README correction
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README.md
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README.md
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@ -44,32 +44,32 @@ These files can be edited manually after `CMake` build generation.
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# FSFW demo with FreeRTOS OSAL on the STM32H743ZI
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This demo can be run on a STM32H743ZI-Nucleo board with the FreeRTOS OSAL.
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This demo can be run on a STM32H743ZI-Nucleo board with the RTEMS OSAL.
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## General Information
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## General information
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The board is flashed and debugged with OpenOCD and this README specifies on how
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to make this work with the Eclipse IDE. Other IDEs or the command line can be used as well as long
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as long as OpenOCD integration is given. The example demo uses newlib nano (glibc).
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Some system calls were overriden so the C and C++ stdio functions work. IO is sent via the HUART3,
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so debug output can be read directly from the USB connection to the board.
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The board is flashed and debugged with OpenOCD and this README specifies on how to make
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this work with the Eclipse IDE. Other IDEs or the command line can be used as well as
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long as OpenOCD integration is given. Debug otuput can be read directly from the USB
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connection to the board.
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## Prerequisite
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1. [RTEMS BSP](https://docs.rtems.org/branches/master/user/bsps/bsps-arm.html#id25)
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`arm/stm32h7` installed (`arm-rtems6`)
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1. [MinGW64](https://www.msys2.org/) or [Ninja Build](https://ninja-build.org/) installed on Windows.
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Not required on Linux.
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2. [GNU ARM Toolchain](https://xpack.github.io/arm-none-eabi-gcc/install/) installed, recommended
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to add binaries to system path.
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3. Recommended for application code development:
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[Eclipse for C/C++](https://www.eclipse.org/downloads/packages/) installed with the Eclipse MCU
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plugin
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4. [OpenOCD](https://xpack.github.io/openocd/) installed for Eclipse debugging
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5. STM32 USB drivers installed
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## Building the software with CMake
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# Building the software with CMake
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On Windows, the following steps should be performed inside the MinGW64 console
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after installing MSYS2 or inside another Unix shell like `git bash`.
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after installing MSYS2. It is recommended to still use git for Windows for the git
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related steps.
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1. Clone this repository
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```sh
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@ -89,34 +89,33 @@ after installing MSYS2 or inside another Unix shell like `git bash`.
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mkdir build-Debug
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cd build-Debug
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```
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4. Ensure that the ARM compiler has been added to the path and can be called from
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the command line. For example, the following command should work:
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4. Ensure that the RTEMS ARM compiler has been added to the path and can be called
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from the command line. For example, the following command should work:
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```sh
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arm-none-eabi-gcc --version
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arm-rtems6-gcc --version
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```
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Now we will create the build configuration for cross-compilation of an ARM target.
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On Linux, the following build will create a debug build configuration with
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the Unix Makefile generator. You can also specify `-G Ninja` to use Ninja instead
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of Make.
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On Linux, run the following command:
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```sh
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cmake ..
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cmake -G "Unix Makefiles" -DOS_FSFW=rtems -DCMAKE_BUILD_TYPE=Debug -DTGT_BSP=arm/stm32h743zi-nucleo ..
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```
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On Windows, use the following command to build with the `MinGW Makefiles` build system
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On Windows, use the following command:
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```sh
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cmake -G "MinGW Makefiles" ..
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cmake -G "MinGW Makefiles" -DOS_FSFW=rtems -DCMAKE_BUILD_TYPE=Debug -DTGT_BSP=arm/stm32h743zi-nucleo ..
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```
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The build configuration can also be performed with the shell scripts located inside
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`cmake/scripts/RTEMS` or the Python helper script `cmake_build_config.py` inside
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`cmake/scripts`.
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5. Build the application with the following command
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5. Build the application
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```sh
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cmake --build . -j
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```
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@ -129,95 +128,55 @@ after installing MSYS2 or inside another Unix shell like `git bash`.
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The debug output is also sent via the connected USB port and a blink pattern (1 second interval)
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can be used to verify the software is running properly.
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## Setting up the prerequisites
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# Setting up the prerequisites
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### Windows
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Building a software for RTEMS generally requires building a cross-compiler toolchain for the target
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architecture first and then building a board or chip specific BSP.
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The [RTEMS QuickStart Guide](https://docs.rtems.org/branches/master/user/start/index.html)
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specifies the general steps required to build a BSP. The following steps will show how
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to build the `arm/nucleo-h743zi` BSP required for the STM32H743ZI-Nucleo board. It is recommended to
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build the BSP on Linux because the build process in Windows has proven problematic
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numerous times. On Windows, it is recommended to download a pre-compiled tool suite or
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build cross-compile the toolchain for Windows on a Linux system. The BSP build process with `waf`
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should work on both OSes without issues.
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It is recommended to install [MSYS2](https://www.msys2.org/) first.
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Open MinGW64 and run the following commands to update it and install make and cmake
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(replace x86_64 if compiling on different architecture):
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For Linux, it is recommended you clone and follow the steps specified in this
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[respository](https://github.com/rmspacefish/rtems-tools). In any case, it is recommended
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to use [this fork](https://github.com/rmspacefish/rtems/tree/mueller/master) to build the BSP
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from the RTEMS sources because it contains important fixes for the relatively new
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`arm/nucleo-h743zi` BSP.
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```sh
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pacman -Syu
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```
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You can also download the pre-compiled toolchains from
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[here](https://drive.google.com/drive/folders/15pO3FCUwceghrnYjmNlgC6K1Z8D_6iu2?usp=sharing)
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```sh
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pacman -S mingw-w64-x86_64-make mingw-w64-x86_64-cmake
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```
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## Windows
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Alternatively, you can install [Ninja Build](https://ninja-build.org/), but you need
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to add the folder containing the `ninja.exe` executable to the system path so you
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can run `ninja -v` from the command line. If you do this, you can also use
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`git bash` or the Windows command lines with the CMake Ninja generator
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to build the software.
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You can install the [STM32 USB drivers](https://www.st.com/en/development-tools/stsw-link009.html)
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The code needs to be cross-compiled for the ARM target system and we will use the
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[GNU ARM Toolchain](https://xpack.github.io/arm-none-eabi-gcc/install/).
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## Linux
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1. Install NodeJS LTS. Add nodejs folder (e.g. "C:\Program Files\nodejs\")
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to system variables. Test by running `npm --version` in command line
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2. Install [XPM](https://www.npmjs.com/package/xpm)
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```sh
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npm install --global xpm
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```
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3. Install gnu-arm Toolchain for Eclipse (version can be specified)
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```sh
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xpm install --global @xpack-dev-tools/arm-none-eabi-gcc@latest
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```
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`xpm` will display where the package was installed. Search in that path for
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the hidden `.content` folder, which will contain a `bin` folder and store
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the full path to that `bin` folder for later.
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Install OpenOCD for STM32 debugging
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```sh
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xpm install --global @xpack-dev-tools/openocd@latest
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```
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4. If you want to build from the command line, you need to add the `arm-none-eabi-gcc`
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binary location in the xPack folder to system variables. You can do this in a Unix
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shell like `git bash` or `MinGW64` with the following command
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```sh
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export PATH=$PATH:"<pathToToolchain>"
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```
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You can also add these lines to a shell script like `path_setter.sh` and then source
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the script with `. path_setter.sh` to do this conveniently. You can test whether
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the path was set up properly by running `arm-none-eabi-gcc -v`
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5. Install the [STM32 USB drivers](https://www.st.com/en/development-tools/stsw-link009.html)
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If you don't want to install nodejs you may go with the
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[four-command manual installation](https://xpack.github.io/arm-none-eabi-gcc/install/#manual-install).
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### Linux
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Install the [GNU ARM toolchain](https://xpack.github.io/arm-none-eabi-gcc/install/)
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like explained above.
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To install general buildtools for the linux binary, run:
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```sh
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sudo apt-get install build-essential
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```
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Install the [USB drivers](https://github.com/stlink-org/stlink) on Linux.
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On Ubuntu, you can run the following command to install it:
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You can install the STM32 USB drivers on Ubuntu with the following command
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```sh
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sudo apt-get install stlink-tools
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```
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## Setting up Eclipse for OpenOCD debugging
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# Setting up Eclipse for comfortable development
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The separate [Eclipse README](README-eclipse#top) specifies how to set up Eclipse.
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The STM32 configuration uses the xPacks OpenOCD and the xPacks ARM Toolchain, so those should be
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The STM32 configuration uses the xPacks OpenOCD and the xPacks ARM Toolchain, so those should be
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installed as well. OpenOCD should be configured correctly in the STM32 launch configurations.
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## Troubleshooting
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It is recommended to use the given project files which include a RTEMS configuration
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which only requires a few steps to work properly. When using the project files,
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go to the project properties → C/C++ Build → Build Variables and adapt the
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build variable `RTEMS_PREFIX` to point to your RTEMS prefix location, for example
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`$HOME/RTEMS/rtems-tools/rtems/6`. After that, Eclipse should be able to autodetermine the
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BSP specific include paths.
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### OpenOCD errors
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# Troubleshooting
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## OpenOCD errors
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If you get the following error in OpenOCD: "Error: auto_probe failed", this could be related from
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switching between FreeRTOS and RTEMS. You can try the following steps:
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@ -228,15 +187,15 @@ switching between FreeRTOS and RTEMS. You can try the following steps:
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2. Second way: Add -c "gdb_memory_map disable" to the OpenOCD arguments (in Eclipse) and run once.
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Debugging might not be possible, so remove it for subsequent runs.
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3. Third way: Add the following lines to the `stm32h7x.cfg` file located inside the OpenOCD folder
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inside the `scripts/target` folder:
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3. Third way (most reliable): Add the following lines to the `stm32h7x.cfg` file located inside
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the OpenOCD folder inside the `scripts/target` folder:
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```sh
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$_CHIPNAME.cpu configure -event gdb-attach {
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$_CHIPNAME.cpu0 configure -event gdb-attach {
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halt
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}
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$_CHIPNAME.cpu configure -event gdb-attach {
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$_CHIPNAME.cpu0 configure -event gdb-attach {
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reset init
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}
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```
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