147 lines
6.0 KiB
Markdown
147 lines
6.0 KiB
Markdown
# FSFW demo with RTEMS OSAL on the STM32H743ZI
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This demo can be run on a STM32H743ZI-Nucleo board with the RTEMS OSAL.
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This example is still a work-in-progress.
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## General information
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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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2. [MSYS2](https://www.msys2.org/) installed on Windows. Not required on Linux.
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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, separate steps for
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[Windows](https://www.st.com/en/development-tools/stsw-link009.html) or
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[Linux](https://fishpepper.de/2016/09/16/installing-using-st-link-v2-to-flash-stm32-on-linux/)
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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. 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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git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example.git
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```
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2. Set up submodules
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```sh
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git submodule init
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git submodule update
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```
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3. Navigate into the cloned repository and create a folder for the build. We will create a
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Debug build folder.
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```sh
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mkdir Debug-STM32-RTEMS
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cd Debug-STM32-RTEMS
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```
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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-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, run the following command:
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```sh
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cmake -G "Unix Makefiles" -DOS_FSFW=freertos -DCMAKE_BUILD_TYPE=Debug -DTGT_BSP=arm/stm32h743zi-nucleo ..
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```
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On Windows, use the following command:
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```sh
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cmake -G "MinGW Makefiles" -DOS_FSFW=freertos -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
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```sh
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cmake --build . -j
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```
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The application will be located inside the Debug folder and has been compiled for
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the flash memory.
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6. You can test the application by first connecting the STM32H743ZI-Nucleo via USB.
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The device should now show up in the list of connected devices (make sure the USB drivers are
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installed as well). Drag and drop the binary file into the connected device to flash it.
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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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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/stm32h7` 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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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 `stm32h7` BSP.
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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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## 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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installed as well. OpenOCD should be configured correctly in the STM32 launch configurations.
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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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`$HOME/RTEMS/rtems-tools/rtems/6`. After that, Eclipse should be able to autodetermine the
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BSP specific include paths.
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## Troubleshooting
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### OpenOCD errors
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If you get the following error in OpenOCD: "Error: auto_probe failed", this could be related from
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switching between FreeRTOS and RTEMS. You can try the following steps:
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1. First way: Flash the binary manually by drag & droping the binary into the USB drive manually
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once
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2. Second way: Add -c "gdb_memory_map disable" to the OpenOCD arguments (in Eclipse) and run once.
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Debugging might not be possible, so remove it for subsequent runs.
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3. Third way (most reliable): Add the following lines to the `stm32h7x.cfg` file located inside
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the OpenOCD folder inside the `scripts/target` folder:
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```sh
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$_CHIPNAME.cpu0 configure -event gdb-attach {
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halt
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}
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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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