RTEMS Demo Repository

Just a personal test repository to get familiar with RTEMS. Assumes that the RTEMS tool suite and the BSP for the targets have already been built. If this is not the case, you should build them first. This repository shows how to build simple RTEMS applications with waf or CMake.

There is a small helper file I use to configure the system path called path_setter_v<VersionNumber> . Those can be used by running

source path_setter_v6

Also, don't forget to clone the submodules if you want to try out this repository:

git submodule init
git submodule update

This will clone the application RTEMS waf and CMake support and waf itself

I am going to assume that the RTEMS tools (e.g. cross compilers) and BSPs were already installed. If this is not the case, it is recommended to clone the toolchain repository in the same folder this demo repository was cloned and following the steps in the README to install all required tools and BSPs.

Demo Application

On Windows, it is recommended to install MSYS2 first and run the following commands in the MinGW64 shell:

pacman -Syuuu
pacman -S gcc git mingw-w64-x86_64-gdb mingw-w64-x86_64-make mingw-w64-x86_64-cmake

This will enable to build applications with MinGW Makefiles.

Build demo application

The demo application is located inside the hello folder in the application folder. It is compiled and can be run on a host computer with the erc32-sis simulator.

After installing the sparc/erc32 BSP (instruction can be read in toolchain README), perform following steps to build the demo application. The $RTEMS_INST variable shoulde be set to the RTEMS toolchain location, for example by running export RTEMS_INST=$(pwd)/toolchain/rtems/6. On Windows, MinGW Makefiles are used and -G "MinGW Makefiles" has to be supplied to the CMake build generator command (before the ..)

cd applications/hello
./waf configure --rtems=$RTEMS_PREFIX --rtems-bsp=sparc/erc32
./waf

Alternatively, build with CMake:

mkdir Debug
cd Debug
cmake -DRTEMS_PREFIX=$RTEMS_PREFIX -DRTEMS_BSP=sparc/erc32 ..
cmake --build . 

Run demo application in simulator

The demo application can be run with the following command

cd applications/hello
$RTEMS_INST/bin/rtems-run --rtems-bsp=erc32-sis build/sparc-rtems6-erc32/hello.exe

STM32H743ZI Nucleo Test Application

Build demo application

The STM32 application is located inside the stm32/blinky folder in the application folder. It is compiled with the arm/stm32h7 BSP. It is assumed that the RTEMS ARM toolchain binaries have been added to the path.

cd applications/stm32/blinky
./waf configure --rtems=$RTEMS_PREFIX --rtems-bsp=arm/stm32h7
./waf

The shell script build.sh has been provided to perform all steps at once.

Alternatively, build with CMake add add -G "MinGW Makefiles" on Windows to generate a Make build system:

mkdir Debug
cd Debug
cmake -DRTEMS_PREFIX=$RTEMS_PREFIX -DRTEMS_BSP=arm7/stm32h7 ..
cmake --build . 

The resulting binary will be linked for flash memory and can be flashed via OpenOCD, drag and drop (binary to connected device) or the STM Cube Flash tools.

Use Eclipse and configure to flash with OpenOCD

It is possible to use Eclipse together with the waf build system. OpenOCD was used to flash the STM32 with the binary and the debug it with arm-rtems6-gdb . A .project and .cproject file is supplied in the blinky project to have a starting point. It is recommended to copy those from the eclipse folder into the blinky folder and then import the project in Eclipse.

It is recommended to set the RTEMS_INST, RTEMS_BIN and RTEMS_PATH variables in Eclipse. It should be in principle sufficient to set RTEMS_PATH properly. This is required so that Eclipse can find the installed toolchains and add them to the includes. The project files provide a starting point.

Cleaning and performing the configuration will be done by specific build targets configure and clean, which execute the respective commands from above. The build is performed by simply running waf instead of make as the build command.

The xPacks OpenOCD software will be used to flash the board. It can be installed with the xpm packet manager.

1. Install npm (NodeJS on Windows)

2. Install xpm

   npm install --global xpm

3. Install OpenOCD

   xpm install --global @xpack-dev-tools/openocd@latest

4. Install the MCU plugin for Eclipse. After that, check whether the OpenOCD plugin is found in Eclipse by going to Windows → Preferences → MCU and check whether the path is found

5. Add the install path of OpenOCD to the system path by adding export PATH=$PATH:<..../@gnu-mcu-eclipse/open-ocd/<version>/.content/bin> to the .profile file on Linux