RTEMS学习笔记

yangn0

已于 2024-07-09 18:17:23 修改

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分类专栏： RTEMS 文章标签：驱动开发

于 2023-04-06 14:40:21 首次发布

本文链接：https://blog.csdn.net/qq_41058067/article/details/129989068

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环境搭建

https://docs.rtems.org/branches/master/user/start/index.html

依赖

https://docs.rtems.org/branches/master/user/hosts/posix.html#xubuntu

RTEMS5(建议用RTEMS6)

get src

git clone git://git.rtems.org/rtems-source-builder.git rsb
git clone git://git.rtems.org/rtems.git

！将branch更换到5！

install tools

../source-builder/sb-set-builder --prefix=$HOME/devel/rtems/tools/rtems/5 5/rtems-arm

../source-builder/sb-set-builder --prefix=/home/yangn0/devel/rtems5-i386/rtems/5  5/rtems-i386

../source-builder/sb-set-builder --prefix=/home/yangn0/devel/rtems5-sparc/rtems/5 5/rtems-sparc

export PATH=/home/yangn0/devel/rtems5-i386/rtems/5/bin:$PATH

bootstrap(RTEMS6没有这个)

cd ~/devel/rtems5-i386/src/rtems
./rtems-bootstrap

BSP build

https://docs.rtems.org/branches/master/user/start/bsp-build.html
https://www.jsolano.com/uncategorized/rtems-workflow-on-a-stm32f4-nucleo-board/

../source-builder/sb-set-builder --list-bsets

# Build the stm32f4 bsp
cd ~/devel/rtems/src/build
~/devel/rtems/src/rtems/configure --prefix=$HOME/devel/rtems/tools/rtems/5 --target=arm-rtems5 --enable-rtemsbsp=stm32f4 --enable-posix --disable-networking --enable-tests=samples --enable-maintainer-mode
make all
make install

# build i386 bsp
cd ~/devel/rtems5-i386/build/bsp-pc386
/home/yangn0/devel/rtems5-i386/src/rtems/configure \
    --prefix=/home/yangn0/devel/rtems5-i386/rtems/5 \
    --target=i386-rtems5 \
    --enable-rtemsbsp=pc386

make
make install

# build erc32 bsp
cd /home/yangn0/devel/rtems5-sparc/src/rsb/rtems
../source-builder/sb-set-builder --prefix=/home/yangn0/devel/rtems5-sparc/rtems/5 \
    --target=sparc-rtems5 --with-rtems-bsp=erc32 --with-rtems-legacy-network 5/rtems-kernel

samples

/home/yangn0/devel/rtems/src/build/arm-rtems5/c/stm32f4/testsuites/samples/hello.exe

RTEMS6(aarch64)

目录结构

├── app
│   ├── hello
│   ├── rtems-btstack
│   └── test
├── buildbsp.sh
├── buildlibbsd.sh
├── rtems
│   └── 6
└── src
    ├── rtems
    ├── rtems-libbsd
    └── rtems-source-builder

get src

git clone https://github.com/RTEMS/rtems-source-builder
git clone https://github.com/RTEMS/rtems

install tools

cd /home/yangn0/devel/rtems-aarch64/src/rtems-source-builder/rtems

../source-builder/sb-set-builder --prefix=$HOME/devel/rtems-aarch64/rtems/6 6/rtems-aarch64

~~加入环境变量~~

nano ~/.profile
PATH=$PATH:/home/yangn0/devel/rtems-aarch64/rtems/6/bin
source ~/.profile

手动构建BSP

./waf bspdefaults --rtems-bsps=aarch64/raspberrypi4b:get all options with default values for base BSP variants

./waf bsplist:lists base BSP variants

cd ~/devel/rtems2/src/rtems
./rtems-bsps
nano config.ini
[aarch64/raspberrypi4b]
BUILD_TESTS = True
[aarch64/a72_lp64_qemu]
BUILD_TESTS = True

[arm/nucleo-h743zi]
[arm/stm32f4]
[arm/stm32f105rc]

./waf distclean
./waf configure --prefix=$HOME/devel/rtems-aarch64/rtems/6
./waf
./waf install

test BSP

ls /home/yangn0/devel/rtems2/tools/rtems/6/share/rtems/tester/rtems/testing/bsps
rtems-test --rtems-bsp=a72_lp64_qemu build/aarch64/a72_lp64_qemu
rtems-test --rtems-bsp=stm32h7-stlink build/arm/nucleo-h743zi/

exe 转 bin

arm-rtems6-objcopy -Obinary hello.exe hello.bin
aarch64-rtems6-objcopy -Obinary hello.exe hello.img

qemu

https://www.qemu.org/docs/master/system/arm/stm32.html
https://zhuanlan.zhihu.com/p/479666128
https://blog.csdn.net/BLUCEJIE/article/details/113482065

先git拉取qemu源码

git clone https://gitlab.com/qemu-project/qemu.git
git submodule init
git submodule update --recursive
./configure --target-list=arm-softmmu,aarch64-softmmu,i386-softmmu,sparc-softmmu
make

qemu-system-arm -M netduinoplus2 -nographic -kernel ~/devel/rtems/src/build/arm-rtems5/c/stm32f4/testsuites/samples/hello.exe

arm-rtems5-stm32f4

qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -machine virt,gic-version=3 -cpu cortex-a72 -m 4096 -kernel hello.exe

windows
.\sdk-debugger-qemu\qemu-system-arm.exe -M stm32f407-atk-explorer -nographic -kernel .\rtthread.bin

raspberrypi4b

https://www.reddit.com/r/RASPBERRY_PI_PROJECTS/comments/xv6r24/need_testers_for_testing_out_rtems_rtos_on_the/
https://docs.rtems.org/branches/master/user/bsps/bsps-aarch64.html?highlight=qemu#raspberry-pi-4b
https://github.com/0xNoor/rtems/commit/b57c6541a15689776a2c94a9d5c5e448587972f0
https://www.reddit.com/user/Noor528/

构建应用

https://waf.io/
https://docs.rtems.org/branches/master/user/start/app.html

mkdir -p ~/devel/rtems2/app/hello/
curl https://waf.io/waf-2.0.19 > waf
chmod +x waf
git init
git submodule add git://git.rtems.org/rtems_waf.git rtems_waf
nano init.c
nano hello.c
nano wscript

./waf distclean
./waf configure --rtems=$HOME/devel/rtems-aarch64/tools/rtems/6 --rtems-bsp=aarch64/raspberrypi4b
./waf
cd build/aarch64-rtems6-raspberrypi4b/
aarch64-rtems6-objcopy -O binary hello.exe hello.img

./waf configure --rtems=/home/yangn0/devel/rtems5-i386/rtems/5 --rtems-bsp=i386/pc386

UART

https://wlink.blog.csdn.net/article/details/124043034

2023.4.11

https://www.eet-china.com/mp/a98363.html

FlyMcu不可以烧bin文件，bin文件可以使用STM32CubeProgrammer软件通过STLINK进行下载

st-link

--connect-under-reset

Flash firmware.bin to device 
$ st-flash write firmware.bin 0x8000000 --connect-under-reset

Read firmware from device (4096 bytes)
$ st-flash read firmware.bin 0x8000000 0x1000

Erase firmware from device
$ st-flash erase

gdb调试

https://wangchujiang.com/linux-command/c/gdb.html

连接板子的电脑：
./st-util --connect-under-reset
有rtems环境的电脑：
./arm-rtems6-gdb ~/devel/rtems-arm/app/test/build/arm-rtems6-nucleo-h743zi/test.exe

linux串口设置

https://blog.csdn.net/zoomdy/article/details/50921336

stty -F /dev/ttyUSB0 -a
stty -F /dev/ttyUSB0 ispeed 115200 ospeed 115200 cs8

cat /dev/ttyUSB0
echo "hello" > /dev/ttyUSB0

RTEMS Shell

init.c

#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

#define CONFIGURE_FILESYSTEM_IMFS
// /* configuration for shell test */
#define CONFIGURE_APPLICATION_NEEDS_LIBBLOCK
#define CONFIGURE_MAXIMUM_TASKS 20
#define CONFIGURE_MAXIMUM_SEMAPHORES 20
#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 20
#define CONFIGURE_MAXIMUM_FILE_DESCRIPTORS 20
#define CONFIGURE_STACK_CHECKER_ENABLED
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
#define CONFIGURE_EXTRA_TASK_STACKS (6 * RTEMS_MINIMUM_STACK_SIZE)
#define CONFIGURE_MALLOC_STATISTICS
#define CONFIGURE_UNIFIED_WORK_AREAS

#include <rtems/confdefs.h>

#define CONFIGURE_SHELL_COMMANDS_INIT
#define CONFIGURE_SHELL_COMMANDS_ALL
#include <rtems/shellconfig.h>

test.c

#include <stdlib.h>
#include <stdio.h>
#include <bsp.h>
#include <rtems/shell.h>
static rtems_task user_task(rtems_task_argument ignored)
{
    printf("In User tASK\n");
    printf("starting shell\n");

    rtems_shell_init(
        "SHLL",                       /* task_name */
        RTEMS_MINIMUM_STACK_SIZE * 4, /* task_stacksize */
        100,                          /* task_priority */
        "/dev/ttyS2",               /* devname */
        false,                        /* forever */
        true,                         /* wait */
        NULL                          /* login */
    );
    printf("Initialized shell.\n");

}

rtems_task Init(rtems_task_argument ignored)
{
    rtems_name Task_name;
    rtems_id Task_id;
    rtems_status_code status;
    int i;
    for (i = 0; i < 3; i++)
    {
        printf("\n\n*** HELLO WORLD Etual ***\n");
        sleep(1);
    }

    Task_name = rtems_build_name('U', 'S', 'E', 'R');

    status = rtems_task_create(
        Task_name, 1, RTEMS_MINIMUM_STACK_SIZE * 2,
        RTEMS_DEFAULT_MODES,
        RTEMS_FLOATING_POINT | RTEMS_DEFAULT_ATTRIBUTES, &Task_id);

    status = rtems_task_start(Task_id, user_task, 1);
    status = rtems_task_delete(RTEMS_SELF);
}

rtems-libbsd

git clone git://git.rtems.org/rtems-libbsd.git
cd rtems-libbsd
git submodule init
git submodule update rtems_waf
./waf configure --prefix=/home/yangn0/devel/rtems-arm/tools/rtems/6 --rtems-bsps=arm/nucleo-h743zi --buildset=buildset/default.ini
./waf
./waf install

i386

https://imkira.com/QEMU-GDB-Linux-Kernel/

qemu-system-i386.exe -machine pc-q35-2.10 -m 4096 -cpu 486 -serial COM5 -kernel .\app.exe

qemu-system-i386 -m 128 -no-reboot -serial COM5 -kernel app.exe

qemu-system-i386 -m 128 -no-reboot -append "--video=off --console=/dev/com1" -nographic -kernel ./hello.exe

qemu-system-i386 -m 128 -no-reboot -append "--video=off --console=/dev/com3,115200" -nographic -kernel ./build/i386-rtems5-pc386/shell.exe -serial mon:stdio -serial /dev/ttyUSB2

qemu-system-i386 -m 128 -no-reboot -append "--video=off --console=/dev/com2" -nographic -kernel ./o-optimize/app.exe -serial /dev/ttyUSB1 -serial /dev/ttyUSB2

qemu-system-i386 -m 128 -no-reboot -append "--video=off --console=/dev/com3,115200" -nographic -kernel ./build/i386-rtems5-pc386/shell.exe -serial /dev/ttyUSB2 -serial /dev/ttyUSB2 -serial /dev/ttyUSB2 -serial /dev/ttyUSB2

qemu-system-i386 -m 128 -no-reboot -append "--video=off --console=/dev/com2" -nographic -kernel ./build/i386-rtems5-pc386/shell.exe -serial file:./s1 -serial file:./s2 -serial file:./s3 -serial file:./s4

qemu-system-i386 -m 128 -no-reboot -append "--video=off --console=/dev/com1" -nographic -kernel ./o-optimize/app.exe -serial mon:stdio -serial /dev/ttyUSB1 -serial file:./s3

windows:
qemu-system-i386.exe -kernel C:\Users\79230\Desktop\app.exe -serial COM5

gdb调试：
qemu-system-i386 -m 128 -s -S -append "--video=off --console=/dev/com1" -no-reboot -nographic -kernel ./o-optimize/app.exe

erc32

rtems-run --rtems-bsps=erc32-sis build/sparc-rtems5-erc32/hello.exe
rtems-test --rtems-bsps=erc32-sis --debug-trace=gdb o-optimize/app.exe

arm/xilinx-zynq-a9

qemu-system-arm -serial null -serial mon:stdio -nographic -M xilinx-zynq-a9 -m 256M -kernel test.exe

qemu-system-arm -serial null -serial mon:stdio -nographic -M xilinx-zynq-a9 -m 256M -kernel /home/yangn0/devel/rtems-arm/rtems-libbsd/build/arm-rtems6-xilinx_zynq_a9_qemu-default/selectpollkqueue01.exe

qemu-system-arm -semihosting --semihosting-config enable=on,target=native -serial COM5 -serial mon:stdio -nographic -M xilinx-zynq-a9 -m 2048M -kernel app.exe > b.log

aarch64/xilinx_versal_qemu

qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -serial COM5 -machine xlnx-versal-virt -m 4096 -kernel app.exe

aarch64/xilinx_zynqmp_lp64_qemu

qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -serial COM5 -machine xlnx-zcu102 -m 4096 -kernel app.exe

RTEMS nonblock 仍然阻塞问题

http://unixwiz.net/techtips/termios-vmin-vtime.html
https://stackoverflow.com/questions/20154157/termios-vmin-vtime-and-blocking-non-blocking-read-operations

问题复现：

在Linux下的正常情况：

#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <fcntl.h>
#include <termios.h>
#include <errno.h>
#include <string.h>

int main()
{
  int ttyS[8] = {-1};
  char s[80];
  int i;
  struct termios btstack_uart_block_termios;
  printf("hello uart\n");

  int fd = open("/dev/ttyUSB0", O_RDWR | O_NOCTTY |O_NONBLOCK);
  // printf("%d\n",O_RDWR | O_NOCTTY | O_NONBLOCK);
  if (fd == -1)
  {
    puts("fd==-1 !!");
    exit(0);
  }

  printf("fd=%d\n", fd);

  if (tcgetattr(fd, &btstack_uart_block_termios) < 0)
  {
    puts("Couldn't get term attributes");
    exit(0);
  }

  cfmakeraw(&btstack_uart_block_termios); // make raw

  // 8N1
  btstack_uart_block_termios.c_cflag &= ~CSTOPB;
  btstack_uart_block_termios.c_cflag |= CS8;

  btstack_uart_block_termios.c_cflag |= CREAD | CLOCAL;          // turn on READ & ignore ctrl lines
  btstack_uart_block_termios.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off s/w flow ctrl
  btstack_uart_block_termios.c_cc[VMIN] = 1;
  btstack_uart_block_termios.c_cc[VTIME] = 0;

  // no parity
  btstack_uart_block_termios.c_cflag &= ~PARENB;
  btstack_uart_block_termios.c_cflag &= ~PARODD;

  // no flow control
  btstack_uart_block_termios.c_cflag &= ~CRTSCTS;

  speed_t brate = B115200;
  cfsetospeed(&btstack_uart_block_termios, brate);
  cfsetispeed(&btstack_uart_block_termios, brate);
  if (tcsetattr(fd, TCSANOW, &btstack_uart_block_termios) < 0)
  {
    puts("Couldn't set term attributes");
    exit(0);
  }

  int buffer=-1;
  static int *btstack_uart_block_read_bytes_data;
  static int btstack_uart_block_read_bytes_len = 1;
  // fcntl(fd, F_SETFL, O_NONBLOCK);
  int bytes_read = read(fd, &buffer, btstack_uart_block_read_bytes_len);
  printf("bytes_read=%d\n",bytes_read);
  printf("buffer=%d\n",buffer);


  printf("end uart\n");
  exit(0);
}

输出如下：

hello uart
fd=3
bytes_read=-1
buffer=-1
end uart

由于在open()时设置了O_NONBLOCK，所以在read()时没有阻塞直接返回-1。

在RTEMS下的异常情况：

#include <rtems.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/types.h>
#include <errno.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <termios.h>
#include <rtems/error.h>
#include <string.h>

void writeUart(int fd, int i)
{
  char str[80];
  sprintf(str, "Hello /dev/ttyAMA%d\n", i);
  int ret = write(fd, str, strlen(str));
  if (ret <= 0)
  {
    printf("send str error. error no: %d\n", errno);
  }
}

rtems_task Init(
    rtems_task_argument ignored)
{

  int ttyS[5] = {-1};
  char s[80];
  int i;
  struct termios btstack_uart_block_termios;
  printf("hello uart\n");

  int fd = open("/dev/ttyAMA2", O_RDWR | O_NOCTTY | O_NONBLOCK);
  if (fd == -1)
  {
    puts("fd==-1 !!");
    exit(0);
  }

  printf("fd=%d\n", fd);

  if (tcgetattr(fd, &btstack_uart_block_termios) < 0)
  {
    puts("Couldn't get term attributes");
    exit(0);
  }

  cfmakeraw(&btstack_uart_block_termios); // make raw

  // 8N1
  btstack_uart_block_termios.c_cflag &= ~CSTOPB;
  btstack_uart_block_termios.c_cflag |= CS8;

  btstack_uart_block_termios.c_cflag |= CREAD | CLOCAL;          // turn on READ & ignore ctrl lines
  btstack_uart_block_termios.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off s/w flow ctrl
  btstack_uart_block_termios.c_cc[VMIN] = 1;
  btstack_uart_block_termios.c_cc[VTIME] = 0;

  // no parity
  btstack_uart_block_termios.c_cflag &= ~PARENB;
  btstack_uart_block_termios.c_cflag &= ~PARODD;


  // no flow control
  btstack_uart_block_termios.c_cflag &= ~CRTSCTS;

  speed_t brate = B115200;
  cfsetospeed(&btstack_uart_block_termios, brate);
  cfsetispeed(&btstack_uart_block_termios, brate);
  if (tcsetattr(fd, TCSANOW, &btstack_uart_block_termios) < 0)
  {
    puts("Couldn't set term attributes");
    exit(0);
  }

  writeUart(fd, 0);

  static uint8_t *btstack_uart_block_read_bytes_data;
  static uint16_t btstack_uart_block_read_bytes_len=1;
  char buffer[20]={'\0'};

  ssize_t bytes_read = read(fd, buffer, btstack_uart_block_read_bytes_len);
  printf("%d\n",bytes_read);
  printf("buffer=%s\n",buffer);

  puts(" ");
  printf("end uart\n");
  exit(0);
}

输出如下：
在这里插入图片描述

由于在read()处阻塞，导致后面的

bytes_read=-1
buffer=-1
end uart

无法输出。

在RTEMS下open()设置O_NONBLOCK后，read()仍然阻塞，与posix规范不一致。

临时解决方法：
将VMIN设置为0

debug

There is a configure option you can find with:

./waf bspdefaults | grep OPT | less

that is OPTIMIZATION_FLAGS = -O2 -g -fdata-sections -ffunction-sections if you provide this with the changed -O option it should build RTEMS at a different level.
Note, I think these options -g -fdata-sections -ffunction-sections in this setting are wrong and broken and should not be there. RTEMS should either say you need -fdata-sections -ffunction-sections or it is not needed and -g has nothing to do with optimisation. There presence makes this type of optimisation change harder than it needs to be because users need to know or understand what they do and for -fdata-* that is complicated.