ecos user guide - sourceforgedb2latex.sourceforge.net/sample/test_ecos.pdf · 2003. 5. 20. ·...

eCos User Guide

May 20, 2003

Copyright c© 2001, 2002 Red Hat, Inc.

Copyright c© 2003 eCosCentric Ltd.Documentation licensing terms

This material may be distributed only subject to the terms and conditions set forth in the Open Publi-cation License, v1.0 or later (the latest version is presently available at http://www.opencontent.org/openpub/ ).

Distribution of the work or derivative of the work in any standard (paper) book form is prohibitedunless prior permission is obtained from the copyright holder.

Trademarks

Red Hat, the Red Hat Shadow Man logo R©, eCosTM, RedBootTM, GNUPro R©, and InsightTM are trade-marks of Red Hat, Inc.

Sun Microsystems R© and Solaris R© are registered trademarks of Sun Microsystems, Inc.

SPARC R© is a registered trademark of SPARC International, Inc., and is used under license by SunMicrosystems, Inc.

Intel R© is a registered trademark of Intel Corporation.

MotorolaTM is a trademark of Motorola, Inc.

ARM R© is a registered trademark of Advanced RISC Machines, Ltd.

MIPSTM is a trademark of MIPS Technologies, Inc.

Toshiba R© is a registered trademark of the Toshiba Corporation.

NEC R© is a registered trademark if the NEC Corporation.

Cirrus Logic R© is a registered trademark of Cirrus Logic, Inc.

Compaq R© is a registered trademark of the Compaq Computer Corporation.

MatsushitaTM is a trademark of the Matsushita Electric Corporation.

Samsung R© and CalmRISCTM are trademarks or registered trademarks of Samsung, Inc.

Linux R© is a registered trademark of Linus Torvalds.

UNIX R© is a registered trademark of The Open Group.

Microsoft R©, Windows R©, and Windows NT R© are registered trademarks of Microsoft Corporation, Inc.

All other brand and product names, trademarks, and copyrights are the property of their respectiveowners.

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Contents

I Introduction 15

1 Key Features 17

2 eCos Overview 19

3 eCos Licence Overview 213.1 Questions and answers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.2 Previous License . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4 Notation and Conventions 234.1 GDB and GCC Command Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.2 Directory and File System Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.3 Version Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

5 Documentation Roadmap 25

II Installing eCos 27

6 System Requirements 29

7 Installation on Linux 31

8 Installation on Windows 33

9 Target Setup 359.1 Connecting Via Serial Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359.2 Connecting Via Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359.3 Using A Simulator Target . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369.4 Using A Synthetic Target . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

III Programming With eCos 37

10 Programming With eCos 3910.1 The Development Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

10.1.1 eCos Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3910.1.2 Integrity check of the eCos configuration . . . . . . . . . . . . . . . . . . . . . . . . 3910.1.3 Application Development - Target Neutral Part . . . . . . . . . . . . . . . . . . . . 3910.1.4 Application Development - Target Specific Part . . . . . . . . . . . . . . . . . . . . 40

11 Configuring and Building eCos from Source 4111.1 eCos Start-up Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4111.2 Configuration Tool on Windows and Linux Quick Start . . . . . . . . . . . . . . . . . . . . 4211.3 Ecosconfig on Windows and Linux Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . 44

11.3.1 Selecting a Target . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

3

CONTENTS CONTENTS

12 Running an eCos Test Case 4912.1 Using the Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4912.2 Using the command line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5012.3 Testing Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

13 Building and Running Sample Applications 5313.1 eCos Hello World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

13.1.1 eCos hello world program listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5313.2 A Sample Program with Two Threads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

13.2.1 eCos two-threaded program listing . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

14 More Features — Clocks and Alarm Handlers 5714.1 A Sample Program with Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

IV The eCos Configuration Tool 61

15 Getting Started 6315.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6315.2 Invoking the eCos Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

15.2.1 On Linux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6315.2.2 On Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

15.3 The Component Repository . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6415.4 eCos Configuration Tool Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

15.4.1 Configuration Save File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6515.4.1.1 Save the currently active document . . . . . . . . . . . . . . . . . . . . . . 6515.4.1.2 Open an existing document . . . . . . . . . . . . . . . . . . . . . . . . . . 6615.4.1.3 Open a document you have used recently . . . . . . . . . . . . . . . . . . 6615.4.1.4 Create a new blank document based on the Component Registry . . . . . 6615.4.1.5 Save to a different file name . . . . . . . . . . . . . . . . . . . . . . . . . . 66

15.4.2 Build and Install Trees . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

16 Getting Help 6716.1 Context-sensitive Help for Dialogs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6716.2 Context-sensitive Help for Other Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . 6716.3 Context-sensitive Help for Configuration Items . . . . . . . . . . . . . . . . . . . . . . . . . 6716.4 Methods of Displaying HTML Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

17 Customization 6917.1 Window Placement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6917.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

17.2.1 Settings: Display tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6917.2.1.1 Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6917.2.1.2 Integer Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6917.2.1.3 Font . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7017.2.1.4 Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

17.2.2 Settings: Viewers tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7017.2.2.1 View header files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7017.2.2.2 View documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

18 Screen Layout 7318.1 Configuration Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

18.1.1 Disabled items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7418.1.1.1 Right-Clicking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

18.1.2 Conflicts Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7518.1.2.1 Output Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7518.1.2.2 Properties Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7518.1.2.3 Short Description Window . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

4

CONTENTS CONTENTS

19 Updating the Configuration 7719.1 Adding and Removing Packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7719.2 Platform Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7819.3 Using Templates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

19.3.1 Resolving conflicts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7919.3.2 Automatic resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

20 Searching 83

21 Building 8521.1 Selecting Build Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8621.2 Selecting User Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

22 Execution 8722.1 Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

22.1.1 Download Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8822.1.2 Run time Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8822.1.3 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8822.1.4 Executables Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8822.1.5 Output Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8922.1.6 Summary Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

23 Creating a Shell 9123.1 Keyboard Accelerators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

V eCos Programming Concepts and Techniques 93

24 CDL Concepts 9524.1 About this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

24.1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9524.1.2 Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

24.2 Component Repository . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9524.3 Component Definition Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9524.4 Packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9624.5 Configuration Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

24.5.1 Expressions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9624.5.2 Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9724.5.3 Inactive Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

24.6 Conflicts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9724.7 Templates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

25 The Component Repository and Working Directories 9925.1 Component Repository . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

25.1.1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9925.1.2 How is it modified? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9925.1.3 When is it edited manually? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9925.1.4 User Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9925.1.5 Examples of files in this hierarchy: . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

25.2 Build Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10125.2.1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10125.2.2 How is it modified? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10125.2.3 User applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10125.2.4 Examples of files in this hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

25.3 Install Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10125.3.1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10125.3.2 How is it modified? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10125.3.3 When is it edited manually? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10125.3.4 User applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10225.3.5 Examples of files in this hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

5

CONTENTS CONTENTS

25.4 Application Build Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

26 Compiler and Linker Options 10326.1 Compiling a C Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10326.2 Compiling a C++ Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

27 Debugging Techniques 10527.1 Tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10527.2 Kernel Instrumentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

VI Configuration and the Package Repository 111

28 Manual Configuration 11328.1 Directory Tree Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11328.2 Creating the Build Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

28.2.1 ecosconfig qualifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11428.2.2 ecosconfig commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

28.3 Conflicts and constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11628.4 Building the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11728.5 Packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11828.6 Coarse-grained Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11828.7 Fine-grained Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11928.8 Editing an eCos Savefile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

28.8.1 Header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12028.8.2 Toplevel Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12028.8.3 Conflicts Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12128.8.4 Data Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12228.8.5 Tcl Syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

28.9 Editing the Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13328.10Modifying the Memory Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

29 Managing the Package Repository 13729.1 Package Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

29.1.1 Using the Administration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13729.1.2 Using the command line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

29.2 Package Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

VII Appendixes 141

A Target Setup 143A.1 MN10300 stdeval1 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143A.2 MN10300 Architectural Simulator Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143A.3 AM33 STB Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

A.3.1 Use with GDB Stub ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144A.3.2 Use with the JTAG debugger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145A.3.3 Building the GDB stub ROM image . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

A.4 TX39 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146A.5 TX39 Architectural Simulator Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146A.6 TX49 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

A.6.1 Preparing the GDB stubs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146A.6.1.1 Building the GDB stub image with the eCos Configuration Tool . . . . . 147A.6.1.2 Building the GDB stub image with ecosconfig . . . . . . . . . . . . . . . . 147

A.6.2 Installing GDB stubs into FLASH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147A.7 VR4300 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148A.8 VRC4375 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148A.9 Atlas/Malta Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148A.10 PowerPC Cogent Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

A.10.1 Installing the Stubs into ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

6

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A.10.1.1 Preparing the Binaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149A.10.1.2 Installing the Stubs into ROM or FLASH . . . . . . . . . . . . . . . . . . . 149

A.11 PowerPC MBX860 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149A.11.1 Installing the Stubs into FLASH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

A.11.1.1 Preparing the Binaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150A.11.1.2 Installing the Stubs into ROM . . . . . . . . . . . . . . . . . . . . . . . . . 150A.11.1.3 Installing the Stubs into FLASH . . . . . . . . . . . . . . . . . . . . . . . . 151

A.12 PowerPC Architectural Simulator Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151A.13 SPARClite Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

A.13.1 Ethernet Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152A.13.1.1 BOOTP/DHCP service on Linux . . . . . . . . . . . . . . . . . . . . . . . 152A.13.1.2 BOOTP/DHCP boot process . . . . . . . . . . . . . . . . . . . . . . . . . . 153

A.13.2 Serial Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153A.14 SPARClite Architectural Simulator Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153A.15 ARM PID Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

A.15.1 Installing the Stubs into FLASH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154A.15.1.1 Preparing the Binaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154A.15.1.2 Building the ROM images with the eCos Configuration Tool . . . . . . . 154A.15.1.3 Building the ROM images with ecosconfig . . . . . . . . . . . . . . . . . . 154A.15.1.4 Building the FLASH Tool with the eCos Configuration Tool . . . . . . . . 155A.15.1.5 Building the FLASH Tool with ecosconfig . . . . . . . . . . . . . . . . . . 155A.15.1.6 Prepare the Board for FLASH Programming . . . . . . . . . . . . . . . . . 155A.15.1.7 Program the FLASH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156A.15.1.8 Programming the FLASH for big-endian mode . . . . . . . . . . . . . . . 158

A.15.2 Installing the Stubs into ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158A.16 ARM AEB-1 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

A.16.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158A.16.2 Talking to the Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159A.16.3 Downloading the Stubs via the Rom Menu . . . . . . . . . . . . . . . . . . . . . . . 159A.16.4 Activating the GDB Stubs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159A.16.5 Building the GDB Stub FLASH ROM Images . . . . . . . . . . . . . . . . . . . . . . 160A.16.6 Building the GDB Stubs with the eCos Configuration Tool . . . . . . . . . . . . . . 160A.16.7 Building the GDB Stub ROMs with ecosconfig . . . . . . . . . . . . . . . . . . . . . 160

A.17 ARM Cogent CMA230 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161A.17.1 Building the GDB Stub FLASH ROM images . . . . . . . . . . . . . . . . . . . . . . 161A.17.2 Building the GDB Stubs with the eCos Configuration Tool . . . . . . . . . . . . . . 161A.17.3 Building the GDB Stub ROMs with ecosconfig . . . . . . . . . . . . . . . . . . . . . 161

A.18 Cirrus Logic ARM EP7211 Development Board Hardware Setup . . . . . . . . . . . . . . . 162A.18.1 Building programs for programming into FLASH . . . . . . . . . . . . . . . . . . . 162A.18.2 Building the GDB Stub FLASH ROM images . . . . . . . . . . . . . . . . . . . . . . 162A.18.3 Building the ROM images with the eCos Configuration Tool . . . . . . . . . . . . . 163A.18.4 Building the ROM images with ecosconfig . . . . . . . . . . . . . . . . . . . . . . . 163A.18.5 Loading the ROM Image into On-board Flash . . . . . . . . . . . . . . . . . . . . . 163A.18.6 Building the Flash Downloader on Linux . . . . . . . . . . . . . . . . . . . . . . . . 164A.18.7 Developing eCos Programs with the ARM Multi-ICE . . . . . . . . . . . . . . . . . 164

A.19 Cirrus Logic ARM EP7212 Development Board Hardware Setup . . . . . . . . . . . . . . . 165A.20 Cirrus Logic ARM EP7312 Development Board Hardware Setup . . . . . . . . . . . . . . . 166

A.20.1 90MHz Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166A.21 Cirrus Logic ARM EP7209 Development Board Hardware Setup . . . . . . . . . . . . . . . 166A.22 Cirrus Logic ARM CL-PS7111 Evaluation Board Hardware Setup . . . . . . . . . . . . . . 166A.23 StrongARM EBSA-285 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

A.23.1 Building the GDB Stub FLASH ROM images . . . . . . . . . . . . . . . . . . . . . . 167A.23.2 Building the GDB Stubs with the eCos Configuration Tool . . . . . . . . . . . . . . 167A.23.3 Building the GDB Stub ROMs with ecosconfig . . . . . . . . . . . . . . . . . . . . . 168A.23.4 Loading the ROM Image into On-board Flash . . . . . . . . . . . . . . . . . . . . . 168A.23.5 Running your eCos Program Using GDB and the StubROM . . . . . . . . . . . . . 169

A.24 Compaq iPAQ PocketPC Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170A.25 SH3/EDK7708 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

A.25.1 Installing the Stubs into FLASH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

7

CONTENTS CONTENTS

A.25.1.1 Preparing the Binaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170A.25.1.2 Installing the Stubs into ROM or FLASH . . . . . . . . . . . . . . . . . . . 171

A.26 SH3/CQ7708 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171A.26.1 Preparing the board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171A.26.2 eCos GDB Stubs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

A.26.2.1 Preparing the GDB stubs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171A.26.2.2 Building the GDB stub image with the eCos Configuration Tool . . . . . 171A.26.2.3 Building the GDB stub image with ecosconfig . . . . . . . . . . . . . . . . 172

A.26.3 Programming the stubs in EPROM/FLASH . . . . . . . . . . . . . . . . . . . . . . 172A.27 SH3/HS7729PCI Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173A.28 SH3/SE77x9 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173A.29 SH4/CQ7750 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

A.29.1 Preparing the board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173A.29.2 eCos GDB Stubs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

A.29.2.1 Preparing the GDB stubs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173A.29.2.2 Building the GDB stub image with the eCos Configuration Tool . . . . . 173A.29.2.3 Building the GDB stub image with ecosconfig . . . . . . . . . . . . . . . . 174

A.29.3 Programming the stubs in EPROM/FLASH . . . . . . . . . . . . . . . . . . . . . . 174A.30 SH4/SE7751 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174A.31 NEC CEB-V850/SA1 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

A.31.1 Installing the Stubs into ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175A.31.1.1 Preparing the Binaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175A.31.1.2 Installing the Stubs into ROM or FLASH . . . . . . . . . . . . . . . . . . . 176

A.31.2 Debugging with the NEC V850 I.C.E. . . . . . . . . . . . . . . . . . . . . . . . . . . 176A.31.2.1 INITIAL SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176A.31.2.2 BUILD PROCEDURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176A.31.2.3 V850ICE.EXE EXECUTION . . . . . . . . . . . . . . . . . . . . . . . . . . 177A.31.2.4 V850-ELF-GDB EXECUTION . . . . . . . . . . . . . . . . . . . . . . . . . 177A.31.2.5 MDI INTERFACE VS. GDB INTERFACE . . . . . . . . . . . . . . . . . . . 178A.31.2.6 eCos THREAD DEBUGGING . . . . . . . . . . . . . . . . . . . . . . . . . 178

A.32 NEC CEB-V850/SB1 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179A.33 i386 PC Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

A.33.1 RedBoot Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179A.33.2 Floppy Disk Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179A.33.3 GRUB Bootloader Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180A.33.4 Debugging FLOPPY and GRUB Applications . . . . . . . . . . . . . . . . . . . . . . 181

A.34 i386/Linux Synthetic Target Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181A.34.1 Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

B Real-time characterization 183B.1 Board: ARM AEB-1 Revision B Evaluation Board . . . . . . . . . . . . . . . . . . . . . . . . 183B.2 Board: Atmel AT91/EB40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185B.3 Board: Intel StrongARM EBSA-285 Evaluation Board . . . . . . . . . . . . . . . . . . . . . 187B.4 Board: Cirrus Logic EDB7111-2 Development Board . . . . . . . . . . . . . . . . . . . . . . 189

B.4.1 CPU : Cirrus Logic EP7211 73MHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189B.4.2 CPU : Cirrus Logic EP7212 73MHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

B.5 Board: ARM PID Evaluation Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193B.5.1 CPU : ARM 7TDMI 20 MHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193B.5.2 CPU : ARM 920T 20 MHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

B.6 Board: Intel IQ80310 XScale Development Kit . . . . . . . . . . . . . . . . . . . . . . . . . . 198B.7 Board: Toshiba JMR3904 Evaluation Board . . . . . . . . . . . . . . . . . . . . . . . . . . . 200B.8 Board: Toshiba REF 4955 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202B.9 Board: Matsushita STDEVAL1 Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204B.10 Board: Fujitsu SPARClite Evaluation Board . . . . . . . . . . . . . . . . . . . . . . . . . . . 205B.11 Board: Cogent CMA MPC860 (PowerPC) Evaluation . . . . . . . . . . . . . . . . . . . . . 207B.12 Board: NEC VR4373 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209B.13 Board: Intel SA1110 (Assabet) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211B.14 Board: Intel SA1100 (Brutus) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213B.15 Board: Motorola MBX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

8

CONTENTS CONTENTS

B.16 Board: Hitachi EDK7708 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217B.17 Board: CQ CqREEK SH3 Evaluation Board (cq7708) . . . . . . . . . . . . . . . . . . . . . . 219B.18 Board: Hitachi HS7729PCI HS7729 SH3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222B.19 Board: Hitachi Solution Engine 7751 SH4 (se7751) . . . . . . . . . . . . . . . . . . . . . . . 224B.20 Board: PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226B.21 Board: NEC V850 Cosmo Evaluation Board . . . . . . . . . . . . . . . . . . . . . . . . . . . 228B.22 Board: NEC V850 Cosmo Evaluation Board . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

C GNU General Public License 233

9

CONTENTS CONTENTS

10

List of Figures

11.1 Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4211.2 Template selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4311.3 Configuring for the target . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4311.4 Selecting the Build Library menu item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4411.5 Save file dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4411.6 Build tools dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4411.7 User tools dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4511.8 Selecting the Build Tests menu item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

12.1 Run tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4912.2 Properties dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

13.1 Two threads with simple print statements after random delays . . . . . . . . . . . . . . . . . . . 56

15.1 Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6415.2 Repository relocation dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6515.3 Save As dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6515.4 Open dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

16.1 HTML Help viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

17.1 Settings dialog, Display tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7017.2 Settings dialog, Viewers tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

19.1 Packages dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7719.2 Platforms dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7819.3 Platform Modify dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7819.4 Templates dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7919.5 Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8019.6 Resolve conflicts window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

20.1 Find dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

21.1 Build tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8621.2 User tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

22.1 Properties dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8722.2 Run tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8922.3 Add files from folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

25.1 Component repository . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

11

LIST OF FIGURES LIST OF FIGURES

12

List of Tables

11.1 Configuration for various download methods . . . . . . . . . . . . . . . . . . . . . . . . . 41

18.1 Cell types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

23.1 Keyboard accelerators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

24.1 CDL Expressions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9624.2 Configuration properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

13

LIST OF TABLES LIST OF TABLES

14

Part I

Introduction

15

Chapter 1

Key Features

• eCos is distributed under the GPL license with an exception which permits proprietary applicationcode to be linked with eCos without itself being forced to be released under the GPL. It is alsoroyalty and buyout free.

• As an Open Source project, eCos is under constant improvement, with an active developer com-munity, based around the eCos web site at http://sources.redhat.com/ecos/ .

• Powerful GUI-based configuration system allowing both large and fine grained configuration ofeCos. This allows the functionality of eCos to be customized to the exact requirements of theapplication.

• Full-featured, flexible, configurable, real time embedded kernel. The kernel provides thread schedul-ing, synchronization, timer, and communication primitives. It handles hardware resources suchas interrupts, exceptions, memory and caches.

• The Hardware Abstraction Layer (HAL) hides the specific features of each supported CPU andplatform, so that the kernel and other run-time components can be implemented in a portablefashion.

• Support for µITRON and POSIX Application Programmer Interfaces (APIs). It also includes a fullyfeatured, thread-safe ISO standard C library and math library.

• Support for a wide variety of devices including many serial devices, ethernet controllers andFLASH memories. There is also support for PCMCIA, USB and PCI interconnects.

• A fully featured TCP/IP stack implementing IP, IPv6, ICMP, UDP and TCP over ethernet. Supportfor SNMP, HTTP, TFTP and FTP are also present.

• The RedBoot ROM monitor is an application that uses the eCos HAL for portability. It providesserial and ethernet based booting and debug services during development.

• Many components include test programs that validate the components behaviour. These can beused both to check that hardware is functioning correctly, and as examples of eCos usage.

• eCos documentation included this User Guide, the Reference Manual and the Components Writer’sGuide. These are being continually updated as the system develops.

17

http://sources.redhat.com/ecos/

CHAPTER 1. KEY FEATURES

18

Chapter 2

eCos Overview

eCos is an open source, configurable, portable, and royalty-free embedded real-time operating system.The following text expands on these core aspects that define eCos.

eCos is provided as an open source runtime system supported by the GNU open source developmenttools. Developers have full and unfettered access to all aspects of the runtime system. No parts ofit are proprietary or hidden, and you are at liberty to examine, add to, and modify the code as youdeem necessary. These rights are granted to you and protected by the GNU Public License (GPL). Anexception clause has been added to the eCos license which limits the circumstances in which the licenseapplies to other code when used in conjunction with eCos. This exception grants you the right to freelydevelop and distribute applications based on eCos. You are not expected or required to make yourembedded applications or any additional components that you develop freely available so long as theyare not derived from eCos code. We of course welcome all contributions back to eCos such as boardports, device drivers and other components, as this helps the growth and development of eCos, and isof benefit to the entire eCos community. See Chapter 3, eCos Licence Overview for more details.

One of the key technological innovations in eCos is the configuration system. The configuration sys-tem allows the application writer to impose their requirements on the run-time components, both interms of their functionality and implementation, whereas traditionally the operating system has con-strained the application’s own implementation. Essentially, this enables eCos developers to create theirown application-specific operating system and makes eCos suitable for a wide range of embedded uses.Configuration also ensures that the resource footprint of eCos is minimized as all unnecessary function-ality and features are removed. The configuration system also presents eCos as a component architec-ture. This provides a standardized mechanism for component suppliers to extend the functionality ofeCos and allows applications to be built from a wide set of optional configurable run-time components.Components can be provided from a variety of sources including: the standard eCos release; commercialthird party developers or open source contributors.

The royalty-free nature of eCos means that you can develop and deploy your application using thestandard eCos release without incurring any royalty charges. In addition, there are no up-front licensecharges for the eCos runtime source code and associated tools. We provide, without charge, everythingnecessary for basic embedded applications development.

eCos is designed to be portable to a wide range of target architectures and target platforms including 16,32, and 64 bit architectures, MPUs, MCUs and DSPs. The eCos kernel, libraries and runtime componentsare layered on the Hardware Abstraction Layer (HAL), and thus will run on any target once the HALand relevant device drivers have been ported to the target’s processor architecture and board. CurrentlyeCos supports a large range of different target architectures:

• ARM, Intel StrongARM and XScale

• Fujitsu FR-V

• Hitachi SH2/3/4

• Hitachi H8/300H

• Intel x86

19

CHAPTER 2. ECOS OVERVIEW

• MIPS

• Matsushita AM3x

• Motorola PowerPC

• Motorola 68k/Coldfire

• NEC V850

• Sun SPARC

including many of the popular variants of these architectures and evaluation boards.

eCos has been designed to support applications with real-time requirements, providing features suchas full preemptability, minimal interrupt latencies, and all the necessary synchronization primitives,scheduling policies, and interrupt handling mechanisms needed for these type of applications. eCosalso provides all the functionality required for general embedded application support including devicedrivers, memory management, exception handling, C, math libraries, etc. In addition to runtime sup-port, the eCos system includes all the tools necessary to develop embedded applications, including eCossoftware configuration and build tools, and GNU based compilers, assemblers, linkers, debuggers, andsimulators.

To get the most out of eCos you should visit the eCos open source developers site: http://sources.redhat.com/ecos/ .

The site is dedicated to the eCos developer community and contains a rich set of resources includingnews, FAQ, online documentation, installation guide, discussion and announcement mailing lists, andruntime and development tools downloads. The site also supports anonymous CVS and WEBCVS ac-cess to provide direct access to the latest eCos source base.

eCos is released as open source software because we believe that this is the most effective softwaredevelopment model, and that it provides the greatest benefit to the embedded developer communityas a whole. As part of this endeavor, we seek the input and participation of eCos developers in itscontinuing evolution. Participation can take many forms including:

• providing us with feedback on how eCos might be made more useful to you - by taking part inthe ongoing mailing list discussions and by submitting problem reports covering bugs, documen-tation issues, and missing features

• contributing bug fixes and enhancement patches

• contributing new code including device drivers, board ports, libraries, and other runtime compo-nents

Our long term aim is to make eCos a rich and ubiquitous standard infrastructure for the development ofdeeply embedded applications. This will be achieved with the assistance of the eCos developer commu-nity cooperating to improve eCos for all. We would like to take this opportunity to extend our thanks tothe many eCos developers who have already contributed feedback, ideas, patches, and code that haveaugmented and improved this release.

The eCos Maintainers

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Chapter 3

eCos Licence Overview

As of May 2002, eCos is released under a modified version of the well known GNU General PublicLicense (GPL), now making it an official GPL-compatible Free Software License. An exception clausehas been added to the eCos license which limits the circumstances in which the license applies to othercode when used in conjunction with eCos. The exception clause is as follows:

As a special exception, if other files instantiate templates or use macrosor inline functions from this file, or you compile this file and link itwith other works to produce a work based on this file, this file does notby itself cause the resulting work to be covered by the GNU General PublicLicense. However the source code for this file must still be madeavailable in accordance with section (3) of the GNU General PublicLicense.

This exception does not invalidate any other reasons why a work based onthis file might be covered by the GNU General Public License.

The goal of the license is to serve the eCos user community as a whole. It allows all eCos users todevelop products without paying anybody anything, no matter how many developers are workingon the product or how many units will be shipped. The license also guarantees that the eCos sourcecode will always be freely available. This applies not only to the core eCos code itself but also to anychanges that anybody makes to the core. In particular, it should prevent any company or individualcontributing code to the system and then later claiming that all eCos users are now guilty of copyrightor patent infringements and have to pay royalties. It should also prevent any company from makingsome small improvements, calling the result a completely new system, and releasing this under a newand less generous license.

The license does not require users to release the source code of any applications that are developed witheCos. However, if anybody makes any changes to code covered by the eCos license, or writes newfiles derived in any way from eCos code, then we believe that the entire user community should havethe opportunity to benefit from this. The license stipulates that these changes must be made available insource code form to all recipients of binaries based on the modified code, either by including the sourcesalong with the binaries you deliver (or with any device containing such binaries) or with a writtenoffer to supply the source code to the general public for three years. It is perhaps most practical foreCos developers to make the source code available online and inform those who are receiving binariescontaining eCos code, and probably also the eCos maintainers, about the location of the code. See thefull text of the GPL for the most authoritative definition of the obligations.

Although it is not strictly necessary to contribute the modified code back to the eCos open source project,we are always pleased to receive code contributions and hope that developers will also be keen to giveback in return for what they received from the eCos project completely free of charge. The eCos main-tainers are responsible for deciding whether such contributions should be applied to the public reposi-tory. In addition, a copyright assignment is required for any significant changes to the core eCos pack-ages.

The result is a royalty-free system with minimal obligations on the part of application developers. This

21

http://www.gnu.org/copyleft/gpl.htmlhttp://www.gnu.org/copyleft/gpl.htmlhttp://www.gnu.org/philosophy/license-list.htmlhttp://www.gnu.org/copyleft/gpl.htmlhttp://sources.redhat.com/ecos/assign.html

CHAPTER 3. ECOS LICENCE OVERVIEW 3.1. QUESTIONS AND ANSWERS

has resulted in the rapid uptake of eCos. At the same time, eCos is fully open source with all the benefitsthat implies in terms of quality and innovation. We believe that this is a winning combination.

3.1 Questions and answers

The following queries provide some clarification as to the implications of the eCos license. They do notconsititute part of the legal meaning of the license.

Q. What is the effect of the eCos license?

A. In the simplest terms, when you distribute anything containing eCos code, you must make the sourcecode to eCos available under the terms of the GPL.

Q. What if I make changes to eCos, or write new code based on eCos code?

A. Then you must make those changes available as well.

Q. Do I have to distribute the source code to my application? Isn’t the GPL ”viral”?

A. You do not have to distribute any code under the terms of the GPL other than eCos code or codederived from eCos. For example, if you write a HAL port based on copying an existing eCos HAL inany way, you must make the source code available with the binary. However you would not need tomake available any other code, such as the code of a wholly separate application linked with eCos.

Q. I would rather stick with the RHEPL code, but I updated my anonymous CVS checkout.

A. You can check out the final version of anonymous CVS before the license change using the CVS taglast-rhepl . See the anonymous CVS access page for details.

3.2 Previous License

Prior to May 2002, eCos was released under the Red Hat eCos Public License (RHEPL). The RHEPLrequired any modifications to eCos code to be made available under preferential terms to Red Hat andwas therefore incompatible with code licensed under the GPL. The use of eCos source code which waslicensed under the RHEPL is not affected by the switch to the modified GPL for later revisions.

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Chapter 4

Notation and Conventions

Since there are many supported target architectures, notation conventions are used in this manual toavoid repeating instructions that are very similar.

4.1 GDB and GCC Command Notation

Cross-development commands like gcc and gdb will be shown with a TARGET- prefix. You need toreplace TARGET-with the correct prefix before using the command. Just using gcc or gdb will use thetools for the host, which is not (usually) what you want.

For example use arm-elf-gcc and arm-elf-gdb for ARM, Thumb, and StrongARM targets. Use xscale-elf-gcc and xscale-elf-gdb for Intel Xscale targets. Use i386-elf-gcc and i386-elf-gdb for IA32 targets.And so on, the exact prefix to use is shown in the documentation for each target.

Note that some versions of the GCC cross compiler generate executable files with the .exe suffix onWindows, but not on Linux. The suffix .exe will be omitted from executable file names, so you will seehello instead of hello.exe .

4.2 Directory and File System Conventions

The default directory for installing eCos on Windows (usually C:/Program Files/eCos ) is differentfrom that on Linux (usually /opt/ecos ). Since many command line examples in the tutorials use thesepaths, this default (base) directory will be cited as BASEDIR .

Windows and Linux have a similar file system syntax, but the MS-DOS command interpreter on Win-dows uses the backslash character (\) as a path separator, while Linux and POSIX shells (including theCygwin bash shell for windows) use the forward slash (/).

This document will use the POSIX shell convention of forward slashes throughout.

4.3 Version Conventions

This manual does not refer explicitly to any particular version of eCos. However, version numbersform part of many file path names. In all of these places the version number will be shown like this:.

If you have used anonymous CVS to check eCos out of the CVS repository, the version number willalways be current , since that is the name of the directory in the repository. When a stable release ismade this directory name is changed, in the release, to the number of the release, for example v2 0 orv2 1.

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CHAPTER 4. NOTATION AND CONVENTIONS 4.3. VERSION CONVENTIONS

24

Chapter 5

Documentation Roadmap

The eCos documentation is divided into a three main parts:

User Guide This document. It includes the following sections:

Installing eCos This section describes how to install the eCos software, how to set up your hard-ware and how to test that it is all working.

Programming Under eCos This section describes how to write programs that run under eCos byrunning through some examples.

The eCos Configuration Tool This section describes the eCos graphical configuration tool andhow to use it to change how eCos behaves.

eCos Programming Concepts and Techniques An explanation of the eCos programming cycle,and a description of some debugging facilities that eCos offers.

Configuration and the Package Repository Information on how to configure eCos manually, in-cluding a reference on the ecosconfig command, memory layouts, and information on howto manage a package repository using the eCos Package Administration Tool.

Reference Guide The Reference Guide provides detailed documentation on various aspects of eCos.This document is being constantly updated, so the following list just mentions the more importantsections, take a look at the guide itself for the full story.

The eCos Kernel In-depth description of eCos”s native C kernel API Important considerationsare given for programming the eCos kernel. The semantics for each kernel function are de-scribed, including how they are affected by configuration.

POSIX and µITRON APIs A description of the POSIX and µITRON APIs and how they are sup-ported under eCos.

The eCos Hardware Abstraction Layer (HAL) A description of the structure and functionality ofthe eCos HAL. This section also includes a porting guide to help moving eCos to differentplatforms.

Device Drivers A description of the philosophy behind eCos device drivers, as well as a presen-tation of the C language APIs for using the current device drivers.

25

CHAPTER 5. DOCUMENTATION ROADMAP

Device driver support includes serial, ethernet and FLASH devices, and support for PCI,PCMCIA and USB interconnects.

RedBoot User’s Guide This describes RedBoot, which provides a complete bootstrap environ-ment for a range of embedded operating systems, such as embedded Linux and eCos, andincludes facilities such as network downloading and debugging. It also provides a simpleflash file system for boot images.

TCP/IP Stack Support This describes the Common Networking for eCos package, which pro-vides support for a complete TCP/IP networking stack. The design allows for the actualstack to be modular and at the current time two different implementations, one based onOpenBSD from 2000 and a new version based on FreeBSD, are available.

Other components related to networking, including support for SNMP, DNS, HTTP and FTP,are also described.

Component Writer’s Guide The Component Writer’s Guide is intended for developers who need to addor modify parts of eCos itself. It describes the following things:

Overview An explanation of the configuration technology used in eCos, why it is done this way,how it works and the terminology used.

Package Organization A description of the eCos package repository, how it is organized and howpackages themselves are organized.

The CDL Language A description of the CDL language and how it is used to control the con-figuration of eCos components. The document also contains a complete specification of thelanguage.

The Build Process A description of what happens once a configuration has been created and mustbe built into a set of executables.

26

Part II

Installing eCos

27

Chapter 6

System Requirements

• Standard Intel architecture PC running Linux (tested on recent Red Hat, SuSE and Debian distri-butions), Microsoft Windows NT (no earlier than 4.0 + SP6a), Windows 2000 and Windows XP.Linux distributions from other vendors may also work, but are currently untested.

• Enough disk space for the installed distribution. The eCos installation process will detail the var-ious components of eCos and the compiler toolkit that can be installed, and their disk space re-quirements.

• 64MB of RAM and a 350MHz or faster Pentium processor.

If you are downloading the eCos release distribution from sources.redhat.com/ecos, you will also needspace to store that image and to compile the toolchain and eCos from source.

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CHAPTER 6. SYSTEM REQUIREMENTS

30

Chapter 7

Installation on Linux

Full instructions for the downloading and installation of eCos on Linux hosts are provided on the eCoswebsite.

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CHAPTER 7. INSTALLATION ON LINUX

32

Chapter 8

Installation on Windows

Full instructions for the downloading and installation of eCos on Windows hosts are provided on theeCos website.

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CHAPTER 8. INSTALLATION ON WINDOWS

34

Chapter 9

Target Setup

While eCos supports a variety of targets, communication with all the targets happens in one of fourways. These are described in general below. Any details or variations from these descriptions will befound in the eCos documentation for a specific target, in the appendix.

9.1 Connecting Via Serial Line

Most targets will have RedBoot or GDB Stubs installed. These normally waits for GDB to connect at38400 baud, using 8 data bit, no parity bit and 1 stop-bit and no hardware flow control. Check thedocumentation for your target to ensure it uses this speed. If not, adjust the following instructionsaccordingly.

The following instructions depend on your having selected the appropriate serial port on the host. Thatis, the serial port which connects to the target’s (primary) serial port. On Linux this could be /dev/ttyS0 , while the same port on Windows would be named COM1. Substitute the proper serial portname in the below.

Connect to the target by issuing the following commands in GDB console mode:

(gdb) set remotebaud 38400(gdb) target remote /dev/ttyS0

In Insight, connect by opening the File->Target Settings window and enter:

Target: Remote/SerialBaud Rate: 38400Port: /dev/ttyS0

Set other options according to preference, close the window and select Run->Connect to target.

9.2 Connecting Via Ethernet

Some targets allow GDB to connect via Ethernet - if so, it will be mentioned in the document describingthe target. Substitute the target’s assigned IP address or hostname for in the following.Depending on how RedBoot has been configured, it will either have this address allocated statically, orwill acquire it via BOOTP. In both cases RedBoot will report the IP address it is listening on in its startupmessage printed on the serial port. The is the TCP port which RedBoot is listening on, usually9000. It is also listed in the target document.

Connect to the target by issuing the following command in GDB console mode:

(gdb) target remote :


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CHAPTER 9. TARGET SETUP 9.3. USING A SIMULATOR TARGET

Target: Remote/TCPHostname: Port:


9.3 Using A Simulator Target

GDB connects to all simulator targets using the same basic command, although each simulator mayrequire additional options. These are listed in the document describing the target, and should be usedwhen connecting.

Connect to the target by issuing the following command in GDB console mode:

(gdb) target sim [target specific options]


Target: SimulatorOptions: [target specific options]


9.4 Using A Synthetic Target

Synthetic targets are special in that the built tests and applications actually run as native applicationson the host. This means that there is no target to connect to. The test or application can be run directlyfrom the GDB console using:

(gdb) run

or from Insight by pressing the Run icon. There is therefore no need to connect to the target or downloadthe application, so you should ignore GDB “target” and “load” commands in any instructions found inother places in the documentation.

36

Part III

Programming With eCos

37

Chapter 10

Programming With eCos

The following chapters of this manual comprise a simple tutorial for configuring and building eCos,building and running eCos tests, and finally building three stand-alone example programs which usethe eCos API to perform some simple tasks.

You will need a properly installed eCos system, with the correct versions of the GNU toolchain. OnWindows you will be using the bash command line interpreter that comes with Cygwin, with the envi-ronment variables set as described in the toolchain documentation.

10.1 The Development Process

Most development projects using eCos would contain some (or most) of the following:

10.1.1 eCos Configuration

eCos is configured to provide the desired API (the inclusion of libc, uitron, and the disabling of certainundesired funtions, etc.), and semantics (selecting scheduler, mutex behavior, etc.). See Chapter 11,Configuring and Building eCos from Source.

It would normally make sense to enable eCos assertion checking at this time as well, to catch as manyprogramming errors during the development phase as possible.

Note that it should not be necessary to spend much time on eCos configuration initially. It may beimportant to perform fine tuning to reduce the memory footprint and to improve performance laterwhen the product reaches a testable state.

10.1.2 Integrity check of the eCos configuration

While we strive to thoroughly test eCos, the vast number of configuration permutations mean that theparticular configuration parameters used for your project may not have been tested. Therefore, weadvise running the eCos tests after the project’s eCos configuration has been determined. See Chapter12, Running an eCos Test Case.

Obviously, this should be repeated if the configuration changes later on in the development process.

10.1.3 Application Development - Target Neutral Part

While your project is probably targeting a specific architecture and platform, possibly custom hardware,it may be possible to perform part of the application development using simulated or synthetic targets.

There are three good reasons for doing this:

39

CHAPTER 10. PROGRAMMING WITH ECOS 10.1. THE DEVELOPMENT PROCESS

• It may be possible by this means to perform application development in parallel with the de-sign/implementation of the target hardware, thus providing more time for developing and testingfunctionality, and reducing time-to-market.

• The build-run-debug-cycle may be faster when the application does not have to be downloadedto a target via a serial interface. Debugging is also likely to be more responsive when you do nothave to to communicate with the remote GDB stubs in RedBoot via serial. It also removes the needfor manually or automatically resetting the target hardware.

• New hardware can often be buggy. Comparing the behaviour of the program on the hardwareand in the simulator or synthetic target may allow you to identify where the problems lie.

This approach is possible because all targets (including simulators and synthetic ones) provide the samebasic API: that is, kernel, libc, libm, uitron, infra, and to some extent, HAL and IO.

Synthetic targets are especially suitable as they allow you to construct simulations of elaborate devicesby interaction with the host system, where an IO device API can hide the details from the application.When switching to hardware later in the development cycle, the IO driver is properly implemented.

Simulators can also do this, but it all depends on the design and capabilities of the simulator you use.Some, like SID or Bochs provide complete hardware emulation, while others just support enough of theinstruction set to run compiled code.

Therefore, select a simulator or synthetic target and use it for as long as possible for application devel-opment. That is, configure for the selected target, build eCos, build the application and link with eCos,run and debug. Repeat the latter two steps until you are happy with it.

Obviously, at some time you will have to switch to the intended target hardware, for example whenadding target specific feature support, for memory footprint/performance characterization, and for finaltuning of eCos and the application.

10.1.4 Application Development - Target Specific Part

Repeat the build-run-debug-cycle while performing final tuning and debugging of application. Remem-ber to disable eCos assertion checking if you are testing any performance-related aspects, it can make abig difference.

It may be useful to switch between this and the previous step repeatedly through the developmentprocess; use the simulator/synthetic target for actual development, and use the target hardware to con-tinually check memory footprint and performance. There should be little cost in switching between thetwo targets when using two separate build trees.

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Chapter 11

Configuring and Building eCos fromSource

This chapter documents the configuration of eCos. The process is the same for any of the supportedtargets: you may select a hardware target (if you have a board available), any one of the simulators, or asynthetic target (if your host platform has synthetic target support).

11.1 eCos Start-up Configurations

There are various ways to download an executable image to a target board, and these involve differentways of preparing the executable image. In the eCos Hardware Abstraction Layer (HAL package) thereare configuration options to support the different download methods. Table 11.1 summarizes the waysin which an eCos image can be prepared for different types of download. This is not an exhaustive list,some targets define additional start-up types of their own. Where a ROM Monitor is mentioned, thiswill usually be RedBoot, although on some older, or low resource, targets you may need to use CygMonor the GDB stubs ROM, see the target documentation for details.

Table 11.1: Configuration for various download methods

Download method HAL configurationBurn hardware ROM ROM or ROMRAM start-up

Download to ROM emulator ROM or ROMRAM start-upDownload to board with ROM Monitor RAM start-up

Download to simulator without ROM Monitor ROM start-upDownload to simulator with ROM Monitor RAM start-up

Download to simulator ignoring devices SIM configurationRun synthetic target RAM start-up

CAUTION

You cannot run an application configured for RAM start-up on the simulator di-rectly: it will fail during start-up. You can only download it to the simulator if youare already running RedBoot in the simulator, as described in the toolchain doc-umentation or you load through the SID GDB debugging component. This is notthe same as the simulated stub, since it does not require a target program to berunning to get GDB to talk to it. It can be done before letting the simulator run oryou use the ELF loader component to get a program into memory.

41

CHAPTER 11. CONFIGURING AND . . . 11.2. CONFIGURATION TOOL ON . . .

NOTE

Configuring eCos’ HAL package for simulation should rarely be needed for realdevelopment; binaries built with such a kernel will not run on target boards at all,and the MN10300 and TX39 simulators can run binaries built for stdeval1 andjmr3904 target boards. The main use for a “simulation” configuration is if youare trying to work around problems with the device drivers or with the simulator.Also note that when using a TX39 system configured for simulator start-up youshould then invoke the simulator with the --board=jmr3904pal option insteadof --board=jmr3904

NOTE

If your chosen architecture does not have simulator support, then the combina-tions above that refer to the simulator do not apply. Similarly, if your chosenplatform does not have RedBoot ROM support, the combinations listed abovethat use RedBoot do not apply.

The debugging environment for most developers will be either a hardware board or the simulator, inwhich case they will be able to select a single HAL configuration.

11.2 Configuration Tool on Windows and Linux Quick Start

Note that the use of the Configuration Tool is described in detail in Part IV.

The Configuration Tool (see Figure 11.1) has five main elements: the configuration window, the conflictswindow, the properties window, the short description window, and the output window.

Figure 11.1: Configuration Tool

42

CHAPTER 11. CONFIGURING AND . . . 11.2. CONFIGURATION TOOL ON . . .

Start by opening the templates window via Build- >Templates . Select the desired target (see Figure11.2).

Figure 11.2: Template selection

Make sure that the configuration is correct for the target in terms of endianness, CPU model, Startuptype, etc. (see Figure 11.3).

Figure 11.3: Configuring for the target

Next, select the Build->Library menu item to start building eCos (see Figure 11.4). The application willconfigure the sources, prepare a build tree, and build the libtarget.a library, which contains the eCoskernel and other packages.

The Save As dialog box will appear, asking you to specify a directory in which to place your save file.You can use the default, but it is a good idea to make a subdirectory, called ecos-work for example.

The first time you build an eCos library for a specific architecture, the Configuration Tool may promptyou for the location of the appropriate build tools (including make and TARGET-gcc) using a Build Toolsdialog box (as shown in Figure 11.6). You can select a location from the drop down list, browse to thedirectory using the Browse button, or type in the location of the build tools manually.

The Configuration Tool may also prompt you for the location of the user tools (such as cat and ls) usinga User Tools dialog box (as shown in Figure 11.7). As with the Build Tools dialog, you can select a locationfrom the drop down list, browse to the directory using the Browse button, or type in the location of theuser tools manually. Note that on Linux, this will often be unnecessary as the tools will already be onyour PATH.

When the tool locations have been entered, the Configuration Tool will configure the sources, prepare abuild tree, and build the libtarget.a library, which contains the eCos kernel and other packages.

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CHAPTER 11. CONFIGURING AND . . . 11.3. ECOSCONFIG ON WINDOWS AND . . .

Figure 11.4: Selecting the Build Library menu item

Figure 11.5: Save file dialog

The output from the configuration process and the building of libtarget.a will be shown in theoutput window.

Once the build process has finished you will have a kernel with other packages in libtarget.a . Youshould now build the eCos tests for your particular configuration.

You can do this by selecting Build -> Tests. Notice that you could have selected Tests instead of Library inthe earlier step and it would have built both the library and the tests, but this would increase the buildtime substantially, and if you do not need to build the tests it is unnecessary.

Chapter 12, Running an eCos Test Case will guide you through running one of the test cases you just builton the selected target, using GDB.

11.3 Ecosconfig on Windows and Linux Quick Start

As an alternative to using the graphical Configuration Tool, it is still possible to configure and build akernel by editing a configuration file manually and using the ecosconfig command.

Figure 11.6: Build tools dialog

44


Figure 11.7: User tools dialog

Figure 11.8: Selecting the Build Tests menu item

Manual configuration and the ecosconfig command are described in detail in Chapter 28, Manual Con-figuration.

To use the ecosconfig command you need to start a shell. In Windows you need to start a CygWin bashshell, not a DOS command line.

The following instructions assume that the PATHand ECOSREPOSITORYenvironment variables havebeen setup correctly as described in Chapter 7, Installation on Linux. They also assume Linux usage butequally well apply to Windows running Cygwin.

Before invoking ecosconfig you need to choose a directory in which to work. For the purposes of thistutorial, the default path will be BASEDIR/ecos-work . Create this directory and change to it bytyping:

$ mkdir BASE_DIR/ecos-work$ cd BASE_DIR/ecos-work

To see what options can be used with ecosconfig, type:

$ ecosconfig --help

The available packages, targets and templates may be listed as follows:

$ ecosconfig list

Here is sample output from ecosconfig showing the usage message.

11.3.1 Selecting a Target

To configure for a listed target, type:

$ ecosconfig new

For example, to configure for the ARM PID development board, type:

$ ecosconfig new pid

You can then edit the generated file, ecos.ecc , setting the options as required for the target (endianess,CPU model, Startup type, etc.). For detailed information about how to edit the ecos.ecc file, see theCDL Writer’s Guide and Section 28.8.

Create a build tree for the configured target by typing:

45


Example 11.3.1: Getting help from ecosconfig

$ ecosconfig --helpUsage: ecosconfig [ qualifier ... ] [ command ]

commands are:list : list repository contentsnew TARGET [ TEMPLATE [ VERSION ] ] : create a configurationtarget TARGET : change the target hardwaretemplate TEMPLATE [ VERSION ] : change the templateadd PACKAGE [ PACKAGE ... ] : add package(s)remove PACKAGE [ PACKAGE ... ] : remove package(s)version VERSION PACKAGE [ PACKAGE ... ] : change version of package(s)export FILE : export minimal config infoimport FILE : import additional config infocheck : check the configurationresolve : resolve conflictstree : create a build tree

qualifiers are:--config=FILE : the configuration file--prefix=DIRECTORY : the install prefix--srcdir=DIRECTORY : the source repository--no-resolve : disable conflict

resolution--version : show version and copyright

$

$ ecosconfig tree

If there are any problem with the configuration, ecosconfig will tell you. The most likely cause of this ismistakes when editing the ecos.ecc file. You can check whether the configuration you have made iscorrect, without building the tree with the following command:

$ ecosconfig check

If this reports any conflicts you can get ecosconfig to try and resolve them itself by typing:

$ ecosconfig resolve

See Section 28.3 for more details.

You can now run the command make or make tests, after which you will be at the same point you wouldbe after running the Configuration Tool — you can start developing your own applications, followingthe steps in Chapter 13, Building and Running Sample Applications.

The procedure shown above allows you to do very coarse-grained configuration of the eCos kernel:you can select which packages to include in your kernel, and give target and start-up options. But youcannot select components within a package, or set the very fine-grained options.

To select fine-grained configuration options you will need to edit the configuration file ecos.ecc in thecurrent directory and regenerate the build tree.

CAUTION

You should follow the manual configuration process described above very care-fully, and you should read the comments in each file to see when one optiondepends on other options or packages being enabled or disabled. If you do not,you might end up with an inconsistently configured kernel which could fail to buildor might execute incorrectly.

46


Example 11.3.2: ecosconfig output — list of available packages, targets and templates

$ ecosconfig listPackage CYGPKG_CYGMON (CygMon support via eCos):aliases: cygmonversions: Package CYGPKG_DEVICES_WALLCLOCK_DALLAS_DS1742 (Wallclock driver for Dallas 1742):aliases: devices_wallclock_ds1742 device_wallclock_ds1742versions: Package CYGPKG_DEVICES_WALLCLOCK_SH3 (Wallclock driver for SH3 RTC module):aliases: devices_wallclock_sh3 device_wallclock_sh3versions: Package CYGPKG_DEVICES_WATCHDOG_ARM_AEB (Watchdog driver for ARM/AEB board):aliases: devices_watchdog_aeb device_watchdog_aebversions: Package CYGPKG_DEVICES_WATCHDOG_ARM_EBSA285 (Watchdog driver for ARM/EBSA285 board):aliases: devices_watchdog_ebsa285 device_watchdog_ebsa285versions: ...

47


48

Chapter 12

Running an eCos Test Case

In Section 11.2 or Section 11.3 you created the eCos test cases as part of the build process. Now it is timeto try and run one.

12.1 Using the Configuration Tool

Test executables that have been linked using the Build->Tests operation against the current configurationcan be executed by selecting Tools->Run Tests.

When a test run is invoked, a property sheet is displayed, see Figure 12.1. Press the Uncheck All buttonand then find and check just one test, bin sem0 for example.

Figure 12.1: Run tests

Now press the Properties button to set up communications with the target. This will bring up a propertiesdialog shown in Figure 12.2. If you have connected the target board via a serial cable, check the Serialradio button, and select the serial port and baud rate for the board. If the target is connected via thenetwork select the TCP/IP button and enter the IP address that the board has been given, and the portnumber (usually 9000).

Click OK on this dialog and go back to the Run Tests dialog. Press the Run button and the selected testwill be downloaded and run. The Output tab will show you how this is progressing. If it seems tostop for a long time, check that the target board is correctly connected, and that eCos has been correctlyconfigured – especially the start-up type.

49

CHAPTER 12. RUNNING AN ECOS TEST CASE 12.2. USING THE COMMAND LINE

Figure 12.2: Properties dialog box

When the program runs you should see a couple of line similar to this appear:

PASS:EXIT:

This indicates that the test has run successfully.

See Chapter 22, Execution for further details.

12.2 Using the command line

Start a command shell (such as a Cygwin shell window in Windows) with the environment variables setas described in the toolchain documentation. Change to the directory in which you set up your buildtree, and invoke GDB on the test program.

To run the bin sem0 test (which will test the kernel for the correct creation and destruction of binarysemaphores) type:

$ TARGET-gdb -nw install/tests/kernel//tests/bin_sem0

You should see output similar to the following in the command window:

GNU gdb THIS-GDB-VERSIONCopyright 2001 Free Software Foundation, Inc.GDB is free software, covered by the GNU General Public License, and you arewelcome to change it and/or distribute copies of it under certain conditions.Type "show copying" to see the conditions.There is absolutely no warranty for GDB. Type "show warranty" for details.This GDB was configured as "--host=THIS-HOST --target=THIS-TARGET".(gdb)

If you are trying to run a synthetic target test on Linux, skip the following connection and downloadsteps. Otherwise, connect to the target by typing:

(gdb) set remotebaud 38400(gdb) target remote /dev/ttyS0

on Linux or

(gdb) set remotebaud 38400(gdb) target remote com1

on Windows or

(gdb) target sim

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CHAPTER 12. RUNNING AN ECOS TEST CASE 12.3. TESTING FILTERS

to use a simulator in either host O/S.

Check the documentation for the target board for the actual baud rate to use when connecting to realtargets.

You will see output similar to the following:

Remote debugging using /dev/ttyS10x0000d50c in ?? ()

at BASE_DIR/kernel//src/common/kapi.cxx:345

Current language: auto; currently c++(gdb)

Or if you are using the simulator:

Connected to the simulator.(gdb)

Now download the program to the target with

(gdb) load

You should see output similar to the following on your screen:

Loading section .text, size 0x4b04 lma 0x108000Loading section .rodata, size 0x738 lma 0x10cb08Loading section .data, size 0x1c0 lma 0x10d240Start address 0x108000, load size 21500Transfer rate: 24571 bits/sec, 311 bytes/write.(gdb)

You are now ready to run your program. If you type:

(gdb) continue

you will see output similar to the following:

Continuing.PASS:EXIT:

NOTE

If you are using a simulator or the synthetic target rather than real hardware, youmust use the GDB command “run” rather than “continue” to start your program.

You can terminate your GDB session with Control+C, otherwise it will sit in the “idle” thread and useup CPU time. This is not a problem with real targets, but may have undesirable effects in simulated orsynthetic targets. Type quit and you are done.

12.3 Testing Filters

While most test cases today run solely in the target environment, some packages may require externaltesting infrastructure and/or feedback from the external environment to do complete testing.

The serial package is an example of this. The network package also contains some tests that requireprograms to be run on a host. See the network Tests and Demonstrations section in the network documen-tation in the eCos Reference Guide. Here we will concentrate on the serial tests since these are applicableto more targets.

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CHAPTER 12. RUNNING AN ECOS TEST CASE 12.3. TESTING FILTERS

Since the serial line is also used for communication with GDB, a filter is inserted in the communicationpathway between GDB and the serial device which is connected to the hardware target. The filter for-wards all communication between the two, but also listens for special commands embedded in the datastream from the target.

When such a command is seen, the filter stops forwarding data to GDB from the target and enters aspecial mode. In this mode the test case running on the target is able to control the filter, commandingit to run various tests. While these tests run, GDB is isolated from the target.

As the test completes (or if the filter detects a target crash) the communication path between GDB andthe hardware target is re-established, allowing GDB to resume control.

In theory, it is possible to extend the filter to provide a generic framework for other target-external test-ing components, thus decoupling the testing infrastructure from the (possibly limited) communicationmeans provided by the target (serial, JTAG, Ethernet, etc).

Another advantage is that the host tools do not need to know about the various testing environmentsrequired by the eCos packages, since all contact with the target continues to happen via GDB.

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Chapter 13

Building and Running SampleApplications

The example programs in this tutorial are included, along with a Makefile , in the examples direc-tory of the eCos distribution. The first program you will run is a hello world-style application, thenyou will run a more complex application that demonstrates the creation of threads and the use ofcyg thread delay(), and finally you will run one that uses clocks and alarm handlers.

The Makefile depends on an externally defined variable to find the eCos library and header files. Thisvariable is INSTALL DIR and must be set to the pathname of the install directory created in Section 11.2.

INSTALL DIR may be either be set in the shell environment or may be supplied on the command line.To set it in the shell do the following in a bash shell:

$ export INSTALL_DIR=BASE_DIR/ecos-work/arm_install

You can then run make without any extra parameters to build the examples.

Alternatively, if you can do the following:

$ make INSTALL_DIR=BASE_DIR/ecos-work/arm_install

13.1 eCos Hello World

The following code is found in the file hello.c in the examples directory:

13.1.1 eCos hello world program listing

/* this is a simple hello world program */#include int main(void){

printf("Hello, eCos world!\n");return 0;

}

To compile this or any other program that is not part of the eCos distribution, you can follow the pro-cedures described below. Type this explicit compilation command (assuming your current workingdirectory is also where you built the eCos kernel):

$ TARGET-gcc -g -IBASE_DIR/ecos-work/install/include hello.c -LBASE_DIR/ecos-work/install/lib -Ttarget.ld -nostdlib

The compilation command above contains some standard GCC options (for example, -g enables de-bugging), as well as some mention of paths (-I BASEDIR/ecos-work/install/include allows

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CHAPTER 13. BUILDING AND RUNNING . . . 13.2. A SAMPLE PROGRAM WITH TWO . . .

files like cyg/kernel/kapi.h to be found, and -L BASEDIR/ecos-work/install/lib allows thelinker to find -Ttarget.ld ).

The executable program will be called a.out .

NOTE

Some target systems require special options to be passed to gcc to compilecorrectly for that system. Please examine the Makefile in the examples directoryto see if this applies to your target.

You can now run the resulting program using GDB in exactly the same the way you ran the test casebefore. The procedure will be the same, but this time run TARGET-gdb specifying -nw a.out on thecommand line:

$ TARGET-gdb -nw a.out

For targets other than the synthetic linux target, you should now run the usual GDB commands de-scribed earlier. Once this is done, typing the command ”continue” at the (gdb) prompt (”run” for simu-lators) will allow the program to execute and print the string ”Hello, eCos world!” on your screen.

On the synthetic linux target, you may use the ”run” command immediately - you do not need to connectto the target, nor use the ”load” command.

13.2 A Sample Program with Two Threads

Below is a program that uses some of eCos’ system calls. It creates two threads, each of which goes intoan infinite loop in which it sleeps for a while (using cyg thread delay()). This code is found in the filetwothreads.c in the examples directory.

13.2.1 eCos two-threaded program listing

#include #include #include #include

/* now declare (and allocate space for) some kernel objects,like the two threads we will use */

cyg_thread thread_s[2]; /* space for two thread objects */

char stack[2][4096]; /* space for two 4K stacks */

/* now the handles for the threads */cyg_handle_t simple_threadA, simple_threadB;

/* and now variables for the procedure which is the thread */cyg_thread_entry_t simple_program;

/* and now a mutex to protect calls to the C library */cyg_mutex_t cliblock;

/* we install our own startup routine which sets up threads */void cyg_user_start(void){

printf("Entering twothreads’ cyg_user_start() function\n");

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CHAPTER 13. BUILDING AND RUNNING . . . 13.2. A SAMPLE PROGRAM WITH TWO . . .

cyg_mutex_init(&cliblock);

cyg_thread_create(4, simple_program, (cyg_addrword_t) 0,"Thread A", (void *) stack[0], 4096,&simple_threadA, &thread_s[0]);

cyg_thread_create(4, simple_program, (cyg_addrword_t) 1,"Thread B", (void *) stack[1], 4096,&simple_threadB, &thread_s[1]);

cyg_thread_resume(simple_threadA);cyg_thread_resume(simple_threadB);

}

/* this is a simple program which runs in a thread */void simple_program(cyg_addrword_t data){

int message = (int) data;int delay;

printf("Beginning execution; thread data is %d\n", message);

cyg_thread_delay(200);

for (;;) {delay = 200 + (rand() % 50);

/* note: printf() must be protected by acall to cyg_mutex_lock() */cyg_mutex_lock(&cliblock); {printf("Thread %d: a