AGATE

Playing with the idea of a tasking/RTOS library in Ada

Setup

You will need an installation of GNAT for ARM Cortex-M (AKA arm-elf, AKA arm-eabi):

If you don't have access to the Pro edition, there's a community version available on the AdaCore website: www.adacore.com/download.

Build

To build the project, simply run gprbuild:

$ gprbuild -j0 -P example/agate_example.gpr -XArchitecture=Cortex-M4

Run

You can try the project in GNATemulator (QEMU) provided with GNAT:

$ arm-eabi-gnatemu -P example/agate_example.gpr example/obj/main
---> Dynamic T2 Wait_For_Signal on Dynamic_Semaphore
---> Static T2 Wait_For_Signal on Static_Semaphore
---> Static T1 Signal Static_Semaphore
---> Static T2 released
---> Static T2 Clock: 4595
---> Static T1 Wait_Lock on Static_Mutex
---> Static T1 Got the mutex
---> Static T1 Clock: 5228
---> Dynamic T1 Signal Dynamic_Semaphore
---> Dynamic T2 released
---> Dynamic T2 Clock: 5556
---> Dynamic T2 Clock: 1008388
---> Dynamic T2 Clock: 2016409
---> Static T1 Release Static_Mutex
---> Static T1 Wait_Lock on Static_Mutex
---> Static T1 Got the mutex
---> Static T1 Clock: 2017081
[...]

The execution of the example will produce a VCD trace file that can be opened with GTKwave.

$ gtkwave agate_traces.vcd

For instance here we see the ownership of a mutex going from task T1 to task T2:

You can also see T1 priority change because of the priority inheritance.