wrmos

RTOS based on L4 microkernel.

Description

WrmOS - RTOS based on L4 microkernel.

WrmOS includes:

• kernel - mikrokernel based on "L4 kernel reference manual";
• applications - sigma0 (rootpager), alpha (roottask), tcpip, etc;
• libraries - wlibc, wstdc++, psockets, elfloader, etc.
• build system - based on config files and makefiles (dirs cfg/ and mk/);
• bootloader - bootstrap the system, parse ramfs and load the kernel.

How to

Build and run:

qemu-sparc-leon3:
	make build P=cfg/prj/hello-qemu-leon3.prj B=../build -j
	qemu-system-sparc -M leon3_generic -display none -serial stdio \
		-kernel ../build/ldr/bootloader.elf

tsim-leon3:
	make build P=cfg/prj/hello-tsim-leon3.prj B=../build -j
	tsim-leon3 -mmu -fast_uart ../build/ldr/bootloader.elf

qemu-arm-vexpress-a9:
	make build P=cfg/prj/hello-qemu-veca9.prj B=../build -j
	qemu-system-arm -M vexpress-a9 -display none -serial stdio \
		-kernel ../build/ldr/bootloader.elf

qemu-x86:
	make build P=cfg/prj/hello-qemu-x86.prj B=../build -j
	qemu-system-i386 -display none -serial stdio \
		-drive format=raw,file=$(realpath ../build/ldr/bootloader.img)

qemu-x86_64:
	make build P=cfg/prj/hello-qemu-x86_64.prj B=../build -j
	qemu-system-x86_64 -display none -serial stdio \
		-drive format=raw,file=$(realpath ../build/ldr/bootloader.img)

Raspberry PI:
	make build P=cfg/prj/hello-rpi.prj B=../build -j
	TODO:  how to run ?

Autotest (sanity check):

mk/test.sh

Project state

Now supportes 4 archs: SPARC, ARM, x86, x86_64. On SPARC successfull works complex real time projects. On other archs works just simple examples like HelloWorld.

WrmOS have own implementation of next components:

• libc - lib/wlibc (some basic functions);
• stdc++ - lib/stdc++ (few basic functions);
• tcp/ip - tcpip server app/tcpip (arp, udp, tcp, ip, ...);

Plans

1. Run WrmOS on real hardware for x86 and x86_64;
2. Support SMP;
3. Support ROS API (ros.org);

Contacts

Sergey Worm sergey.worm@gmail.com