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fix #197 - updated readme file for pc-rtems PSP and added a new readm…
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…e file for RTEMS 5
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@arielswalker
Alan Cudmore authored and arielswalker committed Jan 7, 2021
1 parent 8591014 commit 066c2eb
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134 changes: 66 additions & 68 deletions fsw/pc-rtems/README.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
ABOUT THE PC-RTEMS CFE PSP
==========================
Note: These instructions are for RTEMS 4.11

The "pc-rtems" PSP layer is intended to be an easy way to prove out the basic functionality
of CFE running on RTEMS without actually requiring a real hardware target with RTEMS support.
Expand All @@ -14,13 +15,8 @@ build system. The RTEMS_BSP_TOP directory must be set to the same location eith
the example toolchain file or via -D options to the CMake build.




I. Setting up and compiling RTEMS BSP

Steps 1 & 5 may require root access. Everything else should be done as regular user.


1) install RTEMS toolchain for i386-rtems4.11 (or relevant target arch) into /opt/rtems-4.11

The RTEMS official docs have instructions for this, which should supercede anything here.
Expand All @@ -29,23 +25,23 @@ Basic use of the the "rtems source builder" tool which works at the time of this
OFFICIAL RTEMS SOURCE BUILDER CLONE URL: git://git.rtems.org/rtems-source-builder.git


sudo mkdir -p /opt/rtems-4.11
git clone git://git.rtems.org/rtems-source-builder.git
mkdir -p ${HOME}/rtems-4.11
git clone -b 4.11 git://git.rtems.org/rtems-source-builder.git
cd rtems-source-builder/rtems
git checkout 4.11.2
../source-builder/sb-set-builder --prefix=/opt/rtems-4.11 4.11/rtems-i386
../source-builder/sb-set-builder --prefix=$HOME/rtems-4.11 4.11/rtems-i386


2) Clone/Bootstrap RTEMS source tree:

Note - at the time of this writing 4.11 is the current "stable" branch and
4.11.2 represents the latest point release tag on that branch. The bleeding
edge "development" branch tends to change on a frequent basis.
Note - at the time of this writing 4.11.3 is the latest point release
on the RTEMS 4.11 branch. We are using the rtems git repository 4.11 branch, which
contains the latest point release (or fixes for the point release in progress)
You may wish to download a specific release such as RTEMS 4.11.3.

OFFICIAL RTEMS CLONE URL: git://git.rtems.org/rtems.git

$ git clone -b 4.11.2 git://git.rtems.org/rtems.git
$ export PATH=/opt/rtems-4.11/bin:$PATH
$ git clone -b 4.11 git://git.rtems.org/rtems.git
$ export PATH=$HOME/rtems-4.11/bin:$PATH
$ (cd rtems && ./bootstrap)


Expand All @@ -72,30 +68,7 @@ $ make
$ make install
$ cd ..


4) Install cexp-2.2.x (dynamic module loader library)

This is necessary to get the module loader to compile and work.

Ref page: http://www.slac.stanford.edu/~strauman/rtems/cexp/index.html
Tarball: http://www.slac.stanford.edu/~strauman/rtems/cexp/cexp-2.2.3.tgz

NOTE: As of 2017-10-26 the code is also now on github, but the git version appears to be
missing files and I was not able to get it to compile.
git clone -b CEXP_Release_2_2_3 https://github.com/till-s/cexpsh.git

$ mkdir b-cexp
$ cd b-cexp
$ ../cexp-CEXP_Release_2_2_3/configure --with-rtems-top=${HOME}/rtems-4.11 --host=i386-rtems4.11 --enable-std-rtems-installdirs
$ make
$ make install
$ cd ..

NOTE: using 2.2.3 against the latest rtems-4.11 produce a compile error regarding dereferencing incomplete types.
This appears to be due to #define XOPEN_SOURCE 500 on cexplock.c. Remove this and it compiled.


5) RTEMS build module for CMake
4) RTEMS build module for CMake

This tells CMake how to build basic binaries for RTEMS - it does not know how to do this
"out of the box" on a stock install.
Expand All @@ -107,18 +80,6 @@ like this if not already present (prior to the "project()" function):
set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../psp/cmake/Modules" ${CMAKE_MODULE_PATH})


>>> IMPORTANT: Any code compiled with "-fPIC" will seriously confuse Cexp!! <<<

RTEMS does not (yet?) do native shared modules. This build uses Cexp (installed earlier)
to get around this but this is _NOT_ a shared module in the traditional sense - it actually
is just a simple relocatable object that it loads.

The "CMAKE_C_COMPILE_OPTIONS_PIC" is actually set to _not_ use -fPIC for this reason.





II. Mission setup modifications to use PC-RTEMS PSP

Use a CMake toolchain file to build CFE for RTEMS. This goes under the mission's "_defs" top-level directory.
Expand All @@ -132,27 +93,52 @@ file will be picked up and used by the build system.

====== START OF EXAMPLE TOOLCHAIN FILE: CUT HERE ===========

# This example toolchain file describes the cross compiler to use for
# the target architecture indicated in the configuration file.

# In this sample application, the cross toolchain is configured to
# use a compiler for the RTEMS operating system targeting the "pc686" BSP

# Note that to use this, the "RTEMS" platform module may need to be added
# to the system-wide CMake installation as a default CMake does not yet
# recognize RTEMS as a system name. An example of this is distributed with
# the pc-rtems PSP.

# Basic cross system configuration
set(CMAKE_SYSTEM_NAME RTEMS)
set(CMAKE_SYSTEM_PROCESSOR i386)
set(CMAKE_SYSTEM_VERSION 4.11)
set(RTEMS_TOOLS_PREFIX "/opt/rtems-${CMAKE_SYSTEM_VERSION}")
set(RTEMS_BSP_PREFIX "$ENV{HOME}/rtems-${CMAKE_SYSTEM_VERSION}")
set(RTEMS_BSP pc686)

# The TOOLS and BSP are allowed to be installed in different locations.
# If the README was followed they will both be installed under $HOME
# By default it is assumed the BSP is installed to the same directory as the tools
SET(RTEMS_TOOLS_PREFIX "$ENV{HOME}/rtems-${CMAKE_SYSTEM_VERSION}" CACHE PATH
"RTEMS tools install directory")
SET(RTEMS_BSP_PREFIX "${RTEMS_TOOLS_PREFIX}" CACHE PATH
"RTEMS BSP install directory")

# The BSP that will be used for this build
set(RTEMS_BSP "pc686")

# specify the cross compiler - adjust accord to compiler installation
# This uses the compiler-wrapper toolchain that buildroot produces
set(TARGET_PREFIX "${CMAKE_SYSTEM_PROCESSOR}-rtems${CMAKE_SYSTEM_VERSION}-")
set(CPUTUNEFLAGS "-march=i686 -mtune=i686")

SET(CMAKE_C_COMPILER "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}gcc")
SET(CMAKE_CXX_COMPILER "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}g++")
SET(CMAKE_LINKER "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}ld")
SET(CMAKE_ASM_COMPILER "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}as")
SET(CMAKE_STRIP "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}strip")
SET(CMAKE_NM "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}nm")
SET(CMAKE_AR "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}ar")
SET(CMAKE_OBJDUMP "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}objdump")
SET(CMAKE_OBJCOPY "${RTEMS_TOOLS_PREFIX}/bin/${TARGET_PREFIX}objcopy")
SET(SDKHOSTBINDIR "${RTEMS_TOOLS_PREFIX}/bin")
set(TARGETPREFIX "${CMAKE_SYSTEM_PROCESSOR}-rtems${CMAKE_SYSTEM_VERSION}-")
set(RTEMS_BSP_C_FLAGS "-march=i686 -mtune=i686 -fno-common")
set(RTEMS_BSP_CXX_FLAGS ${RTEMS_BSP_C_FLAGS})

SET(CMAKE_C_COMPILER "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}gcc")
SET(CMAKE_CXX_COMPILER "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}g++")
SET(CMAKE_LINKER "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}ld")
SET(CMAKE_ASM_COMPILER "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}as")
SET(CMAKE_STRIP "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}strip")
SET(CMAKE_NM "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}nm")
SET(CMAKE_AR "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}ar")
SET(CMAKE_OBJDUMP "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}objdump")
SET(CMAKE_OBJCOPY "${RTEMS_TOOLS_PREFIX}/bin/${TARGETPREFIX}objcopy")

# Exception handling is very iffy. These two options disable eh_frame creation.
set(CMAKE_C_COMPILE_OPTIONS_PIC -fno-exceptions -fno-asynchronous-unwind-tables)

# search for programs in the build host directories
SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
Expand All @@ -167,9 +153,21 @@ SET(CMAKE_PREFIX_PATH /)
# abstraction layers are built when using this toolchain
SET(CFE_SYSTEM_PSPNAME pc-rtems)
SET(OSAL_SYSTEM_BSPTYPE pc-rtems)
SET(OSAL_SYSTEM_OSTYPE rtems-ng)


SET(OSAL_SYSTEM_OSTYPE rtems)

# Info regarding the RELOCADDR:
#+--------------------------------------------------------------------------+
#| Set the value of RELOCADDR to the address where you want your image to
#| load. If you'll be using GRUB to load the images it will have to be >=
#| 0x100000 (1024K). If you are using NetBoot to load the images it can be
#| >= 0x10000 (64K) AND <= 0x97C00 (607K) OR >= 0x100000 (1024K). The memory
#| top is of course another limit. Make sure there is enough space before the
#| upper memory limits for the image and the memory allocated by it to fit.
#| Make sure the value you choose is aligned to 4 bytes.
#+--------------------------------------------------------------------------+
set(RTEMS_RELOCADDR 0x00100000)

====== END OF EXAMPLE TOOLCHAIN FILE: CUT HERE ===========

2) Get RTEMS GRUB boot image

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