All code in an RTEMS executable must be built with the same machine flags. The machine flags control the instruction set and application binary interface (ABI) the compiler generates. As the executable is statically linked all code must use the same instruction set the hardware is configured to support and all code must conform to the same ABI. Any variation can result in unpredictable behavior such as crashes, failures or lock ups. It is recommend an executable is built with the same or equivalent tool set. Mixing of tool set versions can also result in undefined behavior. The RTEMS tool rtems-execinfo can audit an RTEMS executable and list the machine flags and compilers used.
RTEMS by default does not support instruction emulation for unsupported instructions. RTEMS applications are normally built from source so binary compatibility is not as important as performance. Instruction emulation is costly to execute and rebuilding the executable with the correct instruction set only needs to be done once.
8.3. Target Execution¶
Fixed position statically linked executables have a fixed address in a target’s address space. The location in the address space for code, data and read-only data is fixed. The BSP defines the memory map and it is set by the BSP developer based on the target’s hardware requirements and it’s bootloader.
Targets typically contains a bootloader that is executed after the target’s processor exits reset. A bootloader is specific to a target’s processor and hardware configuration and is responsible for the low level initialization of the hardware resources needed to load and execute an operating system’s kernel. In the case of RTEMS this is the RTEMS executable.
Bootloaders vary in size, complexity and functionality. Some architectures have a number of bootloader stages and others have only minimal support. An example of a high end system is Xilinx’s Zynq processor with three stages. First a mask ROM in the System On Chip (SOC) executes after reset loading a first stage bootloader (FSBL) from an SD card, QSPI flash or NAND flash depending on signals connected to the device. The FSBL loads a second stage bootloader (SSBL) such as U-Boot and this loads the kernel. U-Boot can be configured to load a kernel from a range of media and file system formats as well as over a network using a number of protocols. This structure provides flexibility at the system level to support development environments such as a workshop or laboratory through to tightly control production configurations.
Bootloaders often have custom formats for the executable image they load. The formats can be simple to keep the bootloader simple or complex to support check-sums, encryption or redundancy in case an image becomes corrupted. A bootloader often provides a host tool that creates the required file from the RTEMS executable’s ELF file.
If RTEMS is to run from RAM the bootloader reads the image and loads the code, initialized data and read-only data into the RAM and then jumps to a known entry point. If the code is executed from non-volatile storage the process to write the image into that storage will have extracted the various binary parts and written those to the correct location.
The important point to note is the binary parts of the executable are somehow loaded into the target’s address space ready to execute. The way this done may vary but the out come is always the same, the binary code, data and read-only data is resident in the processor’s address space at the BSP defined addresses.
8.4. BSP Initialization¶
The bootloader jumps or calls the RTEMS executable’s entry point, normally a fixed address. The BSP entry point or start up code performs:
Low level processor specific initialization that such as setting control registers so the processor is operating in a mode RTEMS is built for
Cache flushing, clearing and invalidation
Memory management unit (MMU) set up if required
Clear the uninitialized data section
Process a command line if supported by the bootloader
Call
bootcardwhich disabled interrupts, saves away a command line if the BSP supports it then call the RTEMS kernel early initialize entry pointrtems_initialize_executive. This call never returns.
Further BSP initialization happens as part of RTEMS kernel’s System Initialization process. The following handlers are declared and if provided are placed at the beginning of the initialization handler list. The BSP can provides:
bsp_work_area_initializeThis function determines the amount of memory that can be given to RTEMS for the workspace and the C library heap which
mallocuses. The call typically uses thebsp_work_area_initialize_defaultto perform actually perform the initialization.bsp_startThis function is specialized for each architecture and even for some BSPs. It performs the low level initialization RTEMS needs so it can run on the architecture and BSP.
bsp_predriver_hookThis function can be used to initialize hardware drivers depend on such as configuring an interrupt controller. The default version is empty and does nothing.
BSPs all perform similar operations with common functionality and the RTEMS kernel provides common code that can be shared between BSPs. The use of the common code is encouraged for all new BSPs.
8.5. RTEMS Initialization¶
The RTEMS kernel initialization is:
Invoke the registered system initialization handlers
Set the system state to up
If the kernel supports SMP request multitasking start. All online cores are transferred to the ready to start multitasking state.
Start threaded multitasking. RTEMS starts multitasking by getting the first thread to run and dispatching it.
C++ static object constructors are called in the context of the first running thread before the thread body is entered.
8.5.1. System Initialization Handlers¶
RTEMS supports the automatic registration of services used in applications. This method of initialization automatically configures RTEMS with only the services used in an application. There is no manual configuration of services used and no updating of initialization function tables.
RTEMS uses specialized sections in the ELF executable to perform this task. The system is based on the FreeBSD SYSINT Framework. Ordered initialization is performed before multitasking is started.
The RTEMS Tool rtems-exeinfo can provide some detail about the registered handlers. The following shows the initialization handlers for the Hello World sample application in the RTEMS kernel’s testsuite:
.. code-block:: none
$ rtems-exeinfo –init arm-rtems5/c/xilinx_zynq_zedboard/testsuites/samples/hello.exe RTEMS Executable Info 5.5416cfa39dd6 $ rtems-exeinfo –init arm-rtems5/c/xilinx_zynq_zedboard/testsuites/samples/hello.exe exe: arm-rtems5/c/xilinx_zynq_zedboard/testsuites/samples/hello.exe
- Compilation:
- Producers: 2
- Common flags: 4
- Init sections: 2
- .init_array
0x001047c1 frame_dummy
- .rtemsroset
0x00104c05 bsp_work_area_initialize 0x00104c41 bsp_start 0x0010eb45 zynq_debug_console_init 0x0010ec19 rtems_counter_sysinit 0x0010b779 _User_extensions_Handler_initialization 0x0010c66d rtems_initialize_data_structures 0x00107751 _RTEMS_tasks_Manager_initialization 0x0010d4f5 _POSIX_Keys_Manager_initialization 0x0010dd09 _Thread_Create_idle 0x0010cf01 rtems_libio_init 0x001053a5 rtems_filesystem_initialize 0x0010546d _Console_simple_Initialize 0x0010c715 _IO_Initialize_all_drivers 0x001076d5 _RTEMS_tasks_Initialize_user_tasks_body 0x0010cfa9 rtems_libio_post_driver
The section .rtemsroset lists the handlers called in order. The handlers can be split into the BSP initialization handlers that start the BSP:
bsp_work_area_initializebsp_startzynq_debug_console_initrtems_counter_sysinit
And the remainder are handlers for services used by the application. The list varies based on the services the application uses.
8.6. Debugging¶
An RTEMS executable is debugged by loading the code, data and read-only data into a target with a debugger connected. The debugger running on a host computer accesses the ELF file reading the debug information it contains.
The executable being debugged needs to be built with the compiler and linker debug options enabled. Debug information makes the ELF executable file large but it does not change the binary footprint of the executable when resident in the target. Target boot loaders and file conversion tools extract the binary code, data and read-only data to create the file embedded on the target.
An ELF executable built with debug information contains DWARF debug information. DWARF is a detailed description of the executable a debugger uses to locate functions, find data, understand the type and structure of a variable, and know how much entry code every call has. The debugger uses this information to set breaks points, step functions, step instructions, view the data and much more.
We recommend the compiler and linker debug options are always enabled. An ELF file with debug information can be used to investigate a crash report from a production system if the production ELF image is archived. The RTEMS tools chain provides tools that can take an address from a crash dump and find the corresponding instruction and source line. The extra size the debug information adds does not effect the target footprint and the extra size on a host is small compared to the benefits it brings.
A desktop or server operating system’s kernel hosts the executable being debugged handling the interaction with the executable and the debugger. The debugger knows how to communicate to the kernel to get the information it needs. Debugging an embedded executable needs an extra piece called an agent to connect the target to the debugger. The agent provides a standard remote interface to the debugger and an agent specific connection to the target.
