RCC User`s Manual - Aeroflex Gaisler
Contents
1. ee ne 12 AN E RSR ST Re E 12 2 11 Making b066 Proms nu east ee ein 13 2 12 Simple examples m 13 2 13 MulBprocessIDg iecore een EEEE EENE REES AE KEENT 13 2 13 1 MP tests ite u a nie anna 14 3 Execution and deb gging un ee 16 Cu EODEM T 16 32 GRMON EE 16 3 3 GDB with GRMON and TSIM u seen nennen en nenn 17 3 4 Using DDD graphical front end to gdb nen nnn nennen nenn 18 D SUPPOLE nn ine ae 19 GAISLER 1 Introduction 1 1 General This document describes the RTEMS LEON ERC32 GNU cross compiler system RCC Discussions are provided for the following topics installing RCC contents and directory structure of RCC compiling and linking LEON and ERC32 RTEMS applications usage of GRMON debugging application with GDB RCC is a multi platform development system based on the GNU family of freely available tools with addi tional tools developed by Cygnus OAR and Aeroflex Gaisler RCC consists of the following packages GCC 4 4 6 C C compiler GNU binary utilities 2 20 1 with support for LEON CASA UMAC SMAC instructions RTEMS 4 10 2 C C real time kernel with LEON2 LEON3 LEON4 and ERC32 support Newlib 1 18 0 standalone C library GDB 6 8 SPARC cross debugger 1 2 Installation on host platform 1 2 1 Host requirements RCC is provided for two host platforms linux x86 and MS Windows The following are the platform system requirements Linux Linux 2 6 x glibc 2 112. 3 Debug program on remote target gdb connected to GRMON 4 Create boot prom for a standalone application with mkprom2 RCC supports multi tasking real time C C programs based on the RTEMS kernel Compiling and linking is done in much the same manner as with a host based gcc 2 2 sparc rtems gcc options 2 3 The gcc compiler has been modified to support the following addtional options qleon2 generate LEON2 executable without driver manager startup initialization tsc691 generate ERC32 executable qleon3 generate LEON3 4 executable default if no other option given qleon3std generate LEON3 4 executable without driver manager startup initialization qleon3mp generate LEON3 4 Multiprocessor executable AMP qngmp use NGMP linker script instead of default Can be used in conjunction with qleon3 qleon3str and qleon3mp The RAM address is set to 0 instead of 0x40000000 Other usefull standard options are g generate debugging information must be used for debugging with gdb msoft float emulate floating point must be used if no FPU exists in the system mcpu v8 generate SPARC V8 mul div instructions only for LEON with hardware multiply and divide configured mtune ut699 sets UT699 specific parameters 02 optimize code should be used for optimum performance and minimal code size Other GNU GCC options are explained in the gcc manual gcc pdf see Section 1 5 RTEMS applications To compile
3. EROFLEX GAISLER RCC User s Manual RTEMS Cross Compiler User s Manual RCC UM Version 1 2 17 November 2014 Kungsgatan 12 tel 46 31 7758650 411 19 Gothenburg fax 46 31 421407 Sweden www aeroflex com gaisler EROFLEX RCC User s Manual 2 GAISLER RCC User s Manual Copyright 2014 Aeroflex Gaisler AB EROFLEX RCC User s Manual lii GAISLER Table of Contents 1 rini UE 1 KE General ss Rs 1 1 2 Installation on host platform erinnere 1 1 2 1 Host requirements une a a en a 1 1 2 2 Installing RCC on Windows platforms nenn 1 1 2 3 Installing on Linux platform eese mH emere 3 1 3 Contents of opt rtems 4 tee SEENEN Pe eK ERES sss eege 3 1 4 RCC To0l8 qe D 3 1 5 D cumentationh T ea 4 1 6 RCC so rc Git ACCESS m een an De a es un in 5 E 5 2 Using E C mien date nen EA SE de 6 2 1 Generaldevelopment flow see 6 2 2 Sparc rtems gcc OptlODS a nella 6 2 3 RTEMS applications ur nee a 6 2 4 Floating point considerations SEKR ernennen RENE ene nennt ener enne teneret ene nere 7 2 5 LEON SPARC V8 instruetions u a ea sl 7 PA VII nS AU PECTORE 7 2 1 Board support packages BSP aan 7 2 1 1 LEON3 BSP Mp 8 DAD NGMP BSP ee enee ee eeh Eege 8 2 8 Driver Manager c 8 2 8 1 ee 8 2 8 2 OI OS DEE 9 2 8 3 Driver configurato seee RS 9 2 84 drympr command nenn Data 11 2 9 Network Configuration u
4. sparc rtems objcopy O srec rtems hello rtems hello srec bash 2 04 Several example C programs can be found in opt rtems 4 10 src samples 2 13 Multiprocessing RTEMS supports asymmetric multiprocessing AMP the LEON3 BSP supports AMP in two different se tups Either the RTEMS kernel is compiled with multiprocessing support qleon3mp or the user setup custom resource sharing with driver manager resources qleon3 the difference is that RTEMS provide multiprocessing objects and communication channels in the former case and in the latter case the user is responsible for all synchronization itself which in many cases are sufficient All nodes in a asymmetric mul tiprocessor system executes thier own program image Messages are passed between the nodes containing synchronization information for example take global semaphore A Messages are sent over memory using the Shared Memory Support Driver in the LEON3 BSP and interrupts are used to alert the receiving CPU The kernel must be compiled with multiprocessing support in order for the RTEMS AMP support to be available the toolchain includes a precompiled LEON3 MP kernel in rtems 4 10 sparc rtems leon3mp itis the LEON3 BSP compiled with multiprocessing support The MP kernel is selected when the qleon3mp argument is given to sparc rtems gcc Since each CPU executes its own program image a memory area has to be allocated for each CPU s program image and stack This is achieved by linkin
5. 1 or higher Windows MSYS 1 0 10 or higher In order to recompile the RTEMS kernel sources automake 1 11 1 and autoconf 2 68 is required MSYS DTK 1 0 1 is needed on Windows platforms to build autoconf and automake The sources of automake and autoconf can be found on the GNU ftp server e ftp ftp gnu org gnu autoconf ftp ftp gnu org gnu automake MSYS and MSYS DTK can be found at http www mingw org 1 2 2 Installing RCC on Windows platforms The toolchain installation zip file sparc rtems 4 10 gcc 4 4 x 1 2 x mingw zip must be extracted to C Vopt creating the directory C opt rtems 4 10 mingw The toolchain executables can be invoked from the command prompt by adding the executable directory to the PATH environment variable The directory C opt rtems 4 10 mingw bin can be added to the PATH variable by selecting My Comput er gt Properties gt Advanced gt Environment Variables Development often requires some basic utilities such as make but is not required to compile on Windows platforms the MSYS Base system can be installed to get a basic UNIX like development environment including make The RTEMS sources rely on the autoconf and automake utilities to create Makefiles The MSYS Base system doesn t include the required version of autoconf and automake instead they can be compiled from sources as described below 1 2 2 1 Installing MSYS The MSYS package can be freely downloaded from http www mingw org it comes as a
6. If not configured the define is not set and the user can choose to initialize the driver manager manually from for example the Init task or not use it at all LEON2 systems are divided into two different systems standard LEON2 systems and GRLIB LEON2 sys tems where the AMBA Plug amp Play bus is available Both systems can use the LEON2 hardcoded bus with the Driver Manager however it s primary intention is to provide a root bus for a second bus supporting Plug amp Play For example a GRLIB LEON2 system has hardcoded peripherals the standard LEON peripherals and GRLIB cores attached available from the AMBA Plug amp Play information the setup for a system like that would be a LEON2 hardcoded bus and a LEON2 AMBA Plug amp Play sub bus Once the AMBA Plug amp Play bus is initialized all device and their drivers can be used the same way as in LEON3 4 systems For AT697 PCI systems the driver manager can be used to scan the PCI bus The ERC32 BSP does not support the driver manager 2 8 1 Initialization Regardless when the manager is initialized the following steps must be taken however RTEMS and the BSP takes all steps during startup for us when drvmgr was passed to configure Before the driver manager is initialized one must register a root bus driver so that the driver manager knows which bus to start search for devices at The driver manager itself must also be initialized by calling drvmgr_init before any driver supporting the
7. RCC User s Manual EROFLEX 11 GAISLER 2 8 4 drvmgr command The RTEMS shell comes with a number of commands the drvmgr command can be used to extract infor mation about the current setup and hardware Please see the rtems shell c sample application that comes with RCC The rtems shell on a GR712RC ASIC Creating etc passwd and group with three useable accounts root pwd test pwd rtems NO PASSWORD RTEMS SHELL Ver 1 0 FRC dev console Oct 3 2011 help to list commands drvmgr help usage drvmgr buses List bus specfic information on all buses drvmgr devs List general and driver specfic information about all devices drvmgr drvs List driver specfic information on all drivers drvmgr info ID List general and driver specfic information about all devices or one device bus or driver drvmgr mem Dynamically memory usage drvmgr parent ID Short info about parent bus of a device drvmgr remove ID Remove a device or a bus drvmgr res ID List Resources of a device or bus drvmgr short ID Short info about all devices buses or one device bus drvmgr topo Show bus topology with all devices drvmgr tr ID OPT ADR Translate hw 0 cpu 1 OPT bit0 address ADR down 0 up 1 streams OPT bitl for device drvmgr help drvmgr topo BUS TOPOLOGY DEV 0x400fd3a0 GRLIB AMBA PnP DEV 0x400fd450 GAISLER_LEON3FT DEV 0x400fd4a8 GAISLER_LEON3FT DEV 0x400fd500 GAISLER AHBJTAG gt DEV 0x400
8. and link an RTEMS application use sparc rtems gcc sparc rtems gcc g 02 rtems hello c o rtems hello RCC creates executables for LEON3 4 by default To generate executables for LEON2 or ERC32 add qleon2 or tsc691 switches during both compile and link stages The default load address is start of RAM i e 0x40000000 for LEON2 3 4 and 0x2000000 for ERC32 Other load addresses can be specified through the use of the Ttext option see gcc manual See qngmp option above for systems with RAM at address 0 RCC uses the sources of RTEMS 4 10 2 with minor patches and allows recompilation if a modification has been made to a bsp or the kernel Install the RTEMS sources in opt rtems 4 10 src and re compile and install with cd opt rtems 4 10 src make install EROFLEX RCC User s Manual 7 GAISLER 2 4 2 5 2 6 2 7 Floating point considerations If the targeted processor has no floating point hardware then all applications must be compiled and linked with the msoft float option to enable floating point emulation When running the program on the TSIM simulator the simulator should be started with the nfp option no floating point to disable the FPU LEON SPARC V8 instructions LEON2 LEON3 and LEONA processors can be configured to implement the SPARC V8 multiply and divide instructions The RCC compiler does by default NOT issue those instructions but emulates them trough a library To enable generation of mu
9. driver manager can be accessed The manager replaces the DRIVER_register calls used in previous releases of RTEMS to register drivers EROFLEX RCC User s Manual 9 GAISLER 2 8 2 Configuration The driver manager is configured by defining the array drvmgr_drivers it contains one function pointer per driver that is responsible to register one or more drivers The drvmgr_drivers can be set up by defining CONFIGURE INIT selecting the appropriate drivers and including drvmgr drvmgr confdefs h The approach is similar to configuring a standard RTEMS project using rt ems con defs h Below is an example how to select drivers include lt rtems h gt define CONFIGURE_INIT include lt bsp h gt Standard RTEMS setup define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER define CONFIGURE_RTEMS_INIT_TASKS_TABLE define CONFIGURE_MAXIMUM_DRIVERS include lt rtems confdefs h gt 32 Driver manager setup if defined RTEMS_DRVMGR_STARTUP if drvmgr was given to configure qleon3 qleon3mp include GPTIMER and APBUART drivers that rely on the driver manager S define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART endif define CONFIGURE_DRIVER_AMBAPP_GAISLE define CONFIGURE_DRIVER_AMBAPP_GAISLE define CONFIGURE_DRIVER_AMBAPP_GAISLE define CONFIGURE_DRIVER_AMBAPP_GAISLE define CONFIGURE_DRIVER_AMBAPP_M
10. s Manual 3 Execution and debugging 3 2 16 NEROFLEX GAISLER Applications built by RCC can be debugged on the TSIM LEON ERC32 simulator or on target hardware using the GRMON debug monitor LEON only Both TSIM and GRMON can be connected to the GNU debugger gdb for full source level debugging 3 1 TSIM The TSIM simulator can emulate a full ERC32 and LEON2 3 system with on chip peripherals and external memories For full details on how to use TSIM see the TSIM User s Manual Below is a simple example that shows how the hello world program is run in the simulator tsim leon3 rtems hello TSIM LEON3 SPARC simulator Copyright C 2001 Gaisler Research all rights reserved version 2 0 4a professional version For latest updates go to http www gaisler com Comments or bug reports to tsim gaisler com using 64 bit time serial port A on stdin stdout allocated 4096 K RAM memory allocated 2048 K ROM memory icache 1 4 kbytes 16 bytes line 4 kbytes total dcache 1 4 kbytes 16 bytes line 4 kbytes total in 1 bank s section text addr 0x40000000 size 92096 bytes section data addr 0x400167c0 size 2752 bytes read 463 symbols tsim gt go resuming at 0x40000000 Hello World Program exited normally tsim gt GRMON GRMON is used to download run and debug LEON2 3 software on target hardware For full details on how to use GRMON see the GRMON User Manual Below is a
11. simple example that shows how the hello world program is downloaded and run grmon u jtag GRMON LEON debug monitor v1 1 11 Copyright C 2004 2005 Gaisler Research all rights reserved For latest updates go to http www gaisler com Comments or bug reports to support gaisler com using JTAG cable on parallel port JTAG chain xc3s1500 xcf04s xcf04s initialis ing i499 es detected frequency 41 MHz GRLIB build version 1347 Component LEON3 SPARC V8 Processor AHB Debug UART AHB Debug JTAG TAP GR Ethernet MAC LEON2 Memory Controller Aeroflex Aerof ex Aeroflex Aerof ex Aeroflex European AHB APB Bridge Aeroflex LEON3 Debug Support Unit Aeroflex Nuhorizons Spartan3 I O interfac Aeroflex OC CAN controller Aeroflex Generic APB UART Aeroflex Multi processor Interrupt Ctrl Aeroflex Modular Timer Unit Aeroflex Use command info sys to print a detailed grlib lo rtems hello section text at 0x40000000 section data at 0x400167c0 Gaisl Gais Gaisl Gais Gaisl Space Agency Gaisl Gais Gaisl Gais Gaisl Gais Gaisl report of attached cores size 92096 bytes size 2752 bytes Ler er Ler er Ler Ler er Ler er Ler er Ler EROFLEX RCC User s Manual 17 GAISLER total size 94848 bytes 339 7 kbit s read 463 symbols entry point 0x40000000 grlib gt run Hello World grlib gt Note that the program was started from address 0x40000000 the default s
12. CTRL define CONFIGURE_DRIVER_AMBAPP_GAISLER_PCIF define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRPCI define CONFIGURE_DRIVER_PCI_GR_RASTA_IO define CONFIGURE_DRIVER_PCI_GR_RASTA_TMTC define CONFIGURE_DRIVER_PCI_GR_701 GRETH GRSPW GRCAN OCCAN ADHD include lt drvmgr drvmgr_confdefs h gt The timer and console driver must be included when the driver manager is initialized on startup whereas the standard drivers are included automatically by the standard qleon3std BSP setup 2 8 3 Driver configuration In the past the driver resources were often a string interpreted by the driver passed into the DRIVER_register function Since the register functions have been replaced the driver resource for mat has also been changed it is now described by an array of different data types which are assigned names for flexibility The name is searched for by the driver once started if found the value replaces the default value internal to the driver The driver uses a driver resource API to easily extract the information The resources are provided by the bus driver it is up to the bus driver how the resources are assigned to the bus the LEON bus drivers use a default weak array that can be overridden by the project configuration The driver parameters are documented separately for each driver in the driver manual The example below sets up GRSPWO and GRSPWI descriptor count driver resources for the AMBA Plug amp Play b
13. LEX RCC User s Manual 12 GAISLER MINOR DRV 0 DRIVER 0x400a2198 APBUART_DRV PRIVATE 0x400fe210 DEVICE INFO FROM BUS DRIVER AMBA PnP DEVICE VENDOR ID 0x0001 VENDOR_GAISLER DEVICE ID 0x000c GAISLER_APBUART IRQ 2 VERSION 0x1 ambapp core 0x400fdclc interfaces APBSLV APBSLV FREQ 80000kHz apb 0x80000100 0x800001ff DEVICE INFO FROM DEVICE DRIVER UART Mode TERMIOS POLLED STATUS REG 0x100082 CTRL REG 0x80000803 SCALER REG 0x103 baud rate 38610 2 9 Network configuration The LEON2 3 BSPs support two network devices the Aeroflex Gaisler GRETH MAC and the LAN91C111 The GRETH driver comes in two editions one that needs the driver manager in libbsp to oper ate and the standard driver in libchip The driver manager dependent GRETH driver adds the net work interface automatically to the rtems bsdnet config network interface configuration using network interface add function The LAN91C111 chip cannot be found by Plug amp Play so it has to be manually set up by either hardcoding an entry in the rtems bsdnet config interface list or dynamically registered by calling network interface add The LAN91C111 attach routine is defined by RTEMS DSP NETWORK DRIVER ATTACH SMC91111 in bsp h The standard GRETH device is setup in a similar way see bsp h See src samples rtems ttcp c for sample a networking application 2 10 PCI Aeroflex Gaisler provides a PCI Library together with RTEMS located i
14. arget hardware through initialization code specific to target processor and a number of device drivers Console and timer drivers are supported for all processors LEON and ERC32 BSPs assume a default system resource configuration such as memory mapping of on chip devices and usage of interrupt resources LEON3 4 systems are based on GRLIB Plug amp Play config uration and are thereby highly configurable regarding memory mapping and interrupt routing At start up the LEON3 BSP scans the system bus to obtain system configuration information Device drivers support a number of devices which are automatically recognized initiated and handled by the device drivers EROFLEX RCC User s Manual 8 GAISLER 2 7 1 LEON3 BSP The LEON3 BSP includes two different console and timer drivers standard official RTEMS drivers qleon3std and drivers which rely on the driver manager The latter drivers are possible to configure from the project configuration using standard driver manager configuration options for example which APBUART device is mapped to dev console and which timer is used as system clock one needs to configure for AMP systems The console drivers supports APBUARTs The first UART is registered under name dev console second and third UARTs get names dev console_b and dev console_c and so on LEON3 BSP requires at least one APBUART The timer driver uses General Purpose Timer GPT The driver handles GPT timer 0 and the lowest
15. emented using the driver manager can be ignored by a specific CPU by assigning the keys value NULL in the driver resouces The driver manager simply ignores the device when a NULL resource is detect An example is given below where CPUO is assigned GRGPIOO and CPU1 GRGPIO1 GPTIMER driver have options that limit number of timers and which timer is used for system clock the system console and debug output can be selected to a specific UART with the APBUART driver CPUO Application struct rtems_drvmgr_drv_res grlib_drv_resources DRIVER AMBAPP GAISLER GRGPIO ID 1 NULL Used by CPU1 CPUI Application struct rtems_drvmgr_drv_res grlib_drv_resources DRIVER_AMBAPP_GAISLER_GRGPIO_ID 0 NULL Used by CPUO DRIVER AMBAPP GAISLER GRGPIO ID 1 amp grlib_drv_res_grgpiol 0 Following example shows how to run RTEMS MP application on a two CPU system using GRMON CPU 0 executes image nodel exe in address space 0x6000000 Ox600fffff while CPU 1 executes image node2 exe in address space 0x60100000 Ox601fffff GRMON LEON debug monitor v1 1 22 Copyright C 2004 2005 Gaisler Research all rights reserved For latest updates go to http www gaisler com Comments or bug reports to support gaisler com grlib lo nodel exe section text at 0x60000000 size 143616 bytes Section data at 0x60023100 size 3200 bytes total size 146816 bytes 174 4 kbit s read 852 symbols entry point 0x60000000 g
16. fd558 GAISLER ETHMAC DEV 0x400fd5b0 GAISLER SATCAN DEV 0x400fd608 GAISLER SPW2 gt DEV 0x400fd660 GAISLER SPW2 gt DEV 0x400fd6b8 GAISLER SPW2 gt DEV 0x400fd710 GAISLER_SPW2 gt DEV 0x400fd768 GAISLER SPW2 gt DEV 0x400fd7c0 GAISLER_SPW2 gt DEV 0x400fd818 GAISLER_B1553BRM gt DEV 0x400fd870 GAISLER_GRTC gt DEV 0x400fd8c8 GAISLER_GRTM gt DEV 0x400fd920 GAISLER SLINK gt DEV 0x400fd978 GAISLER FTMCTRL gt DEV 0x400fd9d0 GAISLER APBMST gt DEV 0x400fd928 GAISLER LEON3DSU gt DEV 0x400fd980 GAISLER APBMST DEV 0x400fdb30 GAISLER CANAHB DEV 0x400fdad8 GAISLER CANAHB DEV 0x400fdb88 GAISLER FTAHBRAM DEV 0x400fdbe0 GAISLER APBUART DEV 0x400fdc38 GAISLER IROMP DEV 0x400fdc90 GAISLER GPTIMER DEV 0x400fdce8 GAISLER SPICTRL DEV 0x400fdd40 GAISLER CANMUX DEV 0x400fdd98 NO NAME DEV 0x400fddf0 GAISLER ASCS gt DEV 0x400fde48 GAISLER GPIO gt DEV 0x400fdea0 GAISLER_GPIO gt DEV 0x400fdef8 GAISLER_I2CMST gt DEV 0x400fdf50 GAISLER_CLKGATE gt DEV 0x400fdfa8 GAISLER_AHBSTAT gt DEV 0x400fe000 GAISLER_APBUART gt DEV 0x400fe058 GAISLER_APBUART gt DEV 0x400fe0b0 GAISLER_APBUART gt DEV 0x400fe108 GAISLER_APBUART gt DEV 0x400fe160 GAISLER_APBUART gt DEV 0x400fe1b8 GAISLER_GRTIMER drvmgr info 0x400fdbe0 DEVICE 0x400fdbe0 PARENT BUS 0x400fd408 NAME GAISLER_APBUART STATE 0x00000100 INIT LEVEL 4 ERROR 0 MINOR BUS 0 EROF
17. g each CPU s RTEMS program at the start addresses of the CPU s memory area and setting stack pointer to the top of the memory area E g for two CPU system the application running on CPU 0 could run in memory area 0x40100000 Ox401fffff while CPU 1 runs in memory area 0x4020000 Ox402fffff Shared Memory Support Driver allocates 4 KB buffer at address 0x40000000 for message passing this area can not be used for applications Each CPU requires its own set of standard peripherals such as UARTS and timers In an MP system the BSP will automatically allocate UART 1 and GPT 0 timer 1 to CPU 0 UART 2 and GPT 0 timer 2 to CPU 1 and so on When the default configuration does not meet the requirements or hardware setup a custom resource allocation can be setup using the driver manager see below The shared memory driver s default memory layout configuration can be overidden without recompiling the kernel The default settings are set in the variable weak variable BSP_shm_cfgtbl it can be overridden EROFLEX RCC User s Manual 14 GAISLER by defining BSP_shm_cfgtbl once in the project as in the below example The parameters that has an effect in changing is the fields base and length Override default SHM configuration shm config table BSP shm cfgtbl base void 0x40000000 length 0x00010000 Hardware resource allocation is done by the BSP for UART IRQ controller and System Clock Timer Devices which has a driver that is impl
18. he installed RTEMS sources can be built manually or using the prepared Makefile available at C Nopt rtems 4 10 mingw src Makefile The build process is divided in four steps in the first step the make scripts are generated this step is called bootstrap The bootstrapping can be done with the make target boot as the examples shows below The bootstrap step is only needed to be rerun when adding or removing files from the source tree cd opt rtems 4 10 mingw src make bootstrap The second step configures a build environment in opt rtems 4 10 mingw src build make configure The third and fourth steps compile and install the new kernel to opt rtems 4 10 mingw sparc rtems make compile make install 1 2 3 Installing on Linux platform The RCC directory tree is compiled to reside in the opt rtems 4 10 directory on all platforms After obtaining the bzipped tarfile with the binary distribution uncompress and untar it in a suitable location if this is not opt rtems 4 10 then a link have to be created to point to the location of the RCC directory The distribution can be installed with the following commands cd opt bunzip2 c sparc rtems 4 10 gcc 4 4 x 1 2 x linux tar bz2 tar xf After the compiler is installed add opt rtems 4 10 bin to the executables search path and opt rtems 4 10 man to the man path 1 2 3 1 Installing RTEMS source The RTEMS sources used to compile the SPARC BSPS included in RCC
19. ined from the Git repository see Section 1 6 1 2 2 3 Building RTEMS from source The RTEMS build environment can be set up by following the Windows instructions available www ttems org the environment requires MSYS DTK 1 0 1 autoconf 2 68 and automake 1 11 1 This sec tion describes how to install MSYS DTK autoconf automake and building RTEMS SPARC BSPS from source MSYS DTK can be downloaded from www mingw org it comes as an self extracting installation application msysDTK 1 0 1 exe The following text assumes that MSYS DTK has been installed successfully into the MSYS environment Autoconf and automake can be downloaded from ftp ftp gnu org gnu autoconf and ftp ftp gnu org gnu auto make Below is a example of how to build and install the required tools Ko mkdir Zare cd src lt download autoconf and automake to src gt tar jxf autoconf 2 68 tar bz2 mkdir autoconf 2 68 build cd autoconf 2 68 build configure prefix usr make make install lt autoconf 2 68 has been installed gt cd Sre tar jxf automake 1 11 1 tar bz2 mkdir automake 1 11 1 build cd automake 1 11 1 build configure prefix usr make make install lt automake 1 11 1 has been installed gt exit After installing automake and autoconf it may be required to restart the MSYS shell Once the tools required by RTEMS source tree has been installed and the MSYS shell has been restarted t
20. inter rupt request line used by GPT GPT timer 0 and lowest request line should never be used by an RTEMS application If an application needs to use more timers GPT should be configured to have two or more timers using separate request lines Timer 0 interrupt can not be shared with other devices or GPT timers 1 6 For more information on how to configure a system based on GRLIB see GRLIB IP Library User s Manual 2 7 2 NGMP BSP NGMP systems are supported by the LEON3 BSP and a custom linker script The NGMP linker script is selected using the qngmp flag to the gcc during compiling and linking 2 8 Driver Manager The LEON3 BSP uses an optional Driver Manger that handles drivers and devices on the AMBA and PCI Plug amp Play buses The drivers are automatically assigned with one or more hardware devices The Driver Manager is either initilized by the user from the Init thread after RTEMS as started up or during startup of RTEMS The LEON3 BSP has by default qleon3 and qleon3mp the driver manager enabled drvmgr was given to configure during compiletime that means that no extra initialization calls from Init is needed however which drivers to be included must be configured uniquely per project One can use qleon3std to avoid using the driver manager In most cases the GPTIMER and the APBUART drivers are required to boot If the driver manager was configured to be initialized by the BSP the RTEMS_DRVMGR_STARTUP define is defined
21. is prepared to be installed into opt rtems 4 10 src it can be done as follows cd opt rtems 4 10 src tar jxf path to sparc rtems 4 10 1 2 x tar bz2 1 2 3 2 Building RTEMS from sources The RTEMS libraries found in opt rtems 4 10 sparc rtems BSP can be built from the sources using the Makefile found in opt rtems 4 10 src The RTEMS build environment assumes that autoconf 2 68 and automake 1 11 1 are installed Documentation on how to install autoconf and automake is included in respective source and an example can be found above in Section 1 2 2 3 Alternatively the sources can be obtained from the Git repository see Section 1 6 1 3 Contents of opt rtems 4 10 The created rtems directory has the following sub directories bin Executables doc RCC and GNU documentation include Host includes lib Host libraries make RTEMS make scripts man Man pages for GNU tools sparc rtems Sparc target libraries src Various sources examples and make scripts used to build kernel from source 1 4 RCC tools The following tools are included in RCC sparc rtems addr2line Convert address to C C line number sparc rtems ar Library archiver sparc rtems as Cross assembler RCC User s Manual sparc rtems c sparc rtems c filt sparc rtems cpp sparc rtems g sparc rtems gcc sparc rtems gcov sparc rtems gdb sparc rtems gprof sparc rtems ld sparc rtems nm sparc rtems objcopy sparc rtems objdump sparc rtems ranlib spa
22. isler AB reserves the right to make changes to any products and services described herein at any time without notice Consult Aeroflex or an authorized sales representative to verify that the information in this document is current before using this product Aeroflex does not assume any responsibility or liability arising out of the application or use of any product or service described herein except as expressly agreed to in writing by Aeroflex nor does the purchase lease or use of a product or service from Aeroflex convey a license under any patent rights copyrights trademark rights or any other of the intellectual rights of Aeroflex or of third parties
23. l div instruction use the mcpu v8 switch during both compilation and linking The mcpu v8 switch improves performance on compute intensive applications and floating point emulation LEON2 3 4 also supports multiply and accumulate MAC The compiler will never issue those instructions they have to be coded in assembly Note that the RCC assembler and other utilities are based on a modified version of GNU binutils 2 20 1 that supports the LEON MAC instructions Memory organisation The resulting RTEMS executables are in elf format and has three main segments text data and bss The text segment is by default at address 0x40000000 for LEON2 3 4 and 0x2000000 for ERC32 followed immediately by the data and bss segments The LEON4 NGMP designs has RAM at 0x00000000 the qngmp compiler switch selects correct linker script for NGMP systems The stack starts at top of ram and extends downwards Standalone App Top Of RAM Startup Stack Heap Data Text 0X40000000 Figure 2 1 RCC RAM applications memory map The SPARC trap table always occupies the first 4 Kbytes of the text segment The LEON BSPs auto detects end of ram by looking at the stack pointer provided by the bootloader or GRMON at early boot Hence the heap will be sized by the loader Board support packages BSPs RCC includes board support packages for LEON2 LEON3 and ERC32 LEON4 is supported by the LEON BSP BSPs provide interface between RTEMS and t
24. make a boot PROM that will run from the PROM on a standalone target use the mkprom2 utility freely available from www gaisler com The mkprom utility is documented in a separate document that is distributed together with the mkprom2 utility Mkprom will create a compressed boot image that will load the application into RAM initiate various processor registers and finally start the application Mkprom will set all target dependent parameters such as memory sizes wait states baudrate and system clock The applications do not set these parameters themselves and thus do not need to be re linked for different board architectures The example below creates a LEON3 boot prom for a system with 1 Mbyte RAM one waitstate during write 3 waitstates for rom access and 40 MHz system clock For more details see the mkprom manual mkprom2 ramsz 1024 ramwws 1 romws 3 hello exe freq 40 hello exe Note that mkprom creates binaries for LEON2 3 and for ERC32 select processor type with the mkprom options leon3 leon2 or erc32 flag To create an SRECORD file for a prom programmer use objcopy sparc rtems objcopy O srec rtems hello rtems hello srec 2 12 Simple examples Following example compiles the famous hello world program and creates a boot prom in SRECORD format bash 2 04 sparc rtems gcc mcpu v8 msoft float 02 rtems hello c o rtems hello bash 2 04 mkprom2 leon3 freq 40 dump baud 38400 ramsize 1024 rmw rtems hello bash 2 04
25. ms hello c line 33 gdb run The program being debugged has been started already Start it from the beginning y or n y Starting program opt rtems 4 10 src samples rtems hello Breakpoint 2 Init ignored 0 at rtems hello c 33 33 printf Hello World Win gdb cont Continuing Hello World Program exited with code 0363 The application must be re loaded with the load command before it is possible to re execute it Using DDD graphical front end to gdb DDD is a graphical front end to gdb and can be used regardless of target The DDD graphical debugger is freely available from http www gnu org software ddd To start DDD with the sparc rtems gdb debugger do ddd debugger sparc rtems gdb The required gdb commands to connect to a target can be entered in the command window See the GDB and DDD manuals for how to set the default settings If you have problems with getting DDD to run run it with check configuration to probe for necessary libraries etc DDD has many advanced features see the on line manual under the Help menu On windows cygwin hosts DDD must be started from an xterm shell First launch the cygwin X server by issuing startx in a cygwin shell and the launch DDD in the newly created xterm shell EROFLEX RCC User s Manual 19 GAISLER 4 Support For Support contact the Aeroflex Gaisler support team at support gaisler com GAISLER RC Ur Mama HERE 5 Disclaimer Aeroflex Ga
26. n cpukit libpci in the soruces The documentation for the PCI Library is located in the RTEMS documentation doc usr libpci t and available prebuilt into PDF named c user pdf see Section 1 5 The RTEMS shell has been extended with a pci command can be used to extract information about the current setup and hardware Please see the rtems shell c sample application that comes with RCC A non PCI system reating etc passwd and group with three useable accounts root pwd test pwd rtems NO PASSWORD RTEMS SHELL Ver 1 0 FRC dev console Oct 3 2011 help to list commands pci help usage pci ls bus dev fun PCIID List one or all devices pci r 8116132 bus dev fun OFS Configuration space read pci r 8 16 32 PCIID OFS Configuration space read access by PCIID pci w 8116132 bus dev fun OFS D Configuration space write pci w 8116132 PCIID OFS D Configuration space write access by PCIID pci pciid bus dev fun Print PCIID for bus dev fun pci pciid PCIID Print bus dev fun for PCIID pci pcfg Print current PCI config for static configuration library pci getdev PCIID bus dev fun Get PCI Device from RAM tree pci infodev DEV_ADR Info about a PCI RAM Device pci help pci SYSTEM UNKNOWN UNINITIALIZED CFG LIBRARY AUTO NO PCI BUSES 0 buses PCI ENDIAN Little MACHINE ENDIAN Big EROFLEX RCC User s Manual 13 GAISLER 2 11 Making boot proms RTEMS applications are linked to run from beginning of RAM To
27. n self extracting installation application MSYS 1 0 10 exe The following text assumes the MSYS has been successfully installed to C msys The directory where the toolchain is installed C opt rtems 4 10 mingw must be found in opt rtems 4 10 mingw from the MSYS environment this can done by adding an mount entry similar to one of the examples below to the etc fstab file in the MSYS environment C opt rtems 4 10 mingw opt rtems 4 10 mingw EROFLEX RCC User s Manual 2 GAISLER or C opt opt The path to the toolchain binaries C opt rtems 4 10 mingw bin must added to the MSYS PATH environment variable Below is an example of how to change the PATH variable in the MSYS shell export PATH opt rtems 4 10 mingw bin PATH The toolchain installation can be tested by compiling the samples included in the toolchain cd opt rtems 4 10 mingw src samples make 1 2 2 2 Installing RTEMS source Installing the RTEMS kernel sources are optional but recommended when debugging applications The tool chain libraries are built with debugging symbols making it possible for GDB to find the source files The RCC RTEMS sources is assumed to be located in C opt rtems 4 10 mingw src rtems 4 10 The RTEMS sources sparc rtems 4 10 1 2 x sre tar bz2 can be installed by extracting the source distribution to C opt rtems 4 10 mingw sre creating the directory C opt rtems 4 10 mingw src rtems 4 10 Alternatively the sources can be obta
28. rc rtems readelf sparc rtems size sparc rtems strings sparc rtems strip EROFLEX 4 GAISLER C cross compiler Utility to demangle C symbols The C preprocessor Same as sparc rtems c C C cross compiler Coverage testing tool GNU GDB C C level Debugger Profiling utility GNU linker Utility to print symbol table Utility to convert between binary formats Utility to dump various parts of executables Library sorter ELF file information utility Utility to display segment sizes Utility to dump strings from executables Utility to remove symbol table 1 5 Documentation The RCC and GNU documentation are distributed together with the toolchain it consists of RTEMS manuals and GNU tools manuals localted in the doc directory of the toolchain The GRLIB drivers that Aeroflex Gaisler develops outside the official repository are documented in a separate drivers document found under opt rtems 4 10 doc GNU manuals as pdf Using as the GNU assembler binutils pdf The GNU binary utilities cpp pdf The C Preprocessor gec pdf Using and porting GCC gdb pdf Debugging with GDB gprof pdf the GNU profiling utility ld pdf The GNU linker Newlib C library libc pdf Newlib C Library libm pdf Newlib Math Library RTEMS manuals bsp howto pdf BSP and Device Driver Development Guide RTEMS C User s Guide this is the one you want RTEMS SPARC CPU Application Supplement RTEMS Development environment guide RTEMS File
29. rlib lo node2 exe section text at 0x60100000 size 143616 bytes Section data at 0x60123100 size 3200 bytes total size 146816 bytes 172 7 kbit s read 852 symbols entry point 0x60100000 grlib cpu act 0 active cpu O0 grlib ep 0x60000000 entry point 0x60000000 grlib stack 0x600fff00 Stack pointer 0x600fff00 grlib cpu act 1 active cpu 1 grlib ep 0x60100000 entry point 0x60100000 grlib stack 0x601fff00 Stack pointer 0x601fff00 grlib cpu act 0 active cpu 0 grlib run RTEMS MP applications can not be run directly in GRSIM using load and run commands Instead a boot image containing several RTEMS MP applications should be created and simulated 2 13 1 MP testsuite The MP testsuite is located in the sources under testsuite mptests it requires modifications to the make scripts in order to select a unique image RAM location The default shared memory area is at EROFLEX RCC User s Manual 15 GAISLER 0x40000000 0x40000fff the two images for nodel and node2 needs to be located on a unique address and the heap stack must also fit The argument Wl Ttext 0x40001000 for nodel and W1 Ttext 0x40200000 for node2 can be added to the link stage and the entry point 0x40001000 and 0x40200000 and stacks 0x401ffff0 and 0x403ffff0 must also be set by the loader GRMON or mkprom for example Depending on where the RAM memory is located and how much memory is available the paramters may vary RCC User
30. rlib gt ep 0x40200000 grlib stack 0x402fff00 grlib cpu act 0 grlib run 3 3 GDB with GRMON and TSIM To perform source level debugging with gdb start TSIM or GRMON with gdb or enter the gdb command at the prompt Then attach gdb by giving command tar extended remote localhost 2222 to gdb when con necting to GRMON or tar extended remote localhost 1234 when connecting to TSIM Note that RTEMS applications do not have a user defined main function necessarily as ordinary C programs Instead put a breakpoint on Init which is the default user defined start up function jupiter sparc rtems gdb rtems hello GNU gdb 6 7 1 Copyright C 2007 Free Software Foundation Inc License GPLv3 GNU GPL version 3 or later http gnu org licenses gpl html This is free software you are free to change and redistribute it There is NO WARRANTY to the extent permitted by law Type show copying and show warranty for details This GDB was configured as host i686 pc linux gnu target sparc rtems EROFLEX RCC User s Manual 18 GAISLER gdb tar extended remote localhost 2222 Remote debugging using localhost 2222 gdb load Loading section text size 0x164e0 lma 0x40000000 Loading section jcr size 0x4 lma 0x400164e0 Loading section data size Oxaa8 lma 0x400164e8 Start address 0x40000000 load size 94092 Transfer rate 57902 bits sec 277 bytes write gdb break Init Breakpoint 2 at 0x400011f8 file rte
31. sources for GR RASTA IO 0 AMBA PnP bus struct drvmgr_bus_res gr_rasta_io0 res next NULL resource DRIVER AMBAPP GAISLER GRSPW ID 0 amp rastaio0_grspw0_res 0 DRIVER AMBAPP GAISLER GRSPW ID 1 amp rastaio0 grspwl res 0 RES EMPTY H Driver resources for GR RASTA IO 1 AMBA PnP bus struct drvmgr_bus_res gr_rasta_iol_res next NULL resource DRIVER AMBAPP GAISLER GRSPW ID 0 amp rastaiol_grspw0l_res 0 DRIVER AMBAPP GAISLER GRSPW ID 1 amp rastaiol_grspw0l_res 0 RES EMPTY Tell GR RASTA IO driver about the bus resources Resources for one GR RASTA IO board are available AMBAPP gt PCI gt GR RASTA IO gt AMBAPP bus resources The resources will be used by the drivers for the cores found on the GR RASTA IO gt AMBAPP bus 0X OH 0X 0X 0X X The weak defaults are overriden here wy struct drvmgr bus res gr rasta io resources amp gr rasta io0 res Jr GR RASTA IO board 1 resources amp gr rasta iol res GR RASTA IO board 2 resources NULL End of table rtems task Init rtems task argument argument Manual driver manager initialization only required when driver manager not initialized during startup qleon2 qleon3std SCH ifndef RTEMS_DRVMGR_STARTUP Register GRLIB root bus LEON3 4 ambapp grlib root register amp grlib bus config Initialize Driver Manager drvmgr init endif
32. system Design Guide RTEMS ITRON 3 0 User s Guide RTEMS Network Supplement RTEMS Newly added features c user pdf cpu supplement pdf develenv pdf filesystem pdf itron pdf networking pdf new chapters pdf RCC User s Manual porting pdf posix1003 1 pdf posix_users pdf relnotes pdf started pdf EROFLEX 5 GAISLER RTEMS Porting Guide RTEMS POSIX 1003 1 Compliance Guide RTEMS POSIX API User s Guide RTEMS Release Notes Getting Started with RTEMS for C C Users The documents are all provided in PDF format with searchable indexes 1 6 RCC source Git access The RCC RTEMS kernel sources is distributed from Aeroflex Gaisler homepage in a tar file the latest patches are also available using Git revision control system It is possible to browse the code at http git rtems org danielh rcc git or checkout the repositoy issuing the below commands The RCC sources are found in the rcc 1 2 branch git clone git git rtems org danielh rcc git 1 7 Support The RCC compiler system is provided freely without any warranties Technical support can be obtained from Aeroflex Gaisler through the purchase of a technical support contract See www gaisler com for more details GAISLER 2 Using RCC 2 1 Generaldevelopment flow Compilation and debugging of applications is typically done in the following steps 1 Compile and link program with gcc 2 Debug program using a simulator gdb connected to TSIM GRSIM
33. tart address GRMON can also be used to program the boot PROM image created by sparc rtems mkprom into the target s flash PROM grmon grlib gt flash unlock all grmon grlib gt flash erase all Erase in progress Block 0x00000000 code 0x00800080 OK Block 0x00004000 code 0x00800080 OK grmon grlib gt flash load prom out section text at 0x0 size 54272 bytes total size 54272 bytes 93 2 kbit s read 45 symbols grmon grlib gt flash lock all When boot PROM is run i e after reset it will initialize various LEON registers unpack the application to the RAM and start the application The output on console when running hello world from PROM is shown below MkProm LEON3 boot loader v1 2 Copyright Gaisler Research all right reserved system clock 40 0 MHz baud rate 38352 baud prom 512 K 2 2 ws r w sram 1024 K 1 bank s 0 0 ws r w decompressing text decompressing data starting rtems hello Hello World The application must be re loaded with the load command before it is possible to re execute it When running multiple RTEMS programs on a multiprocessing system entry point and stack pointer have to be set up individually for each CPU E g when running appl exe link address 0x40100000 on CPUO and app2 exe link address 0x40200000 on CPUI grlib lo appl exe grlib gt lo appl exe grlib gt cpu act 0 grlib gt ep 0x40100000 grlib gt stack 0x401fff00 grlib gt cpu act 1 g
34. us on two different GR RASTA IO PCI boards and the root bus ROOT AMBA PnP Bus GRSPWO and GRSPW1 resources struct drvmgr key grlib_grspw0l_res 1 txDesc KEY TYPE INT unsigned int 32 rxDesc KEY TYPE INT unsigned int 32 KEY EMPTY If RTEMS_DRVMGR_STARTUP is defined we override the weak defaults that is defined by the LEON3 BSP S struct drvmgr bus res grlib drv resources next NULL resource DRIVER AMBAPP GAISLER GRSPW ID 0 amp grlib_grspw0l_res 0 DRIVER AMBAPP GAISLER GRSPW ID 1 amp grlib_grspw0l_res 0 RES EMPTY H EROFLEX RCC User s Manual 10 GAISLER hr ifndef RTEMS_DRVMGR_STARTUP struct grlib config grlib bus config amp ambapp plb AMBAPP bus setup amp grlib drv resources Driver configuration endif GR RASTA IO 0 GRSPWO resources struct drvmgr key rastaio0_grspw0_res txDesc KEY TYPE INT unsigned int 8 rxDesc KEY TYPE INT unsigned int 32 KEY_EMPTY GR RASTA IO 1 GRSPW1 resources struct drvmgr key rastaio0 grspwO0 res txDesc KEY TYPE INT unsigned int 16 rxDesc KEY TYPE INT unsigned int 16 KEY EMPTY GR RASTA IO 1 GRSPWO and GRPSW1 resources use same configuration struct drvmgr key rastaiol_grspw0l_res txDesc KEY TYPE INT unsigned int 16 rxDesc KEY TYPE INT unsigned int 64 KEY EMPTY Driver re
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