RTEMS is a real-time executive which provides a high performance environment for embedded applications on a range processors and embedded hardware. In this tutorial you will learn howto:
- install RTEMS and build RTEMS tools
- run RTESM applications on TSIM simulator
1) Prerequisities
First, you will need a linux distribution supporting RTEMS. Try Fedora 11 or higher or SUSE 11 or higher.
This tutorial is using the RTEMS version 4.9. RTEMS 4.10 is not officially distributed, but the instructions here in general should be valid once this new distribution is released.
2) RTEMS OS installation
As part of the installation, we need to install the RTEMS prebuilt tools first.
- Browse http://www.rtems.org/ftp/pub/rtems/linux/4.9/suse/11.2/i586/ (Suse)
- Browse http://www.rtems.org/ftp/pub/rtems/linux/4.9/fedora/11/i586/ (for Fedora)
- Download and istall the following packages (for Suse, Fedora packages will have similar names)
rtems-4.9-automake-1.10.3-1.suse11.2.noarch.rpm
rtems-4.9-binutils-common-2.19-3.suse11.2.i586.rpm
rtems-4.9-gcc-common-4.3.2-24.suse11.2.i586.rpm
rtems-4.9-gdb-common-6.8-11.suse11.2.noarch.rpm
rtems-4.9-newlib-common-1.16.0-24.suse11.2.i586.rpm
rtems-4.9-sparc-rtems4.9-binutils-2.19-3.suse11.2.i586.rpm
rtems-4.9-sparc-rtems4.9-gcc-4.3.2-24.suse11.2.i586.rpm
rtems-4.9-sparc-rtems4.9-gcc-c++-4.3.2-24.suse11.2.i586.rpm
rtems-4.9-sparc-rtems4.9-gdb-6.8-11.suse11.2.i586.rpm
rtems-4.9-sparc-rtems4.9-newlib-1.16.0-24.suse11.2.i586.rpm
Install (SUSE):
$ rpm -Uvh <package name>.rpm
Install (Fedora):
$ yum install "installation_package_name"Notes:
- All the packages will be installed in /opt/rtems-4.9/ by default.
- During installation you can get some warnings about keys. Don't worry about them.
- During installation you can get some dependency errors. Find the required packages from suse repositories and install them.
In this step we will build RTEMS for two different configurations - LEON3 and ERC32/SIS.
3.1 Build RTEMS with LEON3 support
1. Become root
2. Browse http://www.rtems.org/ftp/pub/rtems/4.9.3/
3. Download rtems-4.9.3.tar.bz2. Extract archive in the /opt/ directory. This will create /opt/rtems-4.9.3/
4. Execute the following:
$ cd /opt/rtems-4.9/ $ export PATH=/opt/rtems-4.9/bin:$PATH $ ./bootstrap $ mkdir leon3 $ cd leon3 $ ../../rtems-4.9.3/configure --target=sparc-rtems4.9 --enable-rtemsbsp=leon3 --enable-posix $ make $ make install
3.2 Build RTEMS with ERC32/SIS support (optional)
The same approach as above, only the configuration during the building is different:
The same approach as above, only the configuration during the building is different:
$ cd /opt/rtems-4.9/ $ export PATH=/opt/rtems-4.9/bin:$PATH $ ./bootstrap $ mkdir bsis $ cd bsis $ ../../rtems-4.9.3/configure --target=sparc-rtems4.9
--enable-rtemsbsp=sis --enable-posix $ make $ make install
3.3 TSIM simulator
Go to TSIM distribution at Gaisler Inc.
- install the TSIM simulator, eg. in /opt/tsim
- the simulator will allow you to execute RTEMS binnaries on your x86
4. RTEMS Helloworld with TSIM:
First, you need to compile RTEMS C application. We will however not address this step here, we will dedicate a separate tutorial for this step. But, in order to verify that your installation is correct, RTEMS distribution contains many pre-compiled examples that you can use to run out of the box.You can also download it here: RTEMS HelloWorld binnary (compiled for SPARC LEON3).
And then load the binnary file into the TSIM simulator and run it:
$ /opt/tsim/linux/tsim-eval
tsim> load hello
tsim> go
resuming at 0x40000000
Hello World!
Program exited normally.
tsim> quit
5. RTEMS installation - Building a toolchain and target C library (optional)
First, fetch gcc-core and gcc-c++ 4.3.2, binutils 2.19, newlib 1.16.0, and related patches from http://www.rtems.org/ftp/pub/rtems/SOURCES/4.9/. You need only the newest patch (the filenames include the date) for each component. Extract and patch each component from the same directory (we'll call it $TOP), so that you have $TOP/gcc-4.3.2/, $TOP/binutils-2.19/, and $TOP/newlib-1.16.0/.Link $TOP/newlib-1.16.0/newlib to $TOP/gcc-4.3.2/newlib:
ln -s $TOP/newlib-1.16.0/newlib $TOP/gcc-4.3.2
Pick an install directory; we will call it $PREFIX -- I use /opt/rtems-4.9.
Configure and build binutils:
cd $TOP/binutils-2.19-$ARCH ../binutils-2.19/configure --target=$ARCH-rtems4.9
--prefix=$PREFIX --disable-werror make make install
Configure and build gcc; this may require some platform-specific arguments:
cd $TOP/gcc-4
6. Other Tips (optional)
RTEMS on x86:
If you wish to boot RTEMS using grub (as for qemu), provide --enable-rtems-grub. This forces the binary to load up above the 1MB mark.
FPU support:
In case your RTEMS configuration is not FPU-friendly, when building your tools, provide --with-float=soft to the gcc configuration.
References:
1) Another RTEMS installation tutorial
2) RTEMS: http://www.rtems.com/
Acknowledgment: Thanks to Petr Maj and Ethan Blanton for help with this tutorial!
