RTEMS User Manual Release 5.e733a39-modified (12th March 2020) © 1988, 2020 RTEMS Project and contributors CONTENTS 1 Introduction 3 1.1 Overview........................................4 1.2 Features.........................................5 1.3 Ecosystem.......................................8 1.3.1 Rational....................................8 1.3.2 Open Source..................................8 1.3.3 Deployment..................................9 1.4 Real-time Application Systems............................ 10 1.5 Real-time Executive.................................. 11 2 Quick Start 13 2.1 Preparation....................................... 14 2.1.1 Host Computer................................ 14 2.1.2 Selecting a BSP................................ 14 2.2 Choose an Installation Prefix............................. 15 2.3 Obtain the Sources................................... 16 2.3.1 Releases.................................... 16 2.3.2 Git....................................... 16 2.3.3 Offline Download............................... 17 2.4 Install the Tool Suite.................................. 18 2.5 Bootstrap the RTEMS Sources............................. 20 2.6 Build a Board Support Package (BSP)........................ 21 2.6.1 RSB BSP Build................................. 21 2.6.2 Manual BSP Build............................... 22 2.7 Test a Board Support Package (BSP)......................... 25 2.8 Build Your Application................................. 26 2.9 Build an RSB Package................................. 30 2.9.1 RTEMS Packages............................... 30 2.9.2 BSP Stack Build................................ 30 2.9.3 Package Build................................. 31 3 Support and Contributing 33 3.1 RTEMS Project Support................................ 34 3.1.1 Users Mailing List............................... 34 3.1.2 Documentation................................ 34 3.1.3 All Mailing Lists................................ 34 3.1.4 IRC....................................... 34 3.2 Report Bugs...................................... 35 i 3.2.1 Search for Existing Bugs........................... 35 3.2.2 Not RTEMS Bugs............................... 35 3.2.3 Good Bug Reports............................... 36 3.2.4 Nobody Fixes my Bug............................. 37 3.3 Contributing...................................... 38 3.3.1 How to Contribute?.............................. 38 3.3.2 Preparing and Sending Patches....................... 38 3.3.3 Checklist for Patches............................. 38 3.3.4 Patch Review Process............................. 39 3.3.5 Why Contribute?............................... 39 3.3.6 Common Questions and Answers...................... 41 3.4 Commercial Support Services............................. 43 4 Host Computer 45 4.1 Host Operating Systems................................ 46 4.2 POSIX Hosts...................................... 48 4.2.1 Root Access.................................. 48 4.2.2 Linux...................................... 48 4.2.2.1 ArchLinux.............................. 48 4.2.2.2 CentOS................................ 49 4.2.2.3 Fedora................................ 49 4.2.2.4 Raspbian............................... 49 4.2.2.5 Ubuntu................................ 49 4.2.2.6 Linux Mint.............................. 50 4.2.2.7 openSUSE.............................. 50 4.2.3 FreeBSD.................................... 50 4.2.4 NetBSD.................................... 50 4.3 Apple macOS...................................... 51 4.3.1 Catalina.................................... 51 4.3.2 Sierra..................................... 51 4.3.3 Mavericks................................... 51 4.4 Microsoft Windows.................................. 52 4.4.1 Windows Path Length............................. 52 4.4.2 Windows Spaces In Paths........................... 52 4.4.3 Parallel Builds with Make.......................... 53 4.4.4 POSIX Support................................ 53 4.4.5 Python..................................... 53 4.4.6 MSYS2..................................... 53 4.4.7 Cygwin..................................... 55 5 Installation 59 5.1 Releases......................................... 60 5.1.1 RTEMS Tools and Kernel........................... 60 5.2 Developer (Unstable)................................. 67 5.2.1 POSIX and OS X Host Tools Chain...................... 67 5.2.2 Windows Host Tool Chain.......................... 72 5.2.2.1 RTEMS Windows Tools....................... 72 5.2.2.2 Building the Kernel......................... 75 5.3 RTEMS Kernel..................................... 81 5.3.1 Development Sources............................. 81 5.3.2 Tools Path Set Up............................... 81 5.3.3 Bootstrapping................................. 81 ii 5.3.4 Building a BSP................................ 82 5.3.5 Installing A BSP................................ 85 5.3.6 Contributing Patches............................. 86 5.4 Project Sandboxing.................................. 88 6 Target Hardware 91 6.1 Targets......................................... 92 6.2 Architectures...................................... 93 6.3 Tiers.......................................... 95 7 Board Support Packages 97 7.1 aarch64 (AArch64).................................. 98 7.2 arm (ARM)....................................... 99 7.2.1 altera-cyclone-v (Intel Cyclone V)...................... 99 7.2.1.1 Boot via U-Boot........................... 99 7.2.1.2 Clock Driver............................. 99 7.2.1.3 Console Driver............................ 99 7.2.1.4 I2C Driver.............................. 99 7.2.1.5 Network Interface Driver...................... 99 7.2.1.6 MMC/SDCard Driver........................ 100 7.2.1.7 USB Host Driver........................... 100 7.2.1.8 Caveats................................ 100 7.2.2 atsam..................................... 100 7.2.3 beagle..................................... 100 7.2.3.1 Boot via U-Boot........................... 100 7.2.3.2 Getting the Device Tree Blob.................... 101 7.2.3.3 Writing the uEnv.txt file....................... 101 7.2.3.4 I2C Driver.............................. 101 7.2.3.5 SPI Driver............................... 101 7.2.4 csb336..................................... 102 7.2.5 edb7312.................................... 102 7.2.6 gdbarmsim.................................. 102 7.2.7 gumstix.................................... 102 7.2.8 imx (NXP i.MX)................................ 102 7.2.8.1 Build Configuration Options.................... 102 7.2.8.2 Boot via U-Boot........................... 103 7.2.8.3 Clock Driver............................. 103 7.2.8.4 Console Driver............................ 103 7.2.8.5 I2C Driver.............................. 103 7.2.8.6 SPI Driver............................... 103 7.2.8.7 Network Interface Driver...................... 104 7.2.8.8 MMC/SDCard Driver........................ 104 7.2.8.9 Caveats................................ 104 7.2.9 lm3s69xx................................... 104 7.2.10 lpc176x.................................... 104 7.2.11 imx (NXP i.MX)................................ 105 7.2.11.1 Build Configuration Options.................... 105 7.2.11.2 Boot via U-Boot........................... 105 7.2.11.3 Clock Driver............................. 106 7.2.11.4 Console Driver............................ 106 7.2.11.5 I2C Driver.............................. 106 7.2.11.6 SPI Driver............................... 106 iii 7.2.11.7 Network Interface Driver...................... 106 7.2.11.8 MMC/SDCard Driver........................ 107 7.2.11.9 Caveats................................ 107 7.2.12 raspberrypi.................................. 107 7.2.12.1 Setup SD card............................ 107 7.2.12.2 Kernel image............................. 107 7.2.12.3 Testing using QEMU......................... 108 7.2.13 realview-pbx-a9................................ 109 7.2.14 rtl22xx..................................... 109 7.2.15 smdk2410................................... 109 7.2.16 tms570..................................... 109 7.2.17 xen (Xen on ARM).............................. 109 7.2.17.1 Execution............................... 109 7.2.17.2 Additional Information....................... 110 7.2.18 xilinx-zynq................................... 110 7.2.19 xilinx-zynqmp................................. 110 7.3 bfin (Blackfin)..................................... 111 7.3.1 bf537Stamp.................................. 111 7.3.2 eZKit533.................................... 111 7.3.3 TLL6527M................................... 111 7.4 epiphany (Epiphany)................................. 112 7.4.1 epiphany_sim................................. 112 7.5 i386........................................... 113 7.5.1 pc386..................................... 113 7.6 lm32 (LatticeMicro32)................................. 114 7.6.1 lm32_evr................................... 114 7.6.2 milkymist................................... 114 7.7 m68k (Motorola 68000 / ColdFire)......................... 115 7.7.1 av5282..................................... 115 7.7.2 csb360..................................... 115 7.7.3 gen68340................................... 115 7.7.4 gen68360................................... 115 7.7.5 genmcf548x.................................. 115 7.7.6 mcf5206elite................................. 115 7.7.7 mcf52235................................... 115 7.7.8 mcf5225x................................... 115 7.7.9 mcf5235...................................